diff --git a/selfdrive/camerad/cameras/real_debayer.cl b/selfdrive/camerad/cameras/real_debayer.cl index 6be53c2144..dee7f241a4 100644 --- a/selfdrive/camerad/cameras/real_debayer.cl +++ b/selfdrive/camerad/cameras/real_debayer.cl @@ -11,17 +11,17 @@ const __constant half3 color_correction_1 = (half3)(-0.5743977, 1.36858544, -0.5 const __constant half3 color_correction_2 = (half3)(-0.25277411, -0.05627105, 1.45875782); // tone mapping params -const half cpk = 0.75; -const half cpb = 0.125; -const half cpxk = 0.0025; -const half cpxb = 0.01; - -half mf(half x, half cp) { - half rk = 9 - 100*cp; - if (x > cp) { - return (rk * (x-cp) * (1-(cpk*cp+cpb)) * (1+1/(rk*(1-cp))) / (1+rk*(x-cp))) + cpk*cp + cpb; - } else if (x < cp) { - return (rk * (x-cp) * (cpk*cp+cpb) * (1+1/(rk*cp)) / (1-rk*(x-cp))) + cpk*cp + cpb; +const half gamma_k = 0.75; +const half gamma_b = 0.125; +const half mp_default = 0.01; // ideally midpoint should be adaptive + +half gamma_apply(half x, half mp) { + // poly approximation for s curve + half rk = 9 - 100*mp; + if (x > mp) { + return (rk * (x-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(x-mp))) + gamma_k*mp + gamma_b; + } else if (x < mp) { + return (rk * (x-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(x-mp))) + gamma_k*mp + gamma_b; } else { return x; } @@ -29,13 +29,12 @@ half mf(half x, half cp) { half3 color_correct(half3 rgb) { half3 ret = (half3)(0.0, 0.0, 0.0); - half cpx = 0.01; ret += (half)rgb.x * color_correction_0; ret += (half)rgb.y * color_correction_1; ret += (half)rgb.z * color_correction_2; - ret.x = mf(ret.x, cpx); - ret.y = mf(ret.y, cpx); - ret.z = mf(ret.z, cpx); + ret.x = gamma_apply(ret.x, mp_default); + ret.y = gamma_apply(ret.y, mp_default); + ret.z = gamma_apply(ret.z, mp_default); ret = clamp(0.0, 255.0, ret*255.0); return ret; }