random_rotation — 3D `augment` op

• Data kinds: points → points

• Call: import fullseye as fs; fs.ledger.random_rotation(points, seed: 'int' = 0, max_angle: 'Optional[float]' = None) -> 'Tuple[np.ndarray, np.ndarray]' (to call the implementation directly, import pcl_augment; pcl_augment.random_rotation(points, seed: 'int' = 0, max_angle: 'Optional[float]' = None) -> 'Tuple[np.ndarray, np.ndarray]'; from the registry, ops3d.get("random_rotation"))

• Return value through the ledger: fullseye.ledger.random_rotation(...) returns **only the declared out type points** (the underlying function also returns auxiliary values). When you need what was dropped, use fullseye.ledger.random_rotation.raw(...) or call pcl_augment.random_rotation directly.

• Underlying return: (points, R)

Usage

Apply a random rotation and return `(rotated, R)` (mimicking a change of viewpoint).

> The detailed description below is the original text — the summary and the headings are translated.

`R は正規直交・det=+1(rotated = points @ R.T = 各点に R` を左作用、

逆変換は `rotated @ R)。max_angle=None` なら Shoemake 法で一様ランダム回転、

`max_angle 指定(ラジアン, 期待 [0, π])なら軸を球面一様・角を [0, max_angle]`

一様に取り、回転角を制限する(`arccos((tr R -1)/2) ≤ max_angle` を厳密に保証)。

`max_angle < 0 は ValueError、max_angle=0` は単位行列。単位はラジアン(度で

渡すと桁違いに大きくなる)。`max_angle=None` の一様回転は上限 π までの大きな回転も

普通に出るので、視点変化の範囲を絞りたいときは `max_angle` を使う。回転は原点まわり

で、雲が原点から離れていれば重心も動く。`R の規約 rotated = points @ R.T` は

`register_fpfh・register_shot が返す dst ≈ src @ R.T + t` と同じ向きなので、

推定結果との角度誤差は `arccos((tr(R_est·Rᵀ)-1)/2) で測れる。seed` で決定論的

(同 seed なら同じ `R)。返り値は float64 の (N,3) と (3,3)`。

References (sample data, literature)

• Sample-data catalog (download URLs / licences) — 2-D uses skimage.data (BSD/public domain) plus synthetic images; 3-D lists download URLs for real data sources (Stanford, PDS, …).

• Operator provenance and references — the sources of the research/methods this op family came from.

Runnable examples (verified samples that actually call this op)

• augment_pointcloud — py -3.11 examples_3d/augment_pointcloud.py

• sh_descriptor_retrieval — py -3.11 examples_3d/sh_descriptor_retrieval.py

• shape_retrieval — py -3.11 examples_3d/shape_retrieval.py

Ops the type connects to (they accept `points` as input)

points_to_voxel · gaussians_to_voxel · estimate_point_normals · to_points · match_points_ncc · match_pca · moment_axes · icp_point2point_3d

Same category (`augment`)

jitter · random_scale · random_dropout · elastic_deform · cutout

*Provenance: pcl_augment.py — 3D operator registry. This per-op note is generated by tools/opdocs.py md (do not hand-edit).*

random_rotation — 3D augment op