provider.py 文件源码

def jitter_point_cloud(batch_data, sigma=0.01, clip=0.05):
    """ Randomly jitter points. jittering is per point.
        Input:
          BxNx3 array, original batch of point clouds
        Return:
          BxNx3 array, jittered batch of point clouds
    """
    B, N, C = batch_data.shape
    assert(clip > 0)
    jittered_data = np.clip(sigma * np.random.randn(B, N, C), -1*clip, clip)
    jittered_data += batch_data
    return jittered_data