ui: speed up mici/AugmentedRoadView by optimizing _calc_frame_matrix caching (#36669)

speed up AugmentedRoadView by optimizing _calc_frame_matrix caching

Author: deanlee

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -138,9 +138,7 @@ def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = Visio
     self.view_from_calib = view_frame_from_device_frame.copy()
     self.view_from_wide_calib = view_frame_from_device_frame.copy()
 
-    self._last_calib_time: float = 0
-    self._last_rect_dims = (0.0, 0.0)
-    self._last_stream_type = stream_type
+    self._matrix_cache_key = (0, 0, 0, 0, stream_type)
     self._cached_matrix: np.ndarray | None = None
     self._content_rect = rl.Rectangle()
     self._last_click_time = 0.0
@@ -284,10 +282,19 @@ def _update_calibration(self):
       self.view_from_wide_calib = view_frame_from_device_frame @ wide_from_device @ device_from_calib
 
   def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    v_ego_quantized = round(ui_state.sm['carState'].vEgo, 1)
+    cache_key = (
+      ui_state.sm.recv_frame['liveCalibration'],
+      int(self._content_rect.width),
+      int(self._content_rect.height),
+      self.stream_type,
+      v_ego_quantized
+    )
+
+    if cache_key == self._matrix_cache_key and self._cached_matrix is not None:
+      return self._cached_matrix
+
     # Get camera configuration
-    # TODO: cache with vEgo?
-    calib_time = ui_state.sm.recv_frame['liveCalibration']
-    current_dims = (self._content_rect.width, self._content_rect.height)
     device_camera = self.device_camera or DEFAULT_DEVICE_CAMERA
     is_wide_camera = self.stream_type == WIDE_CAM
     intrinsic = device_camera.ecam.intrinsics if is_wide_camera else device_camera.fcam.intrinsics
@@ -323,9 +330,7 @@ def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
       x_offset, y_offset = 0, 0
 
     # Cache the computed transformation matrix to avoid recalculations
-    self._last_calib_time = calib_time
-    self._last_rect_dims = current_dims
-    self._last_stream_type = self.stream_type
+    self._matrix_cache_key = cache_key
     self._cached_matrix = np.array([
       [zoom * 2 * cx / w, 0, -x_offset / w * 2],
       [0, zoom * 2 * cy / h, -y_offset / h * 2],