a ij  @sdZddlmZddlmZmZddlmZddlmZddl m Z m Z m Z ej Z eeee e dfZejdd d d d d ddddddddZddddddddZdS)zInterpolate utils.) annotations)TupleUnion)checking) numpy_utils)Array ArrayLike FloatArraydF)strict.)axisxnpz Array['*d']z!Tuple[_MinMaxValue, _MinMaxValue]intznumpy_utils.NpModulezFloatArray['*d'])xfrom_tor rreturncs^|dkrtdtfdd|D}tfdd|D}tg||R\}}|||S)aLinearly scale the given value by the given range. Somehow similar to `np.interp` or `scipy.interpolate.inter1d` with some differences like support scaling an axis by a different factors and extrapolate values outside the boundaries. `from_` and `to` are expected to be `(min, max)` tuples and the function interpolate between the two ranges. Example: Normalizing a uint8 image to `(-1, 1)`. ```python img = jnp.array([ [0, 0], [127, 255], ]) img = enp.interp(img, (0, 255), (0, 1)) img == jnp.array([ [-1, -1], [0.498..., 1], ]) ``` `min` and `max` can be either float values or array like structure, in which case the numpy broadcasting rules applies (x should be a `Array[... d]` and min/max values should be `Array[d]`. Example: Converting normalized 3d coordinates to world coordinates. ```python coords = enp.interp(coords, from_=(-1, 1), to=(0, (h, w, d))) ``` * `coords[:, 0]` is interpolated from `(-1, 1)` to `(0, h)` * `coords[:, 1]` is interpolated from `(-1, 1)` to `(0, w)` * `coords[:, 2]` is interpolated from `(-1, 1)` to `(0, d)` Args: x: Array to scale from_: Range of x. to: Range to which normalize x. axis: Axis on which normalizing. Only relevant if `from_` or `to` items contains range value. xnp: Numpy module to use Returns: Float tensor with same shape as x, but with normalized coordinates. r z@Only last axis supported for now. Please send a feature request.c3s|]}|VqdSNZasarray.0vrT/home/ghrups/robot-bench/.venv/lib/python3.9/site-packages/etils/enp/interp_utils.py izinterp..c3s|]}|VqdSrrrrrrrjr)NotImplementedErrortuple_linear_interp_factors)rrrr rabrrrinterpsBr# _MinMaxValuezCTuple[Union[float, FloatArray['d']], Union[float, FloatArray['d']]])old_minold_maxnew_minnew_maxrcCs0||||}||||||}||fS)z=Resolve the `y = a * x + b` equation and returns the factors.r)r%r&r'r(r!r"rrrr qsr N)__doc__ __future__rtypingrrZ etils.enprrZetils.enp.typingrrr Zlazyrfloatr$Zcheck_and_normalize_arraysr#r rrrrs    R