ui: speed up mici/AugmentedRoadView by optimizing _calc_frame_matrix caching
#36669
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In normal driving, does this go from running at 20Hz to something like maybe 5Hz depending on acceleration? How big is the matrix, should we store multiple matrices to avoid recomputation? |
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Yes — that’s why the profile shows about a 4× speedup (20 Hz → ~5 Hz).
maybe, but it adds complexity. The current cache is good enough for now. |
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This PR speeds up matrix computation in
mici/AugmentedRoadViewby improving caching in_calc_frame_matrix.Performance Impact
mici/AugmentedRoadView/_calc_frame_matrixwas a top-10 CPU hotspot in profile_onroad.pyBy using cache keys and avoiding redundant numpy calculations, the function now runs about 4× faster.