diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..da65a8b
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,263 @@
+## Ignore Visual Studio temporary files, build results, and
+## files generated by popular Visual Studio add-ons.
+
+# User-specific files
+*.suo
+*.user
+*.userosscache
+*.sln.docstates
+
+# User-specific files (MonoDevelop/Xamarin Studio)
+*.userprefs
+
+# Build results
+[Dd]ebug/
+[Dd]ebugPublic/
+[Rr]elease/
+[Rr]eleases/
+x64/
+x86/
+bld/
+[Bb]in/
+[Oo]bj/
+[Ll]og/
+
+# Visual Studio 2015 cache/options directory
+.vs/
+# Uncomment if you have tasks that create the project's static files in wwwroot
+#wwwroot/
+
+# MSTest test Results
+[Tt]est[Rr]esult*/
+[Bb]uild[Ll]og.*
+
+# NUNIT
+*.VisualState.xml
+TestResult.xml
+
+# Build Results of an ATL Project
+[Dd]ebugPS/
+[Rr]eleasePS/
+dlldata.c
+
+# DNX
+project.lock.json
+project.fragment.lock.json
+
+*_i.c
+*_p.c
+*_i.h
+*.ilk
+*.meta
+*.obj
+*.pch
+*.pdb
+*.pgc
+*.pgd
+*.rsp
+*.sbr
+*.tlb
+*.tli
+*.tlh
+*.tmp
+*.tmp_proj
+*.log
+*.vspscc
+*.vssscc
+.builds
+*.pidb
+*.svclog
+*.scc
+
+# Chutzpah Test files
+_Chutzpah*
+
+# Visual C++ cache files
+ipch/
+*.aps
+*.ncb
+*.opendb
+*.opensdf
+*.sdf
+*.cachefile
+*.VC.db
+*.VC.VC.opendb
+
+# Visual Studio profiler
+*.psess
+*.vsp
+*.vspx
+*.sap
+
+# TFS 2012 Local Workspace
+$tf/
+
+# Guidance Automation Toolkit
+*.gpState
+
+# ReSharper is a .NET coding add-in
+_ReSharper*/
+*.[Rr]e[Ss]harper
+*.DotSettings.user
+
+# JustCode is a .NET coding add-in
+.JustCode
+
+# TeamCity is a build add-in
+_TeamCity*
+
+# DotCover is a Code Coverage Tool
+*.dotCover
+
+# NCrunch
+_NCrunch_*
+.*crunch*.local.xml
+nCrunchTemp_*
+
+# MightyMoose
+*.mm.*
+AutoTest.Net/
+
+# Web workbench (sass)
+.sass-cache/
+
+# Installshield output folder
+[Ee]xpress/
+
+# DocProject is a documentation generator add-in
+DocProject/buildhelp/
+DocProject/Help/*.HxT
+DocProject/Help/*.HxC
+DocProject/Help/*.hhc
+DocProject/Help/*.hhk
+DocProject/Help/*.hhp
+DocProject/Help/Html2
+DocProject/Help/html
+
+# Click-Once directory
+publish/
+
+# Publish Web Output
+*.[Pp]ublish.xml
+*.azurePubxml
+# TODO: Comment the next line if you want to checkin your web deploy settings
+# but database connection strings (with potential passwords) will be unencrypted
+#*.pubxml
+*.publishproj
+
+# Microsoft Azure Web App publish settings. Comment the next line if you want to
+# checkin your Azure Web App publish settings, but sensitive information contained
+# in these scripts will be unencrypted
+PublishScripts/
+
+# NuGet Packages
+*.nupkg
+# The packages folder can be ignored because of Package Restore
+**/packages/*
+# except build/, which is used as an MSBuild target.
+!**/packages/build/
+# Uncomment if necessary however generally it will be regenerated when needed
+#!**/packages/repositories.config
+# NuGet v3's project.json files produces more ignoreable files
+*.nuget.props
+*.nuget.targets
+
+# Microsoft Azure Build Output
+csx/
+*.build.csdef
+
+# Microsoft Azure Emulator
+ecf/
+rcf/
+
+# Windows Store app package directories and files
+AppPackages/
+BundleArtifacts/
+Package.StoreAssociation.xml
+_pkginfo.txt
+
+# Visual Studio cache files
+# files ending in .cache can be ignored
+*.[Cc]ache
+# but keep track of directories ending in .cache
+!*.[Cc]ache/
+
+# Others
+ClientBin/
+~$*
+*~
+*.dbmdl
+*.dbproj.schemaview
+*.jfm
+*.pfx
+*.publishsettings
+node_modules/
+orleans.codegen.cs
+
+# Since there are multiple workflows, uncomment next line to ignore bower_components
+# (https://github.com/github/gitignore/pull/1529#issuecomment-104372622)
+#bower_components/
+
+# RIA/Silverlight projects
+Generated_Code/
+
+# Backup & report files from converting an old project file
+# to a newer Visual Studio version. Backup files are not needed,
+# because we have git ;-)
+_UpgradeReport_Files/
+Backup*/
+UpgradeLog*.XML
+UpgradeLog*.htm
+
+# SQL Server files
+*.mdf
+*.ldf
+
+# Business Intelligence projects
+*.rdl.data
+*.bim.layout
+*.bim_*.settings
+
+# Microsoft Fakes
+FakesAssemblies/
+
+# GhostDoc plugin setting file
+*.GhostDoc.xml
+
+# Node.js Tools for Visual Studio
+.ntvs_analysis.dat
+
+# Visual Studio 6 build log
+*.plg
+
+# Visual Studio 6 workspace options file
+*.opt
+
+# Visual Studio LightSwitch build output
+**/*.HTMLClient/GeneratedArtifacts
+**/*.DesktopClient/GeneratedArtifacts
+**/*.DesktopClient/ModelManifest.xml
+**/*.Server/GeneratedArtifacts
+**/*.Server/ModelManifest.xml
+_Pvt_Extensions
+
+# Paket dependency manager
+.paket/paket.exe
+paket-files/
+
+# FAKE - F# Make
+.fake/
+
+# JetBrains Rider
+.idea/
+*.sln.iml
+
+# CodeRush
+.cr/
+
+# Python Tools for Visual Studio (PTVS)
+__pycache__/
+*.pyc
+
+#Ignore docker files
+*.tar
\ No newline at end of file
diff --git a/MariCam.sln b/MariCam.sln
new file mode 100644
index 0000000..9ec0c81
--- /dev/null
+++ b/MariCam.sln
@@ -0,0 +1,25 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio Version 17
+VisualStudioVersion = 17.5.33502.453
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "MariCam", "MariCam\MariCam.csproj", "{66DEF376-2E2F-4530-B301-5D1FB8C1EF5E}"
+EndProject
+Global
+ GlobalSection(SolutionConfigurationPlatforms) = preSolution
+ Debug|Any CPU = Debug|Any CPU
+ Release|Any CPU = Release|Any CPU
+ EndGlobalSection
+ GlobalSection(ProjectConfigurationPlatforms) = postSolution
+ {66DEF376-2E2F-4530-B301-5D1FB8C1EF5E}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+ {66DEF376-2E2F-4530-B301-5D1FB8C1EF5E}.Debug|Any CPU.Build.0 = Debug|Any CPU
+ {66DEF376-2E2F-4530-B301-5D1FB8C1EF5E}.Release|Any CPU.ActiveCfg = Release|Any CPU
+ {66DEF376-2E2F-4530-B301-5D1FB8C1EF5E}.Release|Any CPU.Build.0 = Release|Any CPU
+ EndGlobalSection
+ GlobalSection(SolutionProperties) = preSolution
+ HideSolutionNode = FALSE
+ EndGlobalSection
+ GlobalSection(ExtensibilityGlobals) = postSolution
+ SolutionGuid = {60D05F44-9F71-4B86-99D7-D6CB9F128CC4}
+ EndGlobalSection
+EndGlobal
diff --git a/MariCam/App.config b/MariCam/App.config
new file mode 100644
index 0000000..193aecc
--- /dev/null
+++ b/MariCam/App.config
@@ -0,0 +1,6 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/MariCam/MariCam.csproj b/MariCam/MariCam.csproj
new file mode 100644
index 0000000..04de290
--- /dev/null
+++ b/MariCam/MariCam.csproj
@@ -0,0 +1,56 @@
+
+
+
+
+ Debug
+ AnyCPU
+ {66DEF376-2E2F-4530-B301-5D1FB8C1EF5E}
+ Exe
+ MariCam
+ MariCam
+ v4.8
+ 512
+ true
+ true
+
+
+ AnyCPU
+ true
+ full
+ false
+ bin\Debug\
+ DEBUG;TRACE
+ prompt
+ 4
+ true
+
+
+ AnyCPU
+ pdbonly
+ true
+ bin\Release\
+ TRACE
+ prompt
+ 4
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/MariCam/Program.cs b/MariCam/Program.cs
new file mode 100644
index 0000000..1ead4e8
--- /dev/null
+++ b/MariCam/Program.cs
@@ -0,0 +1,158 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Runtime.InteropServices;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+using System.Drawing;
+using System.Drawing.Drawing2D;
+using System.Drawing.Imaging;
+using System.Data.SqlTypes;
+
+namespace MariCam
+{
+ public class Program
+ {
+ public enum ConnectionType : int
+ {
+ CSI = 0,
+ USB = 1
+ }
+
+ public enum FrameType : int
+ {
+ RAW = 0,
+ AMPLITUDE = 1,
+ DEPTH = 2
+ }
+
+ [StructLayout(LayoutKind.Sequential)]
+ public struct FrameFormat
+ {
+ public ushort Width;
+
+ public ushort Height;
+
+ public int FrameType;
+
+ public ulong Timestamp;
+ }
+
+ public const string LibraryPath = "/usr/lib/libArducamDepthCamera2c.so";
+
+ [System.Runtime.InteropServices.DllImport(LibraryPath)]
+ public static unsafe extern IntPtr createArducamDepthCamera();
+
+ [System.Runtime.InteropServices.DllImport(LibraryPath)]
+ public static unsafe extern IntPtr init(IntPtr camera, ConnectionType connectionType, int deviceNumber);
+
+ [System.Runtime.InteropServices.DllImport(LibraryPath)]
+ public static unsafe extern IntPtr start(IntPtr camera, FrameType frameType);
+
+ [System.Runtime.InteropServices.DllImport(LibraryPath)]
+ public static unsafe extern IntPtr requestFrame(IntPtr camera, int timeout);
+
+ [System.Runtime.InteropServices.DllImport(LibraryPath)]
+ public static extern IntPtr releaseFrame(IntPtr camera, IntPtr frameBuffer);
+
+ [System.Runtime.InteropServices.DllImport(LibraryPath)]
+ public static extern FrameFormat getFormat(IntPtr camera, int frameType);
+
+ [System.Runtime.InteropServices.DllImport(LibraryPath)]
+ public static extern IntPtr getDepthData(IntPtr frameBuffer);
+
+ public static unsafe void Main(string[] args)
+ {
+ var camera = createArducamDepthCamera();
+
+ init(camera, ConnectionType.CSI, 0);
+
+ start(camera, FrameType.DEPTH);
+
+ var tempBuffer = requestFrame(camera, 200);
+
+ var tempFormat = getFormat(tempBuffer, 2);
+
+ var buffer = new Bitmap(tempFormat.Width, tempFormat.Height, PixelFormat.Format32bppArgb);
+
+ releaseFrame(camera, tempBuffer);
+
+ var form = new Form();
+
+ form.Text = "MariCam";
+
+ form.WindowState = FormWindowState.Maximized;
+
+ form.StartPosition = FormStartPosition.CenterScreen;
+
+ form.Show();
+
+ form.Paint += (object sender, PaintEventArgs e) =>
+ {
+ var frameBuffer = requestFrame(camera, 200);
+
+ var format = getFormat(frameBuffer, 2);
+
+ var graphics = e.Graphics;
+
+ graphics.InterpolationMode = InterpolationMode.Bicubic;
+
+ graphics.Clear(Color.Black);
+
+ float* depthData = (float*)getDepthData(frameBuffer);
+
+ float min = float.MaxValue;
+ float max = float.MinValue;
+
+ for (int y = 0; y < format.Height; y++)
+ {
+ for (int x = 0; x < format.Width; x++)
+ {
+ var depth = *(depthData + (y * format.Width) + x);
+
+ if (depth < min)
+ min = depth;
+
+ if (depth > max)
+ max = depth;
+ }
+ }
+
+ float minNew = -1.0f;
+ float maxNew = 1.0f;
+
+ var bufferData = buffer.LockBits(new Rectangle(0, 0, buffer.Width, buffer.Height), ImageLockMode.ReadWrite, buffer.PixelFormat);
+
+ var bufferPixels = (uint*)bufferData.Scan0;
+
+ for (int y = 0; y < format.Height; y++)
+ {
+ for (int x = 0; x < format.Width; x++)
+ {
+ //maxNew − minNew / maxOld − minOld * (v − minOld) + minNew
+ var intensity = ((float)(maxNew - minNew) / (float)(max - min) * ((*(depthData + (y * format.Width) + x)) - min) + minNew);
+
+ byte r = (intensity < 0.0) ? (byte)0 : (intensity >= 0.5) ? (byte)255 : (byte)(intensity / 0.5 * 255);
+ byte g = (intensity < -0.5) ? (byte)((intensity + 1) / 0.5 * 255) : (intensity > 0.5) ? (byte)(255 - ((intensity - 0.5) / 0.5 * 255)) : (byte)255;
+ byte b = (intensity > 0.0) ? (byte)0 : (intensity <= -0.5) ? (byte)255 : (byte)(intensity * -1.0 / 0.5 * 255);
+
+ *(bufferPixels + ((y * format.Width) + x)) = ((uint)255 << 24) | ((uint)(r) << 16) | ((uint)(g) << 8) | (byte)(b);
+ }
+ }
+
+ buffer.UnlockBits(bufferData);
+
+ graphics.DrawImage(buffer, new Rectangle(0, 0, form.ClientSize.Width, form.ClientSize.Height));
+
+ releaseFrame(camera, frameBuffer);
+
+ form.Invalidate();
+ };
+
+ form.Invalidate();
+
+ Application.DoEvents();
+ }
+ }
+}
diff --git a/MariCam/Properties/AssemblyInfo.cs b/MariCam/Properties/AssemblyInfo.cs
new file mode 100644
index 0000000..56a7f86
--- /dev/null
+++ b/MariCam/Properties/AssemblyInfo.cs
@@ -0,0 +1,36 @@
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// General Information about an assembly is controlled through the following
+// set of attributes. Change these attribute values to modify the information
+// associated with an assembly.
+[assembly: AssemblyTitle("MariCam")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("MariCam")]
+[assembly: AssemblyCopyright("Copyright © 2023")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// Setting ComVisible to false makes the types in this assembly not visible
+// to COM components. If you need to access a type in this assembly from
+// COM, set the ComVisible attribute to true on that type.
+[assembly: ComVisible(false)]
+
+// The following GUID is for the ID of the typelib if this project is exposed to COM
+[assembly: Guid("66def376-2e2f-4530-b301-5d1fb8c1ef5e")]
+
+// Version information for an assembly consists of the following four values:
+//
+// Major Version
+// Minor Version
+// Build Number
+// Revision
+//
+// You can specify all the values or you can default the Build and Revision Numbers
+// by using the '*' as shown below:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]