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tici camerart 3.1 (#20143)

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Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 28b80844c9c1f12f6f969019bd3d051793917bba
This commit is contained in:
ZwX1616
2021-02-23 14:05:09 -08:00
committed by GitHub
parent 088a6d1c5b
commit 7c29a5541f
1 changed files with 8 additions and 7 deletions
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15
selfdrive/camerad/cameras/real_debayer.cl
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@@ -9,10 +9,10 @@ const __constant half3 color_correction[3] = {
(half3)(-0.21523926, -0.13449348, 1.47665819),
};
const __constant half3 base_ccm[3] = {
(half3)(1,0,0),
(half3)(0,1,0),
(half3)(0,0,1),
const __constant half3 alt_ccm[3] = {
(half3)(0.84166382, -0.25025687, 0.1593848),
(half3)(0.25124881, 1.13196952, 0.16597516),
(half3)(-0.09291263, 0.11828735, 0.67464003),
};
@@ -39,9 +39,10 @@ half3 color_correct(half3 rgb, int ggain) {
rgb.x = mf(rgb.x, cpx);
rgb.y = mf(rgb.y, cpx);
rgb.z = mf(rgb.z, cpx);
ret += (half)rgb.x * (color_correction[0]);
ret += (half)rgb.y * (color_correction[1]);
ret += (half)rgb.z * (color_correction[2]);
half alp = 1.0 - 0.07*ggain;
ret += (half)rgb.x * (alp*color_correction[0]+(1-alp)*alt_ccm[0]);
ret += (half)rgb.y * (alp*color_correction[1]+(1-alp)*alt_ccm[1]);
ret += (half)rgb.z * (alp*color_correction[2]+(1-alp)*alt_ccm[2]);
ret = clamp(0.0h, 255.0h, ret*255.0h);
return ret;
}