openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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62 KiB

#define UV_WIDTH RGB_WIDTH / 2
#define UV_HEIGHT RGB_HEIGHT / 2
#define RGB_TO_Y(r, g, b) ((((mul24(b, 13) + mul24(g, 65) + mul24(r, 33)) + 64) >> 7) + 16)
#define RGB_TO_U(r, g, b) ((mul24(b, 56) - mul24(g, 37) - mul24(r, 19) + 0x8080) >> 8)
#define RGB_TO_V(r, g, b) ((mul24(r, 56) - mul24(g, 47) - mul24(b, 9) + 0x8080) >> 8)
#define AVERAGE(x, y, z, w) ((convert_ushort(x) + convert_ushort(y) + convert_ushort(z) + convert_ushort(w) + 1) >> 1)
1 year ago
float3 color_correct(float3 rgb, int expo) {
// color correction
1 year ago
#if IS_OX
float3 x = rgb.x * (float3)(1.5664815, -0.29808738, -0.03973474);
x += rgb.y * (float3)(-0.48672447, 1.41914433, -0.40295248);
x += rgb.z * (float3)(-0.07975703, -0.12105695, 1.44268722);
#elif IS_OS
float3 x = rgb.x * (float3)(1.55361989, -0.268894615, -0.000593219);
x += rgb.y * (float3)(-0.421217301, 1.51883144, -0.69760146);
x += rgb.z * (float3)(-0.132402589, -0.249936825, 1.69819468);
port OX03C10 (#25161) * start porting OS04C10 * something * is the pll why this doesn't work * understand plls, still doesn't work * work * weee something * working? * timing * encoderd works with less cameras * 1928 * flip image * color balance * adjust black level * extra height maybe * cleanups * clean up sensor i2c * sensors * approx 20fps * remove mirror * 50ms, no fsin yet * remove imx390 support * some attempt at AE * linearize the response * OX changes (#25697) * organize * wb * best effort but probably messed up by artifacts * multicam sync Co-authored-by: Comma Device <device@comma.ai> * clean up * more * fix multiexposure * start porting OS04C10 * something * is the pll why this doesn't work * understand plls, still doesn't work * work * weee something * working? * timing * encoderd works with less cameras * 1928 * flip image * color balance * adjust black level * extra height maybe * cleanups * clean up sensor i2c * sensors * approx 20fps * remove mirror * 50ms, no fsin yet * remove imx390 support * some attempt at AE * linearize the response * OX changes (#25697) * organize * wb * best effort but probably messed up by artifacts * multicam sync Co-authored-by: Comma Device <device@comma.ai> * clean up * more * fix multiexposure * unbroken AE * oops * sort of good AE * both should work 1 * open then init * fix debayer * rename * fix test build Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: ZwX1616 <zwx1616@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
3 years ago
#else
float3 x = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673);
x += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455);
x += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
port OX03C10 (#25161) * start porting OS04C10 * something * is the pll why this doesn't work * understand plls, still doesn't work * work * weee something * working? * timing * encoderd works with less cameras * 1928 * flip image * color balance * adjust black level * extra height maybe * cleanups * clean up sensor i2c * sensors * approx 20fps * remove mirror * 50ms, no fsin yet * remove imx390 support * some attempt at AE * linearize the response * OX changes (#25697) * organize * wb * best effort but probably messed up by artifacts * multicam sync Co-authored-by: Comma Device <device@comma.ai> * clean up * more * fix multiexposure * start porting OS04C10 * something * is the pll why this doesn't work * understand plls, still doesn't work * work * weee something * working? * timing * encoderd works with less cameras * 1928 * flip image * color balance * adjust black level * extra height maybe * cleanups * clean up sensor i2c * sensors * approx 20fps * remove mirror * 50ms, no fsin yet * remove imx390 support * some attempt at AE * linearize the response * OX changes (#25697) * organize * wb * best effort but probably messed up by artifacts * multicam sync Co-authored-by: Comma Device <device@comma.ai> * clean up * more * fix multiexposure * unbroken AE * oops * sort of good AE * both should work 1 * open then init * fix debayer * rename * fix test build Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: ZwX1616 <zwx1616@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
3 years ago
#endif
#if IS_OX
return -0.507089*exp(-12.54124638*x)+0.9655*powr(x,0.5)-0.472597*x+0.507089;
#elif IS_OS
1 year ago
float s = log2((float)expo);
1 year ago
if (s < 6) {s = fmin(12.0 - s, 9.0);}
1 year ago
return clamp(log(1 + x*65472.0) * (0.48*s*s - 12.92*s + 115.0) - (1.08*s*s - 29.2*s + 260.0), 0.0, 255.0) / 255.0;
#else
// 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 (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);
#endif
}
float get_vignetting_s(float r) {
#if IS_OS
r = r / 2.2545f;
#endif
if (r < 62500) {
return (1.0f + 0.0000008f*r);
} else if (r < 490000) {
return (0.9625f + 0.0000014f*r);
} else if (r < 1102500) {
return (1.26434f + 0.0000000000016f*r*r);
} else {
return (0.53503625f + 0.0000000000022f*r*r);
}
}
port OX03C10 (#25161) * start porting OS04C10 * something * is the pll why this doesn't work * understand plls, still doesn't work * work * weee something * working? * timing * encoderd works with less cameras * 1928 * flip image * color balance * adjust black level * extra height maybe * cleanups * clean up sensor i2c * sensors * approx 20fps * remove mirror * 50ms, no fsin yet * remove imx390 support * some attempt at AE * linearize the response * OX changes (#25697) * organize * wb * best effort but probably messed up by artifacts * multicam sync Co-authored-by: Comma Device <device@comma.ai> * clean up * more * fix multiexposure * start porting OS04C10 * something * is the pll why this doesn't work * understand plls, still doesn't work * work * weee something * working? * timing * encoderd works with less cameras * 1928 * flip image * color balance * adjust black level * extra height maybe * cleanups * clean up sensor i2c * sensors * approx 20fps * remove mirror * 50ms, no fsin yet * remove imx390 support * some attempt at AE * linearize the response * OX changes (#25697) * organize * wb * best effort but probably messed up by artifacts * multicam sync Co-authored-by: Comma Device <device@comma.ai> * clean up * more * fix multiexposure * unbroken AE * oops * sort of good AE * both should work 1 * open then init * fix debayer * rename * fix test build Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: ZwX1616 <zwx1616@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
3 years ago
constant float ox03c10_lut[] = {
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};
float4 val4_from_12(uchar8 pvs, float gain) {
uint4 parsed = (uint4)(((uint)pvs.s0<<4) + (pvs.s1>>4), // is from the previous 10 bit
((uint)pvs.s2<<4) + (pvs.s4&0xF),
((uint)pvs.s3<<4) + (pvs.s4>>4),
((uint)pvs.s5<<4) + (pvs.s7&0xF));
port OX03C10 (#25161) * start porting OS04C10 * something * is the pll why this doesn't work * understand plls, still doesn't work * work * weee something * working? * timing * encoderd works with less cameras * 1928 * flip image * color balance * adjust black level * extra height maybe * cleanups * clean up sensor i2c * sensors * approx 20fps * remove mirror * 50ms, no fsin yet * remove imx390 support * some attempt at AE * linearize the response * OX changes (#25697) * organize * wb * best effort but probably messed up by artifacts * multicam sync Co-authored-by: Comma Device <device@comma.ai> * clean up * more * fix multiexposure * start porting OS04C10 * something * is the pll why this doesn't work * understand plls, still doesn't work * work * weee something * working? * timing * encoderd works with less cameras * 1928 * flip image * color balance * adjust black level * extra height maybe * cleanups * clean up sensor i2c * sensors * approx 20fps * remove mirror * 50ms, no fsin yet * remove imx390 support * some attempt at AE * linearize the response * OX changes (#25697) * organize * wb * best effort but probably messed up by artifacts * multicam sync Co-authored-by: Comma Device <device@comma.ai> * clean up * more * fix multiexposure * unbroken AE * oops * sort of good AE * both should work 1 * open then init * fix debayer * rename * fix test build Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: ZwX1616 <zwx1616@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
3 years ago
#if IS_OX
// PWL
//float4 pv = (convert_float4(parsed) - 64.0) / (4096.0 - 64.0);
float4 pv = {ox03c10_lut[parsed.s0], ox03c10_lut[parsed.s1], ox03c10_lut[parsed.s2], ox03c10_lut[parsed.s3]};
// it's a 24 bit signal, center in the middle 8 bits
return clamp(pv*gain*256.0, 0.0, 1.0);
port OX03C10 (#25161) * start porting OS04C10 * something * is the pll why this doesn't work * understand plls, still doesn't work * work * weee something * working? * timing * encoderd works with less cameras * 1928 * flip image * color balance * adjust black level * extra height maybe * cleanups * clean up sensor i2c * sensors * approx 20fps * remove mirror * 50ms, no fsin yet * remove imx390 support * some attempt at AE * linearize the response * OX changes (#25697) * organize * wb * best effort but probably messed up by artifacts * multicam sync Co-authored-by: Comma Device <device@comma.ai> * clean up * more * fix multiexposure * start porting OS04C10 * something * is the pll why this doesn't work * understand plls, still doesn't work * work * weee something * working? * timing * encoderd works with less cameras * 1928 * flip image * color balance * adjust black level * extra height maybe * cleanups * clean up sensor i2c * sensors * approx 20fps * remove mirror * 50ms, no fsin yet * remove imx390 support * some attempt at AE * linearize the response * OX changes (#25697) * organize * wb * best effort but probably messed up by artifacts * multicam sync Co-authored-by: Comma Device <device@comma.ai> * clean up * more * fix multiexposure * unbroken AE * oops * sort of good AE * both should work 1 * open then init * fix debayer * rename * fix test build Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: ZwX1616 <zwx1616@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
3 years ago
#else // AR
// normalize and scale
float4 pv = (convert_float4(parsed) - 168.0) / (4096.0 - 168.0);
return clamp(pv*gain, 0.0, 1.0);
port OX03C10 (#25161) * start porting OS04C10 * something * is the pll why this doesn't work * understand plls, still doesn't work * work * weee something * working? * timing * encoderd works with less cameras * 1928 * flip image * color balance * adjust black level * extra height maybe * cleanups * clean up sensor i2c * sensors * approx 20fps * remove mirror * 50ms, no fsin yet * remove imx390 support * some attempt at AE * linearize the response * OX changes (#25697) * organize * wb * best effort but probably messed up by artifacts * multicam sync Co-authored-by: Comma Device <device@comma.ai> * clean up * more * fix multiexposure * start porting OS04C10 * something * is the pll why this doesn't work * understand plls, still doesn't work * work * weee something * working? * timing * encoderd works with less cameras * 1928 * flip image * color balance * adjust black level * extra height maybe * cleanups * clean up sensor i2c * sensors * approx 20fps * remove mirror * 50ms, no fsin yet * remove imx390 support * some attempt at AE * linearize the response * OX changes (#25697) * organize * wb * best effort but probably messed up by artifacts * multicam sync Co-authored-by: Comma Device <device@comma.ai> * clean up * more * fix multiexposure * unbroken AE * oops * sort of good AE * both should work 1 * open then init * fix debayer * rename * fix test build Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: ZwX1616 <zwx1616@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
3 years ago
#endif
}
float4 val4_from_10(uchar8 pvs, uchar ext, bool aligned, float gain) {
uint4 parsed;
if (aligned) {
parsed = (uint4)(((uint)pvs.s0 << 2) + (pvs.s1 & 0b00000011),
((uint)pvs.s2 << 2) + ((pvs.s6 & 0b11000000) / 64),
((uint)pvs.s3 << 2) + ((pvs.s6 & 0b00110000) / 16),
((uint)pvs.s4 << 2) + ((pvs.s6 & 0b00001100) / 4));
} else {
parsed = (uint4)(((uint)pvs.s0 << 2) + ((pvs.s3 & 0b00110000) / 16),
((uint)pvs.s1 << 2) + ((pvs.s3 & 0b00001100) / 4),
((uint)pvs.s2 << 2) + ((pvs.s3 & 0b00000011)),
((uint)pvs.s4 << 2) + ((ext & 0b11000000) / 64));
}
1 year ago
float4 pv = (convert_float4(parsed) - 64.0) / (1024.0 - 64.0);
return clamp(pv*gain, 0.0, 1.0);
}
1 year ago
float combine_pvs(float lv, float sv, int expo) {
1 year ago
float svc = fmax(sv * expo, 61376.0);
float svd = sv * fmin(expo, 8.0) / 8;
1 year ago
if (expo > 64) {
1 year ago
if (lv < 959) {
return lv / (65536.0 - 64.0);
1 year ago
} else {
1 year ago
return (svc / 64) / (65536.0 - 64.0);
1 year ago
}
} else {
1 year ago
if (lv > 32) {
return (lv * 64 / fmax(expo, 8.0)) / (65536.0 - 64.0);
1 year ago
} else {
1 year ago
return svd / (65536.0 - 64.0);
1 year ago
}
}
}
1 year ago
float4 val4_from_10x2(uchar8 long_pvs, uchar long_ext, uchar8 short_pvs, uchar short_ext, bool aligned, float gain, int expo) {
1 year ago
int8 parsed;
1 year ago
if (aligned) {
1 year ago
parsed = (int8)(((int)long_pvs.s0 << 2) + (long_pvs.s1 & 0b00000011),
1 year ago
((int)long_pvs.s2 << 2) + ((long_pvs.s6 & 0b11000000) / 64),
((int)long_pvs.s3 << 2) + ((long_pvs.s6 & 0b00110000) / 16),
1 year ago
((int)long_pvs.s4 << 2) + ((long_pvs.s6 & 0b00001100) / 4),
((int)short_pvs.s0 << 2) + (short_pvs.s1 & 0b00000011),
1 year ago
((int)short_pvs.s2 << 2) + ((short_pvs.s6 & 0b11000000) / 64),
((int)short_pvs.s3 << 2) + ((short_pvs.s6 & 0b00110000) / 16),
((int)short_pvs.s4 << 2) + ((short_pvs.s6 & 0b00001100) / 4));
1 year ago
} else {
1 year ago
parsed = (int8)(((int)long_pvs.s0 << 2) + ((long_pvs.s3 & 0b00110000) / 16),
1 year ago
((int)long_pvs.s1 << 2) + ((long_pvs.s3 & 0b00001100) / 4),
((int)long_pvs.s2 << 2) + ((long_pvs.s3 & 0b00000011)),
1 year ago
((int)long_pvs.s4 << 2) + ((long_ext & 0b11000000) / 64),
((int)short_pvs.s0 << 2) + ((short_pvs.s3 & 0b00110000) / 16),
1 year ago
((int)short_pvs.s1 << 2) + ((short_pvs.s3 & 0b00001100) / 4),
((int)short_pvs.s2 << 2) + ((short_pvs.s3 & 0b00000011)),
((int)short_pvs.s4 << 2) + ((short_ext & 0b11000000) / 64));
1 year ago
}
1 year ago
float8 pf = convert_float8(parsed - 64);
1 year ago
float4 pv;
1 year ago
pv.s0 = combine_pvs(pf.s0, pf.s4, expo);
pv.s1 = combine_pvs(pf.s1, pf.s5, expo);
pv.s2 = combine_pvs(pf.s2, pf.s6, expo);
pv.s3 = combine_pvs(pf.s3, pf.s7, expo);
1 year ago
return clamp(pv*gain, 0.0, 1.0);
}
float get_k(float a, float b, float c, float d) {
return 2.0 - (fabs(a - b) + fabs(c - d));
}
__kernel void process_raw(const __global uchar * in, __global uchar * out, int expo_time)
{
const int gid_x = get_global_id(0);
const int gid_y = get_global_id(1);
const int row_before_offset = (gid_y == 0) ? 2 : 0;
const int row_after_offset = (gid_y == (RGB_HEIGHT/2 - 1)) ? 1 : 3;
float3 rgb;
uchar3 rgb_out[4];
#if IS_BGGR
constant int row_read_order[] = {3, 2, 1, 0};
constant int rgb_write_order[] = {2, 3, 0, 1};
#else
constant int row_read_order[] = {0, 1, 2, 3};
constant int rgb_write_order[] = {0, 1, 2, 3};
#endif
int start_idx;
#if IS_10BIT
bool aligned10;
if (gid_x % 2 == 0) {
aligned10 = true;
start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (5 * gid_x / 2 - 2) + (FRAME_STRIDE * FRAME_OFFSET);
} else {
aligned10 = false;
start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (5 * (gid_x - 1) / 2 + 1) + (FRAME_STRIDE * FRAME_OFFSET);
}
#else
start_idx = (2 * gid_y - 1) * FRAME_STRIDE + (3 * gid_x - 2) + (FRAME_STRIDE * FRAME_OFFSET);
#endif
// read in 8x4 chars
uchar8 dat[4];
dat[0] = vload8(0, in + start_idx + FRAME_STRIDE*row_before_offset);
if (gid_x == 0 && gid_y == 0) {
// this wasn't a problem due to extra rows
dat[1] = vload8(0, in + start_idx + FRAME_STRIDE*1 + 2);
dat[1] = (uchar8)(0, 0, dat[1].s0, dat[1].s1, dat[1].s2, dat[1].s3, dat[1].s4, dat[1].s5);
} else {
dat[1] = vload8(0, in + start_idx + FRAME_STRIDE*1);
}
dat[2] = vload8(0, in + start_idx + FRAME_STRIDE*2);
dat[3] = vload8(0, in + start_idx + FRAME_STRIDE*row_after_offset);
1 year ago
#if IS_HDR
uchar8 short_dat[4];
1 year ago
short_dat[0] = vload8(0, in + start_idx + FRAME_STRIDE*(row_before_offset+HDR_OFFSET/2) + FRAME_STRIDE/2);
short_dat[1] = vload8(0, in + start_idx + FRAME_STRIDE*(1+HDR_OFFSET/2) + FRAME_STRIDE/2);
short_dat[2] = vload8(0, in + start_idx + FRAME_STRIDE*(2+HDR_OFFSET/2) + FRAME_STRIDE/2);
short_dat[3] = vload8(0, in + start_idx + FRAME_STRIDE*(row_after_offset+HDR_OFFSET/2) + FRAME_STRIDE/2);
1 year ago
#endif
// need extra bit for 10-bit
#if IS_10BIT
uchar extra[4];
if (!aligned10) {
extra[0] = in[start_idx + FRAME_STRIDE*row_before_offset + 8];
extra[1] = in[start_idx + FRAME_STRIDE*1 + 8];
extra[2] = in[start_idx + FRAME_STRIDE*2 + 8];
extra[3] = in[start_idx + FRAME_STRIDE*row_after_offset + 8];
}
1 year ago
#if IS_HDR
uchar short_extra[4];
if (!aligned10) {
1 year ago
short_extra[0] = in[start_idx + FRAME_STRIDE*(row_before_offset+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8];
short_extra[1] = in[start_idx + FRAME_STRIDE*(1+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8];
short_extra[2] = in[start_idx + FRAME_STRIDE*(2+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8];
short_extra[3] = in[start_idx + FRAME_STRIDE*(row_after_offset+HDR_OFFSET/2) + FRAME_STRIDE/2 + 8];
1 year ago
}
#endif
#endif
// correct vignetting
#if VIGNETTING
int gx = (gid_x*2 - RGB_WIDTH/2);
int gy = (gid_y*2 - RGB_HEIGHT/2);
const float gain = get_vignetting_s(gx*gx + gy*gy);
#else
const float gain = 1.0;
#endif
float4 v_rows[4];
// parse into floats
#if IS_10BIT
1 year ago
#if IS_HDR
1 year ago
v_rows[row_read_order[0]] = val4_from_10x2(dat[0], extra[0], short_dat[0], short_extra[0], aligned10, gain, expo_time);
v_rows[row_read_order[1]] = val4_from_10x2(dat[1], extra[1], short_dat[1], short_extra[1], aligned10, gain, expo_time);
v_rows[row_read_order[2]] = val4_from_10x2(dat[2], extra[2], short_dat[2], short_extra[2], aligned10, gain, expo_time);
v_rows[row_read_order[3]] = val4_from_10x2(dat[3], extra[3], short_dat[3], short_extra[3], aligned10, gain, expo_time);
1 year ago
#else
1 year ago
v_rows[row_read_order[0]] = val4_from_10(dat[0], extra[0], aligned10, gain);
v_rows[row_read_order[1]] = val4_from_10(dat[1], extra[1], aligned10, gain);
v_rows[row_read_order[2]] = val4_from_10(dat[2], extra[2], aligned10, gain);
v_rows[row_read_order[3]] = val4_from_10(dat[3], extra[3], aligned10, gain);
1 year ago
#endif
#else
v_rows[row_read_order[0]] = val4_from_12(dat[0], gain);
v_rows[row_read_order[1]] = val4_from_12(dat[1], gain);
v_rows[row_read_order[2]] = val4_from_12(dat[2], gain);
v_rows[row_read_order[3]] = val4_from_12(dat[3], gain);
#endif
// mirror padding
if (gid_x == 0) {
v_rows[0].s0 = v_rows[0].s2;
v_rows[1].s0 = v_rows[1].s2;
v_rows[2].s0 = v_rows[2].s2;
v_rows[3].s0 = v_rows[3].s2;
} else if (gid_x == RGB_WIDTH/2 - 1) {
v_rows[0].s3 = v_rows[0].s1;
v_rows[1].s3 = v_rows[1].s1;
v_rows[2].s3 = v_rows[2].s1;
v_rows[3].s3 = v_rows[3].s1;
}
// a simplified version of https://opensignalprocessingjournal.com/contents/volumes/V6/TOSIGPJ-6-1/TOSIGPJ-6-1.pdf
const float k01 = get_k(v_rows[0].s0, v_rows[1].s1, v_rows[0].s2, v_rows[1].s1);
const float k02 = get_k(v_rows[0].s2, v_rows[1].s1, v_rows[2].s2, v_rows[1].s1);
const float k03 = get_k(v_rows[2].s0, v_rows[1].s1, v_rows[2].s2, v_rows[1].s1);
const float k04 = get_k(v_rows[0].s0, v_rows[1].s1, v_rows[2].s0, v_rows[1].s1);
rgb.x = (k02*v_rows[1].s2+k04*v_rows[1].s0)/(k02+k04); // R_G1
rgb.y = v_rows[1].s1; // G1(R)
rgb.z = (k01*v_rows[0].s1+k03*v_rows[2].s1)/(k01+k03); // B_G1
1 year ago
rgb_out[rgb_write_order[0]] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0), expo_time) * 255.0);
const float k11 = get_k(v_rows[0].s1, v_rows[2].s1, v_rows[0].s3, v_rows[2].s3);
const float k12 = get_k(v_rows[0].s2, v_rows[1].s1, v_rows[1].s3, v_rows[2].s2);
const float k13 = get_k(v_rows[0].s1, v_rows[0].s3, v_rows[2].s1, v_rows[2].s3);
const float k14 = get_k(v_rows[0].s2, v_rows[1].s3, v_rows[2].s2, v_rows[1].s1);
rgb.x = v_rows[1].s2; // R
rgb.y = (k11*(v_rows[0].s2+v_rows[2].s2)*0.5+k13*(v_rows[1].s3+v_rows[1].s1)*0.5)/(k11+k13); // G_R
rgb.z = (k12*(v_rows[0].s3+v_rows[2].s1)*0.5+k14*(v_rows[0].s1+v_rows[2].s3)*0.5)/(k12+k14); // B_R
1 year ago
rgb_out[rgb_write_order[1]] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0), expo_time) * 255.0);
const float k21 = get_k(v_rows[1].s0, v_rows[3].s0, v_rows[1].s2, v_rows[3].s2);
const float k22 = get_k(v_rows[1].s1, v_rows[2].s0, v_rows[2].s2, v_rows[3].s1);
const float k23 = get_k(v_rows[1].s0, v_rows[1].s2, v_rows[3].s0, v_rows[3].s2);
const float k24 = get_k(v_rows[1].s1, v_rows[2].s2, v_rows[3].s1, v_rows[2].s0);
rgb.x = (k22*(v_rows[1].s2+v_rows[3].s0)*0.5+k24*(v_rows[1].s0+v_rows[3].s2)*0.5)/(k22+k24); // R_B
rgb.y = (k21*(v_rows[1].s1+v_rows[3].s1)*0.5+k23*(v_rows[2].s2+v_rows[2].s0)*0.5)/(k21+k23); // G_B
rgb.z = v_rows[2].s1; // B
1 year ago
rgb_out[rgb_write_order[2]] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0), expo_time) * 255.0);
const float k31 = get_k(v_rows[1].s1, v_rows[2].s2, v_rows[1].s3, v_rows[2].s2);
const float k32 = get_k(v_rows[1].s3, v_rows[2].s2, v_rows[3].s3, v_rows[2].s2);
const float k33 = get_k(v_rows[3].s1, v_rows[2].s2, v_rows[3].s3, v_rows[2].s2);
const float k34 = get_k(v_rows[1].s1, v_rows[2].s2, v_rows[3].s1, v_rows[2].s2);
rgb.x = (k31*v_rows[1].s2+k33*v_rows[3].s2)/(k31+k33); // R_G2
rgb.y = v_rows[2].s2; // G2(B)
rgb.z = (k32*v_rows[2].s3+k34*v_rows[2].s1)/(k32+k34); // B_G2
1 year ago
rgb_out[rgb_write_order[3]] = convert_uchar3_sat(color_correct(clamp(rgb, 0.0, 1.0), expo_time) * 255.0);
// write ys
uchar2 yy = (uchar2)(
RGB_TO_Y(rgb_out[0].s0, rgb_out[0].s1, rgb_out[0].s2),
RGB_TO_Y(rgb_out[1].s0, rgb_out[1].s1, rgb_out[1].s2)
);
vstore2(yy, 0, out + mad24(gid_y * 2, YUV_STRIDE, gid_x * 2));
yy = (uchar2)(
RGB_TO_Y(rgb_out[2].s0, rgb_out[2].s1, rgb_out[2].s2),
RGB_TO_Y(rgb_out[3].s0, rgb_out[3].s1, rgb_out[3].s2)
);
vstore2(yy, 0, out + mad24(gid_y * 2 + 1, YUV_STRIDE, gid_x * 2));
// write uvs
const short ar = AVERAGE(rgb_out[0].s0, rgb_out[1].s0, rgb_out[2].s0, rgb_out[3].s0);
const short ag = AVERAGE(rgb_out[0].s1, rgb_out[1].s1, rgb_out[2].s1, rgb_out[3].s1);
const short ab = AVERAGE(rgb_out[0].s2, rgb_out[1].s2, rgb_out[2].s2, rgb_out[3].s2);
uchar2 uv = (uchar2)(
RGB_TO_U(ar, ag, ab),
RGB_TO_V(ar, ag, ab)
);
vstore2(uv, 0, out + UV_OFFSET + mad24(gid_y, YUV_STRIDE, gid_x * 2));
}