utils/box_util.py [185:207]:
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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 [287:309]:
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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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