This repository has been archived by the owner on Apr 29, 2024. It is now read-only.
-
Notifications
You must be signed in to change notification settings - Fork 54
/
Copy pathbayer_filter.cpp
257 lines (212 loc) · 7.43 KB
/
bayer_filter.cpp
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
256
257
// This file is part of VisionCPP, a lightweight C++ template library
// for computer vision and image processing.
//
// Copyright (C) 2016 Codeplay Software Limited. All Rights Reserved.
//
// Contact: [email protected]
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
/// \file threhsold.cc
///
/// ---------Example---------
/// Bayer Filter
///
/// \brief This example implements the Bayer Filter Demosaic Method
// include OpenCV for camera display
#include <opencv2/opencv.hpp>
// include VisionCpp
#include <visioncpp.hpp>
// \brief functor which converts bayerRGGB to BGR
struct BayerRGGBToBGR {
template <typename T>
visioncpp::pixel::U8C3 operator()(T bayer) {
// finding the pattern based on the index
int _case = 0;
if (bayer.I_r % 2 == 0 && bayer.I_c % 2 == 0) {
_case = 1;
} else if (bayer.I_r % 2 == 0 && bayer.I_c % 2 == 1) {
_case = 2;
} else if (bayer.I_r % 2 == 1 && bayer.I_c % 2 == 0) {
_case = 3;
} else {
_case = 4;
}
switch (_case) {
case 1: // PIXEL R
{
// Init RGB variables
uchar R;
uchar G;
uchar B;
// Get G
uchar G1 = bayer.at(bayer.I_c, bayer.I_r - 1)[0];
uchar G2 = bayer.at(bayer.I_c + 1, bayer.I_r)[0];
uchar G3 = bayer.at(bayer.I_c, bayer.I_r + 1)[0];
uchar G4 = bayer.at(bayer.I_c - 1, bayer.I_r)[0];
// Get R
uchar R1 = bayer.at(bayer.I_c, bayer.I_r - 2)[0];
uchar R2 = bayer.at(bayer.I_c + 2, bayer.I_r)[0];
uchar R3 = bayer.at(bayer.I_c, bayer.I_r + 2)[0];
uchar R4 = bayer.at(bayer.I_c - 2, bayer.I_r)[0];
// Get B
uchar B1 = bayer.at(bayer.I_c - 1, bayer.I_r - 1)[0];
uchar B2 = bayer.at(bayer.I_c + 1, bayer.I_r - 1)[0];
uchar B3 = bayer.at(bayer.I_c + 1, bayer.I_r + 1)[0];
uchar B4 = bayer.at(bayer.I_c - 1, bayer.I_r + 1)[0];
// Assign R
R = bayer.at(bayer.I_c, bayer.I_r)[0];
// Assign G
if (abs(R1 - R3) < abs(R2 - R4)) {
G = (G1 + G3) / 2;
} else if (abs(R1 - R3) > abs(R2 - R4)) {
G = (G2 + G4) / 2;
} else {
G = (G1 + G2 + G3 + G4) / 4;
}
// Assign B
B = (B1 + B2 + B3 + B4) / 4;
// Return BGR
return visioncpp::pixel::U8C3(B, G, R);
} break;
case 2: // PIXEL G1
{
// Init RGB variables
uchar R;
uchar G;
uchar B;
// Get R
uchar R1 = bayer.at(bayer.I_c - 1, bayer.I_r)[0];
uchar R2 = bayer.at(bayer.I_c + 1, bayer.I_r)[0];
// Get B
uchar B1 = bayer.at(bayer.I_c, bayer.I_r - 1)[0];
uchar B2 = bayer.at(bayer.I_c, bayer.I_r + 1)[0];
// Assign R
R = (R1 + R2) / 2;
// Assign G
G = bayer.at(bayer.I_c, bayer.I_r)[0];
// Assign B
B = (B1 + B2) / 2;
// Return BGR
return visioncpp::pixel::U8C3(B, G, R);
} break;
case 3: // Pixel G2
{
// Init RGB variables
uchar R;
uchar G;
uchar B;
// Get R
uchar R1 = bayer.at(bayer.I_c, bayer.I_r - 1)[0];
uchar R2 = bayer.at(bayer.I_c, bayer.I_r + 1)[0];
// Get B
uchar B1 = bayer.at(bayer.I_c - 1, bayer.I_r)[0];
uchar B2 = bayer.at(bayer.I_c + 1, bayer.I_r)[0];
// Assign R
R = (R1 + R2) / 2;
// Assign G
G = bayer.at(bayer.I_c, bayer.I_r)[0];
// Assign B
B = (B1 + B2) / 2;
// Return BGR
return visioncpp::pixel::U8C3(B, G, R);
} break;
case 4: // pixel B
{
// Init RGB Values
uchar R;
uchar G;
uchar B;
// Get G
uchar G1 = bayer.at(bayer.I_c, bayer.I_r - 1)[0];
uchar G2 = bayer.at(bayer.I_c + 1, bayer.I_r)[0];
uchar G3 = bayer.at(bayer.I_c, bayer.I_r + 1)[0];
uchar G4 = bayer.at(bayer.I_c - 1, bayer.I_r)[0];
// Get B
uchar B1 = bayer.at(bayer.I_c, bayer.I_r - 2)[0];
uchar B2 = bayer.at(bayer.I_c + 2, bayer.I_r)[0];
uchar B3 = bayer.at(bayer.I_c, bayer.I_r + 2)[0];
uchar B4 = bayer.at(bayer.I_c - 2, bayer.I_r)[0];
// Get R
uchar R1 = bayer.at(bayer.I_c - 1, bayer.I_r - 1)[0];
uchar R2 = bayer.at(bayer.I_c + 1, bayer.I_r - 1)[0];
uchar R3 = bayer.at(bayer.I_c + 1, bayer.I_r + 1)[0];
uchar R4 = bayer.at(bayer.I_c - 1, bayer.I_r + 1)[0];
// Assign R
R = (R1 + R2 + R3 + R4) / 4;
// Assign G
if (abs(B1 - B3) < abs(B2 - B4)) {
G = (G1 + G3) / 2;
} else if (abs(B1 - B3) > abs(B2 - B4)) {
G = (G2 + G4) / 2;
} else {
G = (G1 + G2 + G3 + G4) / 4;
}
// Assign B
B = bayer.at(bayer.I_c, bayer.I_r)[0];
// Return BGR
return visioncpp::pixel::U8C3(B, G, R);
} break;
default: {
return visioncpp::pixel::U8C3(0, 0, 0); // avoid warning
} break;
}
}
};
// main program
int main(int argc, char **argv) {
// Load the
cv::Mat bayer = cv::imread(argv[1], CV_LOAD_IMAGE_GRAYSCALE);
if (!bayer.data) {
std::cout << "Image not loaded, BayerRGGB image required as input"
<< std::endl;
std::cout << "example>: ./bayer_filter raw_image.png" << std::endl;
return -1;
}
constexpr size_t COLS = 1280;
constexpr size_t ROWS = 720;
// initializing input pointer
std::shared_ptr<uchar> input_ptr(new uchar[COLS * ROWS],
[](uchar *dataMem) { delete[] dataMem; });
// initializing output pointer
std::shared_ptr<uchar> output_ptr(new uchar[COLS * ROWS * 3],
[](uchar *dataMem) { delete[] dataMem; });
// selecting device using sycl as backend
auto dev = visioncpp::make_device<visioncpp::backend::sycl,
visioncpp::device::cpu>();
cv::Mat outImage(ROWS, COLS, CV_8UC3, output_ptr.get());
// Starting building the tree (use {} during the creation of the tree)
{
// Init input node with the bayer image
auto in_node =
visioncpp::terminal<visioncpp::pixel::U8C1, COLS, ROWS,
visioncpp::memory_type::Buffer2D>(bayer.data);
// Init output node
auto out_node =
visioncpp::terminal<visioncpp::pixel::U8C3, COLS, ROWS,
visioncpp::memory_type::Buffer2D>(output_ptr.get());
// Apply demoisaic method (the 2,2,2,2 parameter means the Halo in the Top,
// Left, Right, Bottom )
auto bgr =
visioncpp::neighbour_operation<BayerRGGBToBGR, 2, 2, 2, 2>(in_node);
// assign to the host memory
auto k = visioncpp::assign(out_node, bgr);
// execute
visioncpp::execute<visioncpp::policy::Fuse, 32, 32, 16, 16>(k, dev);
}
// display results
cv::imshow("Reference Image", bayer);
cv::imshow("Demosaic", outImage);
// wait for key to finalize program
cv::waitKey(0);
return 0;
}