GraphAutoEncoder/graphAE_dataloader.py [37:50]:
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    size= pc.shape[0]
    new_pc = pc
    
    axis = np.random.rand(3)
    axis = axis / np.sqrt(pow(axis,2).sum())    
    
    theta= (np.random.rand()-0.5)*np.pi*2
    
    Rorgmat = euler.axangle2mat(axis,theta)
    R = Rorgmat.reshape((1,3,3)).repeat(size,0)    
    Torg = (np.random.rand(1,3,1)-0.5)*0.2 #-10cm to 10cm    
    T=Torg.repeat(size,0)
    
    new_pc = np.matmul(R, new_pc.reshape((size,3,1))) +T
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GraphAutoEncoder/graphAE_dataloader.py [55:68]:
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    size= pc.shape[0]
    new_pc = pc

    axis = np.random.rand(3)
    axis = axis / np.sqrt(pow(axis,2).sum())
    
    theta= (np.random.rand()-0.5)*np.pi*2
    
    Rorgmat = euler.axangle2mat(axis,theta)
    R = Rorgmat.reshape((1,3,3)).repeat(size,0)
    Torg = (np.random.rand(1,3,1)-0.5)*0.2 #-10cm to 10cm
    T=Torg.repeat(size,0)
    
    new_pc = np.matmul(R, new_pc.reshape((size,3,1))) +T
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