Utility#

vector.py#

 1# ----------------------------------------------------------------------------
 2# -                        Open3D: www.open3d.org                            -
 3# ----------------------------------------------------------------------------
 4# Copyright (c) 2018-2023 www.open3d.org
 5# SPDX-License-Identifier: MIT
 6# ----------------------------------------------------------------------------
 7
 8import copy
 9import numpy as np
10import open3d as o3d
11
12if __name__ == "__main__":
13
14    print("Testing vector in open3d ...")
15
16    print("")
17    print("Testing o3d.utility.IntVector ...")
18    vi = o3d.utility.IntVector([1, 2, 3, 4, 5])  # made from python list
19    vi1 = o3d.utility.IntVector(np.asarray(
20        [1, 2, 3, 4, 5], dtype=np.int32))  # made from numpy array
21    vi2 = copy.copy(vi)  # valid copy
22    vi3 = copy.deepcopy(vi)  # valid copy
23    vi4 = vi[:]  # valid copy
24    print(vi)
25    print(np.asarray(vi))
26    vi[0] = 10
27    np.asarray(vi)[1] = 22
28    vi1[0] *= 5
29    vi2[0] += 1
30    vi3[0:2] = o3d.utility.IntVector([40, 50])
31    print(vi)
32    print(vi1)
33    print(vi2)
34    print(vi3)
35    print(vi4)
36
37    print("")
38    print("Testing o3d.utility.DoubleVector ...")
39    vd = o3d.utility.DoubleVector([1, 2, 3])
40    vd1 = o3d.utility.DoubleVector([1.1, 1.2])
41    vd2 = o3d.utility.DoubleVector(np.asarray([0.1, 0.2]))
42    print(vd)
43    print(vd1)
44    print(vd2)
45    vd1.append(1.3)
46    vd1.extend(vd2)
47    print(vd1)
48
49    print("")
50    print("Testing o3d.utility.Vector3dVector ...")
51    vv3d = o3d.utility.Vector3dVector([[1, 2, 3], [0.1, 0.2, 0.3]])
52    vv3d1 = o3d.utility.Vector3dVector(vv3d)
53    vv3d2 = o3d.utility.Vector3dVector(np.asarray(vv3d))
54    vv3d3 = copy.deepcopy(vv3d)
55    print(vv3d)
56    print(np.asarray(vv3d))
57    vv3d[0] = [4, 5, 6]
58    print(np.asarray(vv3d))
59    # bad practice, the second [] will not support slice
60    vv3d[0][0] = -1
61    print(np.asarray(vv3d))
62    # good practice, use [] after converting to numpy.array
63    np.asarray(vv3d)[0][0] = 0
64    print(np.asarray(vv3d))
65    np.asarray(vv3d1)[:2, :2] = [[10, 11], [12, 13]]
66    print(np.asarray(vv3d1))
67    vv3d2.append([30, 31, 32])
68    print(np.asarray(vv3d2))
69    vv3d3.extend(vv3d)
70    print(np.asarray(vv3d3))
71
72    print("")
73    print("Testing o3d.utility.Vector3iVector ...")
74    vv3i = o3d.utility.Vector3iVector([[1, 2, 3], [4, 5, 6]])
75    print(vv3i)
76    print(np.asarray(vv3i))
77
78    print("")