AForge.Robotics.Surveyor.SRV1.GetImage C# (CSharp) Method

        public Bitmap GetImage( )
        {
            Bitmap image = null;

            // buffer to read image into
            byte[] buffer = new byte[768 * 1024];
            // request image
            int bytesRead = SendAndReceive( new byte[] { (byte) 'I' }, buffer );

            if ( bytesRead > 10 )
            {
                // check for image reply signature
                if (
                    ( buffer[0] == (byte) '#' ) &&
                    ( buffer[1] == (byte) '#' ) &&
                    ( buffer[2] == (byte) 'I' ) &&
                    ( buffer[3] == (byte) 'M' ) &&
                    ( buffer[4] == (byte) 'J' ) )
                {
                    // extract image size
                    int imageSize = System.BitConverter.ToInt32( buffer, 6 );

                    try
                    {
                        // decode image from memory stream
                        image = (Bitmap) Bitmap.FromStream( new MemoryStream( buffer, 10, imageSize ) );
                    }
                    catch
                    {
                        image = null;
                    }
                }
            }
             
            return image;
        }