pointcloud¶

Functions

Description

Functions for processing pointclouds

exception PointcloudExtensionError[source]¶

Bases: Exception

Raised when a point cloud file extension is invalid or unsupported.

exception PointcloudReadException[source]¶

Bases: Exception

Raised when a point cloud file cannot be read or decoded.

exception UnsupportedPointcloudFormat[source]¶

Bases: Exception

Raised when a point cloud file format/extension is not supported by the SDK.

get_labeling_tool_link(url, name='open in labeling tool')[source]¶

Get HTML link to the labeling tool with the specified URL and name.

Parameters:

url : str¶

URL of the labeling tool.

name : str¶

Name of the link, default is “open in labeling tool”.

Returns:

HTML link to the labeling tool with the specified URL and name.

Return type:

str

Usage Example:

import os
from dotenv import load_dotenv

import supervisely as sly

# Load secrets and create API object from .env file (recommended)
# Learn more here: https://developer.supervisely.com/getting-started/basics-of-authentication
if sly.is_development():
    load_dotenv(os.path.expanduser("~/supervisely.env"))

api = sly.Api.from_env()

pointcloud_id = 19373403
pcd_info = api.pointcloud.get_info_by_id(pointcloud_id)
url = sly.pointcloud.get_labeling_tool_url(pcd_info.dataset_id, pcd_info.id)
name = "my link"

link = sly.pointcloud.get_labeling_tool_link(url, name)

print(link)
# Output:
# <a
#     href="https://app.supervisely.com/app/point-clouds/?datasetId=55875&pointCloudId=19373403"
#     rel="noopener noreferrer"
#     target="_blank"
# >
#     my link<i class="zmdi zmdi-open-in-new" style="margin-left: 5px"></i>
# </a>

get_labeling_tool_url(dataset_id, pointcloud_id)[source]¶

Get the URL for the labeling tool with the specified dataset ID and point cloud ID.

Parameters:

dataset_id : int¶

Dataset ID in Supervisely.

pointcloud_id : int¶

Point cloud ID in Supervisely.

Returns:

URL for the labeling tool with the specified dataset ID and point cloud ID

Return type:

str

Usage Example:

import os
from dotenv import load_dotenv

import supervisely as sly

# Load secrets and create API object from .env file (recommended)
# Learn more here: https://developer.supervisely.com/getting-started/basics-of-authentication
if sly.is_development():
    load_dotenv(os.path.expanduser("~/supervisely.env"))

api = sly.Api.from_env()

pointcloud_id = 19373403
pcd_info = api.pointcloud.get_info_by_id(pointcloud_id)
url = sly.pointcloud.get_labeling_tool_url(pcd_info.dataset_id, pcd_info.id)

print(url)
# Output:
# https://app.supervisely.com/app/point-clouds/?datasetId=55875&pointCloudId=19373403

has_valid_ext(path)[source]¶

Checks if file from given path with given extention is supported

Parameters:

path : str¶

Pointcloud file path.

Returns:

bool

Return type:

bool

Usage Example:

import supervisely as sly

path = "/Users/Downloads/demo_pointcloud-2/LYFT/1231201437602160096.pcd"
sly.pointcloud.has_valid_ext(path)  # True
sly.pointcloud.has_valid_ext(path) # False

is_valid_ext(ext)[source]¶

Checks if given extention is supported.

Parameters:

ext : str¶

Pointcloud file extension.

Returns:

bool

Return type:

bool

Usage Example:

import supervisely as sly

sly.pointcloud.is_valid_ext(".pcd")  # True
sly.pointcloud.is_valid_ext(".mp4") # False

is_valid_format(path)[source]¶

Checks if Pointcloud file from given path has supported extension.

Parameters:

path : str¶

Path to Pointcloud file.

Returns:

True if file format in list of supported pointcloud formats, False - in otherwise

Return type:

bool

Usage Example:

import supervisely as sly

pcd_path = "/pointclouds/pcd0001.jpg"
sly.pointcloud.is_valid_format(pcd_path) # False

read(path, coords_dims=None)[source]¶

Loads a pointcloud from the specified file and returns it in XYZ format.

Parameters:

path : str¶

Path to file.

Returns:

Numpy array

Return type:

np.ndarray

Usage Example:

import supervisely as sly

pcd_np = sly.pointcloud.read('/home/admin/work/pointclouds/ptc0.pcd')

validate_ext(ext)[source]¶

Raise error if given extention is not supported

Parameters:

ext : str¶

Pointcloud file extension.

Returns:

None

Return type:

None

Usage Example:

import supervisely as sly

sly.pointcloud.validate_ext(".mp4")

# UnsupportedPointcloudFormat: Unsupported pointcloud extension: .mp4.
# Only the following extensions are supported: ['.pcd'].

validate_format(path)[source]¶

Raise error if file from given path with given extention is not supported

Parameters:

path : str¶

Pointcloud file path.

Returns:

None

Return type:

None

Usage Example:

import supervisely as sly

path = "/Downloads/videos/111.mp4"
sly.pointcloud.validate_format(path)

# UnsupportedPointcloudFormat: Unsupported pointcloud extension: .mp4.
# Only the following extensions are supported: ['.pcd'].

write(path, pointcloud_np, coords_dims=None)[source]¶

Saves a pointcloud to the specified file. It creates directory from path if the directory for this path does not exist.

Parameters:

path : str¶

Path to file.

pointcloud_np : np.ndarray¶

numpy array [N, 3] in XYZ format.

coords_dims : Optional[List[int]]¶

List of indexes for (X, Y, Z) coords. Default (if None): [0, 1, 2].

Returns:

Success or not.

Return type:

bool

Usage Example:

import numpy as np
import supervisely as sly

pointcloud = np.random.randn(100, 3)
ptc = sly.pointcloud.write('/home/admin/work/pointclouds/ptc0.pcd', pointcloud)