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randtrans.m

+%function:Randomly transform the input matrix to generate test data
+% - Params：
+%   - A:sparse point cloud [n,3]
+% - Return：
+%   - B:the transformed test point cloud [n,3]
+%   - R:Real rotation matrix [3,3]
+%   - T:Real translation matrix [1,3]
+function [ B,R,T ] = randtrans( A )
+
+%1.Generate random rotation angles
+theta = (2*rand-1)*60*pi/180; %rotation about z
+gamma = (2*rand-1)*60*pi/180; %rotation about y
+alpha = (2*rand-1)*60*pi/180; %rotation about x
+%2.Calculate rotation matrix (right-hand coordinate system)
+Rz = [cos(theta), -sin(theta), 0; sin(theta), cos(theta), 0; 0,0,1];
+Ry = [cos(gamma), 0, sin(gamma); 0,1,0; -sin(gamma), 0, cos(gamma)];
+Rx = [1,0,0; 0, cos(alpha), -sin(alpha); 0, sin(alpha), cos(alpha)];
+R = Rz*Ry*Rx;
+%3.Generate random translation
+[~, dim] = size(A);
+T = randi([-1,1],1,dim);
+%5.Generate the final transformed coordinate B under the transformation matrix
+B = transform(A,R,T);
+
+end