Function rotate3d

datasets/augmentv2.py:121–129

(v, theta, **kwargs)

        **kwargs)

def rotate3d(v, theta, **kwargs):
    vx = v[..., 0]; vy = v[..., 1]; vz = v[..., 2]
    s = torch.sin(theta); c = torch.cos(theta); cc = 1 - c
    return matrix(
        [vx*vx*cc+c,    vx*vy*cc-vz*s, vx*vz*cc+vy*s, 0],
        [vy*vx*cc+vz*s, vy*vy*cc+c,    vy*vz*cc-vx*s, 0],
        [vz*vx*cc-vy*s, vz*vy*cc+vx*s, vz*vz*cc+c,    0],
        [0,             0,             0,             1],
        **kwargs)

def translate2d_inv(tx, ty, **kwargs):
    return translate2d(-tx, -ty, **kwargs)