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make debayering consistent at edges (#24437)

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old-commit-hash: 1f9907122a9bda9279d73f698addaa0e22796059
This commit is contained in:
Joost Wooning
2022-05-05 13:06:13 +02:00
committed by GitHub
parent a6f314bc56
commit 1f1bcb246e
1 changed files with 9 additions and 9 deletions
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selfdrive/camerad/cameras/real_debayer.cl
+9 -9
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@@ -104,38 +104,38 @@ __kernel void debayer10(const __global uchar * in,
half pv = val_from_10(in, x_global, y_global, black_level);
cached[localOffset] = pv;
// don't care
if (x_global < 1 || x_global >= RGB_WIDTH - 1 || y_global < 1 || y_global >= RGB_HEIGHT - 1) {
return;
}
// cache padding
int localColOffset = -1;
int globalColOffset = -1;
// cache padding
if (x_local < 1) {
if (x_global >= 1 && x_local < 1) {
localColOffset = x_local;
globalColOffset = -1;
cached[(y_local + 1) * localRowLen + x_local] = val_from_10(in, x_global-1, y_global, black_level);
} else if (x_local >= get_local_size(0) - 1) {
} else if (x_global < RGB_WIDTH - 1 && x_local >= get_local_size(0) - 1) {
localColOffset = x_local + 2;
globalColOffset = 1;
cached[localOffset + 1] = val_from_10(in, x_global+1, y_global, black_level);
}
if (y_local < 1) {
if (y_global >= 1 && y_local < 1) {
cached[y_local * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global-1, black_level);
if (localColOffset != -1) {
cached[y_local * localRowLen + localColOffset] = val_from_10(in, x_global+globalColOffset, y_global-1, black_level);
}
} else if (y_local >= get_local_size(1) - 1) {
} else if (y_global < RGB_HEIGHT - 1 && y_local >= get_local_size(1) - 1) {
cached[(y_local + 2) * localRowLen + x_local + 1] = val_from_10(in, x_global, y_global+1, black_level);
if (localColOffset != -1) {
cached[(y_local + 2) * localRowLen + localColOffset] = val_from_10(in, x_global+globalColOffset, y_global+1, black_level);
}
}
// don't care
if (x_global < 1 || x_global >= RGB_WIDTH - 1 || y_global < 1 || y_global >= RGB_HEIGHT - 1) {
return;
}
// sync
barrier(CLK_LOCAL_MEM_FENCE);