qi9ddlZddlZddlmZddlZddlmcmZ ddl m cm Z ejejde jejjjfde je jdfe je jdfzdededejjd e je jd fe je jd fzf d Z ddejdeded ed ejf dZdS)N))static_argnumsimagesz*b h w cheightwidthmethodreturnz*b {height} {width} cch|jdk}|s|d}|jdd\}}t||z ||z }t||z }t||z } tj||jd|| |jdf|} |jtj krFtj |  dd tj } nC|jtj kr| dd } ntd |jt||z d \} } | | z} t|| z d \}}||z}tj| d | | f||fd f|jtj krdnd }|s|d}|S)zReplicates tf.image.resize_with_pad. Resizes an image to a target height and width without distortion by padding with black. If the image is float32, it must be in the range [-1, 1]. Nrrr)r ?Unsupported image dtype: r)rr)constant_values)ndimshapemaxintjaximageresizedtypejnpuint8roundclipastypefloat32 ValueErrordivmodpad)rrr r has_batch_dim cur_height cur_widthratioresized_height resized_widthresized_imagespad_h0 remainder_hpad_h1pad_w0 remainder_wpad_w1 padded_imagess :/home/robot-lab/Pi0.5_yam/src/openpi/shared/image_tools.pyresize_with_padr3 sK1$M "L1-J  E!:#6 7 7Ee+,,N E)**MY%%a.-aQZ`&N|sy  >22773??FFsyQQ  $ $',,T377CV\CCDDD .!8!<<FK k !F !6::FK k !FG &&!FF#3V<#\SY66DM )%a( bilinearmodec|jddkrHd}|dkr|d}|dddd}n/d}|dkr|d}|j\}}}}t ||z ||z } t || z } t || z } t j|| | f||d krdnd } |jtj krFtj |  dd  tj } nC|jtjkr| d d} ntd|jt!|| z d\} }| |z}t!|| z d\}}||z}|jtj krdnd }t j| ||| |fd|}|rD|dddd}|dkr&|jddkr|d}|S)aPyTorch version of resize_with_pad. Resizes an image to a target height and width without distortion by padding with black. If the image is float32, it must be in the range [-1, 1]. Args: images: Tensor of shape [*b, h, w, c] or [*b, c, h, w] height: Target height width: Target width mode: Interpolation mode ('bilinear', 'nearest', etc.) Returns: Resized and padded tensor with same shape format as input r TrrrrFr5N)sizer6 align_cornersrrrrconstant)r6value)rdim unsqueezepermuterrF interpolatertorchrrclamptor r!r"r#squeeze)rrr r6 channels_last batch_sizechannelsr%r&r'r(r)r*r+r,r-r.r/r0constant_valuer1s r2resize_with_pad_torchrJ7sm&|B1 ::<<1  %%a((F1a++ ::<<1  %%a((F28,/J*i  E!:#6 7 7Ee+,,N E)**M]nm44X\`jXjXjuuptN |u{""^44::1cBBEEekRR  & &'--dC88CV\CCDDD!.!8!<<FK k !F !6::FK k !F!,%+55QQ4NE (  M5%--aAq99 ??v|A!33)11!44M r4)r5) functoolsr jax.numpynumpyrrBtorch.nn.functionalnn functionalr@openpi.shared.array_typingshared array_typingatpartialjit typecheckr ResizeMethodLINEARUInt8ArrayFloatrr3TensorstrrJr4r2r`s  '''''''''379555 &)Y%;%B '' HRXz) *RXbh 6J-K K' ' ' I " ' Xbh//028BHF]<]3^^ '''65'\ GG LG G G  G  \ GGGGGGr4