From c66393ee7eebbc1032e51a1f8ab817bc25eb9d97 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Wed, 3 Feb 2021 20:51:19 -0800
Subject: [PATCH] faster

---
 selfdrive/camerad/cameras/real_debayer.cl | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/selfdrive/camerad/cameras/real_debayer.cl b/selfdrive/camerad/cameras/real_debayer.cl
index fca054ffcb..362c771bed 100644
--- a/selfdrive/camerad/cameras/real_debayer.cl
+++ b/selfdrive/camerad/cameras/real_debayer.cl
@@ -35,8 +35,17 @@ half val_from_10(const uchar * source, int gx, int gy) {
   if (CAM_NUM == 1) { // fcamera
     gx = (gx - RGB_WIDTH/2);
     gy = (gy - RGB_HEIGHT/2);
-    half r = pow(gx*gx + gy*gy, 0.825);
-    half s = 1 / (1-0.00000733*r);
+    float r = gx*gx + gy*gy;
+    half s;
+    if (r < 62500) {
+      s = (half)(1.0f + 0.0000005f*r);
+    } else if (r < 640000) {
+      s = (half)(0.9375f + 0.0000015f*r);
+    } else if (r < 1102500) {
+      s = (half)(1.2831f + 0.0000000000015f*r*r);
+    } else {
+      s = (half)(0.06759375f + 0.0000000000025f*r*r);
+    }
     pv = s * pv;
   }