def test_constructor_and_accessors(device):
dtype = o3c.Dtype.Float32
# Constructor.
pcd = o3d.tgeometry.PointCloud(dtype, device)
assert "points" in pcd.point
assert "colors" not in pcd.point
assert isinstance(pcd.point, o3d.tgeometry.TensorListMap)
assert isinstance(pcd.point["points"], o3c.TensorList)
# Assignment.
pcd.point["points"] = o3c.TensorList(o3c.SizeVector([3]), dtype, device)
pcd.point["colors"] = o3c.TensorList(o3c.SizeVector([3]), dtype, device)
assert len(pcd.point["points"]) == 0
assert len(pcd.point["colors"]) == 0
one_point = o3c.Tensor.ones((3, ), dtype, device)
one_color = o3c.Tensor.ones((3, ), dtype, device)
pcd.point["points"].push_back(one_point)
pcd.point["colors"].push_back(one_color)
assert len(pcd.point["points"]) == 1
assert len(pcd.point["colors"]) == 1
# Edit and access values.
pcd.point["points"][0] = o3c.Tensor([1, 2, 3], dtype, device)
assert pcd.point["points"][0].allclose(o3c.Tensor([1, 2, 3], dtype,
device))
# Pushback.
pcd.synchronized_push_back({"points": one_point, "colors": one_color})
assert len(pcd.point["points"]) == 2
assert len(pcd.point["colors"]) == 2
def test_tensorlist_create(device):
dtype = o3c.Dtype.Float32
# Construct uninitialized tensorlist.
tl = o3c.TensorList(o3c.SizeVector([3, 4]), dtype, device)
assert tl.size == 0
assert tl.element_shape == o3c.SizeVector([3, 4])
tl = o3c.TensorList(o3c.SizeVector([3, 4]), dtype, device=device)
assert tl.size == 0
assert tl.element_shape == o3c.SizeVector([3, 4])
tl = o3c.TensorList(o3c.SizeVector([3, 4]), dtype=dtype, device=device)
assert tl.size == 0
assert tl.element_shape == o3c.SizeVector([3, 4])
tl = o3c.TensorList(element_shape=o3c.SizeVector([3, 4]),
dtype=dtype,
device=device)
assert tl.size == 0
assert tl.element_shape == o3c.SizeVector([3, 4])
# Construct from a list of tensors.
t0 = o3c.Tensor.ones((2, 3), dtype, device) * 0
t1 = o3c.Tensor.ones((2, 3), dtype, device) * 1
t2 = o3c.Tensor.ones((2, 3), dtype, device) * 2
tl = o3c.TensorList([t0, t1, t2])
assert tl[0].allclose(t0)
assert tl[1].allclose(t1)
assert tl[2].allclose(t2)
assert tl[-1].allclose(t2)
assert not tl[0].issame(t0)
assert not tl[1].issame(t1)
assert not tl[2].issame(t2)
assert not tl[-1].issame(t2)
# Create from a internal tensor.
t = o3c.Tensor.ones((4, 2, 3), dtype, device)
tl = o3c.TensorList.from_tensor(o3c.Tensor.ones((4, 2, 3), dtype, device))
assert tl.element_shape == o3c.SizeVector([2, 3])
assert tl.size == 4
assert tl.dtype == dtype
assert tl.device == device
assert tl.is_resizable
assert not tl.as_tensor().issame(t)
# Create from a internal tensor, in-place.
t = o3c.Tensor.ones((4, 2, 3), dtype, device)
tl = o3c.TensorList.from_tensor(t, inplace=True)
assert tl.element_shape == o3c.SizeVector([2, 3])
assert tl.size == 4
assert tl.dtype == dtype
assert tl.device == device
assert not tl.is_resizable
assert tl.as_tensor().issame(t)
def test_tensorlistmap(device):
dtype = o3c.Dtype.Float32
# Constructor.
tlm = o3d.tgeometry.TensorListMap("points")
# Get primary key().
assert tlm.get_primary_key() == "points"
# Map member access, assignment and "contains" check. This should be the
# preferrred way to construct a TensorListMap with values in python.
points = o3c.TensorList(o3c.SizeVector([3]), dtype, device)
colors = o3c.TensorList(o3c.SizeVector([3]), dtype, device)
tlm = o3d.tgeometry.TensorListMap("points")
assert "points" not in tlm
tlm["points"] = points
assert "points" in tlm
assert "colors" not in tlm
tlm["colors"] = colors
assert "colors" in tlm
# Constructor with tl values.
tlm = o3d.tgeometry.TensorListMap("points", {
"points": points,
"colors": colors
})
# Syncronized pushback.
one_point = o3c.Tensor.ones((3,), dtype, device)
one_color = o3c.Tensor.ones((3,), dtype, device)
tlm.synchronized_push_back({"points": one_point, "colors": one_color})
tlm["points"].push_back(one_point)
assert not tlm.is_size_synchronized()
with pytest.raises(RuntimeError):
tlm.assert_size_synchronized()
with pytest.raises(RuntimeError):
tlm.synchronized_push_back({"points": one_point, "colors": one_color})
def test_tensorlist_operation(device):
dtype = o3c.Dtype.Float32
t0 = o3c.Tensor.ones((2, 3), dtype, device) * 0
t1 = o3c.Tensor.ones((2, 3), dtype, device) * 1
t2 = o3c.Tensor.ones((2, 3), dtype, device) * 2
# push_back
tl = o3c.TensorList(o3c.SizeVector([2, 3]), dtype, device)
assert tl.size == 0
tl.push_back(t0)
assert tl.size == 1
# resize
tl.resize(10)
assert tl.size == 10
tl.resize(1)
assert tl.size == 1
# extend
tl = o3c.TensorList(o3c.SizeVector([2, 3]), dtype, device)
tl.push_back(t0)
tl_other = o3c.TensorList(o3c.SizeVector([2, 3]), dtype, device)
tl_other.push_back(t1)
tl_other.push_back(t2)
tl.extend(tl_other)
assert tl.size == 3
assert tl[0].allclose(t0)
assert tl[1].allclose(t1)
assert tl[2].allclose(t2)
# +=
tl = o3c.TensorList(o3c.SizeVector([2, 3]), dtype, device)
tl.push_back(t0)
tl_other = o3c.TensorList(o3c.SizeVector([2, 3]), dtype, device)
tl_other.push_back(t1)
tl_other.push_back(t2)
tl += tl_other
assert tl.size == 3
assert tl[0].allclose(t0)
assert tl[1].allclose(t1)
assert tl[2].allclose(t2)
# concat
tl = o3c.TensorList(o3c.SizeVector([2, 3]), dtype, device)
tl.push_back(t0)
tl_other = o3c.TensorList(o3c.SizeVector([2, 3]), dtype, device)
tl_other.push_back(t1)
tl_combined = o3c.TensorList.concat(tl, tl_other)
assert tl_combined.size == 2
assert tl_combined[0].allclose(t0)
assert tl_combined[1].allclose(t1)
# +
tl = o3c.TensorList(o3c.SizeVector([2, 3]), dtype, device)
tl.push_back(t0)
tl_other = o3c.TensorList(o3c.SizeVector([2, 3]), dtype, device)
tl_other.push_back(t1)
tl_combined = tl + tl_other
assert tl_combined.size == 2
assert tl_combined[0].allclose(t0)
assert tl_combined[1].allclose(t1)