private unsafe void OnFrameSet(FrameSet frames)
{
var points = pointCloud.Calclate(frames.DepthFrame);
var pointCount = points.Size;
var color = frames.ColorFrame;
pointCloud.MapTo(color);
if (buffers == null)
{
image = new byte[color.Stride * color.Height];
var meshCount = 1;
while (pointCount / meshCount > 65536)
{
meshCount *= 2;
}
pointCount /= meshCount;
buffers = new Buffer[meshCount];
for (int i = 0; i < meshCount; ++i)
{
buffers[i].vertices = new Vector3[pointCount];
buffers[i].texcoords = new Vector2[pointCount];
}
}
else
{
pointCount /= buffers.Length;
}
color.CopyTo(image);
Vector3 *vs = (Vector3 *)points.Vertices;
Vector2 *ts = (Vector2 *)points.TextureCoordinates;
for (int i = 0; i < buffers.Length; ++i)
{
fixed(Vector3 *vd = &buffers[i].vertices[0])
fixed(Vector2 * td = &buffers[i].texcoords[0])
{
NativeCopyMemory(vd, vs, (uint)(sizeof(Vector3) * pointCount));
NativeCopyMemory(td, ts, (uint)(sizeof(Vector2) * pointCount));
vs += pointCount;
ts += pointCount;
}
}
f.Set();
}