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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#if SENSOR_ID == 1
#define BIT_DEPTH 12
#define PV_MAX 4096
#define BLACK_LVL 168
#define VIGNETTE_RSZ 1.0f
float4 normalize_pv(int4 parsed, float vignette_factor) {
float4 pv = (convert_float4(parsed) - BLACK_LVL) / (PV_MAX - BLACK_LVL);
return clamp(pv*vignette_factor, 0.0, 1.0);
}
float3 color_correct(float3 rgb) {
float3 corrected = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673);
corrected += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455);
corrected += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
return corrected;
}
float3 apply_gamma(float3 rgb, int expo_time) {
// 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 (rgb > mp) ?
((rk * (rgb-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(rgb-mp))) + gamma_k*mp + gamma_b) :
((rk * (rgb-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(rgb-mp))) + gamma_k*mp + gamma_b);
}
#endif