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debayering: code cleanup (#24507)

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* debayering: code cleanup

* some more cleanup
old-commit-hash: 40ae0b8604
This commit is contained in:
Joost Wooning
2022-05-12 19:12:59 +02:00
committed by GitHub
parent 860487c4b7
commit 4e1ff7b16b
1 changed files with 29 additions and 36 deletions
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65
selfdrive/camerad/cameras/real_debayer.cl
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@@ -52,7 +52,7 @@ inline half val_from_10(const uchar * source, int gx, int gy, half black_level)
// normalize
pv = max((half)0.0, pv - black_level);
pv /= (1024.0f - black_level);
pv /= (1024.0 - black_level);
// correct vignetting
if (CAM_NUM == 1) { // fcamera
@@ -65,18 +65,8 @@ inline half val_from_10(const uchar * source, int gx, int gy, half black_level)
return pv;
}
half fabs_diff(half x, half y) {
return fabs(x-y);
}
half phi(half x) {
// detection funtion
return 2 - x;
// if (x > 1) {
// return 1 / x;
// } else {
// return 2 - x;
// }
inline half get_k(half a, half b, half c, half d) {
return 2.0 - (fabs(a - b) + fabs(c - d));
}
__kernel void debayer10(const __global uchar * in,
@@ -88,23 +78,26 @@ __kernel void debayer10(const __global uchar * in,
const int x_global = get_global_id(0);
const int y_global = get_global_id(1);
const int x_local = get_local_id(0);
const int y_local = get_local_id(1);
const int localRowLen = 2 + get_local_size(0); // 2 padding
const int x_local = get_local_id(0); // 0-15
const int y_local = get_local_id(1); // 0-15
const int localOffset = (y_local + 1) * localRowLen + x_local + 1; // max 18x18-1
const int localColLen = 2 + get_local_size(1);
const int localOffset = (y_local + 1) * localRowLen + x_local + 1;
int out_idx = 3 * x_global + 3 * y_global * RGB_WIDTH;
half pv = val_from_10(in, x_global, y_global, black_level);
cached[localOffset] = pv;
// cache padding
int localColOffset = -1;
int globalColOffset = -1;
int globalColOffset;
const int x_global_mod = (x_global == 0 || x_global == RGB_WIDTH - 1) ? -1: 1;
const int y_global_mod = (y_global == 0 || y_global == RGB_HEIGHT - 1) ? -1: 1;
half pv = val_from_10(in, x_global, y_global, black_level);
cached[localOffset] = pv;
// cache padding
if (x_local < 1) {
localColOffset = x_local;
@@ -146,20 +139,20 @@ __kernel void debayer10(const __global uchar * in,
if (x_global % 2 == 0) {
if (y_global % 2 == 0) {
rgb.y = pv; // G1(R)
half k1 = phi(fabs_diff(d1, pv) + fabs_diff(d2, pv));
half k2 = phi(fabs_diff(d2, pv) + fabs_diff(d4, pv));
half k3 = phi(fabs_diff(d3, pv) + fabs_diff(d4, pv));
half k4 = phi(fabs_diff(d1, pv) + fabs_diff(d3, pv));
half k1 = get_k(d1, pv, d2, pv);
half k2 = get_k(d2, pv, d4, pv);
half k3 = get_k(d3, pv, d4, pv);
half k4 = get_k(d1, pv, d3, pv);
// R_G1
rgb.x = (k2*n2+k4*n4)/(k2+k4);
// B_G1
rgb.z = (k1*n1+k3*n3)/(k1+k3);
} else {
rgb.z = pv; // B
half k1 = phi(fabs_diff(d1, d3) + fabs_diff(d2, d4));
half k2 = phi(fabs_diff(n1, n4) + fabs_diff(n2, n3));
half k3 = phi(fabs_diff(d1, d2) + fabs_diff(d3, d4));
half k4 = phi(fabs_diff(n1, n2) + fabs_diff(n3, n4));
half k1 = get_k(d1, d3, d2, d4);
half k2 = get_k(n1, n4, n2, n3);
half k3 = get_k(d1, d2, d3, d4);
half k4 = get_k(n1, n2, n3, n4);
// G_B
rgb.y = (k1*(n1+n3)*0.5+k3*(n2+n4)*0.5)/(k1+k3);
// R_B
@@ -168,20 +161,20 @@ __kernel void debayer10(const __global uchar * in,
} else {
if (y_global % 2 == 0) {
rgb.x = pv; // R
half k1 = phi(fabs_diff(d1, d3) + fabs_diff(d2, d4));
half k2 = phi(fabs_diff(n1, n4) + fabs_diff(n2, n3));
half k3 = phi(fabs_diff(d1, d2) + fabs_diff(d3, d4));
half k4 = phi(fabs_diff(n1, n2) + fabs_diff(n3, n4));
half k1 = get_k(d1, d3, d2, d4);
half k2 = get_k(n1, n4, n2, n3);
half k3 = get_k(d1, d2, d3, d4);
half k4 = get_k(n1, n2, n3, n4);
// G_R
rgb.y = (k1*(n1+n3)*0.5+k3*(n2+n4)*0.5)/(k1+k3);
// B_R
rgb.z = (k2*(d2+d3)*0.5+k4*(d1+d4)*0.5)/(k2+k4);
} else {
rgb.y = pv; // G2(B)
half k1 = phi(fabs_diff(d1, pv) + fabs_diff(d2, pv));
half k2 = phi(fabs_diff(d2, pv) + fabs_diff(d4, pv));
half k3 = phi(fabs_diff(d3, pv) + fabs_diff(d4, pv));
half k4 = phi(fabs_diff(d1, pv) + fabs_diff(d3, pv));
half k1 = get_k(d1, pv, d2, pv);
half k2 = get_k(d2, pv, d4, pv);
half k3 = get_k(d3, pv, d4, pv);
half k4 = get_k(d1, pv, d3, pv);
// R_G2
rgb.x = (k1*n1+k3*n3)/(k1+k3);
// B_G2