SampleApp.MainForm.GetMeasures C# (CSharp) Method

        private void GetMeasures()
        {
            // Getting AGV's position
            pbTerrain.Image = CopyImage(OriginalMap);
            Bitmap b = pbTerrain.Image as Bitmap;
            Point pPos = new Point(pbRobot.Left - pbTerrain.Left + 5, pbRobot.Top - pbTerrain.Top + 5);

            // AGV on the wall
            if ((b.GetPixel(pPos.X, pPos.Y).R == 0) && (b.GetPixel(pPos.X, pPos.Y).G == 0) && (b.GetPixel(pPos.X, pPos.Y).B == 0))
            {
                if (btnRun.Text != RunLabel)
                {
                    btnRun_Click(btnRun, null);
                }
                string Msg = "The vehicle is on the solid area!";
                MessageBox.Show(Msg, "Error!");
                throw new Exception(Msg);
            }

            // Getting distances
            Point pFrontObstacle = GetObstacle(pPos, b, -1, 0);
            Point pLeftObstacle = GetObstacle(pPos, b, 1, 90);
            Point pRightObstacle = GetObstacle(pPos, b, 1, -90);

            // Showing beams
            Graphics g = Graphics.FromImage(b);
            if (cbLasers.Checked)
            {
                g.DrawLine(new Pen(Color.Green, 1), pFrontObstacle, pPos);
                g.DrawLine(new Pen(Color.Red, 1), pLeftObstacle, pPos);
                g.DrawLine(new Pen(Color.Red, 1), pRightObstacle, pPos);
            }

            // Drawing AGV
            if (btnRun.Text != RunLabel)
            {
                g.FillEllipse(new SolidBrush(Color.Navy), pPos.X - 5, pPos.Y - 5, 10, 10);
            }

            g.DrawImage(b, 0, 0);
            g.Dispose();

            pbTerrain.Refresh();

            // Updating distances texts
            txtFront.Text = GetDistance(pPos, pFrontObstacle).ToString();
            txtLeft.Text = GetDistance(pPos, pLeftObstacle).ToString();
            txtRight.Text = GetDistance(pPos, pRightObstacle).ToString();

        }