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// 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;
}