Function local_rotation

pcdet/datasets/augmentor/augmentor_utils.py:330–375

Args: gt_boxes: (N, 7), [x, y, z, dx, dy, dz, heading, [vx], [vy]] points: (M, 3 + C), rot_range: [min, max] Returns:

(gt_boxes, points, rot_range)

def local_rotation(gt_boxes, points, rot_range):
    """
    Args:
        gt_boxes: (N, 7), [x, y, z, dx, dy, dz, heading, [vx], [vy]]
        points: (M, 3 + C),
        rot_range: [min, max]
    Returns:
    """
    # augs = {}
    for idx, box in enumerate(gt_boxes):
        noise_rotation = np.random.uniform(rot_range[0], rot_range[1])
        # augs[f'object_{idx}'] = noise_rotation
        points_in_box, mask = get_points_in_box(points, box)
        
        centroid_x = box[0]
        centroid_y = box[1]
        centroid_z = box[2]

        # tranlation to axis center
        points[mask, 0] -= centroid_x
        points[mask, 1] -= centroid_y
        points[mask, 2] -= centroid_z
        box[0] -= centroid_x
        box[1] -= centroid_y
        box[2] -= centroid_z

        # apply rotation
        points[mask, :] = common_utils.rotate_points_along_z(points[np.newaxis, mask, :], np.array([noise_rotation]))[0]
        box[0:3] = common_utils.rotate_points_along_z(box[np.newaxis, np.newaxis, 0:3], np.array([noise_rotation]))[0][0]

        # tranlation back to original position
        points[mask, 0] += centroid_x
        points[mask, 1] += centroid_y
        points[mask, 2] += centroid_z
        box[0] += centroid_x
        box[1] += centroid_y
        box[2] += centroid_z

        gt_boxes[idx, 6] += noise_rotation
        if gt_boxes.shape[1] > 8:
            gt_boxes[idx, 7:9] = common_utils.rotate_points_along_z(
                np.hstack((gt_boxes[idx, 7:9], np.zeros((gt_boxes.shape[0], 1))))[np.newaxis, :, :],
                np.array([noise_rotation])
            )[0][:, 0:2]

    return gt_boxes, points

def local_frustum_dropout_top(gt_boxes, points, intensity_range):
    """