Emgu.CV.CameraCalibration.EstimateRigidTransform C# (CSharp) Метод

        public static RotationMatrix2D<double> EstimateRigidTransform(PointF[] src, PointF[] dest, bool fullAffine)
        {
            RotationMatrix2D<double> result = new RotationMatrix2D<double>();
             GCHandle handleA = GCHandle.Alloc(src, GCHandleType.Pinned);
             GCHandle handleB = GCHandle.Alloc(dest, GCHandleType.Pinned);
             bool success;
             using (Matrix<float> a = new Matrix<float>(src.Length, 1, 2, handleA.AddrOfPinnedObject(), 2 * sizeof(float)))
             using (Matrix<float> b = new Matrix<float>(dest.Length, 1, 2, handleB.AddrOfPinnedObject(), 2 * sizeof(float)))
             {
            success = CvInvoke.cvEstimateRigidTransform(a, b, result, fullAffine);
             }
             handleA.Free();
             handleB.Free();

             if (success)
             {
            return result;
             }
             else
             {
            result.Dispose();
            return null;
             }
        }