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system/ui: fix indentation (#35391)

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fix indentation
This commit is contained in:
Dean Lee
2025-05-31 02:31:03 +08:00
committed by GitHub
parent c4f2cf5299
commit ea9ff45ccb
1 changed files with 20 additions and 20 deletions
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system/ui/onroad/model_renderer.py
+20 -20
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@@ -331,12 +331,12 @@ class ModelRenderer:
def _map_line_to_polygon(self, line: np.ndarray, y_off: float, z_off: float, max_idx: int, allow_invert: bool = True) -> np.ndarray:
"""Convert 3D line to 2D polygon for rendering."""
if line.shape[0] == 0:
return np.empty((0, 2), dtype=np.float32)
return np.empty((0, 2), dtype=np.float32)
# Slice points and filter non-negative x-coordinates
points = line[:max_idx + 1][line[:max_idx + 1, 0] >= 0]
if points.shape[0] == 0:
return np.empty((0, 2), dtype=np.float32)
return np.empty((0, 2), dtype=np.float32)
# Create left and right 3D points in one array
n_points = points.shape[0]
@@ -350,7 +350,7 @@ class ModelRenderer:
proj = self._car_space_transform @ points_3d.T
valid_z = np.abs(proj[2]) > 1e-6
if not np.any(valid_z):
return np.empty((0, 2), dtype=np.float32)
return np.empty((0, 2), dtype=np.float32)
# Compute screen coordinates
screen = proj[:2, valid_z] / proj[2, valid_z][None, :]
@@ -360,29 +360,29 @@ class ModelRenderer:
# Ensure consistent shapes by re-aligning valid points
valid_points = np.minimum(left_screen.shape[0], right_screen.shape[0])
if valid_points == 0:
return np.empty((0, 2), dtype=np.float32)
return np.empty((0, 2), dtype=np.float32)
left_screen = left_screen[:valid_points]
right_screen = right_screen[:valid_points]
if self._clip_region:
clip = self._clip_region
bounds_mask = (
(left_screen[:, 0] >= clip.x) & (left_screen[:, 0] <= clip.x + clip.width) &
(left_screen[:, 1] >= clip.y) & (left_screen[:, 1] <= clip.y + clip.height) &
(right_screen[:, 0] >= clip.x) & (right_screen[:, 0] <= clip.x + clip.width) &
(right_screen[:, 1] >= clip.y) & (right_screen[:, 1] <= clip.y + clip.height)
)
if not np.any(bounds_mask):
return np.empty((0, 2), dtype=np.float32)
left_screen = left_screen[bounds_mask]
right_screen = right_screen[bounds_mask]
clip = self._clip_region
bounds_mask = (
(left_screen[:, 0] >= clip.x) & (left_screen[:, 0] <= clip.x + clip.width) &
(left_screen[:, 1] >= clip.y) & (left_screen[:, 1] <= clip.y + clip.height) &
(right_screen[:, 0] >= clip.x) & (right_screen[:, 0] <= clip.x + clip.width) &
(right_screen[:, 1] >= clip.y) & (right_screen[:, 1] <= clip.y + clip.height)
)
if not np.any(bounds_mask):
return np.empty((0, 2), dtype=np.float32)
left_screen = left_screen[bounds_mask]
right_screen = right_screen[bounds_mask]
if not allow_invert and left_screen.shape[0] > 1:
keep = np.concatenate(([True], np.diff(left_screen[:, 1]) < 0))
left_screen = left_screen[keep]
right_screen = right_screen[keep]
if left_screen.shape[0] == 0:
return np.empty((0, 2), dtype=np.float32)
keep = np.concatenate(([True], np.diff(left_screen[:, 1]) < 0))
left_screen = left_screen[keep]
right_screen = right_screen[keep]
if left_screen.shape[0] == 0:
return np.empty((0, 2), dtype=np.float32)
return np.vstack((left_screen, right_screen[::-1])).astype(np.float32)