/// <summary>
/// According to the xml records being sent by the camera as initial sequence, a confidence image comes with 16 bits per pixel such that the lowest possible value is 0 and the highest possible value is 65535.
/// Scale this range to [0, 1].
/// </summary>
/// <param name="rawConfidenceMap">Confidence map as provided by the camera</param>
/// <returns>Confidence map as float image scaled to [0, 1] range</returns>
private FloatCameraImage CalcConfidenceMap(UShortCameraImage rawConfidenceMap)
{
int width = rawConfidenceMap.Width;
int height = rawConfidenceMap.Height;
float scaling = 1.0f / (float)ushort.MaxValue;
FloatCameraImage confidenceMap = new FloatCameraImage(width, height);
for (int y = 0; y < height; y++)
{
for (int x = 0; x < width; x++)
{
confidenceMap[y, x] = scaling * rawConfidenceMap[y, x];
}
}
return(confidenceMap);
}
/// <summary>
/// Calculates the confidence map.
/// </summary>
/// <returns>Confidence map</returns>
private UShortCameraImage CalcRawConfidenceMap()
{
UShortCameraImage result;
lock (cameraLock)
{
result = new UShortCameraImage(imageData.Width, imageData.Height);
result.TimeStamp = (long)imageData.TimeStamp;
int start = imageData.ConfidenceStartOffset;
for (int i = 0; i < imageData.Height; ++i)
{
for (int j = 0; j < imageData.Width; ++j)
{
// take two bytes and create integer (little endian)
result[i, j] = (ushort)((ushort)imageBuffer[start + 1] << 8 | (ushort)imageBuffer[start + 0]);
start += 2;
}
}
}
return(result);
}
