Using bayer encoding for images.

scripts/test_triangulate.py

@@ -227,6 +227,23 @@ def load_image(path: str):
 # ==================================================================================================
 
 
+def rgb2bayer(img):
+    bayer = np.zeros((img.shape[0], img.shape[1]), dtype=img.dtype)
+    bayer[0::2, 0::2] = img[0::2, 0::2, 0]
+    bayer[0::2, 1::2] = img[0::2, 1::2, 1]
+    bayer[1::2, 0::2] = img[1::2, 0::2, 1]
+    bayer[1::2, 1::2] = img[1::2, 1::2, 2]
+    return bayer
+
+
+def bayer2rgb(bayer):
+    img = cv2.cvtColor(bayer, cv2.COLOR_BayerBG2RGB)
+    return img
+
+
+# ==================================================================================================
+
+
 def update_keypoints(poses_2d: list, joint_names: List[str]) -> list:
     new_views = []
     for view in poses_2d:
@@ -314,6 +331,8 @@ def main():
         for i in range(len(sample["cameras_color"])):
             imgpath = sample["imgpaths_color"][i]
             img = load_image(imgpath)
+            img = rgb2bayer(img)
+            img = bayer2rgb(img)
             images_2d.append(img)
 
         # Get 2D poses