Skip to content

ui: optimize _map_line_to_polygon #36589

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: master
Choose a base branch
from
+34 −55
Open

ui: optimize _map_line_to_polygon #36589

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
68 changes: 33 additions & 35 deletions selfdrive/ui/onroad/model_renderer.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -354,60 +354,58 @@ def _map_line_to_polygon(self, line: np.ndarray, y_off: float, z_off: float, max
if points.shape[0] == 0:
return np.empty((0, 2), dtype=np.float32)

N = points.shape[0]
# Generate left and right 3D points in one array using broadcasting
offsets = np.array([[0, -y_off, z_off], [0, y_off, z_off]], dtype=np.float32)
points_3d = points[None, :, :] + offsets[:, None, :] # Shape: 2xNx3
points_3d = points_3d.reshape(2 * N, 3) # Shape: (2*N)x3
lr_points = np.stack((points, points), axis=1).astype(np.float32)
lr_points[:, 0, 1] -= y_off # Left Y
lr_points[:, 1, 1] += y_off # Right Y
lr_points[:, :, 2] += z_off # Both z

# Transform all points to projected space in one operation
proj = self._car_space_transform @ points_3d.T # Shape: 3x(2*N)
proj = proj.reshape(3, 2, N)
left_proj = proj[:, 0, :]
right_proj = proj[:, 1, :]
proj = (self._car_space_transform @ lr_points.reshape(-1, 3).T).T.reshape(-1, 2, 3)

# Filter points where z is sufficiently large
valid_proj = (np.abs(left_proj[2]) >= 1e-6) & (np.abs(right_proj[2]) >= 1e-6)
if not np.any(valid_proj):
z_vals = np.abs(proj[:, :, 2])
valid_pairs = (z_vals >= 1e-6).all(axis=1)
if not valid_pairs.any():
return np.empty((0, 2), dtype=np.float32)

# Compute screen coordinates
left_screen = left_proj[:2, valid_proj] / left_proj[2, valid_proj][None, :]
right_screen = right_proj[:2, valid_proj] / right_proj[2, valid_proj][None, :]
proj = proj[valid_pairs]

screen = proj[:, :, :2] / proj[:, :, 2:3]
left_screen = screen[:, 0, :]
right_screen = screen[:, 1, :]

# Define clip region bounds
clip = self._clip_region
x_min, x_max = clip.x, clip.x + clip.width
y_min, y_max = clip.y, clip.y + clip.height

# Filter points within clip region
left_in_clip = (
(left_screen[0] >= x_min) & (left_screen[0] <= x_max) &
(left_screen[1] >= y_min) & (left_screen[1] <= y_max)
)
right_in_clip = (
(right_screen[0] >= x_min) & (right_screen[0] <= x_max) &
(right_screen[1] >= y_min) & (right_screen[1] <= y_max)
in_clip = (
(left_screen[:, 0] >= x_min) & (left_screen[:, 0] <= x_max) &
(left_screen[:, 1] >= y_min) & (left_screen[:, 1] <= y_max) &
(right_screen[:, 0] >= x_min) & (right_screen[:, 0] <= x_max) &
(right_screen[:, 1] >= y_min) & (right_screen[:, 1] <= y_max)
)
both_in_clip = left_in_clip & right_in_clip

if not np.any(both_in_clip):
if not in_clip.any():
return np.empty((0, 2), dtype=np.float32)

# Select valid and clipped points
left_screen = left_screen[:, both_in_clip]
right_screen = right_screen[:, both_in_clip]
left_screen = left_screen[in_clip]
right_screen = right_screen[in_clip]

# Handle Y-coordinate inversion on hills
if not allow_invert and left_screen.shape[1] > 1:
y = left_screen[1, :] # y-coordinates
keep = y == np.minimum.accumulate(y)
if not np.any(keep):
if not allow_invert and left_screen.shape[0] > 1:
y_vals = left_screen[:, 1]
keep = y_vals == np.minimum.accumulate(y_vals)
if not keep.any():
return np.empty((0, 2), dtype=np.float32)
left_screen = left_screen[:, keep]
right_screen = right_screen[:, keep]
left_screen = left_screen[keep]
right_screen = right_screen[keep]

k = left_screen.shape[0]
tri_strip = np.empty((k * 2, 2), dtype=np.float32)
tri_strip[0::2] = left_screen
tri_strip[1::2] = right_screen

return np.vstack((left_screen.T, right_screen[:, ::-1].T)).astype(np.float32)
return tri_strip

@staticmethod
def _hsla_to_color(h, s, l, a):
Expand Down
21 changes: 1 addition & 20 deletions system/ui/lib/shader_polygon.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -195,22 +195,6 @@ def _configure_shader_color(state: ShaderState, color: Optional[rl.Color], # no
state.fill_color_ptr[0:4] = [color.r / 255.0, color.g / 255.0, color.b / 255.0, color.a / 255.0]
rl.set_shader_value(state.shader, state.locations['fillColor'], state.fill_color_ptr, UNIFORM_VEC4)


def triangulate(pts: np.ndarray) -> list[tuple[float, float]]:
"""Only supports simple polygons with two chains (ribbon)."""

# TODO: consider deduping close screenspace points
# interleave points to produce a triangle strip
assert len(pts) % 2 == 0, "Interleaving expects even number of points"

tri_strip = []
for i in range(len(pts) // 2):
tri_strip.append(pts[i])
tri_strip.append(pts[-i - 1])

return cast(list, np.array(tri_strip).tolist())


def draw_polygon(origin_rect: rl.Rectangle, points: np.ndarray,
color: Optional[rl.Color] = None, gradient: Gradient | None = None): # noqa: UP045

Expand All @@ -232,12 +216,9 @@ def draw_polygon(origin_rect: rl.Rectangle, points: np.ndarray,
# Configure gradient shader
_configure_shader_color(state, color, gradient, origin_rect)

# Triangulate via interleaving
tri_strip = triangulate(pts)

# Draw strip, color here doesn't matter
rl.begin_shader_mode(state.shader)
rl.draw_triangle_strip(tri_strip, len(tri_strip), rl.WHITE)
rl.draw_triangle_strip(points.tolist(), len(points), rl.WHITE)
rl.end_shader_mode()


Expand Down