Method DebayerRGB

PS3Driver/src/ps3eye.cpp:611–712

	}

	void DebayerRGB(int frame_width, int frame_height, const uint8_t* inBayer, uint8_t* outBuffer, bool inBGR)
	{
		// PSMove output is in the following Bayer format (GRBG):
		//
		// G R G R G R
		// B G B G B G
		// G R G R G R
		// B G B G B G
		//
		// This is the normal Bayer pattern shifted left one place.

		int				num_output_channels	    = 3;
		int				source_stride			= frame_width;
		const uint8_t*	source_row				= inBayer;												// Start at first bayer pixel
		int				dest_stride				= frame_width * num_output_channels;
		uint8_t*		dest_row				= outBuffer + dest_stride + num_output_channels + 1; 	// We start outputting at the second pixel of the second row's G component
		int				swap_br					= inBGR ? 1 : -1;

		// Fill rows 1 to height-1 of the destination buffer. First and last row are filled separately (they are copied from the second row and second-to-last rows respectively)
		for (int y = 0; y < frame_height-1; source_row += source_stride, dest_row += dest_stride, ++y)
		{
			const uint8_t* source		= source_row;
			const uint8_t* source_end	= source + (source_stride-2);								// -2 to deal with the fact that we're starting at the second pixel of the row and should end at the second-to-last pixel of the row (first and last are filled separately)
			uint8_t* dest				= dest_row;		

			// Row starting with Green
			if (y % 2 == 0)
			{
				// Fill first pixel (green)
				dest[-1*swap_br]	= (source[source_stride] + source[source_stride + 2] + 1) >> 1;
				dest[0]				= source[source_stride + 1];
				dest[1*swap_br]		= (source[1] + source[source_stride * 2 + 1] + 1) >> 1;		

				source++;
				dest += num_output_channels;

				// Fill remaining pixel
				for (; source <= source_end - 2; source += 2, dest += num_output_channels * 2)
				{
					// Blue pixel
					uint8_t* cur_pixel	= dest;
					cur_pixel[-1*swap_br]	= source[source_stride + 1];
					cur_pixel[0]			= (source[1] + source[source_stride] + source[source_stride + 2] + source[source_stride * 2 + 1] + 2) >> 2;
					cur_pixel[1*swap_br]	= (source[0] + source[2] + source[source_stride * 2] + source[source_stride * 2 + 2] + 2) >> 2;				

					//  Green pixel
					uint8_t* next_pixel		= cur_pixel+num_output_channels;
					next_pixel[-1*swap_br]	= (source[source_stride + 1] + source[source_stride + 3] + 1) >> 1;					
					next_pixel[0]			= source[source_stride + 2];
					next_pixel[1*swap_br]	= (source[2] + source[source_stride * 2 + 2] + 1) >> 1;
				}
			}
			else
			{
				for (; source <= source_end - 2; source += 2, dest += num_output_channels * 2)
				{
					// Red pixel
					uint8_t* cur_pixel	= dest;