def get_transformation_matrix()

in datasets/transforms/voxelizer.py [0:0]

• 23 lines of code
• 10 McCabe index (conditional complexity)

  def get_transformation_matrix(self):
    voxelization_matrix, rotation_matrix = np.eye(4), np.eye(4)
    # Get clip boundary from config or pointcloud.
    # Get inner clip bound to crop from.

    # Transform pointcloud coordinate to voxel coordinate.
    # 1. Random rotation
    rot_mat = np.eye(3)
    if self.use_augmentation and self.rotation_augmentation_bound is not None:
      if isinstance(self.rotation_augmentation_bound, collections.Iterable):
        rot_mats = []
        for axis_ind, rot_bound in enumerate(self.rotation_augmentation_bound):
          theta = 0
          axis = np.zeros(3)
          axis[axis_ind] = 1
          if rot_bound is not None:
            theta = np.random.uniform(*rot_bound)
          rot_mats.append(M(axis, theta))
        # Use random order
        np.random.shuffle(rot_mats)
        rot_mat = rot_mats[0] @ rot_mats[1] @ rot_mats[2]
      else:
        raise ValueError()
    rotation_matrix[:3, :3] = rot_mat
    # 2. Scale and translate to the voxel space.
    scale = 1 / self.voxel_size
    if self.use_augmentation and self.scale_augmentation_bound is not None:
      scale *= np.random.uniform(*self.scale_augmentation_bound)
    np.fill_diagonal(voxelization_matrix[:3, :3], scale)
    # Get final transformation matrix.
    return voxelization_matrix, rotation_matrix