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camerad: add os04+4.6mm lsc profile (#34280)

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* draft

* ifdef in cl

---------

Co-authored-by: Comma Device <device@comma.ai>
This commit is contained in:
ZwX1616
2024-12-17 20:32:08 -08:00
committed by GitHub
parent 7ffad1935d
commit 9c3aa2e2dc
4 changed files with 21 additions and 5 deletions
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16
system/camerad/cameras/process_raw.cl
View File

@@ -19,6 +19,17 @@
#endif
float get_vignetting_s(float r) {
#if defined(VIGNETTE_PROFILE_4DT6MM)
if (r < 100000) {
return 1.0f + 0.0000013f*r;
} else if (r < 250000) {
return 1.02f + 0.0000011f*r;
} else if (r < 400000) {
return 0.92f + 0.0000015f*r;
} else {
return 0.44f + 0.0000027f*r;
}
#elif defined(VIGNETTE_PROFILE_8DT0MM)
if (r < 62500) {
return (1.0f + 0.0000008f*r);
} else if (r < 490000) {
@@ -28,6 +39,9 @@ float get_vignetting_s(float r) {
} else {
return (0.53503625f + 0.0000000000022f*r*r);
}
#else
return 1.0f;
#endif
}
int4 parse_12bit(uchar8 pvs) {
@@ -65,7 +79,7 @@ __kernel void process_raw(const __global uchar * in, __global uchar * out, int e
#if VIGNETTING
int gx = (gid_x*2 - RGB_WIDTH/2);
int gy = (gid_y*2 - RGB_HEIGHT/2);
const float vignette_factor = get_vignetting_s((gx*gx + gy*gy) / VIGNETTE_RSZ);
const float vignette_factor = get_vignetting_s(gx*gx + gy*gy);
#else
const float vignette_factor = 1.0;
#endif

5
system/camerad/sensors/ar0231_cl.h
View File

@@ -1,9 +1,10 @@
#if SENSOR_ID == 1
#define VIGNETTE_PROFILE_8DT0MM
#define BIT_DEPTH 12
#define PV_MAX 4096
#define BLACK_LVL 168
#define VIGNETTE_RSZ 1.0f
float4 normalize_pv(int4 parsed, float vignette_factor) {
float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX - BLACK_LVL);
@@ -30,4 +31,4 @@ float3 apply_gamma(float3 rgb, int expo_time) {
((rk * (rgb-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(rgb-mp))) + gamma_k*mp + gamma_b);
}
#endif
#endif

2
system/camerad/sensors/os04c10_cl.h
View File

@@ -1,13 +1,13 @@
#if SENSOR_ID == 3
#define BGGR
#define VIGNETTE_PROFILE_4DT6MM
#define BIT_DEPTH 12
#define PV_MAX10 1023
#define PV_MAX12 4095
#define PV_MAX16 65536 // gamma curve is calibrated to 16bit
#define BLACK_LVL 48
#define VIGNETTE_RSZ 2.2545f
float combine_dual_pvs(float lv, float sv, int expo_time) {
float svc = fmax(sv * expo_time, (float)(64 * (PV_MAX10 - BLACK_LVL)));

3
system/camerad/sensors/ox03c10_cl.h
View File

@@ -1,8 +1,9 @@
#if SENSOR_ID == 2
#define VIGNETTE_PROFILE_8DT0MM
#define BIT_DEPTH 12
#define BLACK_LVL 64
#define VIGNETTE_RSZ 1.0f
float ox_lut_func(int x) {
if (x < 512) {