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From: Wayne P. <ti...@us...> - 2006-09-04 08:37:07
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Update of /cvsroot/artoolkit/artoolkit/lib/SRC/VideoLinux1394Cam In directory sc8-pr-cvs11.sourceforge.net:/tmp/cvs-serv23120 Added Files: conversions.c conversions.h grabdma.tgz Log Message: These files are the from grabdma demo from Point Grey's web site. They are used to decode the Bayer images that are output by high-end cameras such as Dragonfly cameras. The grabdma.tgz and conversions.* files are licensed under LGPL, which makes it easy to include in other GPL based projects. The files were downloaded from http://www.ptgrey.com/support/kb/index.asp?a=4&q=183&ST= and I have included the raw archive here as well, which includes information about the licensing. The conversions.* files are needed by the video.c file to do the decoding. --- NEW FILE: conversions.h --- /* * Copyright (C) 2000-2003 Damien Douxchamps <ddo...@us...> * Dan Dennedy <da...@de...> * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software Foundation, * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. */ #ifndef __CONVERSIONS_H__ #define __CONVERSIONS_H__ #include <stdlib.h> #include <stdio.h> #include <unistd.h> typedef enum { NO_BAYER_DECODING, BAYER_DECODING_NEAREST, BAYER_DECODING_EDGE_SENSE, BAYER_DECODING_DOWNSAMPLE } bayer_decoding_t; typedef enum { NO_STEREO_DECODING, STEREO_DECODING_INTERLACED, STEREO_DECODING_FIELD } stereo_decoding_t; typedef enum { BAYER_PATTERN_BGGR, BAYER_PATTERN_GRBG, BAYER_PATTERN_RGGB, BAYER_PATTERN_GBRG } bayer_pattern_t; // UYVY <-> YUYV void uyvy2yuyv (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels); void yuyv2uyvy (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels); // XXX -> UYVY void uyyvyy2uyvy (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels); void uyv2uyvy (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels); void y2uyvy (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels); void y162uyvy (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels, int bits); void y162y (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels, int bits); void rgb2uyvy (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels); void rgb482uyvy (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels); // XXX -> RGB void rgb482rgb (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels); void uyv2rgb (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels); void uyvy2rgb (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels); void uyyvyy2rgb (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels); void y2rgb (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels); void y162rgb (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels, int bits); // BAYER -> RGB void BayerNearestNeighbor(unsigned char *src, unsigned char *dest, int sx, int sy, bayer_pattern_t type); void BayerEdgeSense(unsigned char *src, unsigned char *dest, int sx, int sy, bayer_pattern_t type); void BayerDownsample(unsigned char *src, unsigned char *dest, int sx, int sy, bayer_pattern_t type); void StereoDecode(unsigned char *src, unsigned char *dest, unsigned long long int NumPixels); #endif --- NEW FILE: grabdma.tgz --- (This appears to be a binary file; contents omitted.) --- NEW FILE: conversions.c --- /* Comments by Wayne Piekarski (28 July 2006): The grabdma.tar.gz file downloaded from the Point Grey web site includes a LICENSE file which is the LGPL and not the GPL. So it is understood that the LGPL is the license that was intended by the original authors This file conversions.c is a copy of the conversions.cpp file from the grabdma.tar.gz archive. It had to be renamed so that it would compile as standard C code and link correctly against ARToolKit. */ /* * Copyright (C) 2000-2004 Damien Douxchamps <ddo...@us...> * Dan Dennedy <da...@de...> * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software Foundation, * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. */ #include "conversions.h" // The following #define is there for the users who experience green/purple // images in the display. This seems to be a videocard driver problem. #define YUYV // instead of the standard UYVY // color conversion functions from Bart Nabbe. // corrected by Damien: bad coeficients in YUV2RGB #define YUV2RGB(y, u, v, r, g, b)\ r = y + ((v*1436) >> 10);\ g = y - ((u*352 + v*731) >> 10);\ b = y + ((u*1814) >> 10);\ r = r < 0 ? 0 : r;\ g = g < 0 ? 0 : g;\ b = b < 0 ? 0 : b;\ r = r > 255 ? 255 : r;\ g = g > 255 ? 255 : g;\ b = b > 255 ? 255 : b #define RGB2YUV(r, g, b, y, u, v)\ y = (306*r + 601*g + 117*b) >> 10;\ u = ((-172*r - 340*g + 512*b) >> 10) + 128;\ v = ((512*r - 429*g - 83*b) >> 10) + 128;\ y = y < 0 ? 0 : y;\ u = u < 0 ? 0 : u;\ v = v < 0 ? 0 : v;\ y = y > 255 ? 255 : y;\ u = u > 255 ? 255 : u;\ v = v > 255 ? 255 : v #define CLIP(in, out)\ {\ in = in < 0 ? 0 : in;\ in = in > 255 ? 255 : in;\ out=in;\ } /********************************************************************** * * CONVERSION FUNCTIONS TO UYVY * **********************************************************************/ void yuyv2uyvy(unsigned char *src, unsigned char *dest, unsigned long long int NumPixels) { #ifdef YUYV swab(src, dest, NumPixels << 1); #else memcpy(dest,src, NumPixels<<1); #endif } void uyvy2yuyv(unsigned char *src, unsigned char *dest, unsigned long long int NumPixels) { #ifdef YUYV swab(src, dest, NumPixels << 1); #else memcpy(dest,src, NumPixels<<1); #endif } void uyyvyy2uyvy (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels) { register int i=NumPixels + (NumPixels >> 1)-1; register int j=(NumPixels << 1)-1; register int y0, y1, y2, y3, u, v; while (i > 0) { y3 = src[i--]; y2 = src[i--]; v = src[i--]; y1 = src[i--]; y0 = src[i--]; u = src[i--]; #ifdef YUYV dest[j--] = v; dest[j--] = y3; dest[j--] = u; dest[j--] = y2; dest[j--] = v; dest[j--] = y1; dest[j--] = u; dest[j--] = y0; #else // UYVY dest[j--] = y3; dest[j--] = v; dest[j--] = y2; dest[j--] = u; dest[j--] = y1; dest[j--] = v; dest[j--] = y0; dest[j--] = u; #endif } } void uyv2uyvy (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels) { register int i = NumPixels + (NumPixels << 1)-1; register int j = (NumPixels << 1)-1; register int y0, y1, u0, u1, v0, v1; while (i > 0) { v1 = src[i--]; y1 = src[i--]; u1 = src[i--]; v0 = src[i--]; y0 = src[i--]; u0 = src[i--]; #ifdef YUYV dest[j--] = (v0+v1) >> 1; dest[j--] = y1; dest[j--] = (u0+u1) >> 1; dest[j--] = y0; #else // UYVY dest[j--] = y1; dest[j--] = (v0+v1) >> 1; dest[j--] = y0; dest[j--] = (u0+u1) >> 1; #endif } } void y2uyvy (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels) { register int i= NumPixels-1; register int j = (NumPixels << 1)-1; register int y0, y1; while (i > 0) { y1 = src[i--]; y0 = src[i--]; #ifdef YUYV dest[j--] = 128; dest[j--] = y1; dest[j--] = 128; dest[j--] = y0; #else // UYVY dest[j--] = y1; dest[j--] = 128; dest[j--] = y0; dest[j--] = 128; #endif } } void y162uyvy (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels, int bits) { register int i = (NumPixels << 1)-1; register int j = (NumPixels << 1)-1; register int y0, y1; while (i > 0) { y1 = src[i--]; y1 = (y1 + (((int)src[i--])<<8))>>(bits-8); y0 = src[i--]; y0 = (y0 + (((int)src[i--])<<8))>>(bits-8); #ifdef YUYV dest[j--] = 128; dest[j--] = y1; dest[j--] = 128; dest[j--] = y0; #else // UYVY dest[j--] = y1; dest[j--] = 128; dest[j--] = y0; dest[j--] = 128; #endif } } void y162y (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels, int bits) { register int i = (NumPixels<<1)-1; register int j = NumPixels-1; register int y; while (i > 0) { y = src[i--]; dest[j--] = (y + (src[i--]<<8))>>(bits-8); } } void rgb2uyvy (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels) { register int i = NumPixels + ( NumPixels << 1 )-1; register int j = (NumPixels << 1)-1; register int y0, y1, u0, u1, v0, v1 ; register int r, g, b; while (i > 0) { b = (unsigned char) src[i--]; g = (unsigned char) src[i--]; r = (unsigned char) src[i--]; RGB2YUV (r, g, b, y0, u0 , v0); b = (unsigned char) src[i--]; g = (unsigned char) src[i--]; r = (unsigned char) src[i--]; RGB2YUV (r, g, b, y1, u1 , v1); #ifdef YUYV dest[j--] = (v0+v1) >> 1; dest[j--] = y0; dest[j--] = (u0+u1) >> 1; dest[j--] = y1; #else // UYVY dest[j--] = y0; dest[j--] = (v0+v1) >> 1; dest[j--] = y1; dest[j--] = (u0+u1) >> 1; #endif } } void rgb482uyvy (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels) { register int i = ( (NumPixels + ( NumPixels << 1 )) << 1 ) -1; register int j = (NumPixels << 1)-1; register int y0, y1, u0, u1, v0, v1 ; register int r, g, b; while (i > 0) { i--; b = (unsigned char) src[i--]; i--; g = (unsigned char) src[i--]; i--; r = (unsigned char) src[i--]; i--; RGB2YUV (r, g, b, y0, u0 , v0); b = (unsigned char) src[i--]; i--; g = (unsigned char) src[i--]; i--; r = (unsigned char) src[i--]; RGB2YUV (r, g, b, y1, u1 , v1); #ifdef YUYV dest[j--] = (v0+v1) >> 1; dest[j--] = y0; dest[j--] = (u0+u1) >> 1; dest[j--] = y1; #else // UYVY dest[j--] = y0; dest[j--] = (v0+v1) >> 1; dest[j--] = y1; dest[j--] = (u0+u1) >> 1; #endif } } /********************************************************************** * * CONVERSION FUNCTIONS TO RGB 24bpp * **********************************************************************/ void rgb482rgb (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels) { register int i = ((NumPixels + ( NumPixels << 1 )) << 1)-1; register int j = NumPixels + ( NumPixels << 1 ) -1; while (i > 0) { i--; dest[j--]=src[i--]; i--; dest[j--]=src[i--]; i--; dest[j--]=src[i--]; } } void uyv2rgb (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels) { register int i = NumPixels + ( NumPixels << 1 ) -1; register int j = NumPixels + ( NumPixels << 1 ) -1; register int y, u, v; register int r, g, b; while (i > 0) { v = (unsigned char) src[i--] - 128; y = (unsigned char) src[i--]; u = (unsigned char) src[i--] - 128; YUV2RGB (y, u, v, r, g, b); dest[j--] = b; dest[j--] = g; dest[j--] = r; } } void uyvy2rgb (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels) { register int i = (NumPixels << 1)-1; register int j = NumPixels + ( NumPixels << 1 ) -1; register int y0, y1, u, v; register int r, g, b; while (i > 0) { y1 = (unsigned char) src[i--]; v = (unsigned char) src[i--] - 128; y0 = (unsigned char) src[i--]; u = (unsigned char) src[i--] - 128; YUV2RGB (y1, u, v, r, g, b); dest[j--] = b; dest[j--] = g; dest[j--] = r; YUV2RGB (y0, u, v, r, g, b); dest[j--] = b; dest[j--] = g; dest[j--] = r; } } void uyyvyy2rgb (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels) { register int i = NumPixels + ( NumPixels >> 1 )-1; register int j = NumPixels + ( NumPixels << 1 )-1; register int y0, y1, y2, y3, u, v; register int r, g, b; while (i > 0) { y3 = (unsigned char) src[i--]; y2 = (unsigned char) src[i--]; v = (unsigned char) src[i--] - 128; y1 = (unsigned char) src[i--]; y0 = (unsigned char) src[i--]; u = (unsigned char) src[i--] - 128; YUV2RGB (y3, u, v, r, g, b); dest[j--] = b; dest[j--] = g; dest[j--] = r; YUV2RGB (y2, u, v, r, g, b); dest[j--] = b; dest[j--] = g; dest[j--] = r; YUV2RGB (y1, u, v, r, g, b); dest[j--] = b; dest[j--] = g; dest[j--] = r; YUV2RGB (y0, u, v, r, g, b); dest[j--] = b; dest[j--] = g; dest[j--] = r; } } void y2rgb (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels) { register int i = NumPixels-1; register int j = NumPixels + ( NumPixels << 1 )-1; register int y; while (i > 0) { y = (unsigned char) src[i--]; dest[j--] = y; dest[j--] = y; dest[j--] = y; } } void y162rgb (unsigned char *src, unsigned char *dest, unsigned long long int NumPixels, int bits) { register int i = (NumPixels << 1)-1; register int j = NumPixels + ( NumPixels << 1 )-1; register int y; while (i > 0) { y = src[i--]; y = (y + (src[i--]<<8))>>(bits-8); dest[j--] = y; dest[j--] = y; dest[j--] = y; } } /***************************************************************** * Color conversion functions for cameras that can * * output raw-Bayer pattern images, such as some Basler and * * Point Grey camera. Most of the algos presented here come from * * http://ise0.Stanford.EDU/~tingchen/main.htm and have been * * converted from Matlab to C and extended to all elementary * * patterns. * *****************************************************************/ void BayerNearestNeighbor( unsigned char *src, unsigned char *dest, int sx, int sy, bayer_pattern_t type) { unsigned char *outR, *outG, *outB; register int i,j; // sx and sy should be even switch (type) { case BAYER_PATTERN_GRBG: case BAYER_PATTERN_BGGR: outR=&dest[0]; outG=&dest[1]; outB=&dest[2]; break; case BAYER_PATTERN_GBRG: case BAYER_PATTERN_RGGB: outR=&dest[2]; outG=&dest[1]; outB=&dest[0]; break; default: outR=NULL;outG=NULL;outB=NULL; break; } switch (type) { case BAYER_PATTERN_GRBG: //------------------------------------------- case BAYER_PATTERN_GBRG: // copy original RGB data to output images for (i=0;i<sy;i+=2) { for (j=0;j<sx;j+=2) { outG[(i*sx+j)*3]=src[i*sx+j]; outG[((i+1)*sx+(j+1))*3]=src[(i+1)*sx+(j+1)]; outR[(i*sx+j+1)*3]=src[i*sx+j+1]; outB[((i+1)*sx+j)*3]=src[(i+1)*sx+j]; } } // R channel for (i=0;i<sy;i+=2) { for (j=0;j<sx-1;j+=2) { outR[(i*sx+j)*3]=outR[(i*sx+j+1)*3]; outR[((i+1)*sx+j+1)*3]=outR[(i*sx+j+1)*3]; outR[((i+1)*sx+j)*3]=outR[(i*sx+j+1)*3]; } } // B channel for (i=0;i<sy-1;i+=2) { //every two lines for (j=0;j<sx-1;j+=2) { outB[(i*sx+j)*3]=outB[((i+1)*sx+j)*3]; outB[(i*sx+j+1)*3]=outB[((i+1)*sx+j)*3]; outB[((i+1)*sx+j+1)*3]=outB[((i+1)*sx+j)*3]; } } // using lower direction for G channel // G channel for (i=0;i<sy-1;i+=2)//every two lines for (j=1;j<sx;j+=2) outG[(i*sx+j)*3]=outG[((i+1)*sx+j)*3]; for (i=1;i<sy-2;i+=2)//every two lines for (j=0;j<sx-1;j+=2) outG[(i*sx+j)*3]=outG[((i+1)*sx+j)*3]; // copy it for the next line for (j=0;j<sx-1;j+=2) outG[((sy-1)*sx+j)*3]=outG[((sy-2)*sx+j)*3]; break; case BAYER_PATTERN_BGGR: //------------------------------------------- case BAYER_PATTERN_RGGB: // copy original data for (i=0;i<sy;i+=2) { for (j=0;j<sx;j+=2) { outB[(i*sx+j)*3]=src[i*sx+j]; outR[((i+1)*sx+(j+1))*3]=src[(i+1)*sx+(j+1)]; outG[(i*sx+j+1)*3]=src[i*sx+j+1]; outG[((i+1)*sx+j)*3]=src[(i+1)*sx+j]; } } // R channel for (i=0;i<sy;i+=2){ for (j=0;j<sx-1;j+=2) { outR[(i*sx+j)*3]=outR[((i+1)*sx+j+1)*3]; outR[(i*sx+j+1)*3]=outR[((i+1)*sx+j+1)*3]; outR[((i+1)*sx+j)*3]=outR[((i+1)*sx+j+1)*3]; } } // B channel for (i=0;i<sy-1;i+=2) { //every two lines for (j=0;j<sx-1;j+=2) { outB[((i+1)*sx+j)*3]=outB[(i*sx+j)*3]; outB[(i*sx+j+1)*3]=outB[(i*sx+j)*3]; outB[((i+1)*sx+j+1)*3]=outB[(i*sx+j)*3]; } } // using lower direction for G channel // G channel for (i=0;i<sy-1;i+=2)//every two lines for (j=0;j<sx-1;j+=2) outG[(i*sx+j)*3]=outG[((i+1)*sx+j)*3]; for (i=1;i<sy-2;i+=2)//every two lines for (j=0;j<sx-1;j+=2) outG[(i*sx+j+1)*3]=outG[((i+1)*sx+j+1)*3]; // copy it for the next line for (j=0;j<sx-1;j+=2) outG[((sy-1)*sx+j+1)*3]=outG[((sy-2)*sx+j+1)*3]; break; default: //------------------------------------------- break; } } void BayerEdgeSense( unsigned char *src, unsigned char *dest, int sx, int sy, bayer_pattern_t type) { unsigned char *outR, *outG, *outB; register int i,j; int dh, dv; int tmp; // sx and sy should be even switch (type) { case BAYER_PATTERN_GRBG: case BAYER_PATTERN_BGGR: outR=&dest[0]; outG=&dest[1]; outB=&dest[2]; break; case BAYER_PATTERN_GBRG: case BAYER_PATTERN_RGGB: outR=&dest[2]; outG=&dest[1]; outB=&dest[0]; break; default: outR=NULL;outG=NULL;outB=NULL; break; } switch (type) { case BAYER_PATTERN_GRBG://--------------------------------------------------------- case BAYER_PATTERN_GBRG: // copy original RGB data to output images for (i=0;i<sy;i+=2) { for (j=0;j<sx;j+=2) { outG[(i*sx+j)*3]=src[i*sx+j]; outG[((i+1)*sx+(j+1))*3]=src[(i+1)*sx+(j+1)]; outR[(i*sx+j+1)*3]=src[i*sx+j+1]; outB[((i+1)*sx+j)*3]=src[(i+1)*sx+j]; } } // process GREEN channel for (i=3;i<sy-2;i+=2) { for (j=2;j<sx-3;j+=2) { dh=abs((outB[(i*sx+j-2)*3]+outB[(i*sx+j+2)*3])/2-outB[(i*sx+j)*3]); dv=abs((outB[((i-2)*sx+j)*3]+outB[((i+2)*sx+j)*3])/2-outB[(i*sx+j)*3]); if (dh<dv) tmp=(outG[(i*sx+j-1)*3]+outG[(i*sx+j+1)*3])/2; else { if (dh>dv) tmp=(outG[((i-1)*sx+j)*3]+outG[((i+1)*sx+j)*3])/2; else tmp=(outG[(i*sx+j-1)*3]+outG[(i*sx+j+1)*3]+outG[((i-1)*sx+j)*3]+outG[((i+1)*sx+j)*3])/4; } CLIP(tmp,outG[(i*sx+j)*3]); } } for (i=2;i<sy-3;i+=2) { for (j=3;j<sx-2;j+=2) { dh=abs((outR[(i*sx+j-2)*3]+outR[(i*sx+j+2)*3])/2-outR[(i*sx+j)*3]); dv=abs((outR[((i-2)*sx+j)*3]+outR[((i+2)*sx+j)*3])/2-outR[(i*sx+j)*3]); if (dh<dv) tmp=(outG[(i*sx+j-1)*3]+outG[(i*sx+j+1)*3])/2; else { if (dh>dv) tmp=(outG[((i-1)*sx+j)*3]+outG[((i+1)*sx+j)*3])/2; else tmp=(outG[(i*sx+j-1)*3]+outG[(i*sx+j+1)*3]+outG[((i-1)*sx+j)*3]+outG[((i+1)*sx+j)*3])/4; } CLIP(tmp,outG[(i*sx+j)*3]); } } // process RED channel for (i=0;i<sy-1;i+=2) { for (j=2;j<sx-1;j+=2) { tmp=outG[(i*sx+j)*3]+(outR[(i*sx+j-1)*3]-outG[(i*sx+j-1)*3]+ outR[(i*sx+j+1)*3]-outG[(i*sx+j+1)*3])/2; CLIP(tmp,outR[(i*sx+j)*3]); } } for (i=1;i<sy-2;i+=2) { for (j=1;j<sx;j+=2) { tmp=outG[(i*sx+j)*3]+(outR[((i-1)*sx+j)*3]-outG[((i-1)*sx+j)*3]+ outR[((i+1)*sx+j)*3]-outG[((i+1)*sx+j)*3])/2; CLIP(tmp,outR[(i*sx+j)*3]); } for (j=2;j<sx-1;j+=2) { tmp=outG[(i*sx+j)*3]+(outR[((i-1)*sx+j-1)*3]-outG[((i-1)*sx+j-1)*3]+ outR[((i-1)*sx+j+1)*3]-outG[((i-1)*sx+j+1)*3]+ outR[((i+1)*sx+j-1)*3]-outG[((i+1)*sx+j-1)*3]+ outR[((i+1)*sx+j+1)*3]-outG[((i+1)*sx+j+1)*3])/4; CLIP(tmp,outR[(i*sx+j)*3]); } } // process BLUE channel for (i=1;i<sy;i+=2) { for (j=1;j<sx-2;j+=2) { tmp=outG[(i*sx+j)*3]+(outB[(i*sx+j-1)*3]-outG[(i*sx+j-1)*3]+ outB[(i*sx+j+1)*3]-outG[(i*sx+j+1)*3])/2; CLIP(tmp,outB[(i*sx+j)*3]); } } for (i=2;i<sy-1;i+=2) { for (j=0;j<sx-1;j+=2) { tmp=outG[(i*sx+j)*3]+(outB[((i-1)*sx+j)*3]-outG[((i-1)*sx+j)*3]+ outB[((i+1)*sx+j)*3]-outG[((i+1)*sx+j)*3])/2; CLIP(tmp,outB[(i*sx+j)*3]); } for (j=1;j<sx-2;j+=2) { tmp=outG[(i*sx+j)*3]+(outB[((i-1)*sx+j-1)*3]-outG[((i-1)*sx+j-1)*3]+ outB[((i-1)*sx+j+1)*3]-outG[((i-1)*sx+j+1)*3]+ outB[((i+1)*sx+j-1)*3]-outG[((i+1)*sx+j-1)*3]+ outB[((i+1)*sx+j+1)*3]-outG[((i+1)*sx+j+1)*3])/4; CLIP(tmp,outB[(i*sx+j)*3]); } } break; case BAYER_PATTERN_BGGR: //--------------------------------------------------------- case BAYER_PATTERN_RGGB: // copy original RGB data to output images for (i=0;i<sy;i+=2) { for (j=0;j<sx;j+=2) { outB[(i*sx+j)*3]=src[i*sx+j]; outR[((i+1)*sx+(j+1))*3]=src[(i+1)*sx+(j+1)]; outG[(i*sx+j+1)*3]=src[i*sx+j+1]; outG[((i+1)*sx+j)*3]=src[(i+1)*sx+j]; } } // process GREEN channel for (i=2;i<sy-2;i+=2) { for (j=2;j<sx-3;j+=2) { dh=abs((outB[(i*sx+j-2)*3]+outB[(i*sx+j+2)*3])/2-outB[(i*sx+j)*3]); dv=abs((outB[((i-2)*sx+j)*3]+outB[((i+2)*sx+j)*3])/2-outB[(i*sx+j)*3]); if (dh<dv) tmp=(outG[(i*sx+j-1)*3]+outG[(i*sx+j+1)*3])/2; else { if (dh>dv) tmp=(outG[((i-1)*sx+j)*3]+outG[((i+1)*sx+j)*3])/2; else tmp=(outG[(i*sx+j-1)*3]+outG[(i*sx+j+1)*3]+outG[((i-1)*sx+j)*3]+outG[((i+1)*sx+j)*3])/4; } CLIP(tmp,outG[(i*sx+j)*3]); } } for (i=3;i<sy-3;i+=2) { for (j=3;j<sx-2;j+=2) { dh=abs((outR[(i*sx+j-2)*3]+outR[(i*sx+j+2)*3])/2-outR[(i*sx+j)*3]); dv=abs((outR[((i-2)*sx+j)*3]+outR[((i+2)*sx+j)*3])/2-outR[(i*sx+j)*3]); if (dh<dv) tmp=(outG[(i*sx+j-1)*3]+outG[(i*sx+j+1)*3])/2; else { if (dh>dv) tmp=(outG[((i-1)*sx+j)*3]+outG[((i+1)*sx+j)*3])/2; else tmp=(outG[(i*sx+j-1)*3]+outG[(i*sx+j+1)*3]+outG[((i-1)*sx+j)*3]+outG[((i+1)*sx+j)*3])/4; } CLIP(tmp,outG[(i*sx+j)*3]); } } // process RED channel for (i=1;i<sy-1;i+=2) { // G-points (1/2) for (j=2;j<sx-1;j+=2) { tmp=outG[(i*sx+j)*3]+(outR[(i*sx+j-1)*3]-outG[(i*sx+j-1)*3]+ outR[(i*sx+j+1)*3]-outG[(i*sx+j+1)*3])/2; CLIP(tmp,outR[(i*sx+j)*3]); } } for (i=2;i<sy-2;i+=2) { for (j=1;j<sx;j+=2) { // G-points (2/2) tmp=outG[(i*sx+j)*3]+(outR[((i-1)*sx+j)*3]-outG[((i-1)*sx+j)*3]+ outR[((i+1)*sx+j)*3]-outG[((i+1)*sx+j)*3])/2; CLIP(tmp,outR[(i*sx+j)*3]); } for (j=2;j<sx-1;j+=2) { // B-points tmp=outG[(i*sx+j)*3]+(outR[((i-1)*sx+j-1)*3]-outG[((i-1)*sx+j-1)*3]+ outR[((i-1)*sx+j+1)*3]-outG[((i-1)*sx+j+1)*3]+ outR[((i+1)*sx+j-1)*3]-outG[((i+1)*sx+j-1)*3]+ outR[((i+1)*sx+j+1)*3]-outG[((i+1)*sx+j+1)*3])/4; CLIP(tmp,outR[(i*sx+j)*3]); } } // process BLUE channel for (i=0;i<sy;i+=2) { for (j=1;j<sx-2;j+=2) { tmp=outG[(i*sx+j)*3]+(outB[(i*sx+j-1)*3]-outG[(i*sx+j-1)*3]+ outB[(i*sx+j+1)*3]-outG[(i*sx+j+1)*3])/2; CLIP(tmp,outB[(i*sx+j)*3]); } } for (i=1;i<sy-1;i+=2) { for (j=0;j<sx-1;j+=2) { tmp=outG[(i*sx+j)*3]+(outB[((i-1)*sx+j)*3]-outG[((i-1)*sx+j)*3]+ outB[((i+1)*sx+j)*3]-outG[((i+1)*sx+j)*3])/2; CLIP(tmp,outB[(i*sx+j)*3]); } for (j=1;j<sx-2;j+=2) { tmp=outG[(i*sx+j)*3]+(outB[((i-1)*sx+j-1)*3]-outG[((i-1)*sx+j-1)*3]+ outB[((i-1)*sx+j+1)*3]-outG[((i-1)*sx+j+1)*3]+ outB[((i+1)*sx+j-1)*3]-outG[((i+1)*sx+j-1)*3]+ outB[((i+1)*sx+j+1)*3]-outG[((i+1)*sx+j+1)*3])/4; CLIP(tmp,outB[(i*sx+j)*3]); } } break; default: //--------------------------------------------------------- fprintf(stderr,"Bad bayer pattern ID\n"); break; } } void BayerDownsample(unsigned char *src, unsigned char *dest, int sx, int sy, bayer_pattern_t type) { unsigned char *outR, *outG, *outB; register int i,j; int tmp; sx*=2; sy*=2; switch (type) { case BAYER_PATTERN_GRBG: case BAYER_PATTERN_BGGR: outR=&dest[0]; outG=&dest[1]; outB=&dest[2]; break; case BAYER_PATTERN_GBRG: case BAYER_PATTERN_RGGB: outR=&dest[2]; outG=&dest[1]; outB=&dest[0]; break; default: outR=NULL;outG=NULL;outB=NULL; break; } switch (type) { case BAYER_PATTERN_GRBG://--------------------------------------------------------- case BAYER_PATTERN_GBRG: for (i=0;i<sy;i+=2) { for (j=0;j<sx;j+=2) { tmp=((src[i*sx+j]+src[(i+1)*sx+(j+1)])>>1); CLIP(tmp,outG[(((i*sx)>>2)+(j>>1))*3]); tmp=src[i*sx+j+1]; CLIP(tmp,outR[(((i*sx)>>2)+(j>>1))*3]); tmp=src[(i+1)*sx+j]; CLIP(tmp,outB[(((i*sx)>>2)+(j>>1))*3]); } } break; case BAYER_PATTERN_BGGR://--------------------------------------------------------- case BAYER_PATTERN_RGGB: for (i=0;i<sy;i+=2) { for (j=0;j<sx;j+=2) { tmp=((src[(i+1)*sx+j]+src[i*sx+(j+1)])>>1); CLIP(tmp,outG[(((i*sx)>>2)+(j>>1))*3]); tmp=src[(i+1)*sx+j+1]; CLIP(tmp,outR[(((i*sx)>>2)+(j>>1))*3]); tmp=src[i*sx+j]; CLIP(tmp,outB[(((i*sx)>>2)+(j>>1))*3]); } } break; default: //--------------------------------------------------------- fprintf(stderr,"Bad bayer pattern ID\n"); break; } } // change a 16bit stereo image (8bit/channel) into two 8bit images on top // of each other void StereoDecode(unsigned char *src, unsigned char *dest, unsigned long long int NumPixels) { register int i = NumPixels-1; register int j = (NumPixels>>1)-1; register int k = NumPixels-1; while (i > 0) { dest[k--] = src[i--]; dest[j--] = src[i--]; } } |
