def RotatePerturbation(points,v):
assert 0 <= v <= 10
v = int(v)
angle_sigma = 0.1 * v
angle_clip = 0.1 * v
n_idx = 50 * v
angles = np.clip(angle_sigma * np.random.randn(3), -angle_clip, angle_clip)
Rx = angle_axis(angles[0], np.array([1.0, 0.0, 0.0]))
Ry = angle_axis(angles[1], np.array([0.0, 1.0, 0.0]))
Rz = angle_axis(angles[2], np.array([0.0, 0.0, 1.0]))
rotation_matrix = Rz @ Ry @ Rx
center = torch.mean(points[:,0:3], dim = 0)
idx = np.random.choice(points.size(0),n_idx)
perturbation = points[idx, 0:3] - center
points[idx, :3] += (perturbation @ rotation_matrix.t()) - perturbation
normals = points.size(1) > 3
if normals:
pc_normals = points[idx, 3:]
points[idx, 3:] = pc_normals @ rotation_matrix.t()
return points
def RandomAxisRotation(points,v):
assert 0 <= v <= 2 * np.pi
axis = np.random.randn(3)
axis /= np.sqrt((axis**2).sum())
rotation_angle = np.random.uniform() * v
rotation_matrix = angle_axis(rotation_angle, axis)
normals = points.size(1) > 3
if not normals:
return points @ rotation_matrix.t()
else:
pc_xyz = points[:, 0:3]
pc_normals = points[:, 3:]
points[:, 0:3] = pc_xyz @ rotation_matrix.t()
points[:, 3:] = pc_normals @ rotation_matrix.t()
return points
def RotateY(points,v): # ( 0 , 2 * pi)
assert 0 <= v <= 2 * np.pi
if np.random.random() > 0.5:
v *= -1
axis = np.array([0. , 1. , 0.])
rotation_angle = np.random.uniform() * v
rotation_matrix = angle_axis(rotation_angle, axis)
normals = points.size(1) > 3
if not normals:
return points @ rotation_matrix.t()
else:
pc_xyz = points[:, 0:3]
pc_normals = points[:, 3:]
points[:, 0:3] = pc_xyz @ rotation_matrix.t()
points[:, 3:] = pc_normals @ rotation_matrix.t()
return points