private unsafe void fnThread()
{
while (FRunning)
{
this.FContext.context.WaitOneUpdateAll(this.FDepthGenerator);
byte *rgbs = (byte *)FImageGenerator.ImageMapPtr.ToPointer();
byte *rgbd = (byte *)FImageRGBBuffer.MIplImage.imageData.ToPointer();
for (int i = 0; i < 640 * 480; i++)
{
rgbd[2] = rgbs[0];
rgbd[1] = rgbs[1];
rgbd[0] = rgbs[2];
rgbs += 3;
rgbd += 3;
}
//CopyMemory(FImageRGBBuffer.MIplImage.imageData, FImageGenerator.ImageMapPtr, 640 * 480 * 3);
CopyMemory(FImageDepthBuffer.MIplImage.imageData, FDepthGenerator.DepthMapPtr, 640 * 480 * 2);
fillWorld();
FImageRGB.SetImage(FImageRGBBuffer);
FImageDepth.SetImage(FImageDepthBuffer);
FImageWorld.SetImage(FImageWorldBuffer);
}
}