CSharpSlam.RobotControl.GetLaserScannerData C# (CSharp) Method

        private double[,] GetLaserScannerData()
        {
            double[,] laserScannerData;
            // reading the laser scanner stream
            simx_error s = VREPWrapper.simxReadStringStream(_clientId, R.MeasuredData0, ref _signalValuePtr, ref _signalLength, simx_opmode.streaming);

            if (s != simx_error.noerror)
            {
                return new double[0, 0];
            }

            //Debug.WriteLine(s);
            //  Debug.WriteLine(String.Format("test: {0:X8} {1:D} {2:X8}", _signalValuePtr, _signalLength, _signalValuePtr+_signalLength));
            float[] f = new float[685 * 3];
            if (_signalLength / sizeof(float) >= f.GetLength(0))
            {
                //we managed to get the laserdatas from Vrep
                laserScannerData = new double[3, f.GetLength(0) / 3];

                // todo read the latest stream (this is not the latest)
                int i;
                unsafe
                {
                    float* pp = (float*)_signalValuePtr.ToPointer();
                    //Debug.WriteLine("pp: " + *pp);
                    for (i = 0; i < f.GetLength(0); i++)
                    {
                        f[i] = *pp++; // pointer to float array
                    }
                }
                // reshaping the 1D [3*685] data to 2D [3, 685] > x, y, z coordinates
                for (i = 0; i < f.GetLength(0); i++)
                {
                    if (!(Math.Abs(f[i]) < 0.000001))
                    {
                        laserScannerData[i % 3, i / 3] = f[i];
                    }
                }

                return laserScannerData;
            }
            // we couldnt get the laserdata, so we return an empty array
            laserScannerData = new double[0, 0];

            return laserScannerData;
        }