Function limit_period

embodiedscan/structures/bbox_3d/utils.py:14–29

Limit the value into a period for periodic function. Args: val (np.ndarray or Tensor): The value to be converted. offset (float): Offset to set the value range. Defaults to 0.5. period (float): Period of the value. Defaults to np.pi. Returns: np.ndarray or T

(val: Union[np.ndarray, Tensor],
                 offset: float = 0.5,
                 period: float = np.pi)

@array_converter(apply_to=('val', ))
def limit_period(val: Union[np.ndarray, Tensor],
                 offset: float = 0.5,
                 period: float = np.pi) -> Union[np.ndarray, Tensor]:
    """Limit the value into a period for periodic function.

    Args:
        val (np.ndarray or Tensor): The value to be converted.
        offset (float): Offset to set the value range. Defaults to 0.5.
        period (float): Period of the value. Defaults to np.pi.

    Returns:
        np.ndarray or Tensor: Value in the range of
        [-offset * period, (1-offset) * period].
    """
    limited_val = val - torch.floor(val / period + offset) * period
    return limited_val


@array_converter(apply_to=('points', 'angles'))