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

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

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23 changes: 14 additions & 9 deletions selfdrive/ui/mici/onroad/augmented_road_view.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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],
Expand Down