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# ----------------------------------------------------------------------------
# - 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 open3d as o3d
import numpy as np
if __name__ == "__main__":
# Generate some n x 3 matrix using a variant of sync function.
x = np.linspace(-3, 3, 201)
mesh_x, mesh_y = np.meshgrid(x, x)
z = np.sinc((np.power(mesh_x, 2) + np.power(mesh_y, 2)))
z_norm = (z - z.min()) / (z.max() - z.min())
xyz = np.zeros((np.size(mesh_x), 3))
xyz[:, 0] = np.reshape(mesh_x, -1)
xyz[:, 1] = np.reshape(mesh_y, -1)
xyz[:, 2] = np.reshape(z_norm, -1)
print("Printing numpy array used to make Open3D pointcloud ...")
print(xyz)
# Pass xyz to Open3D.o3d.geometry.PointCloud and visualize.
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(xyz)
# Add color and estimate normals for better visualization.
pcd.paint_uniform_color([0.5, 0.5, 0.5])
pcd.estimate_normals()
pcd.orient_normals_consistent_tangent_plane(1)
print("Displaying Open3D pointcloud made using numpy array ...")
o3d.visualization.draw([pcd])
# Convert Open3D.o3d.geometry.PointCloud to numpy array.
xyz_converted = np.asarray(pcd.points)
print("Printing numpy array made using Open3D pointcloud ...")
print(xyz_converted)
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