mirror of
https://github.com/firestar5683/StarPilot.git
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firestarsdog
63 lines
1.9 KiB
Python
63 lines
1.9 KiB
Python
import numpy as np
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def project_radar_points(
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d_rel: np.ndarray,
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in_y: np.ndarray,
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path_x: np.ndarray,
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path_z: np.ndarray,
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transform: np.ndarray,
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path_offset_z: float,
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clip_bounds: tuple[float, float, float, float],
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rect_bounds: tuple[float, float, float, float],
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) -> np.ndarray:
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"""Project radar points into screen space, preserving source order."""
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if d_rel.size == 0 or path_x.size == 0:
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return np.empty((0, 2), dtype=np.float64)
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finite = np.isfinite(d_rel) & np.isfinite(in_y)
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if not np.any(finite):
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return np.empty((0, 2), dtype=np.float64)
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d_rel = d_rel[finite]
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in_y = in_y[finite]
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path_indices = np.searchsorted(path_x, d_rel, side="right") - 1
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path_indices = np.maximum(path_indices, 0)
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line_z = np.zeros(d_rel.shape, dtype=np.float64)
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valid_z = path_indices < path_z.size
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if np.any(valid_z):
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line_z[valid_z] = path_z[path_indices[valid_z]]
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in_z = line_z + float(path_offset_z)
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# The former scalar implementation converts float32 matrix values to Python
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# floats before arithmetic. Keep this path in float64 to preserve its
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# screen-coordinate and boundary behavior.
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t = transform.astype(np.float64, copy=False)
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point_w = t[2, 0] * d_rel + t[2, 1] * in_y + t[2, 2] * in_z
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valid_w = np.abs(point_w) >= 1e-6
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x = np.zeros_like(d_rel)
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y = np.zeros_like(d_rel)
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x_num = t[0, 0] * d_rel + t[0, 1] * in_y + t[0, 2] * in_z
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y_num = t[1, 0] * d_rel + t[1, 1] * in_y + t[1, 2] * in_z
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np.divide(x_num, point_w, out=x, where=valid_w)
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np.divide(y_num, point_w, out=y, where=valid_w)
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clip_x, clip_y, clip_xmax, clip_ymax = clip_bounds
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visible = (
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valid_w
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& (x >= clip_x) & (x <= clip_xmax)
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& (y >= clip_y) & (y <= clip_ymax)
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)
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if not np.any(visible):
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return np.empty((0, 2), dtype=np.float64)
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rect_x, rect_y, rect_xmax, rect_ymax = rect_bounds
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return np.column_stack((
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np.clip(x[visible], rect_x, rect_xmax),
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np.clip(y[visible], rect_y, rect_ymax),
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))
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