bbiwarg-original/bbiwarg/Images/EdgeImage.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Emgu.CV;
using Emgu.CV.Structure;

namespace bbiwarg.Images
{
    class EdgeImage
    {
        private Image<Gray, Byte> image;

        public EdgeImage(DepthImage depthImage) {
            int minDepth = depthImage.getMinDepth();
            int maxDepth = depthImage.getMaxDepth();
            Image<Gray, Int16> depthImageInt16 = depthImage.getImage();
            Image<Gray, Byte> depthImageByte = depthImageInt16.Convert<Byte>(delegate(Int16 depth) { return (byte)(((depth - minDepth) * Byte.MaxValue) / (maxDepth - minDepth)); });
            image = depthImageByte.Canny(100, 75, 3);
        }

        public bool isEdgeAt(int x, int y) {
            return (image.Data[y,x,0] > 0);
        }

        public Image<Gray, Byte> getImage()
        {
            return image;
        }
    }
}