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simplify and fix clamp (#24479)

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Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
George Hotz
2022-05-10 14:21:22 -07:00
committed by GitHub
parent f9af3ddf4c
commit 01ab99d416
1 changed files with 27 additions and 37 deletions
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64
selfdrive/camerad/cameras/real_debayer.cl
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@@ -13,30 +13,33 @@ const __constant half3 color_correction_2 = (half3)(-0.25277411, -0.05627105, 1.
// tone mapping params
const half gamma_k = 0.75;
const half gamma_b = 0.125;
const half mp_default = 0.01; // ideally midpoint should be adaptive
const half mp = 0.01; // ideally midpoint should be adaptive
const half rk = 9 - 100*mp;
half gamma_apply(half x, half mp) {
inline half3 gamma_apply(half3 x) {
// poly approximation for s curve
half rk = 9 - 100*mp;
if (x > mp) {
return (rk * (x-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(x-mp))) + gamma_k*mp + gamma_b;
} else if (x < mp) {
return (rk * (x-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(x-mp))) + gamma_k*mp + gamma_b;
} else {
return x;
}
return (x > mp) ?
((rk * (x-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(x-mp))) + gamma_k*mp + gamma_b) :
((rk * (x-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(x-mp))) + gamma_k*mp + gamma_b);
}
half3 color_correct(half3 rgb) {
half3 ret = (half3)(0.0, 0.0, 0.0);
ret += (half)rgb.x * color_correction_0;
inline half3 color_correct(half3 rgb) {
half3 ret = (half)rgb.x * color_correction_0;
ret += (half)rgb.y * color_correction_1;
ret += (half)rgb.z * color_correction_2;
ret.x = gamma_apply(ret.x, mp_default);
ret.y = gamma_apply(ret.y, mp_default);
ret.z = gamma_apply(ret.z, mp_default);
ret = clamp(0.0, 255.0, ret*255.0);
return ret;
return gamma_apply(ret);
}
inline half get_vignetting_s(float r) {
if (r < 62500) {
return (half)(1.0f + 0.0000008f*r);
} else if (r < 490000) {
return (half)(0.9625f + 0.0000014f*r);
} else if (r < 1102500) {
return (half)(1.26434f + 0.0000000000016f*r*r);
} else {
return (half)(0.53503625f + 0.0000000000022f*r*r);
}
}
inline half val_from_10(const uchar * source, int gx, int gy, half black_level) {
@@ -55,21 +58,10 @@ inline half val_from_10(const uchar * source, int gx, int gy, half black_level)
if (CAM_NUM == 1) { // fcamera
gx = (gx - RGB_WIDTH/2);
gy = (gy - RGB_HEIGHT/2);
float r = gx*gx + gy*gy;
half s;
if (r < 62500) {
s = (half)(1.0f + 0.0000008f*r);
} else if (r < 490000) {
s = (half)(0.9625f + 0.0000014f*r);
} else if (r < 1102500) {
s = (half)(1.26434f + 0.0000000000016f*r*r);
} else {
s = (half)(0.53503625f + 0.0000000000022f*r*r);
}
pv = s * pv;
pv *= get_vignetting_s(gx*gx + gy*gy);
}
pv = clamp((half)0.0, (half)1.0, pv);
pv = clamp(pv, (half)0.0, (half)1.0);
return pv;
}
@@ -197,10 +189,8 @@ __kernel void debayer10(const __global uchar * in,
}
}
rgb = clamp(0.0, 1.0, rgb);
rgb = color_correct(rgb);
out[out_idx + 0] = (uchar)(rgb.z);
out[out_idx + 1] = (uchar)(rgb.y);
out[out_idx + 2] = (uchar)(rgb.x);
uchar3 rgbc = convert_uchar3_sat(color_correct(clamp(rgb, (half)0.0, (half)1.0)) * 255.0);
out[out_idx + 0] = rgbc.z;
out[out_idx + 1] = rgbc.y;
out[out_idx + 2] = rgbc.x;
}