[SCM] openni-sensor-primesense/master: Revert "Updated patches to new upstream version"
jspricke-guest at users.alioth.debian.org
jspricke-guest at users.alioth.debian.org
Thu Jun 13 09:31:28 UTC 2013
The following commit has been merged in the master branch:
commit b6b32f3ce78b6a32b40edbef9b7b66bdf04e36bc
Author: Jochen Sprickerhof <jochen at sprickerhof.de>
Date: Thu Jun 13 10:43:32 2013 +0200
Revert "Updated patches to new upstream version"
This reverts commit 8232d6a34363b3901b8d1b4f716052586294152e.
diff --git a/debian/patches/0001-Fix-types.patch b/debian/patches/0001-Fix-types.patch
index 55ac12b..a43033d 100644
--- a/debian/patches/0001-Fix-types.patch
+++ b/debian/patches/0001-Fix-types.patch
@@ -9,20 +9,20 @@ taken from https://github.com/avin2/SensorKinect
2 files changed, 3 insertions(+), 2 deletions(-)
diff --git a/Source/XnDeviceSensorV2/XnDataProcessor.h b/Source/XnDeviceSensorV2/XnDataProcessor.h
-index 5ecc8db..391a7cb 100644
+index 7132346..6f6cbb4 100644
--- a/Source/XnDeviceSensorV2/XnDataProcessor.h
+++ b/Source/XnDeviceSensorV2/XnDataProcessor.h
-@@ -90,7 +90,7 @@ protected:
+@@ -86,7 +86,7 @@ protected:
/* The number of bytes received so far (since last time this member was reset). */
XnUInt32 m_nBytesReceived;
/* Stores last packet ID */
- XnUInt16 m_nLastPacketID;
-+ XnUInt8 m_nLastPacketID;
++ XnUInt8 m_nLastPacketID;
/* The name of the stream. */
const XnChar* m_csName;
diff --git a/Source/XnDeviceSensorV2/XnDeviceSensorProtocol.h b/Source/XnDeviceSensorV2/XnDeviceSensorProtocol.h
-index 057d925..3d160bd 100644
+index 057d925..661d83a 100644
--- a/Source/XnDeviceSensorV2/XnDeviceSensorProtocol.h
+++ b/Source/XnDeviceSensorV2/XnDeviceSensorProtocol.h
@@ -82,7 +82,8 @@ typedef struct XnSensorProtocolResponseHeader
@@ -30,8 +30,8 @@ index 057d925..3d160bd 100644
XnUInt16 nMagic;
XnUInt16 nType;
- XnUInt16 nPacketID;
-+ XnUInt8 nPacketID;
-+ XnUInt8 nUnknown;
++ XnUInt8 nPacketID;
++ XnUInt8 nUnknown;
XnUInt16 nBufSize;
XnUInt32 nTimeStamp;
} XnSensorProtocolResponseHeader;
diff --git a/debian/patches/0002-Add-support-for-vendor-id-in-Enumerate-USB-devices.patch b/debian/patches/0002-Add-support-for-vendor-id-in-Enumerate-USB-devices.patch
deleted file mode 100644
index 8e881b9..0000000
--- a/debian/patches/0002-Add-support-for-vendor-id-in-Enumerate-USB-devices.patch
+++ /dev/null
@@ -1,48 +0,0 @@
-From: Jochen Sprickerhof <jochen at sprickerhof.de>
-Date: Tue, 6 Nov 2012 20:38:26 +0100
-Subject: Add support for vendor id in Enumerate() USB devices
-
-taken from https://kforge.ros.org/openni/drivers
----
- Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp | 8 ++++----
- 1 file changed, 4 insertions(+), 4 deletions(-)
-
-diff --git a/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp b/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
-index eacf514..7ceab5d 100644
---- a/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
-+++ b/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
-@@ -368,14 +368,14 @@ XnStatus XnSensorIO::CloseDevice()
- return (XN_STATUS_OK);
- }
-
--XnStatus Enumerate(XnUInt16 nProduct, XnStringsSet& devicesSet)
-+XnStatus Enumerate(XnUInt16 nVendor, XnUInt16 nProduct, XnStringsSet& devicesSet)
- {
- XnStatus nRetVal = XN_STATUS_OK;
-
- const XnUSBConnectionString* astrDevicePaths;
- XnUInt32 nCount;
-
-- nRetVal = xnUSBEnumerateDevices(XN_SENSOR_VENDOR_ID, nProduct, &astrDevicePaths, &nCount);
-+ nRetVal = xnUSBEnumerateDevices(nVendor, nProduct, &astrDevicePaths, &nCount);
- XN_IS_STATUS_OK(nRetVal);
-
- for (XnUInt32 i = 0; i < nCount; ++i)
-@@ -406,7 +406,7 @@ XnStatus XnSensorIO::EnumerateSensors(XnConnectionString* aConnectionStrings, Xn
- // search for supported devices
- for (XnUInt32 i = 0; i < ms_supportedProductsCount; ++i)
- {
-- nRetVal = Enumerate(ms_supportedProducts[i], devicesSet);
-+ nRetVal = Enumerate(XN_SENSOR_VENDOR_ID, ms_supportedProducts[i], devicesSet);
- XN_IS_STATUS_OK(nRetVal);
- }
- }
-@@ -416,7 +416,7 @@ XnStatus XnSensorIO::EnumerateSensors(XnConnectionString* aConnectionStrings, Xn
- // search for supported devices
- for (XnUInt32 i = 0; i < ms_supportedProductsCount; ++i)
- {
-- nRetVal = Enumerate(ms_supportedProducts[i], devicesSet);
-+ nRetVal = Enumerate(XN_SENSOR_VENDOR_ID, ms_supportedProducts[i], devicesSet);
- XN_IS_STATUS_OK(nRetVal);
- }
- #endif
diff --git a/debian/patches/0002-Changed-25Hz-support-to-5_1-since-5_1_6-works-good.patch b/debian/patches/0002-Changed-25Hz-support-to-5_1-since-5_1_6-works-good.patch
new file mode 100644
index 0000000..5b484e0
--- /dev/null
+++ b/debian/patches/0002-Changed-25Hz-support-to-5_1-since-5_1_6-works-good.patch
@@ -0,0 +1,24 @@
+From: Jochen Sprickerhof <jochen at sprickerhof.de>
+Date: Tue, 6 Nov 2012 20:36:59 +0100
+Subject: Changed 25Hz support to 5_1 since 5_1_6 works good
+
+taken from https://kforge.ros.org/openni/drivers
+---
+ Source/XnDeviceSensorV2/XnSensorImageStream.cpp | 4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/Source/XnDeviceSensorV2/XnSensorImageStream.cpp b/Source/XnDeviceSensorV2/XnSensorImageStream.cpp
+index be42cc7..23f25a5 100644
+--- a/Source/XnDeviceSensorV2/XnSensorImageStream.cpp
++++ b/Source/XnDeviceSensorV2/XnSensorImageStream.cpp
+@@ -225,8 +225,8 @@ XnStatus XnSensorImageStream::Init()
+ XN_IS_STATUS_OK(nRetVal);
+ }
+
+- // starting with FW 5.2, 25 FPS is also supported
+- if (m_Helper.GetFirmwareVersion() >= XN_SENSOR_FW_VER_5_2)
++ // starting with FW 5.1, 25 FPS is also supported
++ if (m_Helper.GetFirmwareVersion() >= XN_SENSOR_FW_VER_5_1)
+ {
+ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_YUV422, XN_RESOLUTION_QVGA, 25);
+ XN_IS_STATUS_OK(nRetVal);
diff --git a/debian/patches/0003-Add-support-for-XN-sensor-version-2.patch b/debian/patches/0003-Add-support-for-XN-sensor-version-2.patch
deleted file mode 100644
index a67c06e..0000000
--- a/debian/patches/0003-Add-support-for-XN-sensor-version-2.patch
+++ /dev/null
@@ -1,21 +0,0 @@
-From: Jochen Sprickerhof <jochen at sprickerhof.de>
-Date: Tue, 6 Nov 2012 20:38:48 +0100
-Subject: Add support for XN sensor version 2
-
-taken from https://kforge.ros.org/openni/drivers
----
- Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp | 1 +
- 1 file changed, 1 insertion(+)
-
-diff --git a/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp b/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
-index 7ceab5d..2c5f208 100644
---- a/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
-+++ b/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
-@@ -45,6 +45,7 @@ typedef enum
- //---------------------------------------------------------------------------
- XnUInt16 XnSensorIO::ms_supportedProducts[] =
- {
-+ 0x0200,
- 0x0500,
- 0x0600,
- 0x0601,
diff --git a/debian/patches/0003-Don-t-try-to-register-callback-for-a-5.0-device.patch b/debian/patches/0003-Don-t-try-to-register-callback-for-a-5.0-device.patch
new file mode 100644
index 0000000..614eb1f
--- /dev/null
+++ b/debian/patches/0003-Don-t-try-to-register-callback-for-a-5.0-device.patch
@@ -0,0 +1,23 @@
+From: Jochen Sprickerhof <jochen at sprickerhof.de>
+Date: Tue, 6 Nov 2012 20:37:41 +0100
+Subject: Don't try to register callback for a 5.0 device
+
+taken from https://github.com/avin2/SensorKinect
+---
+ Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp | 3 ---
+ 1 file changed, 3 deletions(-)
+
+diff --git a/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp b/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
+index 8fd955c..50f23d5 100644
+--- a/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
++++ b/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
+@@ -469,9 +469,6 @@ XnStatus XnSensorIO::SetCallback(XnUSBEventCallbackFunctionPtr pCallbackPtr, voi
+ //TODO: Support multiple sensors - this won't work for more than one.
+ XnStatus nRetVal = XN_STATUS_OK;
+
+- // try to register callback to a 5.0 device
+- nRetVal = xnUSBSetCallbackHandler(XN_SENSOR_VENDOR_ID, XN_SENSOR_5_0_PRODUCT_ID, NULL, pCallbackPtr, pCallbackData);
+-
+ return nRetVal;
+ }
+
diff --git a/debian/patches/0004-Add-support-for-Kinect-product-id.patch b/debian/patches/0004-Add-support-for-Kinect-product-id.patch
deleted file mode 100644
index a3eb189..0000000
--- a/debian/patches/0004-Add-support-for-Kinect-product-id.patch
+++ /dev/null
@@ -1,48 +0,0 @@
-From: Jochen Sprickerhof <jochen at sprickerhof.de>
-Date: Tue, 6 Nov 2012 20:39:14 +0100
-Subject: Add support for Kinect product id
-
-taken from https://kforge.ros.org/openni/drivers
----
- Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp | 7 +++++++
- 1 file changed, 7 insertions(+)
-
-diff --git a/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp b/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
-index 2c5f208..a3a7a35 100644
---- a/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
-+++ b/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
-@@ -30,6 +30,7 @@
- // Defines
- //---------------------------------------------------------------------------
- #define XN_SENSOR_VENDOR_ID 0x1D27
-+#define XN_SENSOR_MSK_VENDOR_ID 0x045E
-
- //---------------------------------------------------------------------------
- // Enums
-@@ -49,6 +50,8 @@ XnUInt16 XnSensorIO::ms_supportedProducts[] =
- 0x0500,
- 0x0600,
- 0x0601,
-+ 0x02AE,
-+ 0x02BF,
- };
-
- XnUInt32 XnSensorIO::ms_supportedProductsCount = sizeof(XnSensorIO::ms_supportedProducts) / sizeof(XnSensorIO::ms_supportedProducts[0]);
-@@ -409,6 +412,8 @@ XnStatus XnSensorIO::EnumerateSensors(XnConnectionString* aConnectionStrings, Xn
- {
- nRetVal = Enumerate(XN_SENSOR_VENDOR_ID, ms_supportedProducts[i], devicesSet);
- XN_IS_STATUS_OK(nRetVal);
-+ nRetVal = Enumerate(XN_SENSOR_MSK_VENDOR_ID, ms_supportedProducts[i], devicesSet);
-+ XN_IS_STATUS_OK(nRetVal);
- }
- }
- #else
-@@ -419,6 +424,8 @@ XnStatus XnSensorIO::EnumerateSensors(XnConnectionString* aConnectionStrings, Xn
- {
- nRetVal = Enumerate(XN_SENSOR_VENDOR_ID, ms_supportedProducts[i], devicesSet);
- XN_IS_STATUS_OK(nRetVal);
-+ nRetVal = Enumerate(XN_SENSOR_MSK_VENDOR_ID, ms_supportedProducts[i], devicesSet);
-+ XN_IS_STATUS_OK(nRetVal);
- }
- #endif
-
diff --git a/debian/patches/0004-Disable-setting-USB-interface.patch b/debian/patches/0004-Disable-setting-USB-interface.patch
new file mode 100644
index 0000000..caf08f6
--- /dev/null
+++ b/debian/patches/0004-Disable-setting-USB-interface.patch
@@ -0,0 +1,23 @@
+From: Jochen Sprickerhof <jochen at sprickerhof.de>
+Date: Tue, 6 Nov 2012 20:38:08 +0100
+Subject: Disable setting USB interface
+
+taken from https://kforge.ros.org/openni/drivers
+---
+ Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp | 3 ---
+ 1 file changed, 3 deletions(-)
+
+diff --git a/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp b/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
+index 50f23d5..4d9b0b4 100644
+--- a/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
++++ b/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
+@@ -147,9 +147,6 @@ XnStatus XnSensorIO::OpenDataEndPoints(XnSensorUsbInterface nInterface, const Xn
+ XN_LOG_WARNING_RETURN(XN_STATUS_USB_INTERFACE_NOT_SUPPORTED, XN_MASK_DEVICE_IO, "Unknown interface type: %d", nInterface);
+ }
+
+- xnLogVerbose(XN_MASK_DEVICE_IO, "Setting USB alternative interface to %d...", nAlternativeInterface);
+- nRetVal = xnUSBSetInterface(m_pSensorHandle->USBDevice, 0, nAlternativeInterface);
+- XN_IS_STATUS_OK(nRetVal);
+ }
+
+ xnLogVerbose(XN_MASK_DEVICE_IO, "Opening endpoints...");
diff --git a/debian/patches/0005-Add-support-for-different-frame-rates-and-high-resol.patch b/debian/patches/0005-Add-support-for-different-frame-rates-and-high-resol.patch
deleted file mode 100644
index c123036..0000000
--- a/debian/patches/0005-Add-support-for-different-frame-rates-and-high-resol.patch
+++ /dev/null
@@ -1,63 +0,0 @@
-From: Jochen Sprickerhof <jochen at sprickerhof.de>
-Date: Tue, 6 Nov 2012 20:42:17 +0100
-Subject: Add support for different frame rates and high resolution
-
-taken from https://github.com/avin2/SensorKinect
----
- Source/XnDeviceSensorV2/XnFirmwareStreams.cpp | 12 ------------
- Source/XnDeviceSensorV2/XnHostProtocol.cpp | 5 +----
- 2 files changed, 1 insertion(+), 16 deletions(-)
-
-diff --git a/Source/XnDeviceSensorV2/XnFirmwareStreams.cpp b/Source/XnDeviceSensorV2/XnFirmwareStreams.cpp
-index e70270d..40467e6 100644
---- a/Source/XnDeviceSensorV2/XnFirmwareStreams.cpp
-+++ b/Source/XnDeviceSensorV2/XnFirmwareStreams.cpp
-@@ -110,12 +110,6 @@ XnStatus XnFirmwareStreams::CheckClaimStream(const XnChar* strType, XnResolution
- {
- XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Cannot set depth stream to resolution %d when IR is set to resolution %d!", nRes, pIRStreamData->nRes);
- }
--
-- // check FPS
-- if (pIRStreamData->nFPS != nFPS)
-- {
-- XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Depth and IR streams must have the same FPS!");
-- }
- }
- }
- else if (strcmp(strType, XN_STREAM_TYPE_IR) == 0)
-@@ -145,12 +139,6 @@ XnStatus XnFirmwareStreams::CheckClaimStream(const XnChar* strType, XnResolution
- XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Cannot set IR stream to resolution %d when Depth is set to resolution %d!", nRes, pDepthStreamData->nRes);
- }
- }
--
-- // check FPS
-- if (pDepthStreamData->nFPS != nFPS)
-- {
-- XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Depth and IR streams must have the same FPS!");
-- }
- }
- }
- else if (strcmp(strType, XN_STREAM_TYPE_IMAGE) == 0)
-diff --git a/Source/XnDeviceSensorV2/XnHostProtocol.cpp b/Source/XnDeviceSensorV2/XnHostProtocol.cpp
-index 158d1b6..dadaf16 100644
---- a/Source/XnDeviceSensorV2/XnHostProtocol.cpp
-+++ b/Source/XnDeviceSensorV2/XnHostProtocol.cpp
-@@ -224,6 +224,7 @@ XnStatus XnHostProtocolInitFWParams(XnDevicePrivateData* pDevicePrivateData, XnU
- { 0, XN_RESOLUTION_QVGA, 60 },
- { 0, XN_RESOLUTION_VGA, 30 },
- { 0, XN_RESOLUTION_SXGA, 30 },
-+ { 0, XN_RESOLUTION_SXGA, 15 },
- };
- nRetVal = pDevicePrivateData->FWInfo.irModes.AddLast(irModes, sizeof(irModes)/sizeof(irModes[0]));
- XN_IS_STATUS_OK(nRetVal);
-@@ -1944,10 +1945,6 @@ XnStatus XnHostProtocolSetCmosBlanking(XnDevicePrivateData* pDevicePrivateData,
- pRequest->nNumberOfFrames = XN_PREPARE_VAR16_IN_BUFFER(nNumberOfFrames);
- nRequestSize = sizeof(XnVSyncRequest);
- }
-- else
-- {
-- XN_LOG_WARNING_RETURN(XN_STATUS_IO_DEVICE_FUNCTION_NOT_SUPPORTED, XN_MASK_SENSOR_PROTOCOL, "Set Blanking is not supported by this firmware!");
-- }
-
- xnLogVerbose(XN_MASK_SENSOR_PROTOCOL, "Chaning CMOS %d Blanking to %hd (NumberOfFrames=%hu)...", nCMOSID, nUnits, nNumberOfFrames);
-
diff --git a/debian/patches/0005-Add-support-for-vendor-id-in-Enumerate-USB-devices.patch b/debian/patches/0005-Add-support-for-vendor-id-in-Enumerate-USB-devices.patch
new file mode 100644
index 0000000..5e3c6ab
--- /dev/null
+++ b/debian/patches/0005-Add-support-for-vendor-id-in-Enumerate-USB-devices.patch
@@ -0,0 +1,62 @@
+From: Jochen Sprickerhof <jochen at sprickerhof.de>
+Date: Tue, 6 Nov 2012 20:38:26 +0100
+Subject: Add support for vendor id in Enumerate() USB devices
+
+taken from https://kforge.ros.org/openni/drivers
+---
+ Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp | 14 +++++++-------
+ 1 file changed, 7 insertions(+), 7 deletions(-)
+
+diff --git a/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp b/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
+index 4d9b0b4..87097a1 100644
+--- a/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
++++ b/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
+@@ -353,14 +353,14 @@ XnStatus XnSensorIO::CloseDevice()
+ return (XN_STATUS_OK);
+ }
+
+-XnStatus Enumerate(XnUInt16 nProduct, XnStringsHash& devicesSet)
++XnStatus Enumerate(XnUInt16 nVendor, XnUInt16 nProduct, XnStringsHash& devicesSet)
+ {
+ XnStatus nRetVal = XN_STATUS_OK;
+
+ const XnUSBConnectionString* astrDevicePaths;
+ XnUInt32 nCount;
+
+- nRetVal = xnUSBEnumerateDevices(XN_SENSOR_VENDOR_ID, nProduct, &astrDevicePaths, &nCount);
++ nRetVal = xnUSBEnumerateDevices(nVendor, nProduct, &astrDevicePaths, &nCount);
+ XN_IS_STATUS_OK(nRetVal);
+
+ for (XnUInt32 i = 0; i < nCount; ++i)
+@@ -389,26 +389,26 @@ XnStatus XnSensorIO::EnumerateSensors(XnConnectionString* aConnectionStrings, Xn
+ if (devicesSet.Size() == 0)
+ {
+ // search for a v6.0.1 device
+- nRetVal = Enumerate(XN_SENSOR_6_0_1_PRODUCT_ID, devicesSet);
++ nRetVal = Enumerate(XN_SENSOR_VENDOR_ID, XN_SENSOR_6_0_1_PRODUCT_ID, devicesSet);
+ XN_IS_STATUS_OK(nRetVal);
+
+ // search for a v6.0 device
+- nRetVal = Enumerate(XN_SENSOR_6_0_PRODUCT_ID, devicesSet);
++ nRetVal = Enumerate(XN_SENSOR_VENDOR_ID, XN_SENSOR_6_0_PRODUCT_ID, devicesSet);
+ XN_IS_STATUS_OK(nRetVal);
+ }
+ #else
+ XnStringsHash devicesSet;
+
+ // search for a v6.0.1 device
+- nRetVal = Enumerate(XN_SENSOR_6_0_1_PRODUCT_ID, devicesSet);
++ nRetVal = Enumerate(XN_SENSOR_VENDOR_ID, XN_SENSOR_6_0_1_PRODUCT_ID, devicesSet);
+ XN_IS_STATUS_OK(nRetVal);
+
+ // search for a v6.0 device
+- nRetVal = Enumerate(XN_SENSOR_6_0_PRODUCT_ID, devicesSet);
++ nRetVal = Enumerate(XN_SENSOR_VENDOR_ID, XN_SENSOR_6_0_PRODUCT_ID, devicesSet);
+ XN_IS_STATUS_OK(nRetVal);
+
+ // search for a v5.0 device
+- nRetVal = Enumerate(XN_SENSOR_5_0_PRODUCT_ID, devicesSet);
++ nRetVal = Enumerate(XN_SENSOR_VENDOR_ID, XN_SENSOR_5_0_PRODUCT_ID, devicesSet);
+ XN_IS_STATUS_OK(nRetVal);
+ #endif
+
diff --git a/debian/patches/0006-Add-support-for-XN-sensor-version-2.patch b/debian/patches/0006-Add-support-for-XN-sensor-version-2.patch
new file mode 100644
index 0000000..4739f6f
--- /dev/null
+++ b/debian/patches/0006-Add-support-for-XN-sensor-version-2.patch
@@ -0,0 +1,33 @@
+From: Jochen Sprickerhof <jochen at sprickerhof.de>
+Date: Tue, 6 Nov 2012 20:38:48 +0100
+Subject: Add support for XN sensor version 2
+
+taken from https://kforge.ros.org/openni/drivers
+---
+ Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp | 6 ++++++
+ 1 file changed, 6 insertions(+)
+
+diff --git a/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp b/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
+index 87097a1..f358f6a 100644
+--- a/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
++++ b/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
+@@ -30,6 +30,7 @@
+ // Defines
+ //---------------------------------------------------------------------------
+ #define XN_SENSOR_VENDOR_ID 0x1D27
++#define XN_SENSOR_2_0_PRODUCT_ID 0x0200
+ #define XN_SENSOR_5_0_PRODUCT_ID 0x0500
+ #define XN_SENSOR_6_0_PRODUCT_ID 0x0600
+ #define XN_SENSOR_6_0_1_PRODUCT_ID 0x0601
+@@ -410,6 +411,11 @@ XnStatus XnSensorIO::EnumerateSensors(XnConnectionString* aConnectionStrings, Xn
+ // search for a v5.0 device
+ nRetVal = Enumerate(XN_SENSOR_VENDOR_ID, XN_SENSOR_5_0_PRODUCT_ID, devicesSet);
+ XN_IS_STATUS_OK(nRetVal);
++
++ // try searching for an older device
++ nRetVal = Enumerate(XN_SENSOR_VENDOR_ID, XN_SENSOR_2_0_PRODUCT_ID, devicesSet);
++ XN_IS_STATUS_OK(nRetVal);
++
+ #endif
+
+ // now copy back
diff --git a/debian/patches/0007-Add-support-for-Kinect-product-id.patch b/debian/patches/0007-Add-support-for-Kinect-product-id.patch
new file mode 100644
index 0000000..4671b60
--- /dev/null
+++ b/debian/patches/0007-Add-support-for-Kinect-product-id.patch
@@ -0,0 +1,33 @@
+From: Jochen Sprickerhof <jochen at sprickerhof.de>
+Date: Tue, 6 Nov 2012 20:39:14 +0100
+Subject: Add support for Kinect product id
+
+taken from https://kforge.ros.org/openni/drivers
+---
+ Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp | 6 ++++++
+ 1 file changed, 6 insertions(+)
+
+diff --git a/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp b/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
+index f358f6a..b86283e 100644
+--- a/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
++++ b/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
+@@ -34,6 +34,8 @@
+ #define XN_SENSOR_5_0_PRODUCT_ID 0x0500
+ #define XN_SENSOR_6_0_PRODUCT_ID 0x0600
+ #define XN_SENSOR_6_0_1_PRODUCT_ID 0x0601
++#define XN_SENSOR_MSK_VENDOR_ID 0x045E
++#define XN_SENSOR_MSK_PRODUCT_ID 0x02AE
+
+ //---------------------------------------------------------------------------
+ // Enums
+@@ -399,6 +401,10 @@ XnStatus XnSensorIO::EnumerateSensors(XnConnectionString* aConnectionStrings, Xn
+ }
+ #else
+ XnStringsHash devicesSet;
++
++ // search for a MSK device
++ nRetVal = Enumerate(XN_SENSOR_MSK_VENDOR_ID, XN_SENSOR_MSK_PRODUCT_ID, devicesSet);
++ XN_IS_STATUS_OK(nRetVal);
+
+ // search for a v6.0.1 device
+ nRetVal = Enumerate(XN_SENSOR_VENDOR_ID, XN_SENSOR_6_0_1_PRODUCT_ID, devicesSet);
diff --git a/debian/patches/0008-Add-and-enable-uncompressed-Bayer-modes.patch b/debian/patches/0008-Add-and-enable-uncompressed-Bayer-modes.patch
deleted file mode 100644
index be0aea4..0000000
--- a/debian/patches/0008-Add-and-enable-uncompressed-Bayer-modes.patch
+++ /dev/null
@@ -1,138 +0,0 @@
-From: Jochen Sprickerhof <jochen at sprickerhof.de>
-Date: Tue, 6 Nov 2012 20:43:44 +0100
-Subject: Add and enable (uncompressed) Bayer modes
-
-taken from https://kforge.ros.org/openni/drivers
----
- Source/XnDeviceSensorV2/XnHostProtocol.cpp | 12 ++++++++++++
- Source/XnDeviceSensorV2/XnHostProtocol.h | 4 ++--
- Source/XnDeviceSensorV2/XnSensorDepthStream.h | 6 +++---
- Source/XnDeviceSensorV2/XnSensorFirmwareParams.cpp | 2 --
- Source/XnDeviceSensorV2/XnSensorImageStream.h | 6 +++---
- 5 files changed, 20 insertions(+), 10 deletions(-)
-
-diff --git a/Source/XnDeviceSensorV2/XnHostProtocol.cpp b/Source/XnDeviceSensorV2/XnHostProtocol.cpp
-index dadaf16..18e3c37 100644
---- a/Source/XnDeviceSensorV2/XnHostProtocol.cpp
-+++ b/Source/XnDeviceSensorV2/XnHostProtocol.cpp
-@@ -201,6 +201,10 @@ XnStatus XnHostProtocolInitFWParams(XnDevicePrivateData* pDevicePrivateData, XnU
- { XN_IO_IMAGE_FORMAT_YUV422, XN_RESOLUTION_QVGA, 30 },
- { XN_IO_IMAGE_FORMAT_YUV422, XN_RESOLUTION_QVGA, 60 },
- { XN_IO_IMAGE_FORMAT_YUV422, XN_RESOLUTION_VGA, 30 },
-+ { XN_IO_IMAGE_FORMAT_BAYER, XN_RESOLUTION_SXGA, 15 },
-+ { XN_IO_IMAGE_FORMAT_BAYER, XN_RESOLUTION_QVGA, 30 },
-+ { XN_IO_IMAGE_FORMAT_BAYER, XN_RESOLUTION_QVGA, 60 },
-+ { XN_IO_IMAGE_FORMAT_BAYER, XN_RESOLUTION_VGA, 30 },
- };
- nRetVal = pDevicePrivateData->FWInfo.imageBulkModes.AddLast(imageCommonModes, sizeof(imageCommonModes)/sizeof(imageCommonModes[0]));
- XN_IS_STATUS_OK(nRetVal);
-@@ -212,6 +216,10 @@ XnStatus XnHostProtocolInitFWParams(XnDevicePrivateData* pDevicePrivateData, XnU
- { XN_IO_IMAGE_FORMAT_UNCOMPRESSED_YUV422, XN_RESOLUTION_QVGA, 30 },
- { XN_IO_IMAGE_FORMAT_UNCOMPRESSED_YUV422, XN_RESOLUTION_QVGA, 60 },
- { XN_IO_IMAGE_FORMAT_UNCOMPRESSED_YUV422, XN_RESOLUTION_VGA, 30 },
-+ { XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER, XN_RESOLUTION_SXGA, 15 },
-+ { XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER, XN_RESOLUTION_QVGA, 30 },
-+ { XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER, XN_RESOLUTION_QVGA, 60 },
-+ { XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER, XN_RESOLUTION_VGA, 30 },
- };
- nRetVal = pDevicePrivateData->FWInfo.imageIsoModes.AddLast(imageIsoModes, sizeof(imageIsoModes)/sizeof(imageIsoModes[0]));
- XN_IS_STATUS_OK(nRetVal);
-@@ -348,6 +356,8 @@ XnStatus XnHostProtocolInitFWParams(XnDevicePrivateData* pDevicePrivateData, XnU
- {
- { XN_IO_IMAGE_FORMAT_YUV422, XN_RESOLUTION_QVGA, 25 },
- { XN_IO_IMAGE_FORMAT_YUV422, XN_RESOLUTION_VGA, 25 },
-+ { XN_IO_IMAGE_FORMAT_BAYER, XN_RESOLUTION_QVGA, 25 },
-+ { XN_IO_IMAGE_FORMAT_BAYER, XN_RESOLUTION_VGA, 25 },
- };
- nRetVal = pDevicePrivateData->FWInfo.imageBulkModes.AddLast(imageModes25FpsCommon, sizeof(imageModes25FpsCommon)/sizeof(imageModes25FpsCommon[0]));
- XN_IS_STATUS_OK(nRetVal);
-@@ -358,6 +368,8 @@ XnStatus XnHostProtocolInitFWParams(XnDevicePrivateData* pDevicePrivateData, XnU
- {
- { XN_IO_IMAGE_FORMAT_UNCOMPRESSED_YUV422, XN_RESOLUTION_QVGA, 25 },
- { XN_IO_IMAGE_FORMAT_UNCOMPRESSED_YUV422, XN_RESOLUTION_VGA, 25 },
-+ { XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER, XN_RESOLUTION_QVGA, 25 },
-+ { XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER, XN_RESOLUTION_VGA, 25 },
- };
- nRetVal = pDevicePrivateData->FWInfo.imageIsoModes.AddLast(imageModes25FpsIso, sizeof(imageModes25FpsIso)/sizeof(imageModes25FpsIso[0]));
- XN_IS_STATUS_OK(nRetVal);
-diff --git a/Source/XnDeviceSensorV2/XnHostProtocol.h b/Source/XnDeviceSensorV2/XnHostProtocol.h
-index ead0738..1e75bcf 100644
---- a/Source/XnDeviceSensorV2/XnHostProtocol.h
-+++ b/Source/XnDeviceSensorV2/XnHostProtocol.h
-@@ -105,8 +105,8 @@ enum EPsProtocolOpCodes_V017
- typedef enum
- {
- XN_HOST_PROTOCOL_ALGORITHM_DEPTH_INFO = 0x00,
-- XN_HOST_PROTOCOL_ALGORITHM_REGISTRATION = 0x02,
-- XN_HOST_PROTOCOL_ALGORITHM_PADDING = 0x03,
-+ XN_HOST_PROTOCOL_ALGORITHM_REGISTRATION = 0x40,
-+ XN_HOST_PROTOCOL_ALGORITHM_PADDING = 0x41,
- XN_HOST_PROTOCOL_ALGORITHM_BLANKING = 0x06,
- XN_HOST_PROTOCOL_ALGORITHM_DEVICE_INFO = 0x07,
- XN_HOST_PROTOCOL_ALGORITHM_FREQUENCY = 0x80
-diff --git a/Source/XnDeviceSensorV2/XnSensorDepthStream.h b/Source/XnDeviceSensorV2/XnSensorDepthStream.h
-index 29e0fbe..471249f 100644
---- a/Source/XnDeviceSensorV2/XnSensorDepthStream.h
-+++ b/Source/XnDeviceSensorV2/XnSensorDepthStream.h
-@@ -39,13 +39,13 @@
- #define XN_DEPTH_STREAM_DEFAULT_RESOLUTION XN_RESOLUTION_QQVGA
- #else
- #define XN_DEPTH_STREAM_DEFAULT_INPUT_FORMAT XN_IO_DEPTH_FORMAT_UNCOMPRESSED_11_BIT
-- #define XN_DEPTH_STREAM_DEFAULT_RESOLUTION XN_RESOLUTION_QVGA
-+ #define XN_DEPTH_STREAM_DEFAULT_RESOLUTION XN_RESOLUTION_VGA
- #endif
-
- #define XN_DEPTH_STREAM_DEFAULT_FPS 30
- #define XN_DEPTH_STREAM_DEFAULT_OUTPUT_FORMAT XN_OUTPUT_FORMAT_DEPTH_VALUES
- #define XN_DEPTH_STREAM_DEFAULT_REGISTRATION FALSE
--#define XN_DEPTH_STREAM_DEFAULT_REGISTRATION_TYPE XN_PROCESSING_DONT_CARE
-+#define XN_DEPTH_STREAM_DEFAULT_REGISTRATION_TYPE XN_PROCESSING_SOFTWARE
- #define XN_DEPTH_STREAM_DEFAULT_HOLE_FILLER TRUE
- #define XN_DEPTH_STREAM_DEFAULT_WHITE_BALANCE TRUE
- #define XN_DEPTH_STREAM_DEFAULT_GAIN_OLD 50
-@@ -172,4 +172,4 @@ private:
- XnCallbackHandle m_hReferenceSizeChangedCallback;
- };
-
--#endif //__XN_SENSOR_DEPTH_STREAM_H__
-\ No newline at end of file
-+#endif //__XN_SENSOR_DEPTH_STREAM_H__
-diff --git a/Source/XnDeviceSensorV2/XnSensorFirmwareParams.cpp b/Source/XnDeviceSensorV2/XnSensorFirmwareParams.cpp
-index a661dc6..6598e61 100644
---- a/Source/XnDeviceSensorV2/XnSensorFirmwareParams.cpp
-+++ b/Source/XnDeviceSensorV2/XnSensorFirmwareParams.cpp
-@@ -504,12 +504,10 @@ XnStatus XnSensorFirmwareParams::SetImageFormat(XnUInt64 nValue)
- {
- XnStatus nRetVal = XN_STATUS_OK;
-
--/*
- if (nValue == XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER)
- {
- nValue = XN_IO_IMAGE_FORMAT_BAYER;
- }
--*/
-
- nRetVal = SetFirmwareParam(&m_ImageFormat, nValue);
- XN_IS_STATUS_OK(nRetVal);
-diff --git a/Source/XnDeviceSensorV2/XnSensorImageStream.h b/Source/XnDeviceSensorV2/XnSensorImageStream.h
-index 6ec9e56..0519155 100644
---- a/Source/XnDeviceSensorV2/XnSensorImageStream.h
-+++ b/Source/XnDeviceSensorV2/XnSensorImageStream.h
-@@ -32,8 +32,8 @@
- // Defines
- //---------------------------------------------------------------------------
- #define XN_IMAGE_STREAM_DEFAULT_FPS 30
--#define XN_IMAGE_STREAM_DEFAULT_RESOLUTION XN_RESOLUTION_QVGA
--#define XN_IMAGE_STREAM_DEFAULT_INPUT_FORMAT XN_IO_IMAGE_FORMAT_UNCOMPRESSED_YUV422
-+#define XN_IMAGE_STREAM_DEFAULT_RESOLUTION XN_RESOLUTION_VGA
-+#define XN_IMAGE_STREAM_DEFAULT_INPUT_FORMAT XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER
- #define XN_IMAGE_STREAM_DEFAULT_OUTPUT_FORMAT XN_OUTPUT_FORMAT_RGB24
- #define XN_IMAGE_STREAM_DEFAULT_FLICKER 0
- #define XN_IMAGE_STREAM_DEFAULT_QUALITY 3
-@@ -163,4 +163,4 @@ private:
- XnActualIntProperty m_ActualRead;
- };
-
--#endif //__XN_SENSOR_IMAGE_STREAM_H__
-\ No newline at end of file
-+#endif //__XN_SENSOR_IMAGE_STREAM_H__
diff --git a/debian/patches/0008-Add-support-for-different-frame-rates-and-high-resol.patch b/debian/patches/0008-Add-support-for-different-frame-rates-and-high-resol.patch
new file mode 100644
index 0000000..7e3b5cf
--- /dev/null
+++ b/debian/patches/0008-Add-support-for-different-frame-rates-and-high-resol.patch
@@ -0,0 +1,76 @@
+From: Jochen Sprickerhof <jochen at sprickerhof.de>
+Date: Tue, 6 Nov 2012 20:42:17 +0100
+Subject: Add support for different frame rates and high resolution
+
+taken from https://github.com/avin2/SensorKinect
+---
+ Source/XnDeviceSensorV2/XnFirmwareStreams.cpp | 12 ------------
+ Source/XnDeviceSensorV2/XnSensorFirmwareParams.cpp | 4 ----
+ Source/XnDeviceSensorV2/XnSensorIRStream.cpp | 2 ++
+ 3 files changed, 2 insertions(+), 16 deletions(-)
+
+diff --git a/Source/XnDeviceSensorV2/XnFirmwareStreams.cpp b/Source/XnDeviceSensorV2/XnFirmwareStreams.cpp
+index eb2e45d..5d1f30b 100644
+--- a/Source/XnDeviceSensorV2/XnFirmwareStreams.cpp
++++ b/Source/XnDeviceSensorV2/XnFirmwareStreams.cpp
+@@ -110,12 +110,6 @@ XnStatus XnFirmwareStreams::CheckClaimStream(const XnChar* strType, XnResolution
+ {
+ XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Cannot set depth stream to resolution %d when IR is set to resolution %d!", nRes, pIRStreamData->nRes);
+ }
+-
+- // check FPS
+- if (pIRStreamData->nFPS != nFPS)
+- {
+- XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Depth and IR streams must have the same FPS!");
+- }
+ }
+ }
+ else if (strcmp(strType, XN_STREAM_TYPE_IR) == 0)
+@@ -142,12 +136,6 @@ XnStatus XnFirmwareStreams::CheckClaimStream(const XnChar* strType, XnResolution
+ {
+ XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Cannot set IR stream to resolution %d when Depth is set to resolution %d!", nRes, pDepthStreamData->nRes);
+ }
+-
+- // check FPS
+- if (pDepthStreamData->nFPS != nFPS)
+- {
+- XN_LOG_WARNING_RETURN(XN_STATUS_DEVICE_BAD_PARAM, XN_MASK_DEVICE_SENSOR, "Depth and IR streams must have the same FPS!");
+- }
+ }
+ }
+ else if (strcmp(strType, XN_STREAM_TYPE_IMAGE) == 0)
+diff --git a/Source/XnDeviceSensorV2/XnSensorFirmwareParams.cpp b/Source/XnDeviceSensorV2/XnSensorFirmwareParams.cpp
+index 913fb6a..235da3b 100644
+--- a/Source/XnDeviceSensorV2/XnSensorFirmwareParams.cpp
++++ b/Source/XnDeviceSensorV2/XnSensorFirmwareParams.cpp
+@@ -510,10 +510,6 @@ XnStatus XnSensorFirmwareParams::SetImageResolution(XnUInt64 nValue)
+ case XN_RESOLUTION_VGA:
+ break;
+ case XN_RESOLUTION_SXGA:
+- if (m_pInfo->nFWVer < XN_SENSOR_FW_VER_5_3)
+- {
+- XN_LOG_WARNING_RETURN(XN_STATUS_IO_INVALID_STREAM_IMAGE_RESOLUTION, XN_MASK_DEVICE_SENSOR, "Image resolution is not supported by this firmware!");
+- }
+ break;
+ case XN_RESOLUTION_UXGA:
+ if (m_pInfo->nFWVer < XN_SENSOR_FW_VER_5_1)
+diff --git a/Source/XnDeviceSensorV2/XnSensorIRStream.cpp b/Source/XnDeviceSensorV2/XnSensorIRStream.cpp
+index ebf162a..73c50a1 100644
+--- a/Source/XnDeviceSensorV2/XnSensorIRStream.cpp
++++ b/Source/XnDeviceSensorV2/XnSensorIRStream.cpp
+@@ -87,6 +87,7 @@ XnStatus XnSensorIRStream::Init()
+ { 0, XN_RESOLUTION_QVGA, 60 },
+ { 0, XN_RESOLUTION_VGA, 30 },
+ { 0, XN_RESOLUTION_SXGA, 30 },
++ { 0, XN_RESOLUTION_SXGA, 15 },
+ };
+ nRetVal = AddSupportedModes(aSupportedModes, sizeof(aSupportedModes)/sizeof(aSupportedModes[0]));
+ XN_IS_STATUS_OK(nRetVal);
+@@ -96,6 +97,7 @@ XnStatus XnSensorIRStream::Init()
+ XnCmosPreset aSupportedModesSXGA[] =
+ {
+ { 0, XN_RESOLUTION_SXGA, 30 },
++ { 0, XN_RESOLUTION_SXGA, 15 },
+ };
+ nRetVal = AddSupportedModes(aSupportedModesSXGA, sizeof(aSupportedModesSXGA)/sizeof(aSupportedModesSXGA[0]));
+ XN_IS_STATUS_OK(nRetVal);
diff --git a/debian/patches/0006-Test-for-y-value-in-registration.patch b/debian/patches/0009-Test-for-y-value-in-registration.patch
similarity index 83%
rename from debian/patches/0006-Test-for-y-value-in-registration.patch
rename to debian/patches/0009-Test-for-y-value-in-registration.patch
index 2642842..f1eca68 100644
--- a/debian/patches/0006-Test-for-y-value-in-registration.patch
+++ b/debian/patches/0009-Test-for-y-value-in-registration.patch
@@ -8,45 +8,45 @@ taken from https://kforge.ros.org/openni/drivers
1 file changed, 17 insertions(+), 2 deletions(-)
diff --git a/Source/XnDeviceSensorV2/Registration.cpp b/Source/XnDeviceSensorV2/Registration.cpp
-index f5ce7e9..84eff38 100644
+index 4f85eee..1ad0435 100644
--- a/Source/XnDeviceSensorV2/Registration.cpp
+++ b/Source/XnDeviceSensorV2/Registration.cpp
-@@ -460,13 +460,28 @@ void XnRegistration::Apply1000(XnDepthPixel* pInput, XnDepthPixel* pOutput)
+@@ -472,13 +472,28 @@ void XnRegistration::Apply1000(XnDepthPixel* pInput, XnDepthPixel* pOutput)
nNewX = (XnInt32)(XnDouble(*pRegTable)/XN_REG_X_SCALE + XnInt32(pDepth2ShiftTable[nValue]/XN_REG_PARAB_COEFF - nConstShift) * dShiftFactor);
nNewY = *(pRegTable+1);
- if ((XnUInt32)nNewX-1 < (XnUInt32)nDepthXRes-1)
-+ if ((XnUInt32)nNewX-1 < (XnUInt32)nDepthXRes-1 && (XnUInt32)nNewY < (XnUInt32)nDepthYRes)
++ if ((XnUInt32)nNewX-1 < (XnUInt32)nDepthXRes-1 && (XnUInt32)nNewY <(XnUInt32) nDepthYRes)
{
nArrPos = nNewY * nDepthXRes + nNewX;
nOutValue = pOutput[nArrPos];
if (nOutValue == 0 || nOutValue > nValue)
{
-+ if (nNewX > 0 && nNewY > 0)
-+ {
-+ pOutput[nArrPos-nDepthXRes] = nValue;
-+ pOutput[nArrPos-nDepthXRes-1] = nValue;
-+ pOutput[nArrPos-1] = nValue;
-+ }
-+ else if(nNewY > 0)
-+ {
-+ pOutput[nArrPos-nDepthXRes] = nValue;
-+ }
-+ else if(nNewX > 0)
-+ {
-+ pOutput[nArrPos-1] = nValue;
-+ }
-+
++ if ( nNewX > 0 && nNewY > 0 )
++ {
++ pOutput[nArrPos-nDepthXRes] = nValue;
++ pOutput[nArrPos-nDepthXRes-1] = nValue;
++ pOutput[nArrPos-1] = nValue;
++ }
++ else if( nNewY > 0 )
++ {
++ pOutput[nArrPos-nDepthXRes] = nValue;
++ }
++ else if( nNewX > 0 )
++ {
++ pOutput[nArrPos-1] = nValue;
++ }
++
pOutput[nArrPos] = nValue;
pOutput[nArrPos-1] = nValue;
pOutput[nArrPos-nDepthXRes] = nValue;
-@@ -508,7 +523,7 @@ void XnRegistration::Apply1080(XnDepthPixel* pInput, XnDepthPixel* pOutput)
+@@ -523,7 +538,7 @@ void XnRegistration::Apply1080(XnDepthPixel* pInput, XnDepthPixel* pOutput)
nNewX = (XnUInt32)(*pRegTable + pRGBRegDepthToShiftTable[nValue]) / RGB_REG_X_VAL_SCALE;
nNewY = *(pRegTable+1);
- if (nNewX < nDepthXRes)
-+ if (nNewX < nDepthXRes && nNewY < nDepthYRes)
++ if (nNewX < nDepthXRes && nNewY < nDepthYRes)
{
nArrPos = bMirror ? (nNewY+1)*nDepthXRes - nNewX : (nNewY*nDepthXRes) + nNewX;
-
+ nArrPos -= nConstOffset;
diff --git a/debian/patches/0007-Change-host-protocol.patch b/debian/patches/0010-Change-host-protocol.patch
similarity index 79%
rename from debian/patches/0007-Change-host-protocol.patch
rename to debian/patches/0010-Change-host-protocol.patch
index 2021272..c706a28 100644
--- a/debian/patches/0007-Change-host-protocol.patch
+++ b/debian/patches/0010-Change-host-protocol.patch
@@ -8,14 +8,14 @@ taken from https://github.com/avin2/SensorKinect
1 file changed, 1 insertion(+)
diff --git a/Source/XnDeviceSensorV2/XnSensorDepthStream.cpp b/Source/XnDeviceSensorV2/XnSensorDepthStream.cpp
-index a94979b..24b9059 100644
+index 5c2ed2e..f9a0c9f 100644
--- a/Source/XnDeviceSensorV2/XnSensorDepthStream.cpp
+++ b/Source/XnDeviceSensorV2/XnSensorDepthStream.cpp
-@@ -298,6 +298,7 @@ XnStatus XnSensorDepthStream::ConfigureStreamImpl()
+@@ -319,6 +319,7 @@ XnStatus XnSensorDepthStream::ConfigureStreamImpl()
nRetVal = m_Helper.GetCmosInfo()->SetCmosConfig(XN_CMOS_TYPE_DEPTH, GetResolution(), GetFPS());
XN_IS_STATUS_OK(nRetVal);
-+ XnHostProtocolSetParam(GetHelper()->GetPrivateData(), 0x105, 0);
++ XnHostProtocolSetParam(GetHelper()->GetPrivateData(), 0x105, 0);
return XN_STATUS_OK;
}
diff --git a/debian/patches/0011-Add-and-enable-uncompressed-Bayer-modes.patch b/debian/patches/0011-Add-and-enable-uncompressed-Bayer-modes.patch
new file mode 100644
index 0000000..cc23002
--- /dev/null
+++ b/debian/patches/0011-Add-and-enable-uncompressed-Bayer-modes.patch
@@ -0,0 +1,150 @@
+From: Jochen Sprickerhof <jochen at sprickerhof.de>
+Date: Tue, 6 Nov 2012 20:43:44 +0100
+Subject: Add and enable (uncompressed) Bayer modes
+
+taken from https://kforge.ros.org/openni/drivers
+---
+ Source/XnDeviceSensorV2/XnHostProtocol.h | 4 +--
+ Source/XnDeviceSensorV2/XnSensorDepthStream.h | 6 ++---
+ Source/XnDeviceSensorV2/XnSensorImageStream.cpp | 33 ++++++++++++++++++++++-
+ Source/XnDeviceSensorV2/XnSensorImageStream.h | 6 ++---
+ 4 files changed, 40 insertions(+), 9 deletions(-)
+
+diff --git a/Source/XnDeviceSensorV2/XnHostProtocol.h b/Source/XnDeviceSensorV2/XnHostProtocol.h
+index 36721c8..e04f2b4 100644
+--- a/Source/XnDeviceSensorV2/XnHostProtocol.h
++++ b/Source/XnDeviceSensorV2/XnHostProtocol.h
+@@ -108,8 +108,8 @@ enum EPsProtocolOpCodes_V017
+ typedef enum
+ {
+ XN_HOST_PROTOCOL_ALGORITHM_DEPTH_INFO = 0x00,
+- XN_HOST_PROTOCOL_ALGORITHM_REGISTRATION = 0x02,
+- XN_HOST_PROTOCOL_ALGORITHM_PADDING = 0x03,
++ XN_HOST_PROTOCOL_ALGORITHM_REGISTRATION = 0x40,
++ XN_HOST_PROTOCOL_ALGORITHM_PADDING = 0x41,
+ XN_HOST_PROTOCOL_ALGORITHM_BLANKING = 0x06,
+ XN_HOST_PROTOCOL_ALGORITHM_DEVICE_INFO = 0x07,
+ XN_HOST_PROTOCOL_ALGORITHM_FREQUENCY = 0x80
+diff --git a/Source/XnDeviceSensorV2/XnSensorDepthStream.h b/Source/XnDeviceSensorV2/XnSensorDepthStream.h
+index 7ac329a..737ec68 100644
+--- a/Source/XnDeviceSensorV2/XnSensorDepthStream.h
++++ b/Source/XnDeviceSensorV2/XnSensorDepthStream.h
+@@ -36,11 +36,11 @@
+ // Defines
+ //---------------------------------------------------------------------------
+ #define XN_DEPTH_STREAM_DEFAULT_INPUT_FORMAT XN_IO_DEPTH_FORMAT_UNCOMPRESSED_11_BIT
+-#define XN_DEPTH_STREAM_DEFAULT_RESOLUTION XN_RESOLUTION_QVGA
++#define XN_DEPTH_STREAM_DEFAULT_RESOLUTION XN_RESOLUTION_VGA
+ #define XN_DEPTH_STREAM_DEFAULT_FPS 30
+ #define XN_DEPTH_STREAM_DEFAULT_OUTPUT_FORMAT XN_OUTPUT_FORMAT_DEPTH_VALUES
+ #define XN_DEPTH_STREAM_DEFAULT_REGISTRATION FALSE
+-#define XN_DEPTH_STREAM_DEFAULT_REGISTRATION_TYPE XN_PROCESSING_DONT_CARE
++#define XN_DEPTH_STREAM_DEFAULT_REGISTRATION_TYPE XN_PROCESSING_SOFTWARE
+ #define XN_DEPTH_STREAM_DEFAULT_HOLE_FILLER TRUE
+ #define XN_DEPTH_STREAM_DEFAULT_WHITE_BALANCE TRUE
+ #define XN_DEPTH_STREAM_DEFAULT_GAIN_OLD 50
+@@ -162,4 +162,4 @@ private:
+ XnCallbackHandle m_hReferenceSizeChangedCallback;
+ };
+
+-#endif //__XN_SENSOR_DEPTH_STREAM_H__
+\ No newline at end of file
++#endif //__XN_SENSOR_DEPTH_STREAM_H__
+diff --git a/Source/XnDeviceSensorV2/XnSensorImageStream.cpp b/Source/XnDeviceSensorV2/XnSensorImageStream.cpp
+index 23f25a5..8c17b11 100644
+--- a/Source/XnDeviceSensorV2/XnSensorImageStream.cpp
++++ b/Source/XnDeviceSensorV2/XnSensorImageStream.cpp
+@@ -214,6 +214,14 @@ XnStatus XnSensorImageStream::Init()
+ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_YUV422, XN_RESOLUTION_VGA, 30);
+ XN_IS_STATUS_OK(nRetVal);
+
++ // Enable Bayer images
++ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_BAYER, XN_RESOLUTION_QVGA, 30);
++ XN_IS_STATUS_OK(nRetVal);
++ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_BAYER, XN_RESOLUTION_QVGA, 60);
++ XN_IS_STATUS_OK(nRetVal);
++ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_BAYER, XN_RESOLUTION_VGA, 30);
++ XN_IS_STATUS_OK(nRetVal);
++
+ // add uncompressed ones
+ if (bUncompressedAllowed)
+ {
+@@ -223,6 +231,16 @@ XnStatus XnSensorImageStream::Init()
+ XN_IS_STATUS_OK(nRetVal);
+ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_YUV422, XN_RESOLUTION_VGA, 30);
+ XN_IS_STATUS_OK(nRetVal);
++
++ // Enable umcompressed Bayer
++ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER, XN_RESOLUTION_SXGA, 15);
++ XN_IS_STATUS_OK(nRetVal);
++ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER, XN_RESOLUTION_VGA, 30);
++ XN_IS_STATUS_OK(nRetVal);
++ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER, XN_RESOLUTION_QVGA, 60);
++ XN_IS_STATUS_OK(nRetVal);
++ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER, XN_RESOLUTION_QVGA, 30);
++ XN_IS_STATUS_OK(nRetVal);
+ }
+
+ // starting with FW 5.1, 25 FPS is also supported
+@@ -232,13 +250,22 @@ XnStatus XnSensorImageStream::Init()
+ XN_IS_STATUS_OK(nRetVal);
+ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_YUV422, XN_RESOLUTION_VGA, 25);
+ XN_IS_STATUS_OK(nRetVal);
+-
++ // Enable Bayer
++ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_BAYER, XN_RESOLUTION_QVGA, 25);
++ XN_IS_STATUS_OK(nRetVal);
++ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_BAYER, XN_RESOLUTION_VGA, 25);
++ XN_IS_STATUS_OK(nRetVal);
++
+ if (bUncompressedAllowed)
+ {
+ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_YUV422, XN_RESOLUTION_QVGA, 25);
+ XN_IS_STATUS_OK(nRetVal);
+ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_YUV422, XN_RESOLUTION_VGA, 25);
+ XN_IS_STATUS_OK(nRetVal);
++ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER, XN_RESOLUTION_QVGA, 25);
++ XN_IS_STATUS_OK(nRetVal);
++ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER, XN_RESOLUTION_VGA, 25);
++ XN_IS_STATUS_OK(nRetVal);
+ }
+ }
+
+@@ -255,11 +282,15 @@ XnStatus XnSensorImageStream::Init()
+ {
+ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_YUV422, XN_RESOLUTION_SXGA, 30);
+ XN_IS_STATUS_OK(nRetVal);
++ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_BAYER, XN_RESOLUTION_SXGA, 30);
++ XN_IS_STATUS_OK(nRetVal);
+
+ if (bUncompressedAllowed)
+ {
+ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_YUV422, XN_RESOLUTION_SXGA, 30);
+ XN_IS_STATUS_OK(nRetVal);
++ nRetVal = AddSupportedMode(supportedModes, XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER, XN_RESOLUTION_SXGA, 30);
++ XN_IS_STATUS_OK(nRetVal);
+ }
+ }
+ }
+diff --git a/Source/XnDeviceSensorV2/XnSensorImageStream.h b/Source/XnDeviceSensorV2/XnSensorImageStream.h
+index 94bc3a5..be9091f 100644
+--- a/Source/XnDeviceSensorV2/XnSensorImageStream.h
++++ b/Source/XnDeviceSensorV2/XnSensorImageStream.h
+@@ -33,8 +33,8 @@
+ // Defines
+ //---------------------------------------------------------------------------
+ #define XN_IMAGE_STREAM_DEFAULT_FPS 30
+-#define XN_IMAGE_STREAM_DEFAULT_RESOLUTION XN_RESOLUTION_QVGA
+-#define XN_IMAGE_STREAM_DEFAULT_INPUT_FORMAT XN_IO_IMAGE_FORMAT_UNCOMPRESSED_YUV422
++#define XN_IMAGE_STREAM_DEFAULT_RESOLUTION XN_RESOLUTION_VGA
++#define XN_IMAGE_STREAM_DEFAULT_INPUT_FORMAT XN_IO_IMAGE_FORMAT_UNCOMPRESSED_BAYER
+ #define XN_IMAGE_STREAM_DEFAULT_OUTPUT_FORMAT XN_OUTPUT_FORMAT_RGB24
+ #define XN_IMAGE_STREAM_DEFAULT_FLICKER 0
+ #define XN_IMAGE_STREAM_DEFAULT_QUALITY 3
+@@ -169,4 +169,4 @@ private:
+ XnActualIntProperty m_ActualRead;
+ };
+
+-#endif //__XN_SENSOR_IMAGE_STREAM_H__
+\ No newline at end of file
++#endif //__XN_SENSOR_IMAGE_STREAM_H__
diff --git a/debian/patches/0009-Add-ROS-code-for-improved-Bayer-Pattern-to-RGB-conve.patch b/debian/patches/0012-Add-ROS-code-for-improved-Bayer-Pattern-to-RGB-conve.patch
similarity index 97%
rename from debian/patches/0009-Add-ROS-code-for-improved-Bayer-Pattern-to-RGB-conve.patch
rename to debian/patches/0012-Add-ROS-code-for-improved-Bayer-Pattern-to-RGB-conve.patch
index 8241b51..50f3ff8 100644
--- a/debian/patches/0009-Add-ROS-code-for-improved-Bayer-Pattern-to-RGB-conve.patch
+++ b/debian/patches/0012-Add-ROS-code-for-improved-Bayer-Pattern-to-RGB-conve.patch
@@ -8,83 +8,83 @@ taken from https://kforge.ros.org/openni/drivers
1 file changed, 1168 insertions(+), 65 deletions(-)
diff --git a/Source/XnDeviceSensorV2/Bayer.cpp b/Source/XnDeviceSensorV2/Bayer.cpp
-index 43666ad..940e5b6 100644
+index 43666ad..3190857 100644
--- a/Source/XnDeviceSensorV2/Bayer.cpp
+++ b/Source/XnDeviceSensorV2/Bayer.cpp
@@ -20,104 +20,1207 @@
* *
****************************************************************************/
//---------------------------------------------------------------------------
-+/****************************************************************************
-+ * Edited 12.04.2011 by Raphael Dumusc *
-+ * Incorporated ROS code for improved Bayer Pattern to RGB conversion. *
-+ ***************************************************************************/
++/****************************************************************************
++ * Edited 12.04.2011 by Raphael Dumusc *
++ * Incorporated ROS code for improved Bayer Pattern to RGB conversion. *
++ ***************************************************************************/
// Includes
-+ /*
-+ The ROS bayer pattern to RGB conversion
-+ Modified to be used in Avin's mod of the Primesense driver.
-+ Original code available here:
-+ http://www.ros.org/doc/api/openni_camera/html/openni__image__bayer__grbg_8cpp_source.html
-+*/
-+
-+/*
-+ * Software License Agreement (BSD License)
-+ *
-+ * Copyright (c) 2011 2011 Willow Garage, Inc.
-+ * Suat Gedikli <gedikli at willowgarage.com>
-+ *
-+ * All rights reserved.
-+ *
-+ * Redistribution and use in source and binary forms, with or without
-+ * modification, are permitted provided that the following conditions
-+ * are met:
-+ *
-+ * * Redistributions of source code must retain the above copyright
-+ * notice, this list of conditions and the following disclaimer.
-+ * * Redistributions in binary form must reproduce the above
-+ * copyright notice, this list of conditions and the following
-+ * disclaimer in the documentation and/or other materials provided
-+ * with the distribution.
-+ * * Neither the name of Willow Garage, Inc. nor the names of its
-+ * contributors may be used to endorse or promote products derived
-+ * from this software without specific prior written permission.
-+ *
-+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-+ * POSSIBILITY OF SUCH DAMAGE.
-+ *
-+ */
++ /*
++ The ROS bayer pattern to RGB conversion
++ Modified to be used in Avin's mod of the Primesense driver.
++ Original code available here:
++ http://www.ros.org/doc/api/openni_camera/html/openni__image__bayer__grbg_8cpp_source.html
++*/
++
++/*
++ * Software License Agreement (BSD License)
++ *
++ * Copyright (c) 2011 2011 Willow Garage, Inc.
++ * Suat Gedikli <gedikli at willowgarage.com>
++ *
++ * All rights reserved.
++ *
++ * Redistribution and use in source and binary forms, with or without
++ * modification, are permitted provided that the following conditions
++ * are met:
++ *
++ * * Redistributions of source code must retain the above copyright
++ * notice, this list of conditions and the following disclaimer.
++ * * Redistributions in binary form must reproduce the above
++ * copyright notice, this list of conditions and the following
++ * disclaimer in the documentation and/or other materials provided
++ * with the distribution.
++ * * Neither the name of Willow Garage, Inc. nor the names of its
++ * contributors may be used to endorse or promote products derived
++ * from this software without specific prior written permission.
++ *
++ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
++ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
++ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
++ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
++ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
++ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
++ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
++ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
++ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
++ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
++ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
++ * POSSIBILITY OF SUCH DAMAGE.
++ *
++ */
//---------------------------------------------------------------------------
#include "Bayer.h"
-#include <math.h>
-+#include <sstream>
-+#include <iostream>
++#include <sstream>
++#include <iostream>
-+#define AVG(a,b) (((int)(a) + (int)(b)) >> 1)
-+#define AVG3(a,b,c) (((int)(a) + (int)(b) + (int)(c)) / 3)
-+#define AVG4(a,b,c,d) (((int)(a) + (int)(b) + (int)(c) + (int)(d)) >> 2)
-+#define WAVG4(a,b,c,d,x,y) ( ( ((int)(a) + (int)(b)) * (int)(x) + ((int)(c) + (int)(d)) * (int)(y) ) / ( 2 * ((int)(x) + (int(y))) ) )
-+using namespace std;
++#define AVG(a,b) (((int)(a) + (int)(b)) >> 1)
++#define AVG3(a,b,c) (((int)(a) + (int)(b) + (int)(c)) / 3)
++#define AVG4(a,b,c,d) (((int)(a) + (int)(b) + (int)(c) + (int)(d)) >> 2)
++#define WAVG4(a,b,c,d,x,y) ( ( ((int)(a) + (int)(b)) * (int)(x) + ((int)(c) + (int)(d)) * (int)(y) ) / ( 2 * ((int)(x) + (int(y))) ) )
++using namespace std;
//---------------------------------------------------------------------------
-+typedef enum
-+{
-+ Bilinear = 0,
-+ EdgeAware,
-+ EdgeAwareWeighted
-+} DebayeringMethod;
++typedef enum
++{
++ Bilinear = 0,
++ EdgeAware,
++ EdgeAwareWeighted
++} DebayeringMethod;
// Global Variables
-+void BayerUpdateGamma(float fGammaCorr)
-+{
-+}
++void BayerUpdateGamma(float fGammaCorr)
++{
++}
//---------------------------------------------------------------------------
-XnUInt8 Gamma[256] = {
- 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15,
@@ -103,310 +103,310 @@ index 43666ad..940e5b6 100644
- 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};
-+void fillRGB(unsigned width, unsigned height, const XnUInt8* bayer_pixel, unsigned char* rgb_buffer, DebayeringMethod debayering_method, XnUInt32 nDownSampleStep)
-+{
++void fillRGB(unsigned width, unsigned height, const XnUInt8* bayer_pixel, unsigned char* rgb_buffer, DebayeringMethod debayering_method, XnUInt32 nDownSampleStep)
++{
-+ unsigned rgb_line_step = width * 3;
++ unsigned rgb_line_step = width * 3;
//---------------------------------------------------------------------------
// Code
-+ unsigned rgb_line_skip = rgb_line_step - width * 3;
++ unsigned rgb_line_skip = rgb_line_step - width * 3;
//---------------------------------------------------------------------------
-void BayerUpdateGamma(float fGammaCorr)
-+ if (nDownSampleStep == 1)
++ if (nDownSampleStep == 1)
{
- for(XnUInt32 iG = 0; iG < 256;++iG)
- Gamma[iG] = XnUInt8(255*pow(XnDouble(iG)/255.0,(XnDouble)fGammaCorr) + 0.5);
-+ //register const XnUInt8 *bayer_pixel = image_md_->Data ();
-+ register unsigned yIdx, xIdx;
-+
-+ int bayer_line_step = width;
-+ int bayer_line_step2 = width << 1;
-+
-+ if (debayering_method == Bilinear)
-+ {
-+ // first two pixel values for first two lines
-+ // Bayer 0 1 2
-+ // 0 G r g
-+ // line_step b g b
-+ // line_step2 g r g
-+
-+ rgb_buffer[3] = rgb_buffer[0] = bayer_pixel[1]; // red pixel
-+ rgb_buffer[1] = bayer_pixel[0]; // green pixel
-+ rgb_buffer[rgb_line_step + 2] = rgb_buffer[2] = bayer_pixel[bayer_line_step]; // blue;
-+
-+ // Bayer 0 1 2
-+ // 0 g R g
-+ // line_step b g b
-+ // line_step2 g r g
-+ //rgb_pixel[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG3 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1]);
-+ rgb_buffer[rgb_line_step + 5] = rgb_buffer[5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+
-+ // BGBG line
-+ // Bayer 0 1 2
-+ // 0 g r g
-+ // line_step B g b
-+ // line_step2 g r g
-+ rgb_buffer[rgb_line_step + 3] = rgb_buffer[rgb_line_step ] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
-+ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step + 1], bayer_pixel[bayer_line_step2]);
-+ //rgb_pixel[rgb_line_step + 2] = bayer_pixel[line_step];
-+
-+ // pixel (1, 1) 0 1 2
-+ // 0 g r g
-+ // line_step b G b
-+ // line_step2 g r g
-+ //rgb_pixel[rgb_line_step + 3] = AVG( bayer_pixel[1] , bayer_pixel[line_step2+1] );
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ //rgb_pixel[rgb_line_step + 5] = AVG( bayer_pixel[line_step] , bayer_pixel[line_step+2] );
-+
-+ rgb_buffer += 6;
-+ bayer_pixel += 2;
-+ // rest of the first two lines
-+
-+ for (xIdx = 2; xIdx < width - 2; xIdx += 2, rgb_buffer += 6, bayer_pixel += 2)
-+ {
-+ // GRGR line
-+ // Bayer -1 0 1 2
-+ // 0 r G r g
-+ // line_step g b g b
-+ // line_step2 r g r g
-+ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
-+ rgb_buffer[1] = bayer_pixel[0];
-+ rgb_buffer[2] = bayer_pixel[bayer_line_step + 1];
-+
-+ // Bayer -1 0 1 2
-+ // 0 r g R g
-+ // line_step g b g b
-+ // line_step2 r g r g
-+ rgb_buffer[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG3 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1]);
-+ rgb_buffer[rgb_line_step + 5] = rgb_buffer[5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+
-+ // BGBG line
-+ // Bayer -1 0 1 2
-+ // 0 r g r g
-+ // line_step g B g b
-+ // line_step2 r g r g
-+ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
-+ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
-+ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
-+
-+ // Bayer -1 0 1 2
-+ // 0 r g r g
-+ // line_step g b G b
-+ // line_step2 r g r g
-+ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ //rgb_pixel[rgb_line_step + 5] = AVG( bayer_pixel[line_step] , bayer_pixel[line_step+2] );
++ //register const XnUInt8 *bayer_pixel = image_md_->Data ();
++ register unsigned yIdx, xIdx;
++
++ int bayer_line_step = width;
++ int bayer_line_step2 = width << 1;
++
++ if (debayering_method == Bilinear)
++ {
++ // first two pixel values for first two lines
++ // Bayer 0 1 2
++ // 0 G r g
++ // line_step b g b
++ // line_step2 g r g
++
++ rgb_buffer[3] = rgb_buffer[0] = bayer_pixel[1]; // red pixel
++ rgb_buffer[1] = bayer_pixel[0]; // green pixel
++ rgb_buffer[rgb_line_step + 2] = rgb_buffer[2] = bayer_pixel[bayer_line_step]; // blue;
++
++ // Bayer 0 1 2
++ // 0 g R g
++ // line_step b g b
++ // line_step2 g r g
++ //rgb_pixel[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG3 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1]);
++ rgb_buffer[rgb_line_step + 5] = rgb_buffer[5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++
++ // BGBG line
++ // Bayer 0 1 2
++ // 0 g r g
++ // line_step B g b
++ // line_step2 g r g
++ rgb_buffer[rgb_line_step + 3] = rgb_buffer[rgb_line_step ] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
++ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step + 1], bayer_pixel[bayer_line_step2]);
++ //rgb_pixel[rgb_line_step + 2] = bayer_pixel[line_step];
++
++ // pixel (1, 1) 0 1 2
++ // 0 g r g
++ // line_step b G b
++ // line_step2 g r g
++ //rgb_pixel[rgb_line_step + 3] = AVG( bayer_pixel[1] , bayer_pixel[line_step2+1] );
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ //rgb_pixel[rgb_line_step + 5] = AVG( bayer_pixel[line_step] , bayer_pixel[line_step+2] );
++
++ rgb_buffer += 6;
++ bayer_pixel += 2;
++ // rest of the first two lines
++
++ for (xIdx = 2; xIdx < width - 2; xIdx += 2, rgb_buffer += 6, bayer_pixel += 2)
++ {
++ // GRGR line
++ // Bayer -1 0 1 2
++ // 0 r G r g
++ // line_step g b g b
++ // line_step2 r g r g
++ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
++ rgb_buffer[1] = bayer_pixel[0];
++ rgb_buffer[2] = bayer_pixel[bayer_line_step + 1];
++
++ // Bayer -1 0 1 2
++ // 0 r g R g
++ // line_step g b g b
++ // line_step2 r g r g
++ rgb_buffer[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG3 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1]);
++ rgb_buffer[rgb_line_step + 5] = rgb_buffer[5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++
++ // BGBG line
++ // Bayer -1 0 1 2
++ // 0 r g r g
++ // line_step g B g b
++ // line_step2 r g r g
++ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
++ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
++ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
++
++ // Bayer -1 0 1 2
++ // 0 r g r g
++ // line_step g b G b
++ // line_step2 r g r g
++ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ //rgb_pixel[rgb_line_step + 5] = AVG( bayer_pixel[line_step] , bayer_pixel[line_step+2] );
}
-static inline void WriteRGB(XnUInt8 *pBuffer, XnUInt8 nRed, XnUInt8 nGreen, XnUInt8 nBlue)
-+ // last two pixel values for first two lines
-+ // GRGR line
-+ // Bayer -1 0 1
-+ // 0 r G r
-+ // line_step g b g
-+ // line_step2 r g r
-+ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
-+ rgb_buffer[1] = bayer_pixel[0];
-+ rgb_buffer[rgb_line_step + 5] = rgb_buffer[rgb_line_step + 2] = rgb_buffer[5] = rgb_buffer[2] = bayer_pixel[bayer_line_step];
-+
-+ // Bayer -1 0 1
-+ // 0 r g R
-+ // line_step g b g
-+ // line_step2 r g r
-+ rgb_buffer[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step + 1]);
-+ //rgb_pixel[5] = bayer_pixel[line_step];
-+
-+ // BGBG line
-+ // Bayer -1 0 1
-+ // 0 r g r
-+ // line_step g B g
-+ // line_step2 r g r
-+ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
-+ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
-+ //rgb_pixel[rgb_line_step + 2] = bayer_pixel[line_step];
-+
-+ // Bayer -1 0 1
-+ // 0 r g r
-+ // line_step g b G
-+ // line_step2 r g r
-+ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ //rgb_pixel[rgb_line_step + 5] = bayer_pixel[line_step];
-+
-+ bayer_pixel += bayer_line_step + 2;
-+ rgb_buffer += rgb_line_step + 6 + rgb_line_skip;
-+
-+ // main processing
-+
-+ for (yIdx = 2; yIdx < height - 2; yIdx += 2)
++ // last two pixel values for first two lines
++ // GRGR line
++ // Bayer -1 0 1
++ // 0 r G r
++ // line_step g b g
++ // line_step2 r g r
++ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
++ rgb_buffer[1] = bayer_pixel[0];
++ rgb_buffer[rgb_line_step + 5] = rgb_buffer[rgb_line_step + 2] = rgb_buffer[5] = rgb_buffer[2] = bayer_pixel[bayer_line_step];
++
++ // Bayer -1 0 1
++ // 0 r g R
++ // line_step g b g
++ // line_step2 r g r
++ rgb_buffer[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step + 1]);
++ //rgb_pixel[5] = bayer_pixel[line_step];
++
++ // BGBG line
++ // Bayer -1 0 1
++ // 0 r g r
++ // line_step g B g
++ // line_step2 r g r
++ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
++ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
++ //rgb_pixel[rgb_line_step + 2] = bayer_pixel[line_step];
++
++ // Bayer -1 0 1
++ // 0 r g r
++ // line_step g b G
++ // line_step2 r g r
++ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ //rgb_pixel[rgb_line_step + 5] = bayer_pixel[line_step];
++
++ bayer_pixel += bayer_line_step + 2;
++ rgb_buffer += rgb_line_step + 6 + rgb_line_skip;
++
++ // main processing
++
++ for (yIdx = 2; yIdx < height - 2; yIdx += 2)
{
- pBuffer[BAYER_RED] = Gamma[nRed];
- pBuffer[BAYER_GREEN] = Gamma[nGreen];
- pBuffer[BAYER_BLUE] = Gamma[nBlue];
-+ // first two pixel values
-+ // Bayer 0 1 2
-+ // -1 b g b
-+ // 0 G r g
-+ // line_step b g b
-+ // line_step2 g r g
-+
-+ rgb_buffer[3] = rgb_buffer[0] = bayer_pixel[1]; // red pixel
-+ rgb_buffer[1] = bayer_pixel[0]; // green pixel
-+ rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]); // blue;
-+
-+ // Bayer 0 1 2
-+ // -1 b g b
-+ // 0 g R g
-+ // line_step b g b
-+ // line_step2 g r g
-+ //rgb_pixel[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
-+ rgb_buffer[5] = AVG4 (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2], bayer_pixel[-bayer_line_step], bayer_pixel[2 - bayer_line_step]);
-+
-+ // BGBG line
-+ // Bayer 0 1 2
-+ // 0 g r g
-+ // line_step B g b
-+ // line_step2 g r g
-+ rgb_buffer[rgb_line_step + 3] = rgb_buffer[rgb_line_step ] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
-+ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step + 1], bayer_pixel[bayer_line_step2]);
-+ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
-+
-+ // pixel (1, 1) 0 1 2
-+ // 0 g r g
-+ // line_step b G b
-+ // line_step2 g r g
-+ //rgb_pixel[rgb_line_step + 3] = AVG( bayer_pixel[1] , bayer_pixel[line_step2+1] );
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+
-+ rgb_buffer += 6;
-+ bayer_pixel += 2;
-+ // continue with rest of the line
-+ for (xIdx = 2; xIdx < width - 2; xIdx += 2, rgb_buffer += 6, bayer_pixel += 2)
-+ {
-+ // GRGR line
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r G r g
-+ // line_step g b g b
-+ // line_step2 r g r g
-+ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
-+ rgb_buffer[1] = bayer_pixel[0];
-+ rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]);
-+
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r g R g
-+ // line_step g b g b
-+ // line_step2 r g r g
-+ rgb_buffer[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
-+ rgb_buffer[5] = AVG4 (bayer_pixel[-bayer_line_step], bayer_pixel[2 - bayer_line_step], bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+
-+ // BGBG line
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r g r g
-+ // line_step g B g b
-+ // line_step2 r g r g
-+ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
-+ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
-+ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
-+
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r g r g
-+ // line_step g b G b
-+ // line_step2 r g r g
-+ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++ // first two pixel values
++ // Bayer 0 1 2
++ // -1 b g b
++ // 0 G r g
++ // line_step b g b
++ // line_step2 g r g
++
++ rgb_buffer[3] = rgb_buffer[0] = bayer_pixel[1]; // red pixel
++ rgb_buffer[1] = bayer_pixel[0]; // green pixel
++ rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]); // blue;
++
++ // Bayer 0 1 2
++ // -1 b g b
++ // 0 g R g
++ // line_step b g b
++ // line_step2 g r g
++ //rgb_pixel[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
++ rgb_buffer[5] = AVG4 (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2], bayer_pixel[-bayer_line_step], bayer_pixel[2 - bayer_line_step]);
++
++ // BGBG line
++ // Bayer 0 1 2
++ // 0 g r g
++ // line_step B g b
++ // line_step2 g r g
++ rgb_buffer[rgb_line_step + 3] = rgb_buffer[rgb_line_step ] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
++ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step + 1], bayer_pixel[bayer_line_step2]);
++ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
++
++ // pixel (1, 1) 0 1 2
++ // 0 g r g
++ // line_step b G b
++ // line_step2 g r g
++ //rgb_pixel[rgb_line_step + 3] = AVG( bayer_pixel[1] , bayer_pixel[line_step2+1] );
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++
++ rgb_buffer += 6;
++ bayer_pixel += 2;
++ // continue with rest of the line
++ for (xIdx = 2; xIdx < width - 2; xIdx += 2, rgb_buffer += 6, bayer_pixel += 2)
++ {
++ // GRGR line
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r G r g
++ // line_step g b g b
++ // line_step2 r g r g
++ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
++ rgb_buffer[1] = bayer_pixel[0];
++ rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]);
++
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r g R g
++ // line_step g b g b
++ // line_step2 r g r g
++ rgb_buffer[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
++ rgb_buffer[5] = AVG4 (bayer_pixel[-bayer_line_step], bayer_pixel[2 - bayer_line_step], bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++
++ // BGBG line
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r g r g
++ // line_step g B g b
++ // line_step2 r g r g
++ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
++ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
++ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
++
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r g r g
++ // line_step g b G b
++ // line_step2 r g r g
++ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
}
-void Bayer2RGB888(const XnUInt8* pBayerImage, XnUInt8* pRGBImage, XnUInt32 nXRes, XnUInt32 nYRes, XnUInt32 /*nDownSampleStep*/, XnUInt32 nBadPixels)
-+ // last two pixels of the line
-+ // last two pixel values for first two lines
-+ // GRGR line
-+ // Bayer -1 0 1
-+ // 0 r G r
-+ // line_step g b g
-+ // line_step2 r g r
-+ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
-+ rgb_buffer[1] = bayer_pixel[0];
-+ rgb_buffer[rgb_line_step + 5] = rgb_buffer[rgb_line_step + 2] = rgb_buffer[5] = rgb_buffer[2] = bayer_pixel[bayer_line_step];
-+
-+ // Bayer -1 0 1
-+ // 0 r g R
-+ // line_step g b g
-+ // line_step2 r g r
-+ rgb_buffer[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step + 1]);
-+ //rgb_pixel[5] = bayer_pixel[line_step];
-+
-+ // BGBG line
-+ // Bayer -1 0 1
-+ // 0 r g r
-+ // line_step g B g
-+ // line_step2 r g r
-+ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
-+ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
-+ //rgb_pixel[rgb_line_step + 2] = bayer_pixel[line_step];
-+
-+ // Bayer -1 0 1
-+ // 0 r g r
-+ // line_step g b G
-+ // line_step2 r g r
-+ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ //rgb_pixel[rgb_line_step + 5] = bayer_pixel[line_step];
-+
-+ bayer_pixel += bayer_line_step + 2;
-+ rgb_buffer += rgb_line_step + 6 + rgb_line_skip;
-+ }
-+
-+ //last two lines
-+ // Bayer 0 1 2
-+ // -1 b g b
-+ // 0 G r g
-+ // line_step b g b
-+
-+ rgb_buffer[rgb_line_step + 3] = rgb_buffer[rgb_line_step ] = rgb_buffer[3] = rgb_buffer[0] = bayer_pixel[1]; // red pixel
-+ rgb_buffer[1] = bayer_pixel[0]; // green pixel
-+ rgb_buffer[rgb_line_step + 2] = rgb_buffer[2] = bayer_pixel[bayer_line_step]; // blue;
-+
-+ // Bayer 0 1 2
-+ // -1 b g b
-+ // 0 g R g
-+ // line_step b g b
-+ //rgb_pixel[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
-+ rgb_buffer[5] = AVG4 (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2], bayer_pixel[-bayer_line_step], bayer_pixel[2 - bayer_line_step]);
-+
-+ // BGBG line
-+ // Bayer 0 1 2
-+ // -1 b g b
-+ // 0 g r g
-+ // line_step B g b
-+ //rgb_pixel[rgb_line_step ] = bayer_pixel[1];
-+ rgb_buffer[rgb_line_step + 1] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step + 1]);
-+ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
-+
-+ // Bayer 0 1 2
-+ // -1 b g b
-+ // 0 g r g
-+ // line_step b G b
-+ //rgb_pixel[rgb_line_step + 3] = AVG( bayer_pixel[1] , bayer_pixel[line_step2+1] );
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+
-+ rgb_buffer += 6;
-+ bayer_pixel += 2;
-+ // rest of the last two lines
-+ for (xIdx = 2; xIdx < width - 2; xIdx += 2, rgb_buffer += 6, bayer_pixel += 2)
++ // last two pixels of the line
++ // last two pixel values for first two lines
++ // GRGR line
++ // Bayer -1 0 1
++ // 0 r G r
++ // line_step g b g
++ // line_step2 r g r
++ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
++ rgb_buffer[1] = bayer_pixel[0];
++ rgb_buffer[rgb_line_step + 5] = rgb_buffer[rgb_line_step + 2] = rgb_buffer[5] = rgb_buffer[2] = bayer_pixel[bayer_line_step];
++
++ // Bayer -1 0 1
++ // 0 r g R
++ // line_step g b g
++ // line_step2 r g r
++ rgb_buffer[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step + 1]);
++ //rgb_pixel[5] = bayer_pixel[line_step];
++
++ // BGBG line
++ // Bayer -1 0 1
++ // 0 r g r
++ // line_step g B g
++ // line_step2 r g r
++ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
++ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
++ //rgb_pixel[rgb_line_step + 2] = bayer_pixel[line_step];
++
++ // Bayer -1 0 1
++ // 0 r g r
++ // line_step g b G
++ // line_step2 r g r
++ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ //rgb_pixel[rgb_line_step + 5] = bayer_pixel[line_step];
++
++ bayer_pixel += bayer_line_step + 2;
++ rgb_buffer += rgb_line_step + 6 + rgb_line_skip;
++ }
++
++ //last two lines
++ // Bayer 0 1 2
++ // -1 b g b
++ // 0 G r g
++ // line_step b g b
++
++ rgb_buffer[rgb_line_step + 3] = rgb_buffer[rgb_line_step ] = rgb_buffer[3] = rgb_buffer[0] = bayer_pixel[1]; // red pixel
++ rgb_buffer[1] = bayer_pixel[0]; // green pixel
++ rgb_buffer[rgb_line_step + 2] = rgb_buffer[2] = bayer_pixel[bayer_line_step]; // blue;
++
++ // Bayer 0 1 2
++ // -1 b g b
++ // 0 g R g
++ // line_step b g b
++ //rgb_pixel[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
++ rgb_buffer[5] = AVG4 (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2], bayer_pixel[-bayer_line_step], bayer_pixel[2 - bayer_line_step]);
++
++ // BGBG line
++ // Bayer 0 1 2
++ // -1 b g b
++ // 0 g r g
++ // line_step B g b
++ //rgb_pixel[rgb_line_step ] = bayer_pixel[1];
++ rgb_buffer[rgb_line_step + 1] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step + 1]);
++ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
++
++ // Bayer 0 1 2
++ // -1 b g b
++ // 0 g r g
++ // line_step b G b
++ //rgb_pixel[rgb_line_step + 3] = AVG( bayer_pixel[1] , bayer_pixel[line_step2+1] );
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++
++ rgb_buffer += 6;
++ bayer_pixel += 2;
++ // rest of the last two lines
++ for (xIdx = 2; xIdx < width - 2; xIdx += 2, rgb_buffer += 6, bayer_pixel += 2)
{
- XnUInt8 nRed;
- XnUInt8 nGreen;
@@ -418,11 +418,11 @@ index 43666ad..940e5b6 100644
//{
//nBadPixels = 1;
//}
-+ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
-+ rgb_buffer[1] = bayer_pixel[0];
-+ rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]);
-+
-+
++ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
++ rgb_buffer[1] = bayer_pixel[0];
++ rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]);
++
++
- XnInt32 BAYER_LINE_LENGTH = nXRes;
- XnInt32 BAYER_LINE_LENGTH2 = BAYER_LINE_LENGTH*2;
@@ -437,9 +437,9 @@ index 43666ad..940e5b6 100644
- pBayer = pBayerImage + BAYER_LINE_LENGTH - nBadPixels;
- pRGB = pRGBImage + BAYER_RGB_LINE_LENGTH;
-+ rgb_buffer[rgb_line_step + 3] = rgb_buffer[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
-+ rgb_buffer[5] = AVG4 (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2], bayer_pixel[-bayer_line_step], bayer_pixel[-bayer_line_step + 2]);
++ rgb_buffer[rgb_line_step + 3] = rgb_buffer[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
++ rgb_buffer[5] = AVG4 (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2], bayer_pixel[-bayer_line_step], bayer_pixel[-bayer_line_step + 2]);
- do {
- pCurrBayer = pBayer+ 1;
@@ -460,814 +460,814 @@ index 43666ad..940e5b6 100644
- nGreen = ((XnUInt32)pCurrBayer[BAYER_LINE_LENGTH-1]+pCurrBayer[BAYER_LINE_LENGTH+1]) / 2;
- nBlue = ((XnUInt32)pCurrBayer[BAYER_LINE_LENGTH2-1]+pCurrBayer[BAYER_LINE_LENGTH2+1]) / 2;
- WriteRGB(pCurrRGB+BAYER_RGB_LINE_LENGTH, pCurrBayer[BAYER_LINE_LENGTH], nGreen, nBlue);
-+ rgb_buffer[rgb_line_step ] = AVG (bayer_pixel[-1], bayer_pixel[1]);
-+ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
-+ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
-+
-+
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r g r g
-+ // line_step g b G b
-+ //rgb_pixel[rgb_line_step + 3] = bayer_pixel[1];
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+}
-+
-+ // last two pixel values for first two lines
-+ // GRGR line
-+ // Bayer -1 0 1
-+ // -1 g b g
-+ // 0 r G r
-+ // line_step g b g
-+ rgb_buffer[rgb_line_step ] = rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
-+ rgb_buffer[1] = bayer_pixel[0];
-+ rgb_buffer[5] = rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]);
-+
-+ // Bayer -1 0 1
-+ // -1 g b g
-+ // 0 r g R
-+ // line_step g b g
-+ rgb_buffer[rgb_line_step + 3] = rgb_buffer[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step + 1], bayer_pixel[-bayer_line_step + 1]);
-+ //rgb_pixel[5] = AVG( bayer_pixel[line_step], bayer_pixel[-line_step] );
-+
-+ // BGBG line
-+ // Bayer -1 0 1
-+ // -1 g b g
-+ // 0 r g r
-+ // line_step g B g
-+ //rgb_pixel[rgb_line_step ] = AVG2( bayer_pixel[-1], bayer_pixel[1] );
-+ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
-+ rgb_buffer[rgb_line_step + 5] = rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
-+
-+ // Bayer -1 0 1
-+ // -1 g b g
-+ // 0 r g r
-+ // line_step g b G
-+ //rgb_pixel[rgb_line_step + 3] = bayer_pixel[1];
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ //rgb_pixel[rgb_line_step + 5] = bayer_pixel[line_step];
-+ }
-+ else if (debayering_method == EdgeAware)
-+ {
-+ int dh, dv;
-+
-+ // first two pixel values for first two lines
-+ // Bayer 0 1 2
-+ // 0 G r g
-+ // line_step b g b
-+ // line_step2 g r g
-+
-+ rgb_buffer[3] = rgb_buffer[0] = bayer_pixel[1]; // red pixel
-+ rgb_buffer[1] = bayer_pixel[0]; // green pixel
-+ rgb_buffer[rgb_line_step + 2] = rgb_buffer[2] = bayer_pixel[bayer_line_step]; // blue;
-+
-+ // Bayer 0 1 2
-+ // 0 g R g
-+ // line_step b g b
-+ // line_step2 g r g
-+ //rgb_pixel[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG3 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1]);
-+ rgb_buffer[rgb_line_step + 5] = rgb_buffer[5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+
-+ // BGBG line
-+ // Bayer 0 1 2
-+ // 0 g r g
-+ // line_step B g b
-+ // line_step2 g r g
-+ rgb_buffer[rgb_line_step + 3] = rgb_buffer[rgb_line_step ] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
-+ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step + 1], bayer_pixel[bayer_line_step2]);
-+ //rgb_pixel[rgb_line_step + 2] = bayer_pixel[line_step];
-+
-+ // pixel (1, 1) 0 1 2
-+ // 0 g r g
-+ // line_step b G b
-+ // line_step2 g r g
-+ //rgb_pixel[rgb_line_step + 3] = AVG( bayer_pixel[1] , bayer_pixel[line_step2+1] );
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ //rgb_pixel[rgb_line_step + 5] = AVG( bayer_pixel[line_step] , bayer_pixel[line_step+2] );
-+
-+ rgb_buffer += 6;
-+ bayer_pixel += 2;
-+ // rest of the first two lines
-+ for (xIdx = 2; xIdx < width - 2; xIdx += 2, rgb_buffer += 6, bayer_pixel += 2)
-+ {
-+ // GRGR line
-+ // Bayer -1 0 1 2
-+ // 0 r G r g
-+ // line_step g b g b
-+ // line_step2 r g r g
-+ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
-+ rgb_buffer[1] = bayer_pixel[0];
-+ rgb_buffer[2] = bayer_pixel[bayer_line_step + 1];
-+
-+ // Bayer -1 0 1 2
-+ // 0 r g R g
-+ // line_step g b g b
-+ // line_step2 r g r g
-+ rgb_buffer[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG3 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1]);
-+ rgb_buffer[rgb_line_step + 5] = rgb_buffer[5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+
-+ // BGBG line
-+ // Bayer -1 0 1 2
-+ // 0 r g r g
-+ // line_step g B g b
-+ // line_step2 r g r g
-+ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
-+ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
-+ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
-+
-+ // Bayer -1 0 1 2
-+ // 0 r g r g
-+ // line_step g b G b
-+ // line_step2 r g r g
-+ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ //rgb_pixel[rgb_line_step + 5] = AVG( bayer_pixel[line_step] , bayer_pixel[line_step+2] );
-+ }
-+
-+ // last two pixel values for first two lines
-+ // GRGR line
-+ // Bayer -1 0 1
-+ // 0 r G r
-+ // line_step g b g
-+ // line_step2 r g r
-+ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
-+ rgb_buffer[1] = bayer_pixel[0];
-+ rgb_buffer[rgb_line_step + 5] = rgb_buffer[rgb_line_step + 2] = rgb_buffer[5] = rgb_buffer[2] = bayer_pixel[bayer_line_step];
-+
-+ // Bayer -1 0 1
-+ // 0 r g R
-+ // line_step g b g
-+ // line_step2 r g r
-+ rgb_buffer[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step + 1]);
-+ //rgb_pixel[5] = bayer_pixel[line_step];
-+
-+ // BGBG line
-+ // Bayer -1 0 1
-+ // 0 r g r
-+ // line_step g B g
-+ // line_step2 r g r
-+ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
-+ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
-+ //rgb_pixel[rgb_line_step + 2] = bayer_pixel[line_step];
-+
-+ // Bayer -1 0 1
-+ // 0 r g r
-+ // line_step g b G
-+ // line_step2 r g r
-+ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ //rgb_pixel[rgb_line_step + 5] = bayer_pixel[line_step];
-+
-+ bayer_pixel += bayer_line_step + 2;
-+ rgb_buffer += rgb_line_step + 6 + rgb_line_skip;
-+ // main processing
-+ for (yIdx = 2; yIdx < height - 2; yIdx += 2)
-+ {
-+ // first two pixel values
-+ // Bayer 0 1 2
-+ // -1 b g b
-+ // 0 G r g
-+ // line_step b g b
-+ // line_step2 g r g
-+
-+ rgb_buffer[3] = rgb_buffer[0] = bayer_pixel[1]; // red pixel
-+ rgb_buffer[1] = bayer_pixel[0]; // green pixel
-+ rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]); // blue;
-+
-+ // Bayer 0 1 2
-+ // -1 b g b
-+ // 0 g R g
-+ // line_step b g b
-+ // line_step2 g r g
-+ //rgb_pixel[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
-+ rgb_buffer[5] = AVG4 (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2], bayer_pixel[-bayer_line_step], bayer_pixel[2 - bayer_line_step]);
-+
-+ // BGBG line
-+ // Bayer 0 1 2
-+ // 0 g r g
-+ // line_step B g b
-+ // line_step2 g r g
-+ rgb_buffer[rgb_line_step + 3] = rgb_buffer[rgb_line_step ] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
-+ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step + 1], bayer_pixel[bayer_line_step2]);
-+ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
-+
-+ // pixel (1, 1) 0 1 2
-+ // 0 g r g
-+ // line_step b G b
-+ // line_step2 g r g
-+ //rgb_pixel[rgb_line_step + 3] = AVG( bayer_pixel[1] , bayer_pixel[line_step2+1] );
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+
-+ rgb_buffer += 6;
-+ bayer_pixel += 2;
-+ // continue with rest of the line
-+ for (xIdx = 2; xIdx < width - 2; xIdx += 2, rgb_buffer += 6, bayer_pixel += 2)
-+ {
-+ // GRGR line
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r G r g
-+ // line_step g b g b
-+ // line_step2 r g r g
-+ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
-+ rgb_buffer[1] = bayer_pixel[0];
-+ rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]);
-+
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r g R g
-+ // line_step g b g b
-+ // line_step2 r g r g
-+
-+ dh = abs (bayer_pixel[0] - bayer_pixel[2]);
-+ dv = abs (bayer_pixel[-bayer_line_step + 1] - bayer_pixel[bayer_line_step + 1]);
-+
-+ if (dh > dv)
-+ rgb_buffer[4] = AVG (bayer_pixel[-bayer_line_step + 1], bayer_pixel[bayer_line_step + 1]);
-+ else if (dv > dh)
-+ rgb_buffer[4] = AVG (bayer_pixel[0], bayer_pixel[2]);
-+ else
-+ rgb_buffer[4] = AVG4 (bayer_pixel[-bayer_line_step + 1], bayer_pixel[bayer_line_step + 1], bayer_pixel[0], bayer_pixel[2]);
-+
-+ rgb_buffer[3] = bayer_pixel[1];
-+ rgb_buffer[5] = AVG4 (bayer_pixel[-bayer_line_step], bayer_pixel[2 - bayer_line_step], bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+
-+ // BGBG line
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r g r g
-+ // line_step g B g b
-+ // line_step2 r g r g
-+ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
-+ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
-+
-+ dv = abs (bayer_pixel[0] - bayer_pixel[bayer_line_step2]);
-+ dh = abs (bayer_pixel[bayer_line_step - 1] - bayer_pixel[bayer_line_step + 1]);
-+
-+ if (dv > dh)
-+ rgb_buffer[rgb_line_step + 1] = AVG (bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
-+ else if (dh > dv)
-+ rgb_buffer[rgb_line_step + 1] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step2]);
-+ else
-+ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
-+
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r g r g
-+ // line_step g b G b
-+ // line_step2 r g r g
-+ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+ }
-+
-+ // last two pixels of the line
-+ // last two pixel values for first two lines
-+ // GRGR line
-+ // Bayer -1 0 1
-+ // 0 r G r
-+ // line_step g b g
-+ // line_step2 r g r
-+ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
-+ rgb_buffer[1] = bayer_pixel[0];
-+ rgb_buffer[rgb_line_step + 5] = rgb_buffer[rgb_line_step + 2] = rgb_buffer[5] = rgb_buffer[2] = bayer_pixel[bayer_line_step];
-+
-+ // Bayer -1 0 1
-+ // 0 r g R
-+ // line_step g b g
-+ // line_step2 r g r
-+ rgb_buffer[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step + 1]);
-+ //rgb_pixel[5] = bayer_pixel[line_step];
-+
-+ // BGBG line
-+ // Bayer -1 0 1
-+ // 0 r g r
-+ // line_step g B g
-+ // line_step2 r g r
-+ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
-+ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
-+ //rgb_pixel[rgb_line_step + 2] = bayer_pixel[line_step];
-+
-+ // Bayer -1 0 1
-+ // 0 r g r
-+ // line_step g b G
-+ // line_step2 r g r
-+ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ //rgb_pixel[rgb_line_step + 5] = bayer_pixel[line_step];
-+
-+ bayer_pixel += bayer_line_step + 2;
-+ rgb_buffer += rgb_line_step + 6 + rgb_line_skip;
-+ }
-+
-+ //last two lines
-+ // Bayer 0 1 2
-+ // -1 b g b
-+ // 0 G r g
-+ // line_step b g b
-+
-+ rgb_buffer[rgb_line_step + 3] = rgb_buffer[rgb_line_step ] = rgb_buffer[3] = rgb_buffer[0] = bayer_pixel[1]; // red pixel
-+ rgb_buffer[1] = bayer_pixel[0]; // green pixel
-+ rgb_buffer[rgb_line_step + 2] = rgb_buffer[2] = bayer_pixel[bayer_line_step]; // blue;
-+
-+ // Bayer 0 1 2
-+ // -1 b g b
-+ // 0 g R g
-+ // line_step b g b
-+ //rgb_pixel[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
-+ rgb_buffer[5] = AVG4 (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2], bayer_pixel[-bayer_line_step], bayer_pixel[2 - bayer_line_step]);
-+
-+ // BGBG line
-+ // Bayer 0 1 2
-+ // -1 b g b
-+ // 0 g r g
-+ // line_step B g b
-+ //rgb_pixel[rgb_line_step ] = bayer_pixel[1];
-+ rgb_buffer[rgb_line_step + 1] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step + 1]);
-+ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
-+
-+ // Bayer 0 1 2
-+ // -1 b g b
-+ // 0 g r g
-+ // line_step b G b
-+ //rgb_pixel[rgb_line_step + 3] = AVG( bayer_pixel[1] , bayer_pixel[line_step2+1] );
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+
-+ rgb_buffer += 6;
-+ bayer_pixel += 2;
-+ // rest of the last two lines
-+ for (xIdx = 2; xIdx < width - 2; xIdx += 2, rgb_buffer += 6, bayer_pixel += 2)
-+ {
-+ // GRGR line
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r G r g
-+ // line_step g b g b
-+ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
-+ rgb_buffer[1] = bayer_pixel[0];
-+ rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]);
-+
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r g R g
-+ // line_step g b g b
-+ rgb_buffer[rgb_line_step + 3] = rgb_buffer[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
-+ rgb_buffer[5] = AVG4 (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2], bayer_pixel[-bayer_line_step], bayer_pixel[-bayer_line_step + 2]);
-+
-+ // BGBG line
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r g r g
-+ // line_step g B g b
-+ rgb_buffer[rgb_line_step ] = AVG (bayer_pixel[-1], bayer_pixel[1]);
-+ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
-+ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
-+
-+
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r g r g
-+ // line_step g b G b
-+ //rgb_pixel[rgb_line_step + 3] = bayer_pixel[1];
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+ }
-+
-+ // last two pixel values for first two lines
-+ // GRGR line
-+ // Bayer -1 0 1
-+ // -1 g b g
-+ // 0 r G r
-+ // line_step g b g
-+ rgb_buffer[rgb_line_step ] = rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
-+ rgb_buffer[1] = bayer_pixel[0];
-+ rgb_buffer[5] = rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]);
-+
-+ // Bayer -1 0 1
-+ // -1 g b g
-+ // 0 r g R
-+ // line_step g b g
-+ rgb_buffer[rgb_line_step + 3] = rgb_buffer[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step + 1], bayer_pixel[-bayer_line_step + 1]);
-+ //rgb_pixel[5] = AVG( bayer_pixel[line_step], bayer_pixel[-line_step] );
-+
-+ // BGBG line
-+ // Bayer -1 0 1
-+ // -1 g b g
-+ // 0 r g r
-+ // line_step g B g
-+ //rgb_pixel[rgb_line_step ] = AVG2( bayer_pixel[-1], bayer_pixel[1] );
-+ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
-+ rgb_buffer[rgb_line_step + 5] = rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
-+
-+ // Bayer -1 0 1
-+ // -1 g b g
-+ // 0 r g r
-+ // line_step g b G
-+ //rgb_pixel[rgb_line_step + 3] = bayer_pixel[1];
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ //rgb_pixel[rgb_line_step + 5] = bayer_pixel[line_step];
-+ }
-+ else if (debayering_method == EdgeAwareWeighted)
-+ {
-+ int dh, dv;
-+
-+ // first two pixel values for first two lines
-+ // Bayer 0 1 2
-+ // 0 G r g
-+ // line_step b g b
-+ // line_step2 g r g
-+
-+ rgb_buffer[3] = rgb_buffer[0] = bayer_pixel[1]; // red pixel
-+ rgb_buffer[1] = bayer_pixel[0]; // green pixel
-+ rgb_buffer[rgb_line_step + 2] = rgb_buffer[2] = bayer_pixel[bayer_line_step]; // blue;
-+
-+ // Bayer 0 1 2
-+ // 0 g R g
-+ // line_step b g b
-+ // line_step2 g r g
-+ //rgb_pixel[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG3 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1]);
-+ rgb_buffer[rgb_line_step + 5] = rgb_buffer[5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+
-+ // BGBG line
-+ // Bayer 0 1 2
-+ // 0 g r g
-+ // line_step B g b
-+ // line_step2 g r g
-+ rgb_buffer[rgb_line_step + 3] = rgb_buffer[rgb_line_step ] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
-+ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step + 1], bayer_pixel[bayer_line_step2]);
-+ //rgb_pixel[rgb_line_step + 2] = bayer_pixel[line_step];
-+
-+ // pixel (1, 1) 0 1 2
-+ // 0 g r g
-+ // line_step b G b
-+ // line_step2 g r g
-+ //rgb_pixel[rgb_line_step + 3] = AVG( bayer_pixel[1] , bayer_pixel[line_step2+1] );
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ //rgb_pixel[rgb_line_step + 5] = AVG( bayer_pixel[line_step] , bayer_pixel[line_step+2] );
-+
-+ rgb_buffer += 6;
-+ bayer_pixel += 2;
-+ // rest of the first two lines
-+ for (xIdx = 2; xIdx < width - 2; xIdx += 2, rgb_buffer += 6, bayer_pixel += 2)
-+ {
-+ // GRGR line
-+ // Bayer -1 0 1 2
-+ // 0 r G r g
-+ // line_step g b g b
-+ // line_step2 r g r g
-+ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
-+ rgb_buffer[1] = bayer_pixel[0];
-+ rgb_buffer[2] = bayer_pixel[bayer_line_step + 1];
-+
-+ // Bayer -1 0 1 2
-+ // 0 r g R g
-+ // line_step g b g b
-+ // line_step2 r g r g
-+ rgb_buffer[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG3 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1]);
-+ rgb_buffer[rgb_line_step + 5] = rgb_buffer[5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+
-+ // BGBG line
-+ // Bayer -1 0 1 2
-+ // 0 r g r g
-+ // line_step g B g b
-+ // line_step2 r g r g
-+ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
-+ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
-+ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
-+
-+ // Bayer -1 0 1 2
-+ // 0 r g r g
-+ // line_step g b G b
-+ // line_step2 r g r g
-+ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ //rgb_pixel[rgb_line_step + 5] = AVG( bayer_pixel[line_step] , bayer_pixel[line_step+2] );
-+ }
-+
-+ // last two pixel values for first two lines
-+ // GRGR line
-+ // Bayer -1 0 1
-+ // 0 r G r
-+ // line_step g b g
-+ // line_step2 r g r
-+ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
-+ rgb_buffer[1] = bayer_pixel[0];
-+ rgb_buffer[rgb_line_step + 5] = rgb_buffer[rgb_line_step + 2] = rgb_buffer[5] = rgb_buffer[2] = bayer_pixel[bayer_line_step];
-+
-+ // Bayer -1 0 1
-+ // 0 r g R
-+ // line_step g b g
-+ // line_step2 r g r
-+ rgb_buffer[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step + 1]);
-+ //rgb_pixel[5] = bayer_pixel[line_step];
-+
-+ // BGBG line
-+ // Bayer -1 0 1
-+ // 0 r g r
-+ // line_step g B g
-+ // line_step2 r g r
-+ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
-+ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
-+ //rgb_pixel[rgb_line_step + 2] = bayer_pixel[line_step];
-+
-+ // Bayer -1 0 1
-+ // 0 r g r
-+ // line_step g b G
-+ // line_step2 r g r
-+ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ //rgb_pixel[rgb_line_step + 5] = bayer_pixel[line_step];
-+
-+ bayer_pixel += bayer_line_step + 2;
-+ rgb_buffer += rgb_line_step + 6 + rgb_line_skip;
-+ // main processing
-+ for (yIdx = 2; yIdx < height - 2; yIdx += 2)
-+ {
-+ // first two pixel values
-+ // Bayer 0 1 2
-+ // -1 b g b
-+ // 0 G r g
-+ // line_step b g b
-+ // line_step2 g r g
-+
-+ rgb_buffer[3] = rgb_buffer[0] = bayer_pixel[1]; // red pixel
-+ rgb_buffer[1] = bayer_pixel[0]; // green pixel
-+ rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]); // blue;
-+
-+ // Bayer 0 1 2
-+ // -1 b g b
-+ // 0 g R g
-+ // line_step b g b
-+ // line_step2 g r g
-+ //rgb_pixel[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
-+ rgb_buffer[5] = AVG4 (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2], bayer_pixel[-bayer_line_step], bayer_pixel[2 - bayer_line_step]);
-+
-+ // BGBG line
-+ // Bayer 0 1 2
-+ // 0 g r g
-+ // line_step B g b
-+ // line_step2 g r g
-+ rgb_buffer[rgb_line_step + 3] = rgb_buffer[rgb_line_step ] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
-+ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step + 1], bayer_pixel[bayer_line_step2]);
-+ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
-+
-+ // pixel (1, 1) 0 1 2
-+ // 0 g r g
-+ // line_step b G b
-+ // line_step2 g r g
-+ //rgb_pixel[rgb_line_step + 3] = AVG( bayer_pixel[1] , bayer_pixel[line_step2+1] );
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+
-+ rgb_buffer += 6;
-+ bayer_pixel += 2;
-+ // continue with rest of the line
-+ for (xIdx = 2; xIdx < width - 2; xIdx += 2, rgb_buffer += 6, bayer_pixel += 2)
-+ {
-+ // GRGR line
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r G r g
-+ // line_step g b g b
-+ // line_step2 r g r g
-+ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
-+ rgb_buffer[1] = bayer_pixel[0];
-+ rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]);
-+
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r g R g
-+ // line_step g b g b
-+ // line_step2 r g r g
-+
-+ dh = abs (bayer_pixel[0] - bayer_pixel[2]);
-+ dv = abs (bayer_pixel[-bayer_line_step + 1] - bayer_pixel[bayer_line_step + 1]);
-+
-+ if (dv == 0 && dh == 0)
-+ rgb_buffer[4] = AVG4 (bayer_pixel[1 - bayer_line_step], bayer_pixel[1 + bayer_line_step], bayer_pixel[0], bayer_pixel[2]);
-+ else
-+ rgb_buffer[4] = WAVG4 (bayer_pixel[1 - bayer_line_step], bayer_pixel[1 + bayer_line_step], bayer_pixel[0], bayer_pixel[2], dh, dv);
-+ rgb_buffer[3] = bayer_pixel[1];
-+ rgb_buffer[5] = AVG4 (bayer_pixel[-bayer_line_step], bayer_pixel[2 - bayer_line_step], bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+
-+ // BGBG line
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r g r g
-+ // line_step g B g b
-+ // line_step2 r g r g
-+ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
-+ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
-+
-+ dv = abs (bayer_pixel[0] - bayer_pixel[bayer_line_step2]);
-+ dh = abs (bayer_pixel[bayer_line_step - 1] - bayer_pixel[bayer_line_step + 1]);
-+
-+ if (dv == 0 && dh == 0)
-+ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
-+ else
-+ rgb_buffer[rgb_line_step + 1] = WAVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1], dh, dv);
-+
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r g r g
-+ // line_step g b G b
-+ // line_step2 r g r g
-+ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+ }
-+
-+ // last two pixels of the line
-+ // last two pixel values for first two lines
-+ // GRGR line
-+ // Bayer -1 0 1
-+ // 0 r G r
-+ // line_step g b g
-+ // line_step2 r g r
-+ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
-+ rgb_buffer[1] = bayer_pixel[0];
-+ rgb_buffer[rgb_line_step + 5] = rgb_buffer[rgb_line_step + 2] = rgb_buffer[5] = rgb_buffer[2] = bayer_pixel[bayer_line_step];
-+
-+ // Bayer -1 0 1
-+ // 0 r g R
-+ // line_step g b g
-+ // line_step2 r g r
-+ rgb_buffer[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step + 1]);
-+ //rgb_pixel[5] = bayer_pixel[line_step];
-+
-+ // BGBG line
-+ // Bayer -1 0 1
-+ // 0 r g r
-+ // line_step g B g
-+ // line_step2 r g r
-+ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
-+ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
-+ //rgb_pixel[rgb_line_step + 2] = bayer_pixel[line_step];
-+
-+ // Bayer -1 0 1
-+ // 0 r g r
-+ // line_step g b G
-+ // line_step2 r g r
-+ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ //rgb_pixel[rgb_line_step + 5] = bayer_pixel[line_step];
-+
-+ bayer_pixel += bayer_line_step + 2;
-+ rgb_buffer += rgb_line_step + 6 + rgb_line_skip;
-+ }
-+
-+ //last two lines
-+ // Bayer 0 1 2
-+ // -1 b g b
-+ // 0 G r g
-+ // line_step b g b
-+
-+ rgb_buffer[rgb_line_step + 3] = rgb_buffer[rgb_line_step ] = rgb_buffer[3] = rgb_buffer[0] = bayer_pixel[1]; // red pixel
-+ rgb_buffer[1] = bayer_pixel[0]; // green pixel
-+ rgb_buffer[rgb_line_step + 2] = rgb_buffer[2] = bayer_pixel[bayer_line_step]; // blue;
-+
-+ // Bayer 0 1 2
-+ // -1 b g b
-+ // 0 g R g
-+ // line_step b g b
-+ //rgb_pixel[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
-+ rgb_buffer[5] = AVG4 (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2], bayer_pixel[-bayer_line_step], bayer_pixel[2 - bayer_line_step]);
-+
-+ // BGBG line
-+ // Bayer 0 1 2
-+ // -1 b g b
-+ // 0 g r g
-+ // line_step B g b
-+ //rgb_pixel[rgb_line_step ] = bayer_pixel[1];
-+ rgb_buffer[rgb_line_step + 1] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step + 1]);
-+ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
-+
-+ // Bayer 0 1 2
-+ // -1 b g b
-+ // 0 g r g
-+ // line_step b G b
-+ //rgb_pixel[rgb_line_step + 3] = AVG( bayer_pixel[1] , bayer_pixel[line_step2+1] );
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+
-+ rgb_buffer += 6;
-+ bayer_pixel += 2;
-+ // rest of the last two lines
-+ for (xIdx = 2; xIdx < width - 2; xIdx += 2, rgb_buffer += 6, bayer_pixel += 2)
-+ {
-+ // GRGR line
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r G r g
-+ // line_step g b g b
-+ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
-+ rgb_buffer[1] = bayer_pixel[0];
-+ rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]);
-+
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r g R g
-+ // line_step g b g b
-+ rgb_buffer[rgb_line_step + 3] = rgb_buffer[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
-+ rgb_buffer[5] = AVG4 (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2], bayer_pixel[-bayer_line_step], bayer_pixel[-bayer_line_step + 2]);
-+
-+ // BGBG line
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r g r g
-+ // line_step g B g b
-+ rgb_buffer[rgb_line_step ] = AVG (bayer_pixel[-1], bayer_pixel[1]);
-+ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
-+ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
-+
-+
-+ // Bayer -1 0 1 2
-+ // -1 g b g b
-+ // 0 r g r g
-+ // line_step g b G b
-+ //rgb_pixel[rgb_line_step + 3] = bayer_pixel[1];
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
-+ }
-+
-+ // last two pixel values for first two lines
-+ // GRGR line
-+ // Bayer -1 0 1
-+ // -1 g b g
-+ // 0 r G r
-+ // line_step g b g
-+ rgb_buffer[rgb_line_step ] = rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
-+ rgb_buffer[1] = bayer_pixel[0];
-+ rgb_buffer[5] = rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]);
-+
-+ // Bayer -1 0 1
-+ // -1 g b g
-+ // 0 r g R
-+ // line_step g b g
-+ rgb_buffer[rgb_line_step + 3] = rgb_buffer[3] = bayer_pixel[1];
-+ rgb_buffer[4] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step + 1], bayer_pixel[-bayer_line_step + 1]);
-+ //rgb_pixel[5] = AVG( bayer_pixel[line_step], bayer_pixel[-line_step] );
-+
-+ // BGBG line
-+ // Bayer -1 0 1
-+ // -1 g b g
-+ // 0 r g r
-+ // line_step g B g
-+ //rgb_pixel[rgb_line_step ] = AVG2( bayer_pixel[-1], bayer_pixel[1] );
-+ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
-+ rgb_buffer[rgb_line_step + 5] = rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
-+
-+ // Bayer -1 0 1
-+ // -1 g b g
-+ // 0 r g r
-+ // line_step g b G
-+ //rgb_pixel[rgb_line_step + 3] = bayer_pixel[1];
-+ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
-+ //rgb_pixel[rgb_line_step + 5] = bayer_pixel[line_step];
-+ }
-+ //else
-+ // THROW_OPENNI_EXCEPTION ("Unknwon debayering method: %d", (int)debayering_method);
-+ }
-+ //Warning: Downsampling mod is untested
-+ else if (nDownSampleStep > 1)
-+ {
-+ // get each or each 2nd pixel group to find rgb values!
-+ register unsigned bayerXStep = nDownSampleStep;
-+ register unsigned bayerYSkip = (nDownSampleStep - 1) * width;
-+
-+ // Downsampling and debayering at once
-+ register const XnUInt8* bayer_buffer = bayer_pixel;
-+
-+ for (register unsigned yIdx = 0; yIdx < height; ++yIdx, bayer_buffer += bayerYSkip, rgb_buffer += rgb_line_skip) // skip a line
-+ {
-+ for (register unsigned xIdx = 0; xIdx < width; ++xIdx, rgb_buffer += 3, bayer_buffer += bayerXStep)
-+ {
-+ rgb_buffer[ 2 ] = bayer_buffer[ width ];
-+ rgb_buffer[ 1 ] = AVG (bayer_buffer[0], bayer_buffer[ width + 1]);
-+ rgb_buffer[ 0 ] = bayer_buffer[ 1 ];
-+ }
-+ }
-+ }
-+}
++ rgb_buffer[rgb_line_step ] = AVG (bayer_pixel[-1], bayer_pixel[1]);
++ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
++ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
++
++
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r g r g
++ // line_step g b G b
++ //rgb_pixel[rgb_line_step + 3] = bayer_pixel[1];
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++}
++
++ // last two pixel values for first two lines
++ // GRGR line
++ // Bayer -1 0 1
++ // -1 g b g
++ // 0 r G r
++ // line_step g b g
++ rgb_buffer[rgb_line_step ] = rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
++ rgb_buffer[1] = bayer_pixel[0];
++ rgb_buffer[5] = rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]);
++
++ // Bayer -1 0 1
++ // -1 g b g
++ // 0 r g R
++ // line_step g b g
++ rgb_buffer[rgb_line_step + 3] = rgb_buffer[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step + 1], bayer_pixel[-bayer_line_step + 1]);
++ //rgb_pixel[5] = AVG( bayer_pixel[line_step], bayer_pixel[-line_step] );
++
++ // BGBG line
++ // Bayer -1 0 1
++ // -1 g b g
++ // 0 r g r
++ // line_step g B g
++ //rgb_pixel[rgb_line_step ] = AVG2( bayer_pixel[-1], bayer_pixel[1] );
++ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
++ rgb_buffer[rgb_line_step + 5] = rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
++
++ // Bayer -1 0 1
++ // -1 g b g
++ // 0 r g r
++ // line_step g b G
++ //rgb_pixel[rgb_line_step + 3] = bayer_pixel[1];
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ //rgb_pixel[rgb_line_step + 5] = bayer_pixel[line_step];
++ }
++ else if (debayering_method == EdgeAware)
++ {
++ int dh, dv;
++
++ // first two pixel values for first two lines
++ // Bayer 0 1 2
++ // 0 G r g
++ // line_step b g b
++ // line_step2 g r g
++
++ rgb_buffer[3] = rgb_buffer[0] = bayer_pixel[1]; // red pixel
++ rgb_buffer[1] = bayer_pixel[0]; // green pixel
++ rgb_buffer[rgb_line_step + 2] = rgb_buffer[2] = bayer_pixel[bayer_line_step]; // blue;
++
++ // Bayer 0 1 2
++ // 0 g R g
++ // line_step b g b
++ // line_step2 g r g
++ //rgb_pixel[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG3 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1]);
++ rgb_buffer[rgb_line_step + 5] = rgb_buffer[5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++
++ // BGBG line
++ // Bayer 0 1 2
++ // 0 g r g
++ // line_step B g b
++ // line_step2 g r g
++ rgb_buffer[rgb_line_step + 3] = rgb_buffer[rgb_line_step ] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
++ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step + 1], bayer_pixel[bayer_line_step2]);
++ //rgb_pixel[rgb_line_step + 2] = bayer_pixel[line_step];
++
++ // pixel (1, 1) 0 1 2
++ // 0 g r g
++ // line_step b G b
++ // line_step2 g r g
++ //rgb_pixel[rgb_line_step + 3] = AVG( bayer_pixel[1] , bayer_pixel[line_step2+1] );
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ //rgb_pixel[rgb_line_step + 5] = AVG( bayer_pixel[line_step] , bayer_pixel[line_step+2] );
++
++ rgb_buffer += 6;
++ bayer_pixel += 2;
++ // rest of the first two lines
++ for (xIdx = 2; xIdx < width - 2; xIdx += 2, rgb_buffer += 6, bayer_pixel += 2)
++ {
++ // GRGR line
++ // Bayer -1 0 1 2
++ // 0 r G r g
++ // line_step g b g b
++ // line_step2 r g r g
++ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
++ rgb_buffer[1] = bayer_pixel[0];
++ rgb_buffer[2] = bayer_pixel[bayer_line_step + 1];
++
++ // Bayer -1 0 1 2
++ // 0 r g R g
++ // line_step g b g b
++ // line_step2 r g r g
++ rgb_buffer[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG3 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1]);
++ rgb_buffer[rgb_line_step + 5] = rgb_buffer[5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++
++ // BGBG line
++ // Bayer -1 0 1 2
++ // 0 r g r g
++ // line_step g B g b
++ // line_step2 r g r g
++ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
++ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
++ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
++
++ // Bayer -1 0 1 2
++ // 0 r g r g
++ // line_step g b G b
++ // line_step2 r g r g
++ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ //rgb_pixel[rgb_line_step + 5] = AVG( bayer_pixel[line_step] , bayer_pixel[line_step+2] );
++ }
++
++ // last two pixel values for first two lines
++ // GRGR line
++ // Bayer -1 0 1
++ // 0 r G r
++ // line_step g b g
++ // line_step2 r g r
++ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
++ rgb_buffer[1] = bayer_pixel[0];
++ rgb_buffer[rgb_line_step + 5] = rgb_buffer[rgb_line_step + 2] = rgb_buffer[5] = rgb_buffer[2] = bayer_pixel[bayer_line_step];
++
++ // Bayer -1 0 1
++ // 0 r g R
++ // line_step g b g
++ // line_step2 r g r
++ rgb_buffer[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step + 1]);
++ //rgb_pixel[5] = bayer_pixel[line_step];
++
++ // BGBG line
++ // Bayer -1 0 1
++ // 0 r g r
++ // line_step g B g
++ // line_step2 r g r
++ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
++ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
++ //rgb_pixel[rgb_line_step + 2] = bayer_pixel[line_step];
++
++ // Bayer -1 0 1
++ // 0 r g r
++ // line_step g b G
++ // line_step2 r g r
++ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ //rgb_pixel[rgb_line_step + 5] = bayer_pixel[line_step];
++
++ bayer_pixel += bayer_line_step + 2;
++ rgb_buffer += rgb_line_step + 6 + rgb_line_skip;
++ // main processing
++ for (yIdx = 2; yIdx < height - 2; yIdx += 2)
++ {
++ // first two pixel values
++ // Bayer 0 1 2
++ // -1 b g b
++ // 0 G r g
++ // line_step b g b
++ // line_step2 g r g
++
++ rgb_buffer[3] = rgb_buffer[0] = bayer_pixel[1]; // red pixel
++ rgb_buffer[1] = bayer_pixel[0]; // green pixel
++ rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]); // blue;
++
++ // Bayer 0 1 2
++ // -1 b g b
++ // 0 g R g
++ // line_step b g b
++ // line_step2 g r g
++ //rgb_pixel[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
++ rgb_buffer[5] = AVG4 (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2], bayer_pixel[-bayer_line_step], bayer_pixel[2 - bayer_line_step]);
++
++ // BGBG line
++ // Bayer 0 1 2
++ // 0 g r g
++ // line_step B g b
++ // line_step2 g r g
++ rgb_buffer[rgb_line_step + 3] = rgb_buffer[rgb_line_step ] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
++ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step + 1], bayer_pixel[bayer_line_step2]);
++ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
++
++ // pixel (1, 1) 0 1 2
++ // 0 g r g
++ // line_step b G b
++ // line_step2 g r g
++ //rgb_pixel[rgb_line_step + 3] = AVG( bayer_pixel[1] , bayer_pixel[line_step2+1] );
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++
++ rgb_buffer += 6;
++ bayer_pixel += 2;
++ // continue with rest of the line
++ for (xIdx = 2; xIdx < width - 2; xIdx += 2, rgb_buffer += 6, bayer_pixel += 2)
++ {
++ // GRGR line
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r G r g
++ // line_step g b g b
++ // line_step2 r g r g
++ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
++ rgb_buffer[1] = bayer_pixel[0];
++ rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]);
++
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r g R g
++ // line_step g b g b
++ // line_step2 r g r g
++
++ dh = abs (bayer_pixel[0] - bayer_pixel[2]);
++ dv = abs (bayer_pixel[-bayer_line_step + 1] - bayer_pixel[bayer_line_step + 1]);
++
++ if (dh > dv)
++ rgb_buffer[4] = AVG (bayer_pixel[-bayer_line_step + 1], bayer_pixel[bayer_line_step + 1]);
++ else if (dv > dh)
++ rgb_buffer[4] = AVG (bayer_pixel[0], bayer_pixel[2]);
++ else
++ rgb_buffer[4] = AVG4 (bayer_pixel[-bayer_line_step + 1], bayer_pixel[bayer_line_step + 1], bayer_pixel[0], bayer_pixel[2]);
++
++ rgb_buffer[3] = bayer_pixel[1];
++ rgb_buffer[5] = AVG4 (bayer_pixel[-bayer_line_step], bayer_pixel[2 - bayer_line_step], bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++
++ // BGBG line
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r g r g
++ // line_step g B g b
++ // line_step2 r g r g
++ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
++ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
++
++ dv = abs (bayer_pixel[0] - bayer_pixel[bayer_line_step2]);
++ dh = abs (bayer_pixel[bayer_line_step - 1] - bayer_pixel[bayer_line_step + 1]);
++
++ if (dv > dh)
++ rgb_buffer[rgb_line_step + 1] = AVG (bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
++ else if (dh > dv)
++ rgb_buffer[rgb_line_step + 1] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step2]);
++ else
++ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
++
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r g r g
++ // line_step g b G b
++ // line_step2 r g r g
++ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++ }
++
++ // last two pixels of the line
++ // last two pixel values for first two lines
++ // GRGR line
++ // Bayer -1 0 1
++ // 0 r G r
++ // line_step g b g
++ // line_step2 r g r
++ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
++ rgb_buffer[1] = bayer_pixel[0];
++ rgb_buffer[rgb_line_step + 5] = rgb_buffer[rgb_line_step + 2] = rgb_buffer[5] = rgb_buffer[2] = bayer_pixel[bayer_line_step];
++
++ // Bayer -1 0 1
++ // 0 r g R
++ // line_step g b g
++ // line_step2 r g r
++ rgb_buffer[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step + 1]);
++ //rgb_pixel[5] = bayer_pixel[line_step];
++
++ // BGBG line
++ // Bayer -1 0 1
++ // 0 r g r
++ // line_step g B g
++ // line_step2 r g r
++ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
++ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
++ //rgb_pixel[rgb_line_step + 2] = bayer_pixel[line_step];
++
++ // Bayer -1 0 1
++ // 0 r g r
++ // line_step g b G
++ // line_step2 r g r
++ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ //rgb_pixel[rgb_line_step + 5] = bayer_pixel[line_step];
++
++ bayer_pixel += bayer_line_step + 2;
++ rgb_buffer += rgb_line_step + 6 + rgb_line_skip;
++ }
++
++ //last two lines
++ // Bayer 0 1 2
++ // -1 b g b
++ // 0 G r g
++ // line_step b g b
++
++ rgb_buffer[rgb_line_step + 3] = rgb_buffer[rgb_line_step ] = rgb_buffer[3] = rgb_buffer[0] = bayer_pixel[1]; // red pixel
++ rgb_buffer[1] = bayer_pixel[0]; // green pixel
++ rgb_buffer[rgb_line_step + 2] = rgb_buffer[2] = bayer_pixel[bayer_line_step]; // blue;
++
++ // Bayer 0 1 2
++ // -1 b g b
++ // 0 g R g
++ // line_step b g b
++ //rgb_pixel[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
++ rgb_buffer[5] = AVG4 (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2], bayer_pixel[-bayer_line_step], bayer_pixel[2 - bayer_line_step]);
++
++ // BGBG line
++ // Bayer 0 1 2
++ // -1 b g b
++ // 0 g r g
++ // line_step B g b
++ //rgb_pixel[rgb_line_step ] = bayer_pixel[1];
++ rgb_buffer[rgb_line_step + 1] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step + 1]);
++ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
++
++ // Bayer 0 1 2
++ // -1 b g b
++ // 0 g r g
++ // line_step b G b
++ //rgb_pixel[rgb_line_step + 3] = AVG( bayer_pixel[1] , bayer_pixel[line_step2+1] );
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++
++ rgb_buffer += 6;
++ bayer_pixel += 2;
++ // rest of the last two lines
++ for (xIdx = 2; xIdx < width - 2; xIdx += 2, rgb_buffer += 6, bayer_pixel += 2)
++ {
++ // GRGR line
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r G r g
++ // line_step g b g b
++ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
++ rgb_buffer[1] = bayer_pixel[0];
++ rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]);
++
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r g R g
++ // line_step g b g b
++ rgb_buffer[rgb_line_step + 3] = rgb_buffer[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
++ rgb_buffer[5] = AVG4 (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2], bayer_pixel[-bayer_line_step], bayer_pixel[-bayer_line_step + 2]);
++
++ // BGBG line
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r g r g
++ // line_step g B g b
++ rgb_buffer[rgb_line_step ] = AVG (bayer_pixel[-1], bayer_pixel[1]);
++ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
++ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
++
++
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r g r g
++ // line_step g b G b
++ //rgb_pixel[rgb_line_step + 3] = bayer_pixel[1];
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++ }
++
++ // last two pixel values for first two lines
++ // GRGR line
++ // Bayer -1 0 1
++ // -1 g b g
++ // 0 r G r
++ // line_step g b g
++ rgb_buffer[rgb_line_step ] = rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
++ rgb_buffer[1] = bayer_pixel[0];
++ rgb_buffer[5] = rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]);
++
++ // Bayer -1 0 1
++ // -1 g b g
++ // 0 r g R
++ // line_step g b g
++ rgb_buffer[rgb_line_step + 3] = rgb_buffer[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step + 1], bayer_pixel[-bayer_line_step + 1]);
++ //rgb_pixel[5] = AVG( bayer_pixel[line_step], bayer_pixel[-line_step] );
++
++ // BGBG line
++ // Bayer -1 0 1
++ // -1 g b g
++ // 0 r g r
++ // line_step g B g
++ //rgb_pixel[rgb_line_step ] = AVG2( bayer_pixel[-1], bayer_pixel[1] );
++ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
++ rgb_buffer[rgb_line_step + 5] = rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
++
++ // Bayer -1 0 1
++ // -1 g b g
++ // 0 r g r
++ // line_step g b G
++ //rgb_pixel[rgb_line_step + 3] = bayer_pixel[1];
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ //rgb_pixel[rgb_line_step + 5] = bayer_pixel[line_step];
++ }
++ else if (debayering_method == EdgeAwareWeighted)
++ {
++ int dh, dv;
++
++ // first two pixel values for first two lines
++ // Bayer 0 1 2
++ // 0 G r g
++ // line_step b g b
++ // line_step2 g r g
++
++ rgb_buffer[3] = rgb_buffer[0] = bayer_pixel[1]; // red pixel
++ rgb_buffer[1] = bayer_pixel[0]; // green pixel
++ rgb_buffer[rgb_line_step + 2] = rgb_buffer[2] = bayer_pixel[bayer_line_step]; // blue;
++
++ // Bayer 0 1 2
++ // 0 g R g
++ // line_step b g b
++ // line_step2 g r g
++ //rgb_pixel[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG3 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1]);
++ rgb_buffer[rgb_line_step + 5] = rgb_buffer[5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++
++ // BGBG line
++ // Bayer 0 1 2
++ // 0 g r g
++ // line_step B g b
++ // line_step2 g r g
++ rgb_buffer[rgb_line_step + 3] = rgb_buffer[rgb_line_step ] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
++ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step + 1], bayer_pixel[bayer_line_step2]);
++ //rgb_pixel[rgb_line_step + 2] = bayer_pixel[line_step];
++
++ // pixel (1, 1) 0 1 2
++ // 0 g r g
++ // line_step b G b
++ // line_step2 g r g
++ //rgb_pixel[rgb_line_step + 3] = AVG( bayer_pixel[1] , bayer_pixel[line_step2+1] );
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ //rgb_pixel[rgb_line_step + 5] = AVG( bayer_pixel[line_step] , bayer_pixel[line_step+2] );
++
++ rgb_buffer += 6;
++ bayer_pixel += 2;
++ // rest of the first two lines
++ for (xIdx = 2; xIdx < width - 2; xIdx += 2, rgb_buffer += 6, bayer_pixel += 2)
++ {
++ // GRGR line
++ // Bayer -1 0 1 2
++ // 0 r G r g
++ // line_step g b g b
++ // line_step2 r g r g
++ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
++ rgb_buffer[1] = bayer_pixel[0];
++ rgb_buffer[2] = bayer_pixel[bayer_line_step + 1];
++
++ // Bayer -1 0 1 2
++ // 0 r g R g
++ // line_step g b g b
++ // line_step2 r g r g
++ rgb_buffer[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG3 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1]);
++ rgb_buffer[rgb_line_step + 5] = rgb_buffer[5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++
++ // BGBG line
++ // Bayer -1 0 1 2
++ // 0 r g r g
++ // line_step g B g b
++ // line_step2 r g r g
++ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
++ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
++ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
++
++ // Bayer -1 0 1 2
++ // 0 r g r g
++ // line_step g b G b
++ // line_step2 r g r g
++ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ //rgb_pixel[rgb_line_step + 5] = AVG( bayer_pixel[line_step] , bayer_pixel[line_step+2] );
++ }
++
++ // last two pixel values for first two lines
++ // GRGR line
++ // Bayer -1 0 1
++ // 0 r G r
++ // line_step g b g
++ // line_step2 r g r
++ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
++ rgb_buffer[1] = bayer_pixel[0];
++ rgb_buffer[rgb_line_step + 5] = rgb_buffer[rgb_line_step + 2] = rgb_buffer[5] = rgb_buffer[2] = bayer_pixel[bayer_line_step];
++
++ // Bayer -1 0 1
++ // 0 r g R
++ // line_step g b g
++ // line_step2 r g r
++ rgb_buffer[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step + 1]);
++ //rgb_pixel[5] = bayer_pixel[line_step];
++
++ // BGBG line
++ // Bayer -1 0 1
++ // 0 r g r
++ // line_step g B g
++ // line_step2 r g r
++ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
++ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
++ //rgb_pixel[rgb_line_step + 2] = bayer_pixel[line_step];
++
++ // Bayer -1 0 1
++ // 0 r g r
++ // line_step g b G
++ // line_step2 r g r
++ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ //rgb_pixel[rgb_line_step + 5] = bayer_pixel[line_step];
++
++ bayer_pixel += bayer_line_step + 2;
++ rgb_buffer += rgb_line_step + 6 + rgb_line_skip;
++ // main processing
++ for (yIdx = 2; yIdx < height - 2; yIdx += 2)
++ {
++ // first two pixel values
++ // Bayer 0 1 2
++ // -1 b g b
++ // 0 G r g
++ // line_step b g b
++ // line_step2 g r g
++
++ rgb_buffer[3] = rgb_buffer[0] = bayer_pixel[1]; // red pixel
++ rgb_buffer[1] = bayer_pixel[0]; // green pixel
++ rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]); // blue;
++
++ // Bayer 0 1 2
++ // -1 b g b
++ // 0 g R g
++ // line_step b g b
++ // line_step2 g r g
++ //rgb_pixel[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
++ rgb_buffer[5] = AVG4 (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2], bayer_pixel[-bayer_line_step], bayer_pixel[2 - bayer_line_step]);
++
++ // BGBG line
++ // Bayer 0 1 2
++ // 0 g r g
++ // line_step B g b
++ // line_step2 g r g
++ rgb_buffer[rgb_line_step + 3] = rgb_buffer[rgb_line_step ] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
++ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step + 1], bayer_pixel[bayer_line_step2]);
++ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
++
++ // pixel (1, 1) 0 1 2
++ // 0 g r g
++ // line_step b G b
++ // line_step2 g r g
++ //rgb_pixel[rgb_line_step + 3] = AVG( bayer_pixel[1] , bayer_pixel[line_step2+1] );
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++
++ rgb_buffer += 6;
++ bayer_pixel += 2;
++ // continue with rest of the line
++ for (xIdx = 2; xIdx < width - 2; xIdx += 2, rgb_buffer += 6, bayer_pixel += 2)
++ {
++ // GRGR line
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r G r g
++ // line_step g b g b
++ // line_step2 r g r g
++ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
++ rgb_buffer[1] = bayer_pixel[0];
++ rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]);
++
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r g R g
++ // line_step g b g b
++ // line_step2 r g r g
++
++ dh = abs (bayer_pixel[0] - bayer_pixel[2]);
++ dv = abs (bayer_pixel[-bayer_line_step + 1] - bayer_pixel[bayer_line_step + 1]);
++
++ if (dv == 0 && dh == 0)
++ rgb_buffer[4] = AVG4 (bayer_pixel[1 - bayer_line_step], bayer_pixel[1 + bayer_line_step], bayer_pixel[0], bayer_pixel[2]);
++ else
++ rgb_buffer[4] = WAVG4 (bayer_pixel[1 - bayer_line_step], bayer_pixel[1 + bayer_line_step], bayer_pixel[0], bayer_pixel[2], dh, dv);
++ rgb_buffer[3] = bayer_pixel[1];
++ rgb_buffer[5] = AVG4 (bayer_pixel[-bayer_line_step], bayer_pixel[2 - bayer_line_step], bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++
++ // BGBG line
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r g r g
++ // line_step g B g b
++ // line_step2 r g r g
++ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
++ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
++
++ dv = abs (bayer_pixel[0] - bayer_pixel[bayer_line_step2]);
++ dh = abs (bayer_pixel[bayer_line_step - 1] - bayer_pixel[bayer_line_step + 1]);
++
++ if (dv == 0 && dh == 0)
++ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
++ else
++ rgb_buffer[rgb_line_step + 1] = WAVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1], dh, dv);
++
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r g r g
++ // line_step g b G b
++ // line_step2 r g r g
++ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++ }
++
++ // last two pixels of the line
++ // last two pixel values for first two lines
++ // GRGR line
++ // Bayer -1 0 1
++ // 0 r G r
++ // line_step g b g
++ // line_step2 r g r
++ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
++ rgb_buffer[1] = bayer_pixel[0];
++ rgb_buffer[rgb_line_step + 5] = rgb_buffer[rgb_line_step + 2] = rgb_buffer[5] = rgb_buffer[2] = bayer_pixel[bayer_line_step];
++
++ // Bayer -1 0 1
++ // 0 r g R
++ // line_step g b g
++ // line_step2 r g r
++ rgb_buffer[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step + 1]);
++ //rgb_pixel[5] = bayer_pixel[line_step];
++
++ // BGBG line
++ // Bayer -1 0 1
++ // 0 r g r
++ // line_step g B g
++ // line_step2 r g r
++ rgb_buffer[rgb_line_step ] = AVG4 (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1], bayer_pixel[-1], bayer_pixel[bayer_line_step2 - 1]);
++ rgb_buffer[rgb_line_step + 1] = AVG4 (bayer_pixel[0], bayer_pixel[bayer_line_step2], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
++ //rgb_pixel[rgb_line_step + 2] = bayer_pixel[line_step];
++
++ // Bayer -1 0 1
++ // 0 r g r
++ // line_step g b G
++ // line_step2 r g r
++ rgb_buffer[rgb_line_step + 3] = AVG (bayer_pixel[1], bayer_pixel[bayer_line_step2 + 1]);
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ //rgb_pixel[rgb_line_step + 5] = bayer_pixel[line_step];
++
++ bayer_pixel += bayer_line_step + 2;
++ rgb_buffer += rgb_line_step + 6 + rgb_line_skip;
++ }
++
++ //last two lines
++ // Bayer 0 1 2
++ // -1 b g b
++ // 0 G r g
++ // line_step b g b
++
++ rgb_buffer[rgb_line_step + 3] = rgb_buffer[rgb_line_step ] = rgb_buffer[3] = rgb_buffer[0] = bayer_pixel[1]; // red pixel
++ rgb_buffer[1] = bayer_pixel[0]; // green pixel
++ rgb_buffer[rgb_line_step + 2] = rgb_buffer[2] = bayer_pixel[bayer_line_step]; // blue;
++
++ // Bayer 0 1 2
++ // -1 b g b
++ // 0 g R g
++ // line_step b g b
++ //rgb_pixel[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
++ rgb_buffer[5] = AVG4 (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2], bayer_pixel[-bayer_line_step], bayer_pixel[2 - bayer_line_step]);
++
++ // BGBG line
++ // Bayer 0 1 2
++ // -1 b g b
++ // 0 g r g
++ // line_step B g b
++ //rgb_pixel[rgb_line_step ] = bayer_pixel[1];
++ rgb_buffer[rgb_line_step + 1] = AVG (bayer_pixel[0], bayer_pixel[bayer_line_step + 1]);
++ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
++
++ // Bayer 0 1 2
++ // -1 b g b
++ // 0 g r g
++ // line_step b G b
++ //rgb_pixel[rgb_line_step + 3] = AVG( bayer_pixel[1] , bayer_pixel[line_step2+1] );
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++
++ rgb_buffer += 6;
++ bayer_pixel += 2;
++ // rest of the last two lines
++ for (xIdx = 2; xIdx < width - 2; xIdx += 2, rgb_buffer += 6, bayer_pixel += 2)
++ {
++ // GRGR line
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r G r g
++ // line_step g b g b
++ rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
++ rgb_buffer[1] = bayer_pixel[0];
++ rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]);
++
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r g R g
++ // line_step g b g b
++ rgb_buffer[rgb_line_step + 3] = rgb_buffer[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG4 (bayer_pixel[0], bayer_pixel[2], bayer_pixel[bayer_line_step + 1], bayer_pixel[1 - bayer_line_step]);
++ rgb_buffer[5] = AVG4 (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2], bayer_pixel[-bayer_line_step], bayer_pixel[-bayer_line_step + 2]);
++
++ // BGBG line
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r g r g
++ // line_step g B g b
++ rgb_buffer[rgb_line_step ] = AVG (bayer_pixel[-1], bayer_pixel[1]);
++ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
++ rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
++
++
++ // Bayer -1 0 1 2
++ // -1 g b g b
++ // 0 r g r g
++ // line_step g b G b
++ //rgb_pixel[rgb_line_step + 3] = bayer_pixel[1];
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ rgb_buffer[rgb_line_step + 5] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[bayer_line_step + 2]);
++ }
++
++ // last two pixel values for first two lines
++ // GRGR line
++ // Bayer -1 0 1
++ // -1 g b g
++ // 0 r G r
++ // line_step g b g
++ rgb_buffer[rgb_line_step ] = rgb_buffer[0] = AVG (bayer_pixel[1], bayer_pixel[-1]);
++ rgb_buffer[1] = bayer_pixel[0];
++ rgb_buffer[5] = rgb_buffer[2] = AVG (bayer_pixel[bayer_line_step], bayer_pixel[-bayer_line_step]);
++
++ // Bayer -1 0 1
++ // -1 g b g
++ // 0 r g R
++ // line_step g b g
++ rgb_buffer[rgb_line_step + 3] = rgb_buffer[3] = bayer_pixel[1];
++ rgb_buffer[4] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step + 1], bayer_pixel[-bayer_line_step + 1]);
++ //rgb_pixel[5] = AVG( bayer_pixel[line_step], bayer_pixel[-line_step] );
++
++ // BGBG line
++ // Bayer -1 0 1
++ // -1 g b g
++ // 0 r g r
++ // line_step g B g
++ //rgb_pixel[rgb_line_step ] = AVG2( bayer_pixel[-1], bayer_pixel[1] );
++ rgb_buffer[rgb_line_step + 1] = AVG3 (bayer_pixel[0], bayer_pixel[bayer_line_step - 1], bayer_pixel[bayer_line_step + 1]);
++ rgb_buffer[rgb_line_step + 5] = rgb_buffer[rgb_line_step + 2] = bayer_pixel[bayer_line_step];
++
++ // Bayer -1 0 1
++ // -1 g b g
++ // 0 r g r
++ // line_step g b G
++ //rgb_pixel[rgb_line_step + 3] = bayer_pixel[1];
++ rgb_buffer[rgb_line_step + 4] = bayer_pixel[bayer_line_step + 1];
++ //rgb_pixel[rgb_line_step + 5] = bayer_pixel[line_step];
++ }
++ //else
++ // THROW_OPENNI_EXCEPTION ("Unknwon debayering method: %d", (int)debayering_method);
++ }
++ //Warning: Downsampling mod is untested
++ else if (nDownSampleStep > 1)
++ {
++ // get each or each 2nd pixel group to find rgb values!
++ register unsigned bayerXStep = nDownSampleStep;
++ register unsigned bayerYSkip = (nDownSampleStep - 1) * width;
++
++ // Downsampling and debayering at once
++ register const XnUInt8* bayer_buffer = bayer_pixel;
++
++ for (register unsigned yIdx = 0; yIdx < height; ++yIdx, bayer_buffer += bayerYSkip, rgb_buffer += rgb_line_skip) // skip a line
++ {
++ for (register unsigned xIdx = 0; xIdx < width; ++xIdx, rgb_buffer += 3, bayer_buffer += bayerXStep)
++ {
++ rgb_buffer[ 2 ] = bayer_buffer[ width ];
++ rgb_buffer[ 1 ] = AVG (bayer_buffer[0], bayer_buffer[ width + 1]);
++ rgb_buffer[ 0 ] = bayer_buffer[ 1 ];
++ }
++ }
++ }
++}
- nRed = ((XnUInt32)pCurrBayer[BAYER_LINE_LENGTH]+pCurrBayer[BAYER_LINE_LENGTH+2]) / 2;
- nBlue = ((XnUInt32)pCurrBayer[1]+pCurrBayer[BAYER_LINE_LENGTH2+1]) / 2;
@@ -1280,7 +1280,7 @@ index 43666ad..940e5b6 100644
- pBayer += BAYER_LINE_LENGTH2;
- pRGB += BAYER_RGB_LINE_LENGTH2;
- } while (--nTotalRowsCount);
-+void Bayer2RGB888(const XnUInt8* pBayerImage, XnUInt8* pRGBImage, XnUInt32 nXRes, XnUInt32 nYRes, XnUInt32 nDownSampleStep, XnUInt32 nBadPixels)
-+{
-+ fillRGB(nXRes, nYRes, pBayerImage, pRGBImage, DebayeringMethod(1), nDownSampleStep); // DebayeringMethod(0) == bilinear, (1) == edge aware, (2) == edge aware weighted
++void Bayer2RGB888(const XnUInt8* pBayerImage, XnUInt8* pRGBImage, XnUInt32 nXRes, XnUInt32 nYRes, XnUInt32 nDownSampleStep, XnUInt32 nBadPixels)
++{
++ fillRGB(nXRes, nYRes, pBayerImage, pRGBImage, DebayeringMethod(1), nDownSampleStep); // DebayeringMethod(0) == bilinear, (1) == edge aware, (2) == edge aware weighted
}
diff --git a/debian/patches/0010-Disable-SSE.patch b/debian/patches/0013-Disable-SSE.patch
similarity index 94%
rename from debian/patches/0010-Disable-SSE.patch
rename to debian/patches/0013-Disable-SSE.patch
index 11ea734..7e5d3f0 100644
--- a/debian/patches/0010-Disable-SSE.patch
+++ b/debian/patches/0013-Disable-SSE.patch
@@ -9,7 +9,7 @@ well to get clean CFLAGS.
1 file changed, 1 insertion(+), 3 deletions(-)
diff --git a/Platform/Linux/Build/Common/Platform.x86 b/Platform/Linux/Build/Common/Platform.x86
-index 1891a27..8d3a8e9 100644
+index 1891a27..91a6f1a 100644
--- a/Platform/Linux/Build/Common/Platform.x86
+++ b/Platform/Linux/Build/Common/Platform.x86
@@ -2,7 +2,7 @@
@@ -17,7 +17,7 @@ index 1891a27..8d3a8e9 100644
ifndef SSE_GENERATION
- SSE_GENERATION = 3
-+ SSE_GENERATION = 0
++ SSE_GENERATION = 0
endif
ifeq ("$(OSTYPE)","Darwin")
diff --git a/debian/patches/0011-Don-t-write-log-file-upon-OpenNI-invocation.patch b/debian/patches/0014-Don-t-write-log-file-upon-OpenNI-invocation.patch
similarity index 94%
rename from debian/patches/0011-Don-t-write-log-file-upon-OpenNI-invocation.patch
rename to debian/patches/0014-Don-t-write-log-file-upon-OpenNI-invocation.patch
index aabe100..d48bc0e 100644
--- a/debian/patches/0011-Don-t-write-log-file-upon-OpenNI-invocation.patch
+++ b/debian/patches/0014-Don-t-write-log-file-upon-OpenNI-invocation.patch
@@ -7,7 +7,7 @@ Subject: Don't write log file upon OpenNI invocation
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/Data/GlobalDefaults.ini b/Data/GlobalDefaults.ini
-index eee0d2c..9d013c0 100644
+index fcfec6c..527cb34 100644
--- a/Data/GlobalDefaults.ini
+++ b/Data/GlobalDefaults.ini
@@ -6,7 +6,7 @@ LogMasks=ALL
@@ -15,7 +15,7 @@ index eee0d2c..9d013c0 100644
;LogWriteToConsole=1
; 0 - No (default), 1 - Yes
-LogWriteToFile=1
-+;LogWriteToFile=1
++;LogWriteToFile=1
; 0 - No (default), 1 - Yes
;LogWriteLineInfo=0
; leave empty for nothing (default). ALL - all masks
diff --git a/debian/patches/0012-Fix-parallel-build.patch b/debian/patches/0015-Fix-parallel-build.patch
similarity index 95%
rename from debian/patches/0012-Fix-parallel-build.patch
rename to debian/patches/0015-Fix-parallel-build.patch
index 7b19a0f..e434bf3 100644
--- a/debian/patches/0012-Fix-parallel-build.patch
+++ b/debian/patches/0015-Fix-parallel-build.patch
@@ -8,7 +8,7 @@ taken from https://kforge.ros.org/openni/drivers
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/Platform/Linux/CreateRedist/RedistMaker b/Platform/Linux/CreateRedist/RedistMaker
-index bb27bd4..8815fd6 100755
+index cb4489c..4d58a30 100644
--- a/Platform/Linux/CreateRedist/RedistMaker
+++ b/Platform/Linux/CreateRedist/RedistMaker
@@ -67,7 +67,7 @@ rm -rf ../$REDIST_DIR
diff --git a/debian/patches/0013-Add-SONAME-to-libraries.patch b/debian/patches/0016-Add-SONAME-to-libraries.patch
similarity index 96%
rename from debian/patches/0013-Add-SONAME-to-libraries.patch
rename to debian/patches/0016-Add-SONAME-to-libraries.patch
index e94365d..6503e22 100644
--- a/debian/patches/0013-Add-SONAME-to-libraries.patch
+++ b/debian/patches/0016-Add-SONAME-to-libraries.patch
@@ -7,7 +7,7 @@ Subject: Add SONAME to libraries
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/Platform/Linux/Build/Common/CommonCppMakefile b/Platform/Linux/Build/Common/CommonCppMakefile
-index 5a15c82..b6bbfe4 100644
+index 5a15c82..dadc461 100644
--- a/Platform/Linux/Build/Common/CommonCppMakefile
+++ b/Platform/Linux/Build/Common/CommonCppMakefile
@@ -77,8 +77,8 @@ ifneq "$(LIB_NAME)" ""
@@ -16,8 +16,8 @@ index 5a15c82..b6bbfe4 100644
LDFLAGS += -Wl,--no-undefined
- OUTPUT_NAME = lib$(LIB_NAME).so
- OUTPUT_COMMAND = $(CXX) -o $(OUTPUT_FILE) $(OBJ_FILES) $(LDFLAGS) -shared
-+ OUTPUT_NAME = lib$(LIB_NAME).so.0
-+ OUTPUT_COMMAND = $(CXX) -o $(OUTPUT_FILE) $(OBJ_FILES) $(LDFLAGS) -shared -Wl,-soname,${OUTPUT_NAME} && cd ${OUT_DIR} && ln -fs ${OUTPUT_NAME} lib${LIB_NAME}.so
++ OUTPUT_NAME = lib$(LIB_NAME).so.0
++ OUTPUT_COMMAND = $(CXX) -o $(OUTPUT_FILE) $(OBJ_FILES) $(LDFLAGS) -shared -Wl,-soname,${OUTPUT_NAME} && cd ${OUT_DIR} && ln -fs ${OUTPUT_NAME} lib${LIB_NAME}.so
else
LDFLAGS += -undefined error
OUTPUT_NAME = lib$(LIB_NAME).dylib
diff --git a/debian/patches/0017-Set-UsbInterface-to-0.patch b/debian/patches/0017-Set-UsbInterface-to-0.patch
deleted file mode 100644
index c409912..0000000
--- a/debian/patches/0017-Set-UsbInterface-to-0.patch
+++ /dev/null
@@ -1,23 +0,0 @@
-From: Jochen Sprickerhof <jochen at sprickerhof.de>
-Date: Mon, 7 Jan 2013 21:22:08 +0100
-Subject: Set UsbInterface to 0
-
-taken from
-https://github.com/rbrusu/Sensor/commit/beaaefddf0adf2f1049538ee20c63ee37c4594cb
----
- Data/GlobalDefaults.ini | 2 +-
- 1 file changed, 1 insertion(+), 1 deletion(-)
-
-diff --git a/Data/GlobalDefaults.ini b/Data/GlobalDefaults.ini
-index 9d013c0..cfdbeb4 100644
---- a/Data/GlobalDefaults.ini
-+++ b/Data/GlobalDefaults.ini
-@@ -60,7 +60,7 @@ LogMasks=ALL
- ;APCEnabled=1
-
- ; USB interface to be used. 0 - FW Default, 1 - ISO endpoints, 2 - BULK endpoints. Default: Arm - 2, other platforms - 1
--;UsbInterface=2
-+UsbInterface=0
-
- [Depth]
- ; Output format. 0 - Shift values, 1 - depth values (default)
diff --git a/debian/patches/0014-Use-system-wide-libjpeg.patch b/debian/patches/0017-Use-system-wide-libjpeg.patch
similarity index 97%
rename from debian/patches/0014-Use-system-wide-libjpeg.patch
rename to debian/patches/0017-Use-system-wide-libjpeg.patch
index 89c91e5..b215a97 100644
--- a/debian/patches/0014-Use-system-wide-libjpeg.patch
+++ b/debian/patches/0017-Use-system-wide-libjpeg.patch
@@ -31,7 +31,7 @@ index 4a04486..09b2812 100644
include ../EngineLibMakefile
diff --git a/Source/XnFormats/XnStreamCompression.h b/Source/XnFormats/XnStreamCompression.h
-index d49723c..06549f5 100644
+index d49723c..a15c0ec 100644
--- a/Source/XnFormats/XnStreamCompression.h
+++ b/Source/XnFormats/XnStreamCompression.h
@@ -27,7 +27,7 @@
@@ -39,7 +39,7 @@ index d49723c..06549f5 100644
#include "XnFormats.h"
#include <XnOS.h>
-#include <External/LibJPEG/jpeglib.h>
-+#include <jpeglib.h>
++#include <jpeglib.h>
#include <setjmp.h>
//---------------------------------------------------------------------------
diff --git a/debian/patches/0018-Add-support-for-Kinect-4-Windows-sensors.patch b/debian/patches/0018-Add-support-for-Kinect-4-Windows-sensors.patch
deleted file mode 100644
index 9602f26..0000000
--- a/debian/patches/0018-Add-support-for-Kinect-4-Windows-sensors.patch
+++ /dev/null
@@ -1,71 +0,0 @@
-From: Jochen Sprickerhof <jochen at sprickerhof.de>
-Date: Mon, 7 Jan 2013 21:39:50 +0100
-Subject: Add support for Kinect 4 Windows sensors
-
-taken from
-https://github.com/rbrusu/Sensor/commit/0ea4c3d766b6e97507169854a170ef68a5d39fc7
----
- Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp | 42 ++++++++++----------------
- 1 file changed, 16 insertions(+), 26 deletions(-)
-
-diff --git a/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp b/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
-index a3a7a35..a79de49 100644
---- a/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
-+++ b/Source/XnDeviceSensorV2/XnDeviceSensorIO.cpp
-@@ -145,29 +145,6 @@ XnStatus XnSensorIO::OpenDataEndPoints(XnSensorUsbInterface nInterface, const Xn
- {
- XnStatus nRetVal = XN_STATUS_OK;
-
-- // try to set requested interface
-- if (nInterface != XN_SENSOR_USB_INTERFACE_DEFAULT)
-- {
-- XnUInt8 nAlternativeInterface = 0;
--
-- switch (nInterface)
-- {
-- case XN_SENSOR_USB_INTERFACE_ISO_ENDPOINTS:
-- nAlternativeInterface = fwInfo.nISOAlternativeInterface;
-- break;
-- case XN_SENSOR_USB_INTERFACE_BULK_ENDPOINTS:
-- nAlternativeInterface = fwInfo.nBulkAlternativeInterface;
-- break;
-- default:
-- XN_ASSERT(FALSE);
-- XN_LOG_WARNING_RETURN(XN_STATUS_USB_INTERFACE_NOT_SUPPORTED, XN_MASK_DEVICE_IO, "Unknown interface type: %d", nInterface);
-- }
--
-- xnLogVerbose(XN_MASK_DEVICE_IO, "Setting USB alternative interface to %d...", nAlternativeInterface);
-- nRetVal = xnUSBSetInterface(m_pSensorHandle->USBDevice, 0, nAlternativeInterface);
-- XN_IS_STATUS_OK(nRetVal);
-- }
--
- xnLogVerbose(XN_MASK_DEVICE_IO, "Opening endpoints...");
-
- // up until v3.0/4.0, Image went over 0x82, depth on 0x83, audio on 0x86, and control was using bulk EPs, at 0x4 and 0x85.
-@@ -182,10 +159,23 @@ XnStatus XnSensorIO::OpenDataEndPoints(XnSensorUsbInterface nInterface, const Xn
- nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x81, XN_USB_EP_BULK, XN_USB_DIRECTION_IN, &m_pSensorHandle->DepthConnection.UsbEp);
- if (nRetVal == XN_STATUS_USB_ENDPOINT_NOT_FOUND)
- {
-- bNewUSB = FALSE;
-- xnLogVerbose(XN_MASK_DEVICE_IO, "Endpoint 0x81 does not exist. Trying old USB: Opening 0x82 for depth...");
-- nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x82, XN_USB_EP_BULK, XN_USB_DIRECTION_IN, &m_pSensorHandle->DepthConnection.UsbEp);
-+ // Try ISO mode before old USB
-+ m_pSensorHandle->DepthConnection.bIsISO = TRUE;
-+ xnLogVerbose(XN_MASK_DEVICE_IO, "Endpoint 0x81 does not exist. Trying XN_USB_EP_ISOCHRONOUS (%d)", fwInfo.nBulkAlternativeInterface);
-+ nRetVal = xnUSBSetInterface(m_pSensorHandle->USBDevice, 0, fwInfo.nBulkAlternativeInterface);
-+ XN_IS_STATUS_OK(nRetVal);
-+ nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x81, XN_USB_EP_ISOCHRONOUS, XN_USB_DIRECTION_IN, &m_pSensorHandle->DepthConnection.UsbEp);
- XN_IS_STATUS_OK(nRetVal);
-+
-+ // Try old USB
-+ if (nRetVal == XN_STATUS_USB_ENDPOINT_NOT_FOUND)
-+ {
-+ m_pSensorHandle->DepthConnection.bIsISO = FALSE;
-+ bNewUSB = FALSE;
-+ xnLogVerbose(XN_MASK_DEVICE_IO, "Endpoint 0x81 does not exist. Trying old USB: Opening 0x82 for depth...");
-+ nRetVal = xnUSBOpenEndPoint(m_pSensorHandle->USBDevice, 0x82, XN_USB_EP_BULK, XN_USB_DIRECTION_IN, &m_pSensorHandle->DepthConnection.UsbEp);
-+ XN_IS_STATUS_OK(nRetVal);
-+ }
- }
- else
- {
diff --git a/debian/patches/0015-Fix-include-dirs.patch b/debian/patches/0018-Fix-include-dirs.patch
similarity index 100%
rename from debian/patches/0015-Fix-include-dirs.patch
rename to debian/patches/0018-Fix-include-dirs.patch
diff --git a/debian/patches/0019-Remove-call-to-XnLockedServerStreamsHash.patch b/debian/patches/0019-Remove-call-to-XnLockedServerStreamsHash.patch
new file mode 100644
index 0000000..2c2783c
--- /dev/null
+++ b/debian/patches/0019-Remove-call-to-XnLockedServerStreamsHash.patch
@@ -0,0 +1,33 @@
+From: Jochen Sprickerhof <jochen at sprickerhof.de>
+Date: Wed, 7 Nov 2012 00:03:03 +0100
+Subject: Remove call to XnLockedServerStreamsHash
+
+taken from https://github.com/rbrusu/Sensor
+---
+ Source/XnDeviceSensorV2/XnServerSensorInvoker.h | 8 +-------
+ 1 file changed, 1 insertion(+), 7 deletions(-)
+
+diff --git a/Source/XnDeviceSensorV2/XnServerSensorInvoker.h b/Source/XnDeviceSensorV2/XnServerSensorInvoker.h
+index dbeeb29..c73cff9 100644
+--- a/Source/XnDeviceSensorV2/XnServerSensorInvoker.h
++++ b/Source/XnDeviceSensorV2/XnServerSensorInvoker.h
+@@ -104,12 +104,6 @@ private:
+ m_locker(other.m_locker)
+ {}
+
+- inline XnLockedServerStreamsHash& operator=(const XnLockedServerStreamsHash& other)
+- {
+- this->m_hash = other.m_hash;
+- this->m_locker = other.m_locker;
+- return *this;
+- }
+
+ inline _XnServerStreamsHash::Iterator begin()
+ {
+@@ -205,4 +199,4 @@ private:
+ XnServerStreamsHash m_streams;
+ };
+
+-#endif // __XN_SERVER_SENSOR_INVOKER_H__
+\ No newline at end of file
++#endif // __XN_SERVER_SENSOR_INVOKER_H__
diff --git a/debian/patches/0016-Move-XnSensorServer-to-usr-lib-libopenni-sensor-prim.patch b/debian/patches/0020-Move-XnSensorServer-to-usr-lib-libopenni-sensor-prim.patch
similarity index 88%
rename from debian/patches/0016-Move-XnSensorServer-to-usr-lib-libopenni-sensor-prim.patch
rename to debian/patches/0020-Move-XnSensorServer-to-usr-lib-libopenni-sensor-prim.patch
index 2e588d3..1b942a5 100644
--- a/debian/patches/0016-Move-XnSensorServer-to-usr-lib-libopenni-sensor-prim.patch
+++ b/debian/patches/0020-Move-XnSensorServer-to-usr-lib-libopenni-sensor-prim.patch
@@ -7,10 +7,10 @@ Subject: Move XnSensorServer to /usr/lib/libopenni-sensor-primesense0
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/Source/XnDeviceSensorV2/XnSensorClient.cpp b/Source/XnDeviceSensorV2/XnSensorClient.cpp
-index 269ddda..782b281 100644
+index 7907999..a010f3f 100644
--- a/Source/XnDeviceSensorV2/XnSensorClient.cpp
+++ b/Source/XnDeviceSensorV2/XnSensorClient.cpp
-@@ -887,7 +887,7 @@ XnStatus XnSensorClient::StartServerProcess()
+@@ -883,7 +883,7 @@ XnStatus XnSensorClient::StartServerProcess()
#if (XN_PLATFORM == XN_PLATFORM_WIN32)
nRetVal = GetModuleDir(strServerDir);
#elif (XN_PLATFORM == XN_PLATFORM_LINUX_X86 || XN_PLATFORM == XN_PLATFORM_LINUX_ARM || XN_PLATFORM == XN_PLATFORM_MACOSX)
diff --git a/debian/patches/series b/debian/patches/series
index 674bc0d..2331faa 100644
--- a/debian/patches/series
+++ b/debian/patches/series
@@ -1,18 +1,20 @@
0001-Fix-types.patch
-0002-Add-support-for-vendor-id-in-Enumerate-USB-devices.patch
-0003-Add-support-for-XN-sensor-version-2.patch
-0004-Add-support-for-Kinect-product-id.patch
-0005-Add-support-for-different-frame-rates-and-high-resol.patch
-0006-Test-for-y-value-in-registration.patch
-0007-Change-host-protocol.patch
-0008-Add-and-enable-uncompressed-Bayer-modes.patch
-0009-Add-ROS-code-for-improved-Bayer-Pattern-to-RGB-conve.patch
-0010-Disable-SSE.patch
-0011-Don-t-write-log-file-upon-OpenNI-invocation.patch
-0012-Fix-parallel-build.patch
-0013-Add-SONAME-to-libraries.patch
-0014-Use-system-wide-libjpeg.patch
-0015-Fix-include-dirs.patch
-0016-Move-XnSensorServer-to-usr-lib-libopenni-sensor-prim.patch
-0017-Set-UsbInterface-to-0.patch
-0018-Add-support-for-Kinect-4-Windows-sensors.patch
+0002-Changed-25Hz-support-to-5_1-since-5_1_6-works-good.patch
+0003-Don-t-try-to-register-callback-for-a-5.0-device.patch
+0004-Disable-setting-USB-interface.patch
+0005-Add-support-for-vendor-id-in-Enumerate-USB-devices.patch
+0006-Add-support-for-XN-sensor-version-2.patch
+0007-Add-support-for-Kinect-product-id.patch
+0008-Add-support-for-different-frame-rates-and-high-resol.patch
+0009-Test-for-y-value-in-registration.patch
+0010-Change-host-protocol.patch
+0011-Add-and-enable-uncompressed-Bayer-modes.patch
+0012-Add-ROS-code-for-improved-Bayer-Pattern-to-RGB-conve.patch
+0013-Disable-SSE.patch
+0014-Don-t-write-log-file-upon-OpenNI-invocation.patch
+0015-Fix-parallel-build.patch
+0016-Add-SONAME-to-libraries.patch
+0017-Use-system-wide-libjpeg.patch
+0018-Fix-include-dirs.patch
+0019-Remove-call-to-XnLockedServerStreamsHash.patch
+0020-Move-XnSensorServer-to-usr-lib-libopenni-sensor-prim.patch
--
openni-sensor-primesense packaging
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