text: # ----------------------------------------------------------------------------
  # -                        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
  import copy
  import os
  import sys
  
  dir_path = os.path.dirname(os.path.abspath(__file__))
  sys.path.append(dir_path + "/..")
  import open3d_example as o3dex
  
  
  def translate():
      pcd = o3dex.get_armadillo_mesh().sample_points_poisson_disk(5000)
      pcd_tx = copy.deepcopy(pcd).translate((150, 0, 0))
      pcd_ty = copy.deepcopy(pcd).translate((0, 200, 0))
      print('Displaying original and translated geometries ...')
      o3d.visualization.draw([{
          "name": "Original Geometry",
          "geometry": pcd
      }, {
          "name": "Translated (in X) Geometry",
          "geometry": pcd_tx
      }, {
          "name": "Translated (in Y) Geometry",
          "geometry": pcd_ty
      }],
                             show_ui=True)
  
  
  def rotate():
      pcd = o3dex.get_armadillo_mesh().sample_points_poisson_disk(5000)
      pcd_r = copy.deepcopy(pcd).translate((200, 0, 0))
      R = pcd.get_rotation_matrix_from_xyz((np.pi / 2, 0, np.pi / 4))
      pcd_r.rotate(R)
      print('Displaying original and rotated geometries ...')
      o3d.visualization.draw([{
          "name": "Original Geometry",
          "geometry": pcd
      }, {
          "name": "Rotated Geometry",
          "geometry": pcd_r
      }],
                             show_ui=True)
  
  
  def scale():
      pcd = o3dex.get_armadillo_mesh().sample_points_poisson_disk(5000)
      pcd_s = copy.deepcopy(pcd).translate((200, 0, 0))
      pcd_s.scale(0.5, center=pcd_s.get_center())
      print('Displaying original and scaled geometries ...')
      o3d.visualization.draw([{
          "name": "Original Geometry",
          "geometry": pcd
      }, {
          "name": "Scaled Geometry",
          "geometry": pcd_s
      }],
                             show_ui=True)
  
  
  def transform():
      pcd = o3dex.get_armadillo_mesh().sample_points_poisson_disk(5000)
      T = np.eye(4)
      T[:3, :3] = pcd.get_rotation_matrix_from_xyz((0, np.pi / 3, np.pi / 2))
      T[0, 3] = 150
      T[1, 3] = 200
      print(T)
      pcd_t = copy.deepcopy(pcd).transform(T)
      print('Displaying original and transformed geometries ...')
      o3d.visualization.draw([{
          "name": "Original Geometry",
          "geometry": pcd
      }, {
          "name": "Transformed Geometry",
          "geometry": pcd_t
      }],
                             show_ui=True)
  
  
  if __name__ == "__main__":
  
      translate()
      rotate()
      scale()
      transform()
  