private DepthFrame calcWallSensitive(DepthFrame depthFrame)
{
try
{
/*check each index of the received depth frame and
* pull the image forward to the given wall sensitivity.
* In this way, both noise will be removed.*/
ushort[] depthCurrent = new ushort[depthFrame.Width * depthFrame.Height];
depthFrame.CopyTo(depthCurrent);
int x, y;
for (int i = 0; i < depthCurrent.Length; i++)
{
x = i % depthFrame.Width;
y = Convert.ToInt32(Math.Floor(Convert.ToDouble(i / depthFrame.Width)));
if (depthCurrent[i] < 100 || depthCurrent[i] > (depthFrameResult[y] - (int)sldWallSense.Value))
{
depthCurrent[i] = 0;
}
if (x < roiFrame.minX || x > roiFrame.maxX || y < roiFrame.minY || y > roiFrame.maxY)
{
depthCurrent[i] = 0;
}
}
depthFrame.CopyFrom(depthCurrent);
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
return(depthFrame);
}
