TofCameraManager tofCameraManager = new TofCameraManager(this, new TofCameraManager.OnTofImageAvailableListener() {
public void onTofBitmapAvailable(Bitmap ir, Bitmap depth, ByteBuffer depthBuffer, long timestamp) {
Matrix matrix = new Matrix();
matrix.preScale(1.0f, -1.0f);
Bitmap irBitmap = Bitmap.createBitmap(ir.copy(Bitmap.Config.RGB_565, false), 0, 0, ir.getWidth(), ir.getHeight(), matrix, true);
matrix.preScale(1.0f, -1.0f);
Bitmap depthBitmap = Bitmap.createBitmap(depth.copy(Bitmap.Config.RGB_565, false), 0, 0, depth.getWidth() - 8, depth.getHeight() - 8, matrix, true);
mDepthBuffer = depthBuffer;
handler.sendEmptyMessage(sTofUpdate);