/// <summary>
/// Initializes a new instance of the <see cref="CannyEdgeDetector"/> class.
/// </summary>
///
public CannyEdgeDetector(float gaussianSigma = GaussianBlurProcessor.DefaultSigma, int?gaussianRadius = null)
{
if (gaussianRadius.NotNull())
{
this.gaussianFilter = new GaussianBlurProcessor(gaussianSigma, gaussianRadius.Value);
}
else
{
this.gaussianFilter = new GaussianBlurProcessor(gaussianSigma);
}
}
protected void AverageAndBlurPixels(int[] depthFrameDataInt, ref double[] averagedDepthFrameData)
{
// Average across multiple frames
for (var pixel = 0; pixel < depthFrameDataInt.Length; pixel++)
{
if (depthFrameDataInt[pixel] > 200) // We have a valid pixel.
{
runningSum[pixel] += depthFrameDataInt[pixel];
}
else
{
if (pixel > 0) // Pixel is invalid and we have a neighbor to steal information from
{
runningSum[pixel] += depthFrameDataInt[pixel - 1];
// Replace the zero value from the depth array with the one from the neighboring pixel
renderBuffer.Last.Value[pixel] = depthFrameDataInt[pixel - 1];
}
else // Pixel is invalid and it is the first one in the list. (No neighbor on the left hand side, so we set it to the lowest point on the table)
{
runningSum[pixel] += (int)sensorElevation;
renderBuffer.Last.Value[pixel] = (int)sensorElevation;
}
}
averagedDepthFrameData[pixel] = runningSum[pixel] / renderBuffer.Count; // Calculate average values
if (elevationArray.Length > 0)
{
averagedDepthFrameData[pixel] -= elevationArray[pixel]; // Correct for Kinect's inacurracies using input from the calibration component
}
if (renderBuffer.Count >= averageFrames)
{
runningSum[pixel] -= renderBuffer.First.Value[pixel]; // Subtract the oldest value from the sum
}
}
Core.LogTiming(ref output, timer, "Frames averaging"); // Debug Info
if (blurRadius > 1) // Apply gaussian blur
{
var gaussianBlurProcessor = new GaussianBlurProcessor(blurRadius, trimmedWidth, trimmedHeight);
gaussianBlurProcessor.Apply(averagedDepthFrameData);
Core.LogTiming(ref output, timer, "Gaussian blurring"); // Debug Info
}
}