class RandomMirrorPoints(object):
    def __init__(self, parameters):
        pass

    def __call__(self, ptcloud, rnd_value):
        trfm_mat = transforms3d.zooms.zfdir2mat(1)
        trfm_mat_x = np.dot(transforms3d.zooms.zfdir2mat(-1, [1, 0, 0]), trfm_mat)
        trfm_mat_z = np.dot(transforms3d.zooms.zfdir2mat(-1, [0, 0, 1]), trfm_mat)
        if rnd_value <= 0.25:
            trfm_mat = np.dot(trfm_mat_x, trfm_mat)
            trfm_mat = np.dot(trfm_mat_z, trfm_mat)
        elif rnd_value > 0.25 and rnd_value <= 0.5:
            trfm_mat = np.dot(trfm_mat_x, trfm_mat)
        elif rnd_value > 0.5 and rnd_value <= 0.75:
            trfm_mat = np.dot(trfm_mat_z, trfm_mat)

        ptcloud[:, :3] = np.dot(ptcloud[:, :3], trfm_mat.T)
        return ptcloud