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
Randomly jitter points. jittering is per point.
    Input:
      BxNx3 array, original batch of point clouds
    Return:
      BxNx3 array, jittered batch of point clouds
    
examples/pytorch/pointcloud/point_transformer/provider.py