1# ----------------------------------------------------------------------------
2# - Open3D: www.open3d.org -
3# ----------------------------------------------------------------------------
4# The MIT License (MIT)
5#
6# Copyright (c) 2018-2021 www.open3d.org
7#
8# Permission is hereby granted, free of charge, to any person obtaining a copy
9# of this software and associated documentation files (the "Software"), to deal
10# in the Software without restriction, including without limitation the rights
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12# copies of the Software, and to permit persons to whom the Software is
13# furnished to do so, subject to the following conditions:
14#
15# The above copyright notice and this permission notice shall be included in
16# all copies or substantial portions of the Software.
17#
18# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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24# IN THE SOFTWARE.
25# ----------------------------------------------------------------------------
26
27import copy
28import numpy as np
29import open3d as o3d
30
31if __name__ == "__main__":
32
33 print("Testing vector in open3d ...")
34
35 print("")
36 print("Testing o3d.utility.IntVector ...")
37 vi = o3d.utility.IntVector([1, 2, 3, 4, 5]) # made from python list
38 vi1 = o3d.utility.IntVector(np.asarray(
39 [1, 2, 3, 4, 5], dtype=np.int32)) # made from numpy array
40 vi2 = copy.copy(vi) # valid copy
41 vi3 = copy.deepcopy(vi) # valid copy
42 vi4 = vi[:] # valid copy
43 print(vi)
44 print(np.asarray(vi))
45 vi[0] = 10
46 np.asarray(vi)[1] = 22
47 vi1[0] *= 5
48 vi2[0] += 1
49 vi3[0:2] = o3d.utility.IntVector([40, 50])
50 print(vi)
51 print(vi1)
52 print(vi2)
53 print(vi3)
54 print(vi4)
55
56 print("")
57 print("Testing o3d.utility.DoubleVector ...")
58 vd = o3d.utility.DoubleVector([1, 2, 3])
59 vd1 = o3d.utility.DoubleVector([1.1, 1.2])
60 vd2 = o3d.utility.DoubleVector(np.asarray([0.1, 0.2]))
61 print(vd)
62 print(vd1)
63 print(vd2)
64 vd1.append(1.3)
65 vd1.extend(vd2)
66 print(vd1)
67
68 print("")
69 print("Testing o3d.utility.Vector3dVector ...")
70 vv3d = o3d.utility.Vector3dVector([[1, 2, 3], [0.1, 0.2, 0.3]])
71 vv3d1 = o3d.utility.Vector3dVector(vv3d)
72 vv3d2 = o3d.utility.Vector3dVector(np.asarray(vv3d))
73 vv3d3 = copy.deepcopy(vv3d)
74 print(vv3d)
75 print(np.asarray(vv3d))
76 vv3d[0] = [4, 5, 6]
77 print(np.asarray(vv3d))
78 # bad practice, the second [] will not support slice
79 vv3d[0][0] = -1
80 print(np.asarray(vv3d))
81 # good practice, use [] after converting to numpy.array
82 np.asarray(vv3d)[0][0] = 0
83 print(np.asarray(vv3d))
84 np.asarray(vv3d1)[:2, :2] = [[10, 11], [12, 13]]
85 print(np.asarray(vv3d1))
86 vv3d2.append([30, 31, 32])
87 print(np.asarray(vv3d2))
88 vv3d3.extend(vv3d)
89 print(np.asarray(vv3d3))
90
91 print("")
92 print("Testing o3d.utility.Vector3iVector ...")
93 vv3i = o3d.utility.Vector3iVector([[1, 2, 3], [4, 5, 6]])
94 print(vv3i)
95 print(np.asarray(vv3i))
96
97 print("")