import numpy

def htrans(p):
    if p.size != 3:
        raise IndexError("3D vector expected")
    v = p[:]
    v.shape = -1
    H = numpy.eye(4, dtype=numpy.float)
    H[:3, 3] = v
    return H

if __name__ == "__main__":
    import sys
    if len(sys.argv) != 4:
        #print("Usage:")
        #print("htrans x y z")
        sys.exit(0)
    data = numpy.array([numpy.float(x) for x in sys.argv[1:]])
    data.shape = 1, -1
    #print(htrans(data))
    data.shape = -1, 1
    #print(htrans(data))
    data.shape = -1
    #print(htrans(data))
    
