sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

reworked

Browse Source
pull/20012/head
ZwX1616 4 years ago
parent 3f2b42b4e3
commit fb0856bbf0
1 changed files with 138 additions and 96 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 186
      selfdrive/camerad/cameras/real_debayer.cl

186
selfdrive/camerad/cameras/real_debayer.cl
Unescape View File

@ -1,73 +1,86 @@
const __constant float3 color_correction[3] = { #pragma OPENCL EXTENSION cl_khr_fp16 : enable
const half black_level = 42.0;
const __constant half3 color_correction[3] = {
// post wb CCM // post wb CCM
(float3)(1.44602146, -0.24727126, -0.0403062), (half3)(1.44602146, -0.24727126, -0.0403062),
(float3)(-0.37658179, 1.26329038, -0.45978396), (half3)(-0.37658179, 1.26329038, -0.45978396),
(float3)(-0.06943967, -0.01601912, 1.50009016), (half3)(-0.06943967, -0.01601912, 1.50009016),
}; };
float3 color_correct(float r, float g, float b) { half3 color_correct(half3 rgb) {
float3 ret = (0,0,0); half3 ret = (0,0,0);
rgb = 2*rgb / (1.0f + 2*rgb); // reinhard
ret += r * color_correction[0]; ret += rgb.x * color_correction[0];
ret += g * color_correction[1]; ret += rgb.y * color_correction[1];
ret += b * color_correction[2]; ret += rgb.z * color_correction[2];
ret = max(0.0, min(1.0, ret)); ret = max(0.0h, min(1.0h, ret));
return ret; return ret;
} }
uint int_from_10(const uchar * source, uint start, uint offset) { half val_from_10(const uchar * source, int gx, int gy) {
// source: source // parse 10bit
// start: starting address of 0 int start = gy * FRAME_STRIDE + (5 * (gx / 4));
// offset: 0 - 3 int offset = gx % 4;
uint major = (uint)source[start + offset] << 2; uint major = (uint)source[start + offset] << 2;
uint minor = (source[start + 4] >> (2 * offset)) & 3; uint minor = (source[start + 4] >> (2 * offset)) & 3;
return major + minor; half pv = (half)(major + minor);
}
float to_normal(uint x, int gx, int gy) { // normalize
float pv = (float)(x); pv = max(0.0h, pv - black_level);
const float black_level = 42.0;
pv = max(0.0, pv - black_level);
pv /= (1024.0f - black_level); pv /= (1024.0f - black_level);
// correct vignetting
if (CAM_NUM == 1) { // fcamera if (CAM_NUM == 1) { // fcamera
gx = (gx - RGB_WIDTH/2); gx = (gx - RGB_WIDTH/2);
gy = (gy - RGB_HEIGHT/2); gy = (gy - RGB_HEIGHT/2);
float r = pow(gx*gx + gy*gy, 0.825); half r = pow(gx*gx + gy*gy, 0.825);
float s = 1 / (1-0.00000733*r); half s = 1 / (1-0.00000733*r);
pv = s * pv; pv = s * pv;
} }
pv = 20*pv / (1.0f + 20*pv); // reinhard
return pv; return pv;
} }
half fabs_diff(half x, half y) {
return fabs(x-y);
}
half phi(half x) {
// detection funtion
if (x > 1) {
return 1 / x;
} else {
return 2 - x;
}
}
__kernel void debayer10(const __global uchar * in, __kernel void debayer10(const __global uchar * in,
__global uchar * out, __global uchar * out,
__local float * cached __local half * cached
) )
{ {
const int x_global = get_global_id(0); const int x_global = get_global_id(0);
const int y_global = get_global_id(1); const int y_global = get_global_id(1);
// const int globalOffset = ;
const int localRowLen = 2 + get_local_size(0); // 2 padding const int localRowLen = 2 + get_local_size(0); // 2 padding
const int x_local = get_local_id(0); const int x_local = get_local_id(0); // 0-15
const int y_local = get_local_id(1); const int y_local = get_local_id(1); // 0-15
const int localOffset = (y_local + 1) * localRowLen + x_local + 1; // max 18x18-1
const int localOffset = (y_local + 1) * localRowLen + x_local + 1; int out_idx = 3 * x_global + 3 * y_global * RGB_WIDTH;
// cache local pixels first half pv = val_from_10(in, x_global, y_global);
// saves memory access and avoids repeated normalization cached[localOffset] = pv;
uint globalStart_10 = y_global * FRAME_STRIDE + (5 * (x_global / 4));
uint offset_10 = x_global % 4;
uint raw_val = int_from_10(in, globalStart_10, offset_10);
cached[localOffset] = to_normal(raw_val, x_global, y_global);
// edges // don't care
if (x_global < 1 || x_global > RGB_WIDTH - 2 || y_global < 1 || y_global > RGB_HEIGHT - 2) { if (x_global < 1 || x_global >= RGB_WIDTH - 1 || y_global < 1 || y_global >= RGB_HEIGHT - 1) {
barrier(CLK_LOCAL_MEM_FENCE); barrier(CLK_LOCAL_MEM_FENCE);
return; return;
} else { }
// cache padding
int localColOffset = -1; int localColOffset = -1;
int globalColOffset = -1; int globalColOffset = -1;
@ -75,61 +88,90 @@ __kernel void debayer10(const __global uchar * in,
if (x_local < 1) { if (x_local < 1) {
localColOffset = x_local; localColOffset = x_local;
globalColOffset = -1; globalColOffset = -1;
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), x_global, y_global); cached[(y_local + 1) * localRowLen + x_local] = val_from_10(in, x_global-1, y_global);
} else if (x_local >= get_local_size(0) - 1) { } else if (x_local >= get_local_size(0) - 1) {
localColOffset = x_local + 2; localColOffset = x_local + 2;
globalColOffset = 1; globalColOffset = 1;
cached[localOffset + 1] = to_normal(int_from_10(in, y_global * FRAME_STRIDE + (5 * ((x_global+1) / 4)), (offset_10 + 1) % 4), x_global, y_global); cached[localOffset + 1] = val_from_10(in, x_global+1, y_global);
} }
if (y_local < 1) { if (y_local < 1) {
cached[y_local * localRowLen + x_local + 1] = to_normal(int_from_10(in, globalStart_10 - FRAME_STRIDE, offset_10), x_global, y_global); cached[y_local * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global-1);
if (localColOffset != -1) { if (localColOffset != -1) {
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), x_global, y_global); cached[y_local * localRowLen + localColOffset] = val_from_10(in, x_global+globalColOffset, y_global-1);
} }
} else if (y_local >= get_local_size(1) - 1) { } else if (y_local >= get_local_size(1) - 1) {
cached[(y_local + 2) * localRowLen + x_local + 1] = to_normal(int_from_10(in, globalStart_10 + FRAME_STRIDE, offset_10), x_global, y_global); cached[(y_local + 2) * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global+1);
if (localColOffset != -1) { if (localColOffset != -1) {
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), x_global, y_global); cached[(y_local + 2) * localRowLen + localColOffset] = val_from_10(in, x_global+globalColOffset, y_global+1);
} }
} }
// sync // sync
barrier(CLK_LOCAL_MEM_FENCE); barrier(CLK_LOCAL_MEM_FENCE);
// perform debayer half d1 = cached[localOffset - localRowLen - 1];
float r; half d2 = cached[localOffset - localRowLen + 1];
float g; half d3 = cached[localOffset + localRowLen - 1];
float b; half d4 = cached[localOffset + localRowLen + 1];
half n1 = cached[localOffset - localRowLen];
half n2 = cached[localOffset + 1];
half n3 = cached[localOffset + localRowLen];
half n4 = cached[localOffset - 1];
half3 rgb;
// main
if (x_global % 2 == 0) { if (x_global % 2 == 0) {
if (y_global % 2 == 0) { // G1 if (y_global % 2 == 0) {
r = (cached[localOffset - 1] + cached[localOffset + 1]) / 2.0f; rgb.y = pv; // G1(R)
g = (cached[localOffset] + cached[localOffset + localRowLen + 1]) / 2.0f; half k1 = phi(fabs_diff(d1, pv) + fabs_diff(d2, pv));
b = (cached[localOffset - localRowLen] + cached[localOffset + localRowLen]) / 2.0f; half k2 = phi(fabs_diff(d2, pv) + fabs_diff(d4, pv));
} else { // B half k3 = phi(fabs_diff(d3, pv) + fabs_diff(d4, pv));
r = (cached[localOffset - localRowLen - 1] + cached[localOffset - localRowLen + 1] + cached[localOffset + localRowLen - 1] + cached[localOffset + localRowLen + 1]) / 4.0f; half k4 = phi(fabs_diff(d1, pv) + fabs_diff(d3, pv));
g = (cached[localOffset - localRowLen] + cached[localOffset + localRowLen] + cached[localOffset - 1] + cached[localOffset + 1]) / 4.0f; // R_G1
b = cached[localOffset]; rgb.x = (k2*n2+k4*n4)/(k2+k4);
// B_G1
rgb.z = (k1*n1+k3*n3)/(k1+k3);
} else {
rgb.z = pv; // B
half k1 = phi(fabs_diff(d1, d3) + fabs_diff(d2, d4));
half k2 = phi(fabs_diff(n1, n4) + fabs_diff(n2, n3));
half k3 = phi(fabs_diff(d1, d2) + fabs_diff(d3, d4));
half k4 = phi(fabs_diff(n1, n2) + fabs_diff(n3, n4));
// G_B
rgb.y = (k1*(n1+n3)/2+k3*(n2+n4)/2)/(k1+k3);
// R_B
rgb.x = (k2*(d2+d3)/2+k4*(d1+d4)/2)/(k2+k4);
} }
} else { } else {
if (y_global % 2 == 0) { // R if (y_global % 2 == 0) {
r = cached[localOffset]; rgb.x = pv; // R
g = (cached[localOffset - localRowLen] + cached[localOffset + localRowLen] + cached[localOffset - 1] + cached[localOffset + 1]) / 4.0f; half k1 = phi(fabs_diff(d1, d3) + fabs_diff(d2, d4));
b = (cached[localOffset - localRowLen - 1] + cached[localOffset - localRowLen + 1] + cached[localOffset + localRowLen - 1] + cached[localOffset + localRowLen + 1]) / 4.0f; half k2 = phi(fabs_diff(n1, n4) + fabs_diff(n2, n3));
} else { // G2 half k3 = phi(fabs_diff(d1, d2) + fabs_diff(d3, d4));
r = (cached[localOffset - localRowLen] + cached[localOffset + localRowLen]) / 2.0f; half k4 = phi(fabs_diff(n1, n2) + fabs_diff(n3, n4));
g = (cached[localOffset] + cached[localOffset - localRowLen - 1]) / 2.0f; // G_R
b = (cached[localOffset - 1] + cached[localOffset + 1]) / 2.0f; rgb.y = (k1*(n1+n3)/2+k3*(n2+n4)/2)/(k1+k3);
// B_R
rgb.z = (k2*(d2+d3)/2+k4*(d1+d4)/2)/(k2+k4);
} else {
rgb.y = pv; // G2(B)
half k1 = phi(fabs_diff(d1, pv) + fabs_diff(d2, pv));
half k2 = phi(fabs_diff(d2, pv) + fabs_diff(d4, pv));
half k3 = phi(fabs_diff(d3, pv) + fabs_diff(d4, pv));
half k4 = phi(fabs_diff(d1, pv) + fabs_diff(d3, pv));
// R_G2
rgb.x = (k1*n1+k3*n3)/(k1+k3);
// B_G2
rgb.z = (k2*n2+k4*n4)/(k2+k4);
} }
} }
float3 rgb = color_correct(r, g, b); rgb = color_correct(rgb);
// rgb = srgb_gamma(rgb);
out[out_idx + 0] = (uchar)(255.0f * rgb.z);
out[out_idx + 1] = (uchar)(255.0f * rgb.y);
out[out_idx + 2] = (uchar)(255.0f * rgb.x);
// BGR output
out[3 * x_global + 3 * y_global * RGB_WIDTH + 0] = (uchar)(255.0f * rgb.z);
out[3 * x_global + 3 * y_global * RGB_WIDTH + 1] = (uchar)(255.0f * rgb.y);
out[3 * x_global + 3 * y_global * RGB_WIDTH + 2] = (uchar)(255.0f * rgb.x);
}
} }

Write Preview
Loading…
Cancel
Save