utils/box_util.py [213:234]:
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def roty(t):
    """Rotation about the y-axis."""
    c = np.cos(t)
    s = np.sin(t)
    return np.array([[c, 0, s], [0, 1, 0], [-s, 0, c]])


def roty_batch(t):
    """Rotation about the y-axis.
    t: (x1,x2,...xn)
    return: (x1,x2,...,xn,3,3)
    """
    input_shape = t.shape
    output = np.zeros(tuple(list(input_shape) + [3, 3]))
    c = np.cos(t)
    s = np.sin(t)
    output[..., 0, 0] = c
    output[..., 0, 2] = s
    output[..., 1, 1] = 1
    output[..., 2, 0] = -s
    output[..., 2, 2] = c
    return output
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utils/pc_util.py [101:122]:
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def roty(t):
    """Rotation about the y-axis."""
    c = np.cos(t)
    s = np.sin(t)
    return np.array([[c, 0, s], [0, 1, 0], [-s, 0, c]])


def roty_batch(t):
    """Rotation about the y-axis.
    t: (x1,x2,...xn)
    return: (x1,x2,...,xn,3,3)
    """
    input_shape = t.shape
    output = np.zeros(tuple(list(input_shape) + [3, 3]))
    c = np.cos(t)
    s = np.sin(t)
    output[..., 0, 0] = c
    output[..., 0, 2] = s
    output[..., 1, 1] = 1
    output[..., 2, 0] = -s
    output[..., 2, 2] = c
    return output
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