From ae402d3ac774e6ae06b58a6e920542b0daf4013f Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 2 Dec 2025 13:02:01 -0800
Subject: [PATCH] Revert "ui: speed up `mici/AugmentedRoadView` by optimizing
 _calc_frame_matrix caching" (#36749)
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Revert "ui: speed up `mici/AugmentedRoadView` by optimizing _calc_frame_matri…"

This reverts commit 10524353916f42908557a1711efd2a5b66169c7b.
---
 .../ui/mici/onroad/augmented_road_view.py     | 23 ++++++++-----------
 1 file changed, 9 insertions(+), 14 deletions(-)

diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index f1f4e66f5..ab55f392f 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -138,7 +138,9 @@ class AugmentedRoadView(CameraView):
     self.view_from_calib = view_frame_from_device_frame.copy()
     self.view_from_wide_calib = view_frame_from_device_frame.copy()
 
-    self._matrix_cache_key = (0, 0, 0, 0, stream_type)
+    self._last_calib_time: float = 0
+    self._last_rect_dims = (0.0, 0.0)
+    self._last_stream_type = stream_type
     self._cached_matrix: np.ndarray | None = None
     self._content_rect = rl.Rectangle()
     self._last_click_time = 0.0
@@ -282,19 +284,10 @@ class AugmentedRoadView(CameraView):
       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
@@ -330,7 +323,9 @@ class AugmentedRoadView(CameraView):
       x_offset, y_offset = 0, 0
 
     # Cache the computed transformation matrix to avoid recalculations
-    self._matrix_cache_key = cache_key
+    self._last_calib_time = calib_time
+    self._last_rect_dims = current_dims
+    self._last_stream_type = self.stream_type
     self._cached_matrix = np.array([
       [zoom * 2 * cx / w, 0, -x_offset / w * 2],
       [0, zoom * 2 * cy / h, -y_offset / h * 2],