WebSVN - AndroidProjects - Blame - Rev 204 - /ARToolKit/lib/SRC/VideoLinux1394Cam/conversions.c

Rev	Author	Line No.	Line
204	chris	1	/*
		2	Comments by Wayne Piekarski (28 July 2006):
		3
		4	The grabdma.tar.gz file downloaded from the Point Grey web site includes
		5	a LICENSE file which is the LGPL and not the GPL. So it is understood
		6	that the LGPL is the license that was intended by the original authors
		7
		8	This file conversions.c is a copy of the conversions.cpp file from the
		9	grabdma.tar.gz archive. It had to be renamed so that it would compile as
		10	standard C code and link correctly against ARToolKit. */
		11
		12
		13	/*
		14	* Copyright (C) 2000-2004 Damien Douxchamps <ddouxchamps@users.sf.net>
		15	* Dan Dennedy <dan@dennedy.org>
		16	*
		17	* This program is free software; you can redistribute it and/or modify
		18	* it under the terms of the GNU General Public License as published by
		19	* the Free Software Foundation; either version 2 of the License, or
		20	* (at your option) any later version.
		21	*
		22	* This program is distributed in the hope that it will be useful,
		23	* but WITHOUT ANY WARRANTY; without even the implied warranty of
		24	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
		25	* GNU General Public License for more details.
		26	*
		27	* You should have received a copy of the GNU General Public License
		28	* along with this program; if not, write to the Free Software Foundation,
		29	* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
		30	*/
		31
		32	#include "conversions.h"
		33
		34	// The following #define is there for the users who experience green/purple
		35	// images in the display. This seems to be a videocard driver problem.
		36
		37	#define YUYV // instead of the standard UYVY
		38
		39	// color conversion functions from Bart Nabbe.
		40	// corrected by Damien: bad coeficients in YUV2RGB
		41	#define YUV2RGB(y, u, v, r, g, b)\
		42	r = y + ((v*1436) >> 10);\
		43	g = y - ((u352 + v731) >> 10);\
		44	b = y + ((u*1814) >> 10);\
		45	r = r < 0 ? 0 : r;\
		46	g = g < 0 ? 0 : g;\
		47	b = b < 0 ? 0 : b;\
		48	r = r > 255 ? 255 : r;\
		49	g = g > 255 ? 255 : g;\
		50	b = b > 255 ? 255 : b
		51
		52
		53	#define RGB2YUV(r, g, b, y, u, v)\
		54	y = (306r + 601g + 117*b) >> 10;\
		55	u = ((-172r - 340g + 512*b) >> 10) + 128;\
		56	v = ((512r - 429g - 83*b) >> 10) + 128;\
		57	y = y < 0 ? 0 : y;\
		58	u = u < 0 ? 0 : u;\
		59	v = v < 0 ? 0 : v;\
		60	y = y > 255 ? 255 : y;\
		61	u = u > 255 ? 255 : u;\
		62	v = v > 255 ? 255 : v
		63
		64	#define CLIP(in, out)\
		65	{\
		66	in = in < 0 ? 0 : in;\
		67	in = in > 255 ? 255 : in;\
		68	out=in;\
		69	}
		70
		71	/**********************************************************************
		72	*
		73	* CONVERSION FUNCTIONS TO UYVY
		74	*
		75	**********************************************************************/
		76
		77	void
		78	yuyv2uyvy(unsigned char src, unsigned char dest, unsigned long long int NumPixels)
		79	{
		80	#ifdef YUYV
		81	swab(src, dest, NumPixels << 1);
		82	#else
		83	memcpy(dest,src, NumPixels<<1);
		84	#endif
		85	}
		86
		87	void
		88	uyvy2yuyv(unsigned char src, unsigned char dest, unsigned long long int NumPixels)
		89	{
		90	#ifdef YUYV
		91	swab(src, dest, NumPixels << 1);
		92	#else
		93	memcpy(dest,src, NumPixels<<1);
		94	#endif
		95	}
		96	void
		97	uyyvyy2uyvy (unsigned char src, unsigned char dest, unsigned long long int NumPixels)
		98	{
		99	register int i=NumPixels + (NumPixels >> 1)-1;
		100	register int j=(NumPixels << 1)-1;
		101	register int y0, y1, y2, y3, u, v;
		102
		103	while (i > 0) {
		104	y3 = src[i--];
		105	y2 = src[i--];
		106	v = src[i--];
		107	y1 = src[i--];
		108	y0 = src[i--];
		109	u = src[i--];
		110	#ifdef YUYV
		111	dest[j--] = v;
		112	dest[j--] = y3;
		113	dest[j--] = u;
		114	dest[j--] = y2;
		115
		116	dest[j--] = v;
		117	dest[j--] = y1;
		118	dest[j--] = u;
		119	dest[j--] = y0;
		120	#else // UYVY
		121	dest[j--] = y3;
		122	dest[j--] = v;
		123	dest[j--] = y2;
		124	dest[j--] = u;
		125
		126	dest[j--] = y1;
		127	dest[j--] = v;
		128	dest[j--] = y0;
		129	dest[j--] = u;
		130	#endif
		131	}
		132	}
		133
		134	void
		135	uyv2uyvy (unsigned char src, unsigned char dest, unsigned long long int NumPixels)
		136	{
		137	register int i = NumPixels + (NumPixels << 1)-1;
		138	register int j = (NumPixels << 1)-1;
		139	register int y0, y1, u0, u1, v0, v1;
		140
		141	while (i > 0) {
		142	v1 = src[i--];
		143	y1 = src[i--];
		144	u1 = src[i--];
		145	v0 = src[i--];
		146	y0 = src[i--];
		147	u0 = src[i--];
		148
		149	#ifdef YUYV
		150	dest[j--] = (v0+v1) >> 1;
		151	dest[j--] = y1;
		152	dest[j--] = (u0+u1) >> 1;
		153	dest[j--] = y0;
		154	#else // UYVY
		155	dest[j--] = y1;
		156	dest[j--] = (v0+v1) >> 1;
		157	dest[j--] = y0;
		158	dest[j--] = (u0+u1) >> 1;
		159	#endif
		160	}
		161	}
		162
		163
		164	void
		165	y2uyvy (unsigned char src, unsigned char dest, unsigned long long int NumPixels)
		166	{
		167	register int i= NumPixels-1;
		168	register int j = (NumPixels << 1)-1;
		169	register int y0, y1;
		170
		171	while (i > 0) {
		172	y1 = src[i--];
		173	y0 = src[i--];
		174	#ifdef YUYV
		175	dest[j--] = 128;
		176	dest[j--] = y1;
		177	dest[j--] = 128;
		178	dest[j--] = y0;
		179	#else // UYVY
		180	dest[j--] = y1;
		181	dest[j--] = 128;
		182	dest[j--] = y0;
		183	dest[j--] = 128;
		184	#endif
		185	}
		186	}
		187
		188	void
		189	y162uyvy (unsigned char src, unsigned char dest, unsigned long long int NumPixels, int bits)
		190	{
		191	register int i = (NumPixels << 1)-1;
		192	register int j = (NumPixels << 1)-1;
		193	register int y0, y1;
		194	while (i > 0) {
		195	y1 = src[i--];
		196	y1 = (y1 + (((int)src[i--])<<8))>>(bits-8);
		197	y0 = src[i--];
		198	y0 = (y0 + (((int)src[i--])<<8))>>(bits-8);
		199	#ifdef YUYV
		200	dest[j--] = 128;
		201	dest[j--] = y1;
		202	dest[j--] = 128;
		203	dest[j--] = y0;
		204	#else // UYVY
		205	dest[j--] = y1;
		206	dest[j--] = 128;
		207	dest[j--] = y0;
		208	dest[j--] = 128;
		209	#endif
		210	}
		211	}
		212
		213	void
		214	y162y (unsigned char src, unsigned char dest, unsigned long long int NumPixels, int bits)
		215	{
		216	register int i = (NumPixels<<1)-1;
		217	register int j = NumPixels-1;
		218	register int y;
		219
		220	while (i > 0) {
		221	y = src[i--];
		222	dest[j--] = (y + (src[i--]<<8))>>(bits-8);
		223	}
		224	}
		225
		226	void
		227	rgb2uyvy (unsigned char src, unsigned char dest, unsigned long long int NumPixels)
		228	{
		229	register int i = NumPixels + ( NumPixels << 1 )-1;
		230	register int j = (NumPixels << 1)-1;
		231	register int y0, y1, u0, u1, v0, v1 ;
		232	register int r, g, b;
		233
		234	while (i > 0) {
		235	b = (unsigned char) src[i--];
		236	g = (unsigned char) src[i--];
		237	r = (unsigned char) src[i--];
		238	RGB2YUV (r, g, b, y0, u0 , v0);
		239	b = (unsigned char) src[i--];
		240	g = (unsigned char) src[i--];
		241	r = (unsigned char) src[i--];
		242	RGB2YUV (r, g, b, y1, u1 , v1);
		243	#ifdef YUYV
		244	dest[j--] = (v0+v1) >> 1;
		245	dest[j--] = y0;
		246	dest[j--] = (u0+u1) >> 1;
		247	dest[j--] = y1;
		248	#else // UYVY
		249	dest[j--] = y0;
		250	dest[j--] = (v0+v1) >> 1;
		251	dest[j--] = y1;
		252	dest[j--] = (u0+u1) >> 1;
		253	#endif
		254	}
		255	}
		256
		257	void
		258	rgb482uyvy (unsigned char src, unsigned char dest, unsigned long long int NumPixels)
		259	{
		260	register int i = ( (NumPixels + ( NumPixels << 1 )) << 1 ) -1;
		261	register int j = (NumPixels << 1)-1;
		262	register int y0, y1, u0, u1, v0, v1 ;
		263	register int r, g, b;
		264
		265	while (i > 0) {
		266	i--;
		267	b = (unsigned char) src[i--];
		268	i--;
		269	g = (unsigned char) src[i--];
		270	i--;
		271	r = (unsigned char) src[i--];
		272	i--;
		273	RGB2YUV (r, g, b, y0, u0 , v0);
		274	b = (unsigned char) src[i--];
		275	i--;
		276	g = (unsigned char) src[i--];
		277	i--;
		278	r = (unsigned char) src[i--];
		279	RGB2YUV (r, g, b, y1, u1 , v1);
		280
		281	#ifdef YUYV
		282	dest[j--] = (v0+v1) >> 1;
		283	dest[j--] = y0;
		284	dest[j--] = (u0+u1) >> 1;
		285	dest[j--] = y1;
		286	#else // UYVY
		287	dest[j--] = y0;
		288	dest[j--] = (v0+v1) >> 1;
		289	dest[j--] = y1;
		290	dest[j--] = (u0+u1) >> 1;
		291	#endif
		292	}
		293	}
		294
		295	/**********************************************************************
		296	*
		297	* CONVERSION FUNCTIONS TO RGB 24bpp
		298	*
		299	**********************************************************************/
		300
		301	void
		302	rgb482rgb (unsigned char src, unsigned char dest, unsigned long long int NumPixels)
		303	{
		304	register int i = ((NumPixels + ( NumPixels << 1 )) << 1)-1;
		305	register int j = NumPixels + ( NumPixels << 1 ) -1;
		306
		307	while (i > 0) {
		308	i--;
		309	dest[j--]=src[i--];
		310	i--;
		311	dest[j--]=src[i--];
		312	i--;
		313	dest[j--]=src[i--];
		314	}
		315	}
		316
		317
		318	void
		319	uyv2rgb (unsigned char src, unsigned char dest, unsigned long long int NumPixels)
		320	{
		321	register int i = NumPixels + ( NumPixels << 1 ) -1;
		322	register int j = NumPixels + ( NumPixels << 1 ) -1;
		323	register int y, u, v;
		324	register int r, g, b;
		325
		326	while (i > 0) {
		327	v = (unsigned char) src[i--] - 128;
		328	y = (unsigned char) src[i--];
		329	u = (unsigned char) src[i--] - 128;
		330	YUV2RGB (y, u, v, r, g, b);
		331	dest[j--] = b;
		332	dest[j--] = g;
		333	dest[j--] = r;
		334	}
		335	}
		336
		337	void
		338	uyvy2rgb (unsigned char src, unsigned char dest, unsigned long long int NumPixels)
		339	{
		340	register int i = (NumPixels << 1)-1;
		341	register int j = NumPixels + ( NumPixels << 1 ) -1;
		342	register int y0, y1, u, v;
		343	register int r, g, b;
		344
		345	while (i > 0) {
		346	y1 = (unsigned char) src[i--];
		347	v = (unsigned char) src[i--] - 128;
		348	y0 = (unsigned char) src[i--];
		349	u = (unsigned char) src[i--] - 128;
		350	YUV2RGB (y1, u, v, r, g, b);
		351	dest[j--] = b;
		352	dest[j--] = g;
		353	dest[j--] = r;
		354	YUV2RGB (y0, u, v, r, g, b);
		355	dest[j--] = b;
		356	dest[j--] = g;
		357	dest[j--] = r;
		358	}
		359	}
		360
		361
		362	void
		363	uyyvyy2rgb (unsigned char src, unsigned char dest, unsigned long long int NumPixels)
		364	{
		365	register int i = NumPixels + ( NumPixels >> 1 )-1;
		366	register int j = NumPixels + ( NumPixels << 1 )-1;
		367	register int y0, y1, y2, y3, u, v;
		368	register int r, g, b;
		369
		370	while (i > 0) {
		371	y3 = (unsigned char) src[i--];
		372	y2 = (unsigned char) src[i--];
		373	v = (unsigned char) src[i--] - 128;
		374	y1 = (unsigned char) src[i--];
		375	y0 = (unsigned char) src[i--];
		376	u = (unsigned char) src[i--] - 128;
		377	YUV2RGB (y3, u, v, r, g, b);
		378	dest[j--] = b;
		379	dest[j--] = g;
		380	dest[j--] = r;
		381	YUV2RGB (y2, u, v, r, g, b);
		382	dest[j--] = b;
		383	dest[j--] = g;
		384	dest[j--] = r;
		385	YUV2RGB (y1, u, v, r, g, b);
		386	dest[j--] = b;
		387	dest[j--] = g;
		388	dest[j--] = r;
		389	YUV2RGB (y0, u, v, r, g, b);
		390	dest[j--] = b;
		391	dest[j--] = g;
		392	dest[j--] = r;
		393	}
		394	}
		395
		396	void
		397	y2rgb (unsigned char src, unsigned char dest, unsigned long long int NumPixels)
		398	{
		399	register int i = NumPixels-1;
		400	register int j = NumPixels + ( NumPixels << 1 )-1;
		401	register int y;
		402
		403	while (i > 0) {
		404	y = (unsigned char) src[i--];
		405	dest[j--] = y;
		406	dest[j--] = y;
		407	dest[j--] = y;
		408	}
		409	}
		410
		411	void
		412	y162rgb (unsigned char src, unsigned char dest, unsigned long long int NumPixels, int bits)
		413	{
		414	register int i = (NumPixels << 1)-1;
		415	register int j = NumPixels + ( NumPixels << 1 )-1;
		416	register int y;
		417
		418	while (i > 0) {
		419	y = src[i--];
		420	y = (y + (src[i--]<<8))>>(bits-8);
		421	dest[j--] = y;
		422	dest[j--] = y;
		423	dest[j--] = y;
		424	}
		425	}
		426
		427	/*****************************************************************
		428	* Color conversion functions for cameras that can *
		429	* output raw-Bayer pattern images, such as some Basler and *
		430	* Point Grey camera. Most of the algos presented here come from *
		431	* http://ise0.Stanford.EDU/~tingchen/main.htm and have been *
		432	* converted from Matlab to C and extended to all elementary *
		433	* patterns. *
		434	*****************************************************************/
		435
		436	void
		437	BayerNearestNeighbor( unsigned char *src,
		438	unsigned char *dest,
		439	int sx,
		440	int sy,
		441	bayer_pattern_t type)
		442	{
		443	unsigned char outR, outG, *outB;
		444	register int i,j;
		445
		446	// sx and sy should be even
		447	switch (type) {
		448	case BAYER_PATTERN_GRBG:
		449	case BAYER_PATTERN_BGGR:
		450	outR=&dest[0];
		451	outG=&dest[1];
		452	outB=&dest[2];
		453	break;
		454	case BAYER_PATTERN_GBRG:
		455	case BAYER_PATTERN_RGGB:
		456	outR=&dest[2];
		457	outG=&dest[1];
		458	outB=&dest[0];
		459	break;
		460	default:
		461	outR=NULL;outG=NULL;outB=NULL;
		462	break;
		463	}
		464
		465	switch (type) {
		466	case BAYER_PATTERN_GRBG: //-------------------------------------------
		467	case BAYER_PATTERN_GBRG:
		468	// copy original RGB data to output images
		469	for (i=0;i<sy;i+=2) {
		470	for (j=0;j<sx;j+=2) {
		471	outG[(isx+j)3]=src[i*sx+j];
		472	outG[((i+1)sx+(j+1))3]=src[(i+1)*sx+(j+1)];
		473	outR[(isx+j+1)3]=src[i*sx+j+1];
		474	outB[((i+1)sx+j)3]=src[(i+1)*sx+j];
		475	}
		476	}
		477	// R channel
		478	for (i=0;i<sy;i+=2) {
		479	for (j=0;j<sx-1;j+=2) {
		480	outR[(isx+j)3]=outR[(isx+j+1)3];
		481	outR[((i+1)sx+j+1)3]=outR[(isx+j+1)3];
		482	outR[((i+1)sx+j)3]=outR[(isx+j+1)3];
		483	}
		484	}
		485	// B channel
		486	for (i=0;i<sy-1;i+=2) { //every two lines
		487	for (j=0;j<sx-1;j+=2) {
		488	outB[(isx+j)3]=outB[((i+1)sx+j)3];
		489	outB[(isx+j+1)3]=outB[((i+1)sx+j)3];
		490	outB[((i+1)sx+j+1)3]=outB[((i+1)sx+j)3];
		491	}
		492	}
		493	// using lower direction for G channel
		494
		495	// G channel
		496	for (i=0;i<sy-1;i+=2)//every two lines
		497	for (j=1;j<sx;j+=2)
		498	outG[(isx+j)3]=outG[((i+1)sx+j)3];
		499
		500	for (i=1;i<sy-2;i+=2)//every two lines
		501	for (j=0;j<sx-1;j+=2)
		502	outG[(isx+j)3]=outG[((i+1)sx+j)3];
		503
		504	// copy it for the next line
		505	for (j=0;j<sx-1;j+=2)
		506	outG[((sy-1)sx+j)3]=outG[((sy-2)sx+j)3];
		507
		508	break;
		509	case BAYER_PATTERN_BGGR: //-------------------------------------------
		510	case BAYER_PATTERN_RGGB:
		511	// copy original data
		512	for (i=0;i<sy;i+=2) {
		513	for (j=0;j<sx;j+=2) {
		514	outB[(isx+j)3]=src[i*sx+j];
		515	outR[((i+1)sx+(j+1))3]=src[(i+1)*sx+(j+1)];
		516	outG[(isx+j+1)3]=src[i*sx+j+1];
		517	outG[((i+1)sx+j)3]=src[(i+1)*sx+j];
		518	}
		519	}
		520	// R channel
		521	for (i=0;i<sy;i+=2){
		522	for (j=0;j<sx-1;j+=2) {
		523	outR[(isx+j)3]=outR[((i+1)sx+j+1)3];
		524	outR[(isx+j+1)3]=outR[((i+1)sx+j+1)3];
		525	outR[((i+1)sx+j)3]=outR[((i+1)sx+j+1)3];
		526	}
		527	}
		528	// B channel
		529	for (i=0;i<sy-1;i+=2) { //every two lines
		530	for (j=0;j<sx-1;j+=2) {
		531	outB[((i+1)sx+j)3]=outB[(isx+j)3];
		532	outB[(isx+j+1)3]=outB[(isx+j)3];
		533	outB[((i+1)sx+j+1)3]=outB[(isx+j)3];
		534	}
		535	}
		536	// using lower direction for G channel
		537
		538	// G channel
		539	for (i=0;i<sy-1;i+=2)//every two lines
		540	for (j=0;j<sx-1;j+=2)
		541	outG[(isx+j)3]=outG[((i+1)sx+j)3];
		542
		543	for (i=1;i<sy-2;i+=2)//every two lines
		544	for (j=0;j<sx-1;j+=2)
		545	outG[(isx+j+1)3]=outG[((i+1)sx+j+1)3];
		546
		547	// copy it for the next line
		548	for (j=0;j<sx-1;j+=2)
		549	outG[((sy-1)sx+j+1)3]=outG[((sy-2)sx+j+1)3];
		550
		551	break;
		552
		553	default: //-------------------------------------------
		554	break;
		555	}
		556	}
		557
		558
		559	void
		560	BayerEdgeSense( unsigned char *src,
		561	unsigned char *dest,
		562	int sx,
		563	int sy,
		564	bayer_pattern_t type)
		565	{
		566	unsigned char outR, outG, *outB;
		567	register int i,j;
		568	int dh, dv;
		569	int tmp;
		570
		571	// sx and sy should be even
		572	switch (type) {
		573	case BAYER_PATTERN_GRBG:
		574	case BAYER_PATTERN_BGGR:
		575	outR=&dest[0];
		576	outG=&dest[1];
		577	outB=&dest[2];
		578	break;
		579	case BAYER_PATTERN_GBRG:
		580	case BAYER_PATTERN_RGGB:
		581	outR=&dest[2];
		582	outG=&dest[1];
		583	outB=&dest[0];
		584	break;
		585	default:
		586	outR=NULL;outG=NULL;outB=NULL;
		587	break;
		588	}
		589
		590	switch (type) {
		591	case BAYER_PATTERN_GRBG://---------------------------------------------------------
		592	case BAYER_PATTERN_GBRG:
		593	// copy original RGB data to output images
		594	for (i=0;i<sy;i+=2) {
		595	for (j=0;j<sx;j+=2) {
		596	outG[(isx+j)3]=src[i*sx+j];
		597	outG[((i+1)sx+(j+1))3]=src[(i+1)*sx+(j+1)];
		598	outR[(isx+j+1)3]=src[i*sx+j+1];
		599	outB[((i+1)sx+j)3]=src[(i+1)*sx+j];
		600	}
		601	}
		602	// process GREEN channel
		603	for (i=3;i<sy-2;i+=2) {
		604	for (j=2;j<sx-3;j+=2) {
		605	dh=abs((outB[(isx+j-2)3]+outB[(isx+j+2)3])/2-outB[(isx+j)3]);
		606	dv=abs((outB[((i-2)sx+j)3]+outB[((i+2)sx+j)3])/2-outB[(isx+j)3]);
		607	if (dh<dv)
		608	tmp=(outG[(isx+j-1)3]+outG[(isx+j+1)3])/2;
		609	else {
		610	if (dh>dv)
		611	tmp=(outG[((i-1)sx+j)3]+outG[((i+1)sx+j)3])/2;
		612	else
		613	tmp=(outG[(isx+j-1)3]+outG[(isx+j+1)3]+outG[((i-1)sx+j)3]+outG[((i+1)sx+j)3])/4;
		614	}
		615	CLIP(tmp,outG[(isx+j)3]);
		616	}
		617	}
		618
		619	for (i=2;i<sy-3;i+=2) {
		620	for (j=3;j<sx-2;j+=2) {
		621	dh=abs((outR[(isx+j-2)3]+outR[(isx+j+2)3])/2-outR[(isx+j)3]);
		622	dv=abs((outR[((i-2)sx+j)3]+outR[((i+2)sx+j)3])/2-outR[(isx+j)3]);
		623	if (dh<dv)
		624	tmp=(outG[(isx+j-1)3]+outG[(isx+j+1)3])/2;
		625	else {
		626	if (dh>dv)
		627	tmp=(outG[((i-1)sx+j)3]+outG[((i+1)sx+j)3])/2;
		628	else
		629	tmp=(outG[(isx+j-1)3]+outG[(isx+j+1)3]+outG[((i-1)sx+j)3]+outG[((i+1)sx+j)3])/4;
		630	}
		631	CLIP(tmp,outG[(isx+j)3]);
		632	}
		633	}
		634	// process RED channel
		635	for (i=0;i<sy-1;i+=2) {
		636	for (j=2;j<sx-1;j+=2) {
		637	tmp=outG[(isx+j)3]+(outR[(isx+j-1)3]-outG[(isx+j-1)3]+
		638	outR[(isx+j+1)3]-outG[(isx+j+1)3])/2;
		639	CLIP(tmp,outR[(isx+j)3]);
		640	}
		641	}
		642	for (i=1;i<sy-2;i+=2) {
		643	for (j=1;j<sx;j+=2) {
		644	tmp=outG[(isx+j)3]+(outR[((i-1)sx+j)3]-outG[((i-1)sx+j)3]+
		645	outR[((i+1)sx+j)3]-outG[((i+1)sx+j)3])/2;
		646	CLIP(tmp,outR[(isx+j)3]);
		647	}
		648	for (j=2;j<sx-1;j+=2) {
		649	tmp=outG[(isx+j)3]+(outR[((i-1)sx+j-1)3]-outG[((i-1)sx+j-1)3]+
		650	outR[((i-1)sx+j+1)3]-outG[((i-1)sx+j+1)3]+
		651	outR[((i+1)sx+j-1)3]-outG[((i+1)sx+j-1)3]+
		652	outR[((i+1)sx+j+1)3]-outG[((i+1)sx+j+1)3])/4;
		653	CLIP(tmp,outR[(isx+j)3]);
		654	}
		655	}
		656
		657	// process BLUE channel
		658	for (i=1;i<sy;i+=2) {
		659	for (j=1;j<sx-2;j+=2) {
		660	tmp=outG[(isx+j)3]+(outB[(isx+j-1)3]-outG[(isx+j-1)3]+
		661	outB[(isx+j+1)3]-outG[(isx+j+1)3])/2;
		662	CLIP(tmp,outB[(isx+j)3]);
		663	}
		664	}
		665	for (i=2;i<sy-1;i+=2) {
		666	for (j=0;j<sx-1;j+=2) {
		667	tmp=outG[(isx+j)3]+(outB[((i-1)sx+j)3]-outG[((i-1)sx+j)3]+
		668	outB[((i+1)sx+j)3]-outG[((i+1)sx+j)3])/2;
		669	CLIP(tmp,outB[(isx+j)3]);
		670	}
		671	for (j=1;j<sx-2;j+=2) {
		672	tmp=outG[(isx+j)3]+(outB[((i-1)sx+j-1)3]-outG[((i-1)sx+j-1)3]+
		673	outB[((i-1)sx+j+1)3]-outG[((i-1)sx+j+1)3]+
		674	outB[((i+1)sx+j-1)3]-outG[((i+1)sx+j-1)3]+
		675	outB[((i+1)sx+j+1)3]-outG[((i+1)sx+j+1)3])/4;
		676	CLIP(tmp,outB[(isx+j)3]);
		677	}
		678	}
		679	break;
		680
		681	case BAYER_PATTERN_BGGR: //---------------------------------------------------------
		682	case BAYER_PATTERN_RGGB:
		683	// copy original RGB data to output images
		684	for (i=0;i<sy;i+=2) {
		685	for (j=0;j<sx;j+=2) {
		686	outB[(isx+j)3]=src[i*sx+j];
		687	outR[((i+1)sx+(j+1))3]=src[(i+1)*sx+(j+1)];
		688	outG[(isx+j+1)3]=src[i*sx+j+1];
		689	outG[((i+1)sx+j)3]=src[(i+1)*sx+j];
		690	}
		691	}
		692	// process GREEN channel
		693	for (i=2;i<sy-2;i+=2) {
		694	for (j=2;j<sx-3;j+=2) {
		695	dh=abs((outB[(isx+j-2)3]+outB[(isx+j+2)3])/2-outB[(isx+j)3]);
		696	dv=abs((outB[((i-2)sx+j)3]+outB[((i+2)sx+j)3])/2-outB[(isx+j)3]);
		697	if (dh<dv)
		698	tmp=(outG[(isx+j-1)3]+outG[(isx+j+1)3])/2;
		699	else {
		700	if (dh>dv)
		701	tmp=(outG[((i-1)sx+j)3]+outG[((i+1)sx+j)3])/2;
		702	else
		703	tmp=(outG[(isx+j-1)3]+outG[(isx+j+1)3]+outG[((i-1)sx+j)3]+outG[((i+1)sx+j)3])/4;
		704	}
		705	CLIP(tmp,outG[(isx+j)3]);
		706	}
		707	}
		708	for (i=3;i<sy-3;i+=2) {
		709	for (j=3;j<sx-2;j+=2) {
		710	dh=abs((outR[(isx+j-2)3]+outR[(isx+j+2)3])/2-outR[(isx+j)3]);
		711	dv=abs((outR[((i-2)sx+j)3]+outR[((i+2)sx+j)3])/2-outR[(isx+j)3]);
		712	if (dh<dv)
		713	tmp=(outG[(isx+j-1)3]+outG[(isx+j+1)3])/2;
		714	else {
		715	if (dh>dv)
		716	tmp=(outG[((i-1)sx+j)3]+outG[((i+1)sx+j)3])/2;
		717	else
		718	tmp=(outG[(isx+j-1)3]+outG[(isx+j+1)3]+outG[((i-1)sx+j)3]+outG[((i+1)sx+j)3])/4;
		719	}
		720	CLIP(tmp,outG[(isx+j)3]);
		721	}
		722	}
		723	// process RED channel
		724	for (i=1;i<sy-1;i+=2) { // G-points (1/2)
		725	for (j=2;j<sx-1;j+=2) {
		726	tmp=outG[(isx+j)3]+(outR[(isx+j-1)3]-outG[(isx+j-1)3]+
		727	outR[(isx+j+1)3]-outG[(isx+j+1)3])/2;
		728	CLIP(tmp,outR[(isx+j)3]);
		729	}
		730	}
		731	for (i=2;i<sy-2;i+=2) {
		732	for (j=1;j<sx;j+=2) { // G-points (2/2)
		733	tmp=outG[(isx+j)3]+(outR[((i-1)sx+j)3]-outG[((i-1)sx+j)3]+
		734	outR[((i+1)sx+j)3]-outG[((i+1)sx+j)3])/2;
		735	CLIP(tmp,outR[(isx+j)3]);
		736	}
		737	for (j=2;j<sx-1;j+=2) { // B-points
		738	tmp=outG[(isx+j)3]+(outR[((i-1)sx+j-1)3]-outG[((i-1)sx+j-1)3]+
		739	outR[((i-1)sx+j+1)3]-outG[((i-1)sx+j+1)3]+
		740	outR[((i+1)sx+j-1)3]-outG[((i+1)sx+j-1)3]+
		741	outR[((i+1)sx+j+1)3]-outG[((i+1)sx+j+1)3])/4;
		742	CLIP(tmp,outR[(isx+j)3]);
		743	}
		744	}
		745
		746	// process BLUE channel
		747	for (i=0;i<sy;i+=2) {
		748	for (j=1;j<sx-2;j+=2) {
		749	tmp=outG[(isx+j)3]+(outB[(isx+j-1)3]-outG[(isx+j-1)3]+
		750	outB[(isx+j+1)3]-outG[(isx+j+1)3])/2;
		751	CLIP(tmp,outB[(isx+j)3]);
		752	}
		753	}
		754	for (i=1;i<sy-1;i+=2) {
		755	for (j=0;j<sx-1;j+=2) {
		756	tmp=outG[(isx+j)3]+(outB[((i-1)sx+j)3]-outG[((i-1)sx+j)3]+
		757	outB[((i+1)sx+j)3]-outG[((i+1)sx+j)3])/2;
		758	CLIP(tmp,outB[(isx+j)3]);
		759	}
		760	for (j=1;j<sx-2;j+=2) {
		761	tmp=outG[(isx+j)3]+(outB[((i-1)sx+j-1)3]-outG[((i-1)sx+j-1)3]+
		762	outB[((i-1)sx+j+1)3]-outG[((i-1)sx+j+1)3]+
		763	outB[((i+1)sx+j-1)3]-outG[((i+1)sx+j-1)3]+
		764	outB[((i+1)sx+j+1)3]-outG[((i+1)sx+j+1)3])/4;
		765	CLIP(tmp,outB[(isx+j)3]);
		766	}
		767	}
		768	break;
		769	default: //---------------------------------------------------------
		770	fprintf(stderr,"Bad bayer pattern ID\n");
		771	break;
		772	}
		773	}
		774
		775	void
		776	BayerDownsample(unsigned char src, unsigned char dest, int sx, int sy, bayer_pattern_t type)
		777	{
		778	unsigned char outR, outG, *outB;
		779	register int i,j;
		780	int tmp;
		781
		782	sx*=2;
		783	sy*=2;
		784
		785	switch (type) {
		786	case BAYER_PATTERN_GRBG:
		787	case BAYER_PATTERN_BGGR:
		788	outR=&dest[0];
		789	outG=&dest[1];
		790	outB=&dest[2];
		791	break;
		792	case BAYER_PATTERN_GBRG:
		793	case BAYER_PATTERN_RGGB:
		794	outR=&dest[2];
		795	outG=&dest[1];
		796	outB=&dest[0];
		797	break;
		798	default:
		799	outR=NULL;outG=NULL;outB=NULL;
		800	break;
		801	}
		802
		803	switch (type) {
		804	case BAYER_PATTERN_GRBG://---------------------------------------------------------
		805	case BAYER_PATTERN_GBRG:
		806	for (i=0;i<sy;i+=2) {
		807	for (j=0;j<sx;j+=2) {
		808	tmp=((src[isx+j]+src[(i+1)sx+(j+1)])>>1);
		809	CLIP(tmp,outG[(((isx)>>2)+(j>>1))3]);
		810	tmp=src[i*sx+j+1];
		811	CLIP(tmp,outR[(((isx)>>2)+(j>>1))3]);
		812	tmp=src[(i+1)*sx+j];
		813	CLIP(tmp,outB[(((isx)>>2)+(j>>1))3]);
		814	}
		815	}
		816	break;
		817	case BAYER_PATTERN_BGGR://---------------------------------------------------------
		818	case BAYER_PATTERN_RGGB:
		819	for (i=0;i<sy;i+=2) {
		820	for (j=0;j<sx;j+=2) {
		821	tmp=((src[(i+1)sx+j]+src[isx+(j+1)])>>1);
		822	CLIP(tmp,outG[(((isx)>>2)+(j>>1))3]);
		823	tmp=src[(i+1)*sx+j+1];
		824	CLIP(tmp,outR[(((isx)>>2)+(j>>1))3]);
		825	tmp=src[i*sx+j];
		826	CLIP(tmp,outB[(((isx)>>2)+(j>>1))3]);
		827	}
		828	}
		829	break;
		830	default: //---------------------------------------------------------
		831	fprintf(stderr,"Bad bayer pattern ID\n");
		832	break;
		833	}
		834
		835	}
		836
		837	// change a 16bit stereo image (8bit/channel) into two 8bit images on top
		838	// of each other
		839	void
		840	StereoDecode(unsigned char src, unsigned char dest, unsigned long long int NumPixels)
		841	{
		842	register int i = NumPixels-1;
		843	register int j = (NumPixels>>1)-1;
		844	register int k = NumPixels-1;
		845
		846	while (i > 0) {
		847	dest[k--] = src[i--];
		848	dest[j--] = src[i--];
		849	}
		850	}

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(root)/ARToolKit/lib/SRC/VideoLinux1394Cam/conversions.c - Rev 204