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/****************************************************************************
* *
* PrimeSense Sensor 5.x Alpha *
* Copyright (C) 2011 PrimeSense Ltd. *
* *
* This file is part of PrimeSense Sensor. *
* *
* PrimeSense Sensor is free software: you can redistribute it and/or modify*
* it under the terms of the GNU Lesser General Public License as published *
* by the Free Software Foundation, either version 3 of the License, or *
* (at your option) any later version. *
* *
* PrimeSense Sensor 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 Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with PrimeSense Sensor. If not, see <http://www.gnu.org/licenses/>.*
* *
****************************************************************************/
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include "Bayer.h"
#include <math.h>
//---------------------------------------------------------------------------
// Global Variables
//---------------------------------------------------------------------------
XnUInt8 Gamma[256] = {
0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15,
16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31,
32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47,
48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63,
64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79,
80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95,
96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111,
112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127,
128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143,
144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159,
160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175,
176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191,
192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207,
208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223,
224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239,
240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255};
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
void BayerUpdateGamma(float fGammaCorr)
{
for(XnUInt32 iG = 0; iG < 256;++iG)
Gamma[iG] = XnUInt8(255*pow(XnDouble(iG)/255.0,(XnDouble)fGammaCorr) + 0.5);
}
static inline void WriteRGB(XnUInt8 *pBuffer, XnUInt8 nRed, XnUInt8 nGreen, XnUInt8 nBlue)
{
pBuffer[BAYER_RED] = Gamma[nRed];
pBuffer[BAYER_GREEN] = Gamma[nGreen];
pBuffer[BAYER_BLUE] = Gamma[nBlue];
}
void Bayer2RGB888(const XnUInt8* pBayerImage, XnUInt8* pRGBImage, XnUInt32 nXRes, XnUInt32 nYRes, XnUInt32 /*nDownSampleStep*/, XnUInt32 nBadPixels)
{
XnUInt8 nRed;
XnUInt8 nGreen;
XnUInt8 nBlue;
const XnUInt8* pBayer;
XnUInt8* pRGB;
//if (nBadPixels > 1)
//{
//nBadPixels = 1;
//}
XnInt32 BAYER_LINE_LENGTH = nXRes;
XnInt32 BAYER_LINE_LENGTH2 = BAYER_LINE_LENGTH*2;
XnInt32 BAYER_RGB_LINE_LENGTH = nXRes*BAYER_BPP;
XnInt32 BAYER_RGB_LINE_LENGTH2 = BAYER_RGB_LINE_LENGTH*2;
const XnUInt8* pCurrBayer;
XnUInt8* pCurrRGB;
XnUInt32 nColCount;
XnUInt32 nTotalColsCount = (nXRes-2) / 2;
XnUInt32 nTotalRowsCount = (nYRes-4) / 2;
pBayer = pBayerImage + BAYER_LINE_LENGTH - nBadPixels;
pRGB = pRGBImage + BAYER_RGB_LINE_LENGTH;
do {
pCurrBayer = pBayer+ 1;
pCurrRGB = pRGB + BAYER_BPP;
nColCount = nTotalColsCount;
do {
nRed = ((XnUInt32)pCurrBayer[-BAYER_LINE_LENGTH]+pCurrBayer[BAYER_LINE_LENGTH]) / 2;
nBlue = ((XnUInt32)pCurrBayer[-1]+pCurrBayer[1]) / 2;
WriteRGB(pCurrRGB+0, nRed, pCurrBayer[0], nBlue);
nRed = ((XnUInt32)pCurrBayer[-BAYER_LINE_LENGTH+2]+pCurrBayer[BAYER_LINE_LENGTH+2]) / 2;
nGreen = ((XnUInt32)pCurrBayer[0]+pCurrBayer[2]) / 2;
WriteRGB(pCurrRGB+BAYER_BPP, nRed, nGreen, pCurrBayer[1]);
nGreen = ((XnUInt32)pCurrBayer[BAYER_LINE_LENGTH-1]+pCurrBayer[BAYER_LINE_LENGTH+1]) / 2;
nBlue = ((XnUInt32)pCurrBayer[BAYER_LINE_LENGTH2-1]+pCurrBayer[BAYER_LINE_LENGTH2+1]) / 2;
WriteRGB(pCurrRGB+BAYER_RGB_LINE_LENGTH, pCurrBayer[BAYER_LINE_LENGTH], nGreen, nBlue);
nRed = ((XnUInt32)pCurrBayer[BAYER_LINE_LENGTH]+pCurrBayer[BAYER_LINE_LENGTH+2]) / 2;
nBlue = ((XnUInt32)pCurrBayer[1]+pCurrBayer[BAYER_LINE_LENGTH2+1]) / 2;
WriteRGB(pCurrRGB+BAYER_RGB_LINE_LENGTH+BAYER_BPP, nRed, pCurrBayer[BAYER_LINE_LENGTH+1], nBlue);
pCurrBayer += 2;
pCurrRGB += 2*BAYER_BPP;
} while (--nColCount);
pBayer += BAYER_LINE_LENGTH2;
pRGB += BAYER_RGB_LINE_LENGTH2;
} while (--nTotalRowsCount);
}
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