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import os
import torch
import cv2 as cv
import numpy as np
from mpl_toolkits.mplot3d import Axes3D
from matplotlib.patches import Patch
from mpl_toolkits.mplot3d.art3d import Poly3DCollection
import matplotlib.pyplot as plt
#Inputs
base_path = os.getcwd()
data_path = os.path.join(base_path, f"data")
img_path = os.path.join(data_path, 'images')
depth_path = os.path.join(data_path, 'depths')
test_path = os.path.join(data_path, 'tests')
#Outputs
out_path = os.path.join(base_path, 'output')
ply_path = os.path.join(out_path, 'point_cloud')
#Load Data
camera_calibration = np.load(os.path.join(data_path, 'camera_calibration.npy'), allow_pickle=True)
camera_calibration = camera_calibration.item()#get dictionary from numpy array struct
given_features = np.load(os.path.join(data_path, 'given_features.npy'), allow_pickle=True)
camera_movement = np.load(os.path.join(data_path, 'camera_movement.npy'), allow_pickle=True)