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ui: unify cache key in AugmentedRoadView (#36477)

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unified cache key
This commit is contained in:
Dean Lee
2025-10-28 04:31:55 +08:00
committed by GitHub
parent 6efe4e1998
commit e03673485b
1 changed files with 9 additions and 12 deletions
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selfdrive/ui/onroad/augmented_road_view.py
+9 -12
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@@ -39,9 +39,7 @@ 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._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, 0.0, stream_type)
self._cached_matrix: np.ndarray | None = None
self._content_rect = rl.Rectangle()
@@ -161,12 +159,13 @@ class AugmentedRoadView(CameraView):
def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
# Check if we can use cached matrix
calib_time = ui_state.sm.recv_frame['liveCalibration']
current_dims = (self._content_rect.width, self._content_rect.height)
if (self._last_calib_time == calib_time and
self._last_rect_dims == current_dims and
self._last_stream_type == self.stream_type and
self._cached_matrix is not None):
cache_key = (
ui_state.sm.recv_frame['liveCalibration'],
self._content_rect.width,
self._content_rect.height,
self.stream_type
)
if cache_key == self._matrix_cache_key and self._cached_matrix is not None:
return self._cached_matrix
# Get camera configuration
@@ -201,9 +200,7 @@ class AugmentedRoadView(CameraView):
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],