render optimize - #494
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Revamped road-camera overlay rendering to batch contiguous visible segments and reuse projection buffers, reducing redundant computations. Achieved a notable FPS and CPU performance improvement while preserving UI fidelity and maintaining exact legacy fallback functionality. Extensive profiling, regression tests, and visual validation were conducted to ensure correctness and stability.
Eliminates the creation of fixed-position rear virtual vehicles based solely on BSD signals without valid distance fields. Preserves behavior for measured corner vehicles and ensures BSD lane highlights remain functional. Updated tests verify compliance with the new logic.
happymaj11r
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Jul 31, 2026
* Optimize road-camera CPU usage by implementing batching. Revamped road-camera overlay rendering to batch contiguous visible segments and reuse projection buffers, reducing redundant computations. Achieved a notable FPS and CPU performance improvement while preserving UI fidelity and maintaining exact legacy fallback functionality. Extensive profiling, regression tests, and visual validation were conducted to ensure correctness and stability. * Remove synthetic BSD-based virtual vehicles in cluster logic Eliminates the creation of fixed-position rear virtual vehicles based solely on BSD signals without valid distance fields. Preserves behavior for measured corner vehicles and ensures BSD lane highlights remain functional. Updated tests verify compliance with the new logic. (cherry picked from commit 0f02e3c)
happymaj11r
pushed a commit
that referenced
this pull request
Jul 31, 2026
* Optimize road-camera CPU usage by implementing batching. Revamped road-camera overlay rendering to batch contiguous visible segments and reuse projection buffers, reducing redundant computations. Achieved a notable FPS and CPU performance improvement while preserving UI fidelity and maintaining exact legacy fallback functionality. Extensive profiling, regression tests, and visual validation were conducted to ensure correctness and stability. * Remove synthetic BSD-based virtual vehicles in cluster logic Eliminates the creation of fixed-position rear virtual vehicles based solely on BSD signals without valid distance fields. Preserves behavior for measured corner vehicles and ensures BSD lane highlights remain functional. Updated tests verify compliance with the new logic. (cherry picked from commit 0f02e3c)
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변경 내용
LR/RR가상 차량을 생성하던 fallback 로직을 제거했습니다.검증
test_cluster_route_replay.py,test_cluster_live.py,test_cluster_scene.pydocs/user/ko와docs/user/en의 연결된 문서 쌍을 함께 수정했습니다.Docs-Not-Needed: 제거된 표시는 유효한 거리 측정값 없이 BSD 불리언만으로 생성되던 내부 합성 fallback이며, 사용자 설정이나 보장된 공개 기능으로 문서화되어 있지 않습니다. 사용자 문서의
LaneChangeBsd항목은 차로 변경 제어 설정으로 이번 클러스터 렌더링 변경과 무관합니다. 실제 코너 레이더 차량 표시와 BSD 차선 강조 기능 및 설정은 그대로 유지되므로 연결된 사용자 문서 쌍은 수정하지 않았습니다.