// can't seem to do ipl/opencv/yarp style end-of-row padding
void setDcImage(yarp::sig::Image& yimg, dc1394video_frame_t *dc,
int filter) {
if (!dc) return;
dc->image = (unsigned char *) yimg.getRawImage();
dc->size[0] = (uint32_t) yimg.width();
dc->size[1] = (uint32_t) yimg.height();
dc->position[0] = 0;
dc->position[1] = 0;
dc->color_coding = (yimg.getPixelCode()==VOCAB_PIXEL_MONO)?DC1394_COLOR_CODING_RAW8:DC1394_COLOR_CODING_RGB8;
dc->color_filter = (dc1394color_filter_t)filter;
dc->yuv_byte_order = 0;
dc->data_depth = 8;
dc->stride = (uint32_t) yimg.getRowSize();
dc->video_mode = DC1394_VIDEO_MODE_640x480_RGB8; // we are bluffing
dc->image_bytes = (uint32_t)yimg.getRawImageSize();
dc->padding_bytes = 0;
dc->total_bytes = dc->image_bytes;
dc->timestamp = 0;
dc->frames_behind = 0;
dc->camera = nullptr;
dc->id = 0;
dc->allocated_image_bytes = dc->image_bytes;
#ifdef YARP_LITTLE_ENDIAN
dc->little_endian = DC1394_TRUE;
#else
dc->little_endian = DC1394_FALSE;
#endif
dc->data_in_padding = DC1394_FALSE;
}
bool deBayer_GRBG8_TO_RGB(yarp::sig::Image &source, yarp::sig::Image &dest, int pixelSize)
{
yAssert(((pixelSize == 3) && (dest.getPixelCode() == VOCAB_PIXEL_RGB)) ||
((pixelSize == 4 && dest.getPixelCode() == VOCAB_PIXEL_RGBA)))
dest.resize(source.width(), source.height());
// perform conversion, skip borders
for (int r = 0; r < source.height() - 2; r += 2)
{
unsigned char *destRow = dest.getRow(r);
unsigned char *sourceRowCurrent = source.getRow(r);
unsigned char *sourceRowNext = source.getRow(r + 1);
//row i GRGRGR...
for (int c = 0; c < source.width() - 2; c += 2)
{
//source is on G pixel
destRow[0] = sourceRowCurrent[1]; //red
destRow[1] = sourceRowCurrent[0]; //green
destRow[2] = sourceRowNext[0];; //blue
//jump a pixel in destination
destRow += pixelSize;
sourceRowCurrent++;
sourceRowNext++;
//source is now on R pixel
destRow[0] = sourceRowCurrent[0]; //red
destRow[1] = sourceRowCurrent[1]; //green
destRow[2] = sourceRowNext[0]; //red
destRow += pixelSize;
sourceRowCurrent++;
sourceRowNext++;
}
destRow = dest.getRow(r + 1);
sourceRowCurrent = source.getRow(r + 1);
sourceRowNext = source.getRow(r + 2);
//row is now BGBGBG...
for (int c = 0; c < dest.width() - 2; c += 2)
{
//source is on B pixel
destRow[0] = sourceRowNext[1]; //red
destRow[1] = sourceRowCurrent[1]; //green
destRow[2] = sourceRowCurrent[0]; //blue
//jump a pixel in destination
destRow += pixelSize;
sourceRowCurrent++;
sourceRowNext++;
//source is now on G pixel
destRow[0] = sourceRowNext[0]; //red
destRow[1] = sourceRowCurrent[0]; //green
destRow[2] = sourceRowCurrent[1]; //blue
destRow += pixelSize;
sourceRowCurrent++;
sourceRowNext++;
}
}
return true;
}
