openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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import numpy as np
def deep_interp_np(x, xp, fp, axis=None):
if axis is not None:
fp = fp.swapaxes(0,axis)
x = np.atleast_1d(x)
xp = np.array(xp)
if len(xp) < 2:
return np.repeat(fp, len(x), axis=0)
if min(np.diff(xp)) < 0:
raise RuntimeError('Bad x array for interpolation')
j = np.searchsorted(xp, x) - 1
j = np.clip(j, 0, len(xp)-2)
d = np.divide(x - xp[j], xp[j + 1] - xp[j], out=np.ones_like(x, dtype=np.float64), where=xp[j + 1] - xp[j] != 0)
vals_interp = (fp[j].T*(1 - d)).T + (fp[j + 1].T*d).T
if axis is not None:
vals_interp = vals_interp.swapaxes(0,axis)
if len(vals_interp) == 1:
return vals_interp[0]
else:
return vals_interp