Input ps is NxC points with first 3 channels as XYZ z is facing forward, x is left ward, y is downward
(pc, rot_angle)
| 88 | |
| 89 | |
| 90 | def rotate_pc_along_y(pc, rot_angle): |
| 91 | """Input ps is NxC points with first 3 channels as XYZ |
| 92 | z is facing forward, x is left ward, y is downward |
| 93 | """ |
| 94 | cosval = np.cos(rot_angle) |
| 95 | sinval = np.sin(rot_angle) |
| 96 | rotmat = np.array([[cosval, -sinval], [sinval, cosval]]) |
| 97 | pc[:, [0, 2]] = np.dot(pc[:, [0, 2]], np.transpose(rotmat)) |
| 98 | return pc |
| 99 | |
| 100 | |
| 101 | def roty(t): |
nothing calls this directly
no outgoing calls
no test coverage detected