dragonpilot - 基於 openpilot 的開源駕駛輔助系統
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image processing refactor and test (#32249) * it's something * backup * 16:10 * cleanup * this is fine * close * remove some junk * no heck * disos * real 10 * for some reason this is flipped * 20hz * no return * ae * tear * need curve laster * correct real gains * fix time * cleanup * why the scam * disable for now * 0.7 * hdr * that doesnt work * what * hugeoof * clean up * cleanup * fix regs * welp cant * is this corrent * it is sq * remove * back * stg10bit * back2ten * Revert "remove" This reverts commit 18712ab7e103c12621c929cd0f772ecb9b348247. * 20hz and swb * correct height * 10bit * ui hack for now * slight * perfect * blk64 * ccm * fix page faults * template * set 4x * is this fine * try * this seems to work * Revert "this seems to work" This reverts commit d3c9023d3f14bd9394fed2d6276dba777ed0e606. * needs to be static * close * 64 is optimal * 2 * take * not 1 * offset * whats going on * i have no idea * less resistence * box defs * no * reduce blur artifacts * simplify * fix * fake short is too much for bright * can be subzero * should not use lsvc * no wasted bit * cont no slow * no less than 10bit * it is based * wrong * right * quart * shift * raise noise floor * 4.5/4.7 * same ballpark * int is fine * shane owes me m4a4 * Revert "shane owes me m4a4" This reverts commit b4283fee18efebedae628a6cfd926ff1416dcfe5. * back * Revert "4.5/4.7" This reverts commit e38f96e90cb5370bd378f6b66def9e7e3ed0ce5d. * default * oof * clean up * simpilfy * from sensorinfo * no div * better name * not the wrong one * not anymore relevant * too * not call it debayer * cl headers * arg is 2nd * gone is is_bggr * define * no is hdr * rgb_tmp * p1 * clean up * 4 * cant for * fix somewhre else * const * ap * rects * just set staruc * nnew tmp * pull it for now * 12 * common rect * Revert "not anymore relevant" This reverts commit 1d574673a16cc31b7a255609e07775c3579eef15. * Revert "too" This reverts commit c2d4dcc52a859fe799362f9fcc2ffda99b264e50. * Revert "Revert "too"" This reverts commit 0abbabe1fde51592f1619058638b4ac6a6dee4b3. * no tol is fine * rename * sensor id * unsgin * flag * some linalg * cast * should be h ref * cap --------- Co-authored-by: Comma Device <device@comma.ai>
1 year ago
#if SENSOR_ID == 1
#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);
return clamp(pv*vignette_factor, 0.0, 1.0);
}
float3 color_correct(float3 rgb) {
float3 corrected = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673);
corrected += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455);
corrected += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
return corrected;
}
float3 apply_gamma(float3 rgb, int expo_time) {
// tone mapping params
const float gamma_k = 0.75;
const float gamma_b = 0.125;
const float mp = 0.01; // ideally midpoint should be adaptive
const float rk = 9 - 100*mp;
// poly approximation for s curve
return (rgb > mp) ?
((rk * (rgb-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(rgb-mp))) + gamma_k*mp + gamma_b) :
((rk * (rgb-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(rgb-mp))) + gamma_k*mp + gamma_b);
}
#endif