# Utility¶

## vector.py¶

  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 # ---------------------------------------------------------------------------- # - 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: # # 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 # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER # 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("")