(self, axis, theta)
| 147 | self.max_theta2 = max_theta2 # Smaller rotation in random direction |
| 148 | |
| 149 | def _M(self, axis, theta): |
| 150 | return expm(np.cross(np.eye(3), axis / norm(axis) * theta)).astype(np.float32) |
| 151 | |
| 152 | def __call__(self, coords): |
| 153 | if self.axis is not None: |