private Bitmap ConvertDepthToBitmap(PXCMImage.ImageData depthData, PXCMCapture.Sample sample)
{
Bitmap bmp = new Bitmap(sample.depth.info.width, sample.depth.info.height);
var size = sample.depth.info.width * sample.depth.info.height;
Int16[] values = new Int16[size];
var depthValues = depthData.ToShortArray(0, values);
var minDistance = 500; // mm
var maxDistance = 2000; // mm
float scale = 255.0f / (maxDistance - minDistance);
var dataPoint = new DataPoint
{
nearest = new Coordinate {
x = -1, y = -1, z = short.MaxValue
},
farthest = new Coordinate {
x = -1, y = -1, z = short.MinValue
}
};
var i = 0;
var sum = 0.0;
var width = sample.depth.info.width;
var height = sample.depth.info.height;
for (var y = 0; y < height; y++)
{
for (var x = 0; x < width; x++)
{
var distance = depthValues[i++]; // mm
var brightness = 0;
if (distance > 0 && distance < dataPoint.nearest.z)
{
dataPoint.nearest = new Coordinate {
x = (double)x / width, y = (double)y / height, z = distance
}
}
;
if (distance > dataPoint.farthest.z)
{
dataPoint.farthest = new Coordinate {
x = (double)x / width, y = (double)y / height, z = distance
}
}
;
sum += distance;
if (distance > minDistance && distance < maxDistance)
{
brightness = 255 - (int)((distance - minDistance) * scale);
}
System.Drawing.Color color = System.Drawing.Color.FromArgb(brightness, brightness, brightness);
bmp.SetPixel(x, y, color);
}
}
if (dataPoint.nearest.z == short.MaxValue)
{
dataPoint.nearest = null;
}
if (dataPoint.farthest.z == short.MinValue)
{
dataPoint.farthest = null;
}
dataPoint.averageDepth = sum / size;
dataPoint.outOfBed = OutOfBed;
dataPoint.timeStamp = DateTime.UtcNow;
SendDataPoint(dataPoint);
return(bmp);
}
