def _augment_batch_data_level1(self, batch_data):
if self.normal_channel:
batch_data = utils.rotate_point_cloud_with_normal(batch_data)
else:
batch_data = utils.rotate_point_cloud(batch_data)
# batch_data[:,:,:3] = utils.random_scale_point_cloud(batch_data[:,:,:3])
batch_data[:, :, :3] = utils.jitter_point_cloud(batch_data[:, :, :3])
if self.dropout_ratio > 0:
batch_data = utils.random_point_dropout(
batch_data, max_dropout_ratio=self.dropout_ratio)
return batch_data
def _augment_batch_data_level4(self, batch_data):
if self.normal_channel:
rotated_data = utils.rotate_point_cloud_with_normal(batch_data)
rotated_data = utils.rotate_perturbation_point_cloud_with_normal(
rotated_data)
else:
rotated_data = utils.rotate_point_cloud(batch_data)
rotated_data = utils.rotate_perturbation_point_cloud(rotated_data)
if self.dropout_ratio > 0:
rotated_data = utils.random_point_dropout(
rotated_data, max_dropout_ratio=self.dropout_ratio)
return rotated_data
def _augment_batch_data_level3(self, batch_data):
if self.normal_channel:
rotated_data = utils.rotate_point_cloud_with_normal(batch_data)
rotated_data = utils.rotate_perturbation_point_cloud_with_normal(
rotated_data)
else:
rotated_data = utils.rotate_point_cloud(batch_data)
rotated_data = utils.rotate_perturbation_point_cloud(rotated_data)
jittered_data = utils.random_scale_point_cloud(rotated_data[:, :, 0:3])
jittered_data = utils.shift_point_cloud(jittered_data)
jittered_data = utils.jitter_point_cloud(jittered_data)
rotated_data[:, :, 0:3] = jittered_data
if self.dropout_ratio > 0:
rotated_data = utils.random_point_dropout(
rotated_data, max_dropout_ratio=self.dropout_ratio)
return rotated_data