A method for generating synthetic image data to imitate raw camera data from a mosaic filter sensor. The mosaic filter sensor comprises an array of sensor pixels and a mosaic filter designed as a periodic mosaic of color filters of different colors, arranged such that each sensor pixel in the array is covered by exactly one color filter. The method includes positioning and spatially orienting a
virtual camera in a three-dimensional virtual environment on a computer
system and simulating the imaging of
colored light onto sensor pixels of a mosaic filter sensor integrated into the
virtual camera by a
camera lens. The brightness and color values of the light imaged onto each sensor pixel are defined from a native
color space of the virtual environment, depending on the position and spatial orientation of the
virtual camera.The process further includes generating synthetic image data by simulating the mosaic filter sensor integrated into the virtual camera. This is achieved by deriving
pixel brightness values for the sensor pixels based on the brightness and color value of the light imaged onto each sensor pixel. For the mosaic filter sensor
simulation, a mapping table is created for each filter color present in the mosaic filter. In each mapping table, a
pixel brightness measure is assigned to a multitude of color values from a
raster scan of the native
color space. For the sensor pixels of the simulated mosaic filter sensor, the filter color of the color filter covering each sensor pixel is checked, and the mapping table assigned to that filter color is consulted.By reading out the
pixel brightness measure assigned to the respective color value, the pixel brightness of the respective sensor pixel is derived as a function of the color value of the light imaged onto the sensor pixel.