scene_synthesizer.utils.orientation_generator_uniform_around_z

scene_synthesizer.utils.orientation_generator_uniform_around_z(lower=0.0, upper=2.0 * np.pi, seed=None)

Generator that yields homogeneous transformations that are randomly rotated around the z axis. The rotations are uniform between lower and upper.

Parameters:

• lower (float, optional) – Lower bound for uniform distribution of angles. Defaults to 0.0.

• upper (float, optional) – Upper bound for uniform distribution of angles. Defaults to 2.0*np.pi.

• seed (int, numpy.random._generator.Generator, optional) – A seed or random number generator. Defaults to None which creates a new default random number generator.

Yields:

np.ndarray – A 4x4 homogeneous transform.