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system/ui: optimize point allocation, cllipping, and HSLA Color Conversion in model renderer (#35423)

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* faster hsla_to_color

* pre-allc points

* use np.clip

* re-alloc points
This commit is contained in:
Dean Lee
2025-06-02 23:56:47 +08:00
committed by GitHub
parent d488529a94
commit 0707114264
1 changed files with 23 additions and 6 deletions
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system/ui/onroad/model_renderer.py
+23 -6
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@@ -14,6 +14,8 @@ MAX_DRAW_DISTANCE = 100.0
PATH_COLOR_TRANSITION_DURATION = 0.5 # Seconds for color transition animation
PATH_BLEND_INCREMENT = 1.0 / (PATH_COLOR_TRANSITION_DURATION * DEFAULT_FPS)
MAX_POINTS = 200
THROTTLE_COLORS = [
rl.Color(13, 248, 122, 102), # HSLF(148/360, 0.94, 0.51, 0.4)
rl.Color(114, 255, 92, 89), # HSLF(112/360, 1.0, 0.68, 0.35)
@@ -61,6 +63,11 @@ class ModelRenderer:
self._transform_dirty = True
self._clip_region = None
self._rect = None
# Pre-allocated arrays for polygon conversion
self._temp_points_3d = np.empty((MAX_POINTS * 2, 3), dtype=np.float32)
self._temp_proj = np.empty((3, MAX_POINTS * 2), dtype=np.float32)
self._exp_gradient = {
'start': (0.0, 1.0), # Bottom of path
'end': (0.0, 0.0), # Top of path
@@ -140,10 +147,13 @@ class ModelRenderer:
"""Update positions of lead vehicles"""
self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
leads = [radar_state.leadOne, radar_state.leadTwo]
for i, lead_data in enumerate(leads):
if lead_data and lead_data.status:
d_rel, y_rel, v_rel = lead_data.dRel, lead_data.yRel, lead_data.vRel
idx = self._get_path_length_idx(path_x_array, d_rel)
# Get z-coordinate from path at the lead vehicle position
z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0
point = self._map_to_screen(d_rel, -y_rel, z + self._path_offset_z)
if point:
@@ -336,20 +346,22 @@ class ModelRenderer:
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]
points = line[:max_idx + 1]
points = points[points[:, 0] >= 0]
if points.shape[0] == 0:
return np.empty((0, 2), dtype=np.float32)
# Create left and right 3D points in one array
n_points = points.shape[0]
points_3d = np.empty((n_points * 2, 3), dtype=np.float32)
points_3d = self._temp_points_3d[:n_points * 2]
points_3d[:n_points, 0] = points_3d[n_points:, 0] = points[:, 0]
points_3d[:n_points, 1] = points[:, 1] - y_off
points_3d[n_points:, 1] = points[:, 1] + y_off
points_3d[:n_points, 2] = points_3d[n_points:, 2] = points[:, 2] + z_off
# Single matrix multiplication for projections
proj = self._car_space_transform @ points_3d.T
proj = np.ascontiguousarray(self._temp_proj[:, :n_points * 2]) # Slice the pre-allocated array
np.dot(self._car_space_transform, points_3d.T, out=proj)
valid_z = np.abs(proj[2]) > 1e-6
if not np.any(valid_z):
return np.empty((0, 2), dtype=np.float32)
@@ -390,15 +402,20 @@ class ModelRenderer:
@staticmethod
def _map_val(x, x0, x1, y0, y1):
x = max(x0, min(x, x1))
x = np.clip(x, x0, x1)
ra = x1 - x0
rb = y1 - y0
return (x - x0) * rb / ra + y0 if ra != 0 else y0
@staticmethod
def _hsla_to_color(h, s, l, a):
r, g, b = [max(0, min(255, int(v * 255))) for v in colorsys.hls_to_rgb(h, l, s)]
return rl.Color(r, g, b, max(0, min(255, int(a * 255))))
rgb = colorsys.hls_to_rgb(h, l, s)
return rl.Color(
int(rgb[0] * 255),
int(rgb[1] * 255),
int(rgb[2] * 255),
int(a * 255)
)
@staticmethod
def _blend_colors(begin_colors, end_colors, t):