https://github.com/um-arm-lab/arm_clouds

https://github.com/um-arm-lab/arm_clouds

Last synced: 4 days ago
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• Host: GitHub
• URL: https://github.com/um-arm-lab/arm_clouds
• Owner: UM-ARM-Lab
• License: mit
• Created: 2024-03-07T20:07:08.000Z (8 months ago)
• Default Branch: main
• Last Pushed: 2024-03-12T21:13:00.000Z (8 months ago)
• Last Synced: 2024-03-12T22:28:16.247Z (8 months ago)
• Language: Python
• Size: 17.6 KB
• Stars: 0
• Watchers: 9
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# `arm_clouds`

A simple module for convenient usage of both NumPy and

PyTorch point clouds. Functionality includes:

- Visualization in Plotly, Open3D, and Rerun with one function call.

- Tracks and enforces consistency between XYZ and (optional) RGB PyTorch data type and device.

- Methods for (un)normalization of RGB values.

# Installation

To install `arm_clouds`, clone the repository and install with `pip install -e .`.

# Usage

This repo includes classes for both single point clouds (`PointCloud`) and point cloud lists (`PointCloudList`).

## `PointCloud` Usage

An example `PointCloud`:

```python

# Your XYZ and RGB data

xyz = torch.rand(3, 100)

rgb = torch.rand(3, 100)  # optional

pc = PointCloud(xyz, rgb)

# One-call-visualization. Can also visualize in rerun and open3d.

pc.visualize_plotly()

```

## `PointCloudList` Usage

You can initialize a `PointCloudList` from a NumPy array or PyTorch tensor of all point clouds:

```python

xyz = np.random.rand(100, 3, 25)

pcl = PointCloudList(xyz)

pcl.visualize_plotly()

```

Or if you're dealing with point clouds with different numbers of points:

```python

pcl = PointCloudList()

# If you haven't already created a `PointCloud` from the raw data:

for xyz, rgb in zip(xyzs, rgbs):

    pcl.append_create_cloud(xyz, rgb)

# If you already have your data in the `PointCloud` format, you can do:

for pc in point_cloud_python_list:

    pcl.append(pc)

# But if you already have multiple `PointCloud` objects in a raw Python list,

# you can directly initialize the `PointCloudList`:

pcl = PointCloudList(point_cloud_python_list)

```

For further usage examples, look at the [test functions](./tests/).