Vector¶

Vector is base class of other vector like classes. It represents a series of vectors.

In [1]:
from py3d import Vector
Vector()
Out[1]:
Vector([], dtype=float64)
In [3]:
Vector([0, 0, 0, 0])
Out[3]:
Vector([0, 0, 0, 0])
In [5]:
Vector([1, 2, -4])
Out[5]:
Vector([ 1,  2, -4])
In [7]:
Vector([1, 2, 3]).tile(2)
Out[7]:
Vector([[1, 2, 3],
        [1, 2, 3]])
In [9]:
import py3d
py3d.Vector([1, 2, 0, 3])
Out[9]:
Vector([1, 2, 0, 3])
In [10]:
Vector([1]).tile(2)
Out[10]:
Vector([[1],
        [1]])

Get unit vector

In [12]:
import py3d
V32 = py3d.Vector([
    [1, 3],
    [2, -9],
    [0.1, -3]])
V32.U
Out[12]:
Vector([[ 0.31622777,  0.9486833 ],
        [ 0.21693046, -0.97618706],
        [ 0.03331483, -0.99944491]])

Get length of vectors

In [13]:
V32.L
Out[13]:
array([3.16227766, 9.21954446, 3.0016662 ])
In [15]:
from numpy import allclose
assert allclose(V32.U.L, [[1], [1], [1]])

Get homogeneous vector

In [16]:
V32.H
Out[16]:
Vector3([[ 1. ,  3. ,  1. ],
         [ 2. , -9. ,  1. ],
         [ 0.1, -3. ,  1. ]])

Get a series of random vectors

In [18]:
import py3d
py3d.rand(2, 3, 4)
Out[18]:
Vector4([[[0.96626214, 0.70562362, 0.06684771, 0.59174593],
          [0.50629915, 0.24173588, 0.06373876, 0.89654226],
          [0.75701832, 0.89159202, 0.44128003, 0.05887947]],

         [[0.54687797, 0.59475947, 0.19111112, 0.25128102],
          [0.48110057, 0.24699633, 0.1305743 , 0.35705752],
          [0.82655575, 0.93939962, 0.16160806, 0.2363428 ]]])
In [20]:
import py3d
py3d.Vector([[0, 0], [1, 2], [3, 4]]).diff()
Out[20]:
Vector([[1, 2],
        [2, 2]])

Get a flattened copy of a vector

In [22]:
import py3d
py3d.Vector([[[1,2,3]],[[4,5,6]]]).flatten()
Out[22]:
Vector([[1, 2, 3],
        [4, 5, 6]])

Fill nan elements of a Vector

In [24]:
import py3d
py3d.Vector([0, 1, float("nan")]).fillna(-1)
Out[24]:
Vector([ 0.,  1., -1.])

Drop duplicates

In [25]:
import py3d
py3d.Vector([
    [1,2,1],
    [2,3,4],
    [1,2,1],
    [5,3,4]
]).unique()
Out[25]:
Vector([[1, 2, 1],
        [2, 3, 4],
        [5, 3, 4]])

Read a txt file storing poses

In [26]:
import py3d
py3d.read_txt("poses.txt")
Out[26]:
Vector([[ 1.00000000e+00, -3.80098575e-01, -9.24678213e-01, -2.22547866e-02,  8.46246797e+02, -9.23810709e-01,  3.80713880e-01, -4.03821316e-02,  3.72507563e+03,  4.58131834e-02,  5.21001950e-03, -9.98936438e-01,  1.15277604e+02],
        [ 9.00000000e+00, -3.34781384e-01, -9.41921870e-01, -2.65446075e-02,  8.46339549e+02, -9.41148328e-01,  3.35630805e-01, -3.98972180e-02,  3.72529806e+03,  4.64892502e-02,  1.16255671e-02, -9.98851138e-01,  1.15261281e+02],
        [ 1.40000000e+01, -2.92967993e-01, -9.55757956e-01, -2.63910066e-02,  8.46403792e+02, -9.55019148e-01,  2.93844004e-01, -3.99265447e-02,  3.72550887e+03,  4.59149518e-02,  1.35067170e-02, -9.98854036e-01,  1.15246581e+02],
        [ 2.20000000e+01, -2.55823106e-01, -9.66433871e-01, -2.36666831e-02,  8.46452174e+02, -9.65654193e-01,  2.56614723e-01, -4.07536888e-02,  3.72572334e+03,  4.54589646e-02,  1.24280965e-02, -9.98888895e-01,  1.15235256e+02],
        [ 3.00000000e+01, -2.21980891e-01, -9.74885116e-01, -1.79859637e-02,  8.46498002e+02, -9.74096121e-01,  2.22541934e-01, -4.01476730e-02,  3.72595586e+03,  4.31420000e-02,  8.60804130e-03, -9.99031866e-01,  1.15230213e+02],
        [ 3.50000000e+01, -1.89591125e-01, -9.81721142e-01, -1.66974492e-02,  8.46543252e+02, -9.80764734e-01,  1.90155814e-01, -4.40602123e-02,  3.72619118e+03,  4.64299590e-02,  8.02284410e-03, -9.98889330e-01,  1.15216815e+02],
        [ 5.30000000e+01, -1.52544592e-01, -9.88232558e-01, -1.12498162e-02,  8.46578518e+02, -9.87793431e-01,  1.52820235e-01, -3.01680937e-02,  3.72641248e+03,  3.15322920e-02,  6.51051500e-03, -9.99481530e-01,  1.15240333e+02],
        [ 5.70000000e+01, -1.08222204e-01, -9.94126669e-01, -3.45932600e-04,  8.46594185e+02, -9.93640561e-01,  1.08180154e-01, -3.12328284e-02,  3.72664364e+03,  3.10868107e-02, -3.03635290e-03, -9.99512076e-01,  1.15239078e+02],
        [ 6.10000000e+01, -5.47405853e-02, -9.98500181e-01, -9.25326500e-04,  8.46621932e+02, -9.98321631e-01,  5.47482953e-02, -1.88823863e-02,  3.72687760e+03,  1.89047262e-02, -1.09859400e-04, -9.99821284e-01,  1.15261382e+02],
        [ 6.50000000e+01,  2.32873930e-03, -9.99995499e-01,  1.89191590e-03,  8.46628861e+02, -9.99959160e-01, -2.34516750e-03, -8.72806030e-03,  3.72713067e+03,  8.73245790e-03, -1.87151330e-03, -9.99960120e-01,  1.15274254e+02]])

Write csv file

In [27]:
import py3d
py3d.Vector([[1,2,3],[4,5,6]], columns=["t","x","y"]).to_csv("tmp.csv")

Read csv file

In [28]:
import py3d
a=py3d.read_csv("tmp.csv")
a[["t","x"]]
Out[28]:
Vector([[1., 2.],
        [4., 5.]])

Read pcd file

In [29]:
import py3d

py3d.read_pcd("ascii.pcd").xyz.as_point()
Out[29]:
In [30]:
import py3d
pcd = py3d.read_pcd("binary.pcd")
print("min", pcd.min())
print("max", pcd.max())
pcd.xyz.as_point(colormap=pcd.w)
min [-1.09082863e+02 -4.56674919e+01 -4.33038330e+00  2.50000000e+01  1.22393358e+09]
max [9.74602280e+01 8.35153122e+01 4.22846746e+00 2.55000000e+02 1.22393358e+09]
Out[30]:
In [31]:
pcd.sample(10)
Out[31]:
Vector([[-4.28219700e+00, -3.22249293e+00, -1.80981719e+00,  1.37000000e+02,  1.22393358e+09],
        [ 1.43762827e+01,  1.27848969e+01, -3.63666677e+00,  1.65000000e+02,  1.22393358e+09],
        [-2.67636800e+00,  4.47410440e+00, -1.97482598e+00,  1.46000000e+02,  1.22393358e+09],
        [ 1.15523043e+01,  2.40992546e+00, -1.95842230e+00,  1.32000000e+02,  1.22393358e+09],
        [-1.11367836e+01, -5.81939459e+00, -4.87839729e-01,  1.67000000e+02,  1.22393358e+09],
        [ 8.75456905e+00, -5.95261526e+00, -4.00979429e-01,  1.46000000e+02,  1.22393358e+09],
        [ 3.81858349e+00,  1.23543084e+00, -1.88782024e+00,  1.03000000e+02,  1.22393358e+09],
        [ 1.22149932e+00,  5.39722872e+00, -1.83664823e+00,  9.20000000e+01,  1.22393358e+09],
        [-1.85162487e+01,  6.17887306e+00,  8.11062098e-01,  1.80000000e+02,  1.22393358e+09],
        [ 6.24433994e+00, -6.39693975e-01, -1.92382848e+00,  9.10000000e+01,  1.22393358e+09]])

Write npy file

In [32]:
import py3d
py3d.Vector([1,2,3]).to_npy("tmp.npy")

Read npy file

In [33]:
import py3d
py3d.read_npy("tmp.npy")
Out[33]:
Vector([1, 2, 3])

Read a real lidar point cloud from a npy file

In [34]:
import py3d
py3d.read_npy("lidar.npy").xyz.as_point()
Out[34]:

Read a depth map from a npy file

In [35]:
import py3d
py3d.read_npy("depth.npy").z.as_image()
Out[35]:

Read ply file

In [36]:
import py3d
vertices, mesh = py3d.read_ply("cube.ply")
print(vertices)
mesh
[[0. 0. 0.]
 [0. 0. 1.]
 [0. 1. 1.]
 [0. 1. 0.]
 [1. 0. 0.]
 [1. 0. 1.]
 [1. 1. 1.]
 [1. 1. 0.]]
Out[36]: