Tici camerad (#2048)
* fix camera config * typos * oops * more typo * lambless * forget to send * visualize hist * more typo * 0xC000 * simple * data loss prevention, clean up later * loggerd * back up code * backup * fixed memory leak * fix vsync * upload ecam * WB * 3stream * fix OMX crash on loggerd rotation * rewritten debayer kernel * update viewer * improved AE * no artifact lines/grids * standard trigger * cleanups * CCM * cleanups * slight tweak * upd push sock * build all these * update tele fl * update cereal * upd viewer * DualCameraState -> MultiCameraState * cameras_open * disable frame zmq push by default * more cleanup * no apks * fix submodule error * wat * clean up trash * remove junk * only build on qcom2 * no need to check these * update cereal * some more minor cleanup * bump panda * add todo * minor typo * Revert "minor typo" This reverts commitcommatwo_master9233a1df7c. * not care * use consistent hdr * some cleanup * Update selfdrive/camerad/main.cc Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * more cleanups * remove irrelevant stuff * this too * cleanup * rerun ci Co-authored-by: ZwX1616 <zwx1616@gmail.com> Co-authored-by: Tici <robbe@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> old-commit-hash:37d6472bfa
robbederks
5 years ago
committed by
GitHub
parent
06439bef18
commit
7671d18467
21 changed files with 1244 additions and 467 deletions
@ -0,0 +1,128 @@ |
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const __constant float3 color_correction[3] = { |
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// post wb CCM |
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(float3)(1.17898387, -0.19583185, -0.19881648), |
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(float3)(-0.03367879, 1.33692858, -0.02475203), |
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(float3)(-0.14530508, -0.14109673, 1.22356851), |
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}; |
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|
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float3 color_correct(float r, float g, float b) { |
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float3 ret = (0,0,0); |
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ret += r * color_correction[0]; |
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ret += g * color_correction[1]; |
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ret += b * color_correction[2]; |
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ret = max(0.0, min(1.0, ret)); |
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return ret; |
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} |
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|
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uint int_from_10(const uchar * source, uint start, uint offset) { |
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// source: source |
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// start: starting address of 0 |
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// offset: 0 - 3 |
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uint major = (uint)source[start + offset] << 2; |
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uint minor = (source[start + 4] >> (2 * offset)) & 3; |
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return major + minor; |
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} |
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|
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float to_normal(uint x) { |
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float pv = (float)(x); |
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const float black_level = 0; |
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pv = max(0.0, pv - black_level); |
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pv /= (1024.0f - black_level); |
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pv = 1.6*pv / (1.0f + 1.6*pv); // reinhard |
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return pv; |
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} |
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|
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__kernel void debayer10(const __global uchar * in, |
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__global uchar * out, |
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__local float * cached |
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) |
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{ |
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const int x_global = get_global_id(0); |
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const int y_global = get_global_id(1); |
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|
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// const int globalOffset = ; |
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const int localRowLen = 2 + get_local_size(0); // 2 padding |
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const int x_local = get_local_id(0); |
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const int y_local = get_local_id(1); |
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const int localOffset = (y_local + 1) * localRowLen + x_local + 1; |
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// cache local pixels first |
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// saves memory access and avoids repeated normalization |
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uint globalStart_10 = y_global * FRAME_STRIDE + (5 * (x_global / 4)); |
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uint offset_10 = x_global % 4; |
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uint raw_val = int_from_10(in, globalStart_10, offset_10); |
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cached[localOffset] = to_normal(raw_val); |
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|
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// edges |
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if (x_global < 1 || x_global > RGB_WIDTH - 2 || y_global < 1 || y_global > RGB_WIDTH - 2) { |
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barrier(CLK_LOCAL_MEM_FENCE); |
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return; |
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} else { |
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int localColOffset = -1; |
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int globalColOffset = -1; |
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|
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// cache padding |
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if (x_local < 1) { |
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localColOffset = x_local; |
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globalColOffset = -1; |
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cached[(y_local + 1) * localRowLen + x_local] = to_normal(int_from_10(in, y_global * FRAME_STRIDE + (5 * ((x_global-1) / 4)), (offset_10 + 3) % 4)); |
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} else if (x_local >= get_local_size(0) - 1) { |
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localColOffset = x_local + 2; |
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globalColOffset = 1; |
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cached[localOffset + 1] = to_normal(int_from_10(in, y_global * FRAME_STRIDE + (5 * ((x_global+1) / 4)), (offset_10 + 1) % 4)); |
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} |
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if (y_local < 1) { |
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cached[y_local * localRowLen + x_local + 1] = to_normal(int_from_10(in, globalStart_10 - FRAME_STRIDE, offset_10)); |
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if (localColOffset != -1) { |
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cached[y_local * localRowLen + localColOffset] = to_normal(int_from_10(in, (y_global-1) * FRAME_STRIDE + (5 * ((x_global+globalColOffset) / 4)), (offset_10+4+globalColOffset) % 4)); |
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} |
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} else if (y_local >= get_local_size(1) - 1) { |
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cached[(y_local + 2) * localRowLen + x_local + 1] = to_normal(int_from_10(in, globalStart_10 + FRAME_STRIDE, offset_10)); |
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if (localColOffset != -1) { |
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cached[(y_local + 2) * localRowLen + localColOffset] = to_normal(int_from_10(in, (y_global+1) * FRAME_STRIDE + (5 * ((x_global+globalColOffset) / 4)), (offset_10+4+globalColOffset) % 4)); |
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} |
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} |
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// sync |
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barrier(CLK_LOCAL_MEM_FENCE); |
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// perform debayer |
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float r; |
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float g; |
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float b; |
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if (x_global % 2 == 0) { |
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if (y_global % 2 == 0) { // G1 |
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r = (cached[localOffset - 1] + cached[localOffset + 1]) / 2.0f; |
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g = (cached[localOffset] + cached[localOffset + localRowLen + 1]) / 2.0f; |
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b = (cached[localOffset - localRowLen] + cached[localOffset + localRowLen]) / 2.0f; |
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} else { // B |
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r = (cached[localOffset - localRowLen - 1] + cached[localOffset - localRowLen + 1] + cached[localOffset + localRowLen - 1] + cached[localOffset + localRowLen + 1]) / 4.0f; |
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g = (cached[localOffset - localRowLen] + cached[localOffset + localRowLen] + cached[localOffset - 1] + cached[localOffset + 1]) / 4.0f; |
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b = cached[localOffset]; |
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} |
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} else { |
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if (y_global % 2 == 0) { // R |
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r = cached[localOffset]; |
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g = (cached[localOffset - localRowLen] + cached[localOffset + localRowLen] + cached[localOffset - 1] + cached[localOffset + 1]) / 4.0f; |
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b = (cached[localOffset - localRowLen - 1] + cached[localOffset - localRowLen + 1] + cached[localOffset + localRowLen - 1] + cached[localOffset + localRowLen + 1]) / 4.0f; |
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} else { // G2 |
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r = (cached[localOffset - localRowLen] + cached[localOffset + localRowLen]) / 2.0f; |
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g = (cached[localOffset] + cached[localOffset - localRowLen - 1]) / 2.0f; |
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b = (cached[localOffset - 1] + cached[localOffset + 1]) / 2.0f; |
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} |
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} |
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float3 rgb = color_correct(r, g, b); |
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// rgb = srgb_gamma(rgb); |
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// BGR output |
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out[3 * x_global + 3 * y_global * RGB_WIDTH + 0] = (uchar)(255.0f * rgb.z); |
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out[3 * x_global + 3 * y_global * RGB_WIDTH + 1] = (uchar)(255.0f * rgb.y); |
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out[3 * x_global + 3 * y_global * RGB_WIDTH + 2] = (uchar)(255.0f * rgb.x); |
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} |
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} |
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@ -0,0 +1,47 @@ |
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# flake8: noqa |
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# pylint: disable=W |
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#!/usr/bin/env python |
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import numpy as np |
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import cv2 |
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from time import time, sleep |
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H, W = (604*2//6, 964*2//6) |
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# H, W = (604, 964) |
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cam_bufs = np.zeros((3,H,W,3), dtype=np.uint8) |
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hist_bufs = np.zeros((3,H,200,3), dtype=np.uint8) |
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if __name__ == '__main__': |
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import zmq |
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context = zmq.Context() |
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socket = context.socket(zmq.PULL) |
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socket.bind("tcp://192.168.3.4:7768") |
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while True: |
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try: |
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message = socket.recv() |
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except Exception as ex: |
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print(ex) |
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message = b"123" |
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dat = np.frombuffer(message, dtype=np.uint8) |
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cam_id = (dat[0] + 1) % 3 |
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# import pdb; pdb.set_trace() |
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b = dat[::3].reshape(H, W) |
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g = dat[1::3].reshape(H, W) |
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r = dat[2::3].reshape(H, W) |
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cam_bufs[cam_id] = cv2.merge((r, g, b)) |
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cam_bufs[cam_id]= cv2.cvtColor(cam_bufs[cam_id], cv2.COLOR_RGB2BGR) |
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hist = cv2.calcHist([cv2.cvtColor(cam_bufs[cam_id], cv2.COLOR_BGR2GRAY)],[0],None,[32],[0,256]) |
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hist = (H*hist/hist.max()).astype(np.uint8) |
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for i,bb in enumerate(hist): |
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hist_bufs[cam_id, H-bb[0]:,i*(200//32):(i+1)*(200//32), :] = (222,222,222) |
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out = cam_bufs.reshape((3*H,W,3)) |
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hist_bufs_out = hist_bufs.reshape((3*H,200,3)) |
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out = np.hstack([out, hist_bufs_out]) |
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cv2.imshow('RGB', out) |
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cv2.waitKey(55) |
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#dat.tofile('/tmp/c3rgb.img') |
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#cv2.imwrite('/tmp/c3rgb.png', out) |
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@ -0,0 +1,34 @@ |
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# flake8: noqa |
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# pylint: disable=W |
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#!/usr/bin/env python |
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import numpy as np |
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import cv2 |
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from time import time, sleep |
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H, W = (256, 512) |
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if __name__ == '__main__': |
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import zmq |
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context = zmq.Context() |
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socket = context.socket(zmq.PULL) |
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socket.bind("tcp://192.168.3.4:7769") |
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while True: |
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try: |
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message = socket.recv() |
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except Exception as ex: |
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print(ex) |
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message = b"123" |
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dat = np.frombuffer(message, dtype=np.float32) |
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mc = (dat.reshape(H//2, W//2)).astype(np.uint8) |
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hist = cv2.calcHist([mc],[0],None,[32],[0,256]) |
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hist = (H*hist/hist.max()).astype(np.uint8) |
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himg = np.zeros((H//2, W//2), dtype=np.uint8) |
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for i,b in enumerate(hist): |
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himg[H//2-b[0]:,i*(W//2//32):(i+1)*(W//2//32)] = 222 |
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cv2.imshow('model fov', np.hstack([mc, himg])) |
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cv2.waitKey(20) |
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dat.tofile('/tmp/c3yuv.img') |
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