blur average pixels to eliminate high freq noise in distance data

diff --git a/cpp/sampleOpenCV/sampleOpenCV.cpp b/cpp/sampleOpenCV/sampleOpenCV.cpp
index cd81a3d..d0587a4 100644 (file)
--- a/cpp/sampleOpenCV/sampleOpenCV.cpp
+++ b/cpp/sampleOpenCV/sampleOpenCV.cpp
@@ -53,6 +53,7 @@ class MyListener : public IDepthDataListener
 
 public :
 
+
     MyListener() :
         undistortImage (false)
     {
@@ -116,6 +117,18 @@ public :
             undistort (temp, zImage8, cameraMatrix, distortionCoefficients);
         }
 
+        if (normblurImage)
+        {
+            auto temp = zImage8.clone();
+            for ( int i = 1; i < MAX_KERNEL_LENGTH; i = i + 2 )
+            {
+                blur( temp, zImage8, Size( i, i ), Point(-1,-1) );
+            }
+        }
+
+
+
+
         // scale and display the depth image
         scaledZImage.create (Size (data->width * 4, data->height * 4), CV_8UC1);
         resize (zImage8, scaledZImage, scaledZImage.size());
@@ -161,6 +174,12 @@ public :
         undistortImage = !undistortImage;
     }
 
+    void toggleNormBlur()
+    {
+        std::lock_guard<std::mutex> lock (flagMutex);
+        normblurImage = !normblurImage;
+    }
+
 private:
 
     // adjust z value to fit fixed scaling, here max dist is 2.5m
@@ -307,6 +326,12 @@ int main (int argc, char *argv[])
             // toggle the undistortion of the image
             listener.toggleUndistort();
         }
+
+        if (currentKey == 'b')
+        {
+            // toggle the undistortion of the image
+            listener.toggleNormBlur();
+        }
     }
 
     // stop capture mode