# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# The MIT License (MIT)
#
# Copyright (c) 2018-2021 www.open3d.org
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
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# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
# IN THE SOFTWARE.
# ----------------------------------------------------------------------------
import copy
import numpy as np
import open3d as o3d
if __name__ == "__main__":
print("Testing vector in open3d ...")
print("")
print("Testing o3d.utility.IntVector ...")
vi = o3d.utility.IntVector([1, 2, 3, 4, 5]) # made from python list
vi1 = o3d.utility.IntVector(np.asarray(
[1, 2, 3, 4, 5], dtype=np.int32)) # made from numpy array
vi2 = copy.copy(vi) # valid copy
vi3 = copy.deepcopy(vi) # valid copy
vi4 = vi[:] # valid copy
print(vi)
print(np.asarray(vi))
vi[0] = 10
np.asarray(vi)[1] = 22
vi1[0] *= 5
vi2[0] += 1
vi3[0:2] = o3d.utility.IntVector([40, 50])
print(vi)
print(vi1)
print(vi2)
print(vi3)
print(vi4)
print("")
print("Testing o3d.utility.DoubleVector ...")
vd = o3d.utility.DoubleVector([1, 2, 3])
vd1 = o3d.utility.DoubleVector([1.1, 1.2])
vd2 = o3d.utility.DoubleVector(np.asarray([0.1, 0.2]))
print(vd)
print(vd1)
print(vd2)
vd1.append(1.3)
vd1.extend(vd2)
print(vd1)
print("")
print("Testing o3d.utility.Vector3dVector ...")
vv3d = o3d.utility.Vector3dVector([[1, 2, 3], [0.1, 0.2, 0.3]])
vv3d1 = o3d.utility.Vector3dVector(vv3d)
vv3d2 = o3d.utility.Vector3dVector(np.asarray(vv3d))
vv3d3 = copy.deepcopy(vv3d)
print(vv3d)
print(np.asarray(vv3d))
vv3d[0] = [4, 5, 6]
print(np.asarray(vv3d))
# bad practice, the second [] will not support slice
vv3d[0][0] = -1
print(np.asarray(vv3d))
# good practice, use [] after converting to numpy.array
np.asarray(vv3d)[0][0] = 0
print(np.asarray(vv3d))
np.asarray(vv3d1)[:2, :2] = [[10, 11], [12, 13]]
print(np.asarray(vv3d1))
vv3d2.append([30, 31, 32])
print(np.asarray(vv3d2))
vv3d3.extend(vv3d)
print(np.asarray(vv3d3))
print("")
print("Testing o3d.utility.Vector3iVector ...")
vv3i = o3d.utility.Vector3iVector([[1, 2, 3], [4, 5, 6]])
print(vv3i)
print(np.asarray(vv3i))
print("")