def shift_point_cloud(batch_data, shift_range=0.1):
    """Randomly shift point cloud. Shift is per point cloud.
    Input:
      BxNx3 array, original batch of point clouds
    Return:
      BxNx3 array, shifted batch of point clouds
    """
    B, N, C = batch_data.shape
    shifts = np.random.uniform(-shift_range, shift_range, (B, 3))
    for batch_index in range(B):
        batch_data[batch_index, :, :] += shifts[batch_index, :]
    return batch_data
Randomly shift point cloud. Shift is per point cloud.
    Input:
      BxNx3 array, original batch of point clouds
    Return:
      BxNx3 array, shifted batch of point clouds
    
examples/pytorch/pointcloud/pointnet/provider.py