void merge(const ImageOf<PixelRgb> &imgR, const ImageOf<PixelRgb> &imgL, ImageOf<PixelRgb> &out)
{
if (out.width()!=imgR.width()/scale)
out.resize(imgR.width()/scale, imgR.height()/scale);
int rr=0;
for(int r=0; r<out.height(); r++)
{
const unsigned char *tmpR=imgR.getRow(rr);
const unsigned char *tmpL=imgL.getRow(rr);
unsigned char *tmpO=out.getRow(r);
for(int c=0; c<out.width(); c++)
{
tmpO[0]=(unsigned char) (1/3.0*(tmpL[0]+tmpL[1]+tmpL[2]));
tmpO[1]=(unsigned char) (1/3.0*(tmpR[0]+tmpR[1]+tmpR[2]));
tmpO+=3;
tmpL+=(3*scale);
tmpR+=(3*scale);
}
rr+=scale;
}
}
// From iCub staticgrabber device.
// DF2 bayer sequence.
// -- in staticgrabber: first row GBGBGB, second row RGRGRG.
// -- changed here to: first row GRGRGR, second row BGBGBG.
bool TestFrameGrabber::makeSimpleBayer(
ImageOf<PixelRgb>& img,
ImageOf<PixelMono>& bayer) {
bayer.resize(img.width(), img.height());
const int w = img.width();
const int h = img.height();
int i, j;
for (i = 0; i < h; i++) {
PixelRgb *row = (PixelRgb *)img.getRow(i);
PixelMono *rd = (PixelMono *)bayer.getRow(i);
for (j = 0; j < w; j++) {
if ((i%2) == 0) {
switch (j%4) {
case 0:
case 2:
*rd++ = row->g;
row++;
break;
case 1:
case 3:
*rd++ = row->r;
row++;
break;
}
}
if ((i%2) == 1) {
switch (j%4) {
case 1:
case 3:
*rd++ = row->g;
row++;
break;
case 0:
case 2:
*rd++ = row->b;
row++;
break;
}
}
}
}
return true;
}