Emgu.CV.KinectCapture.RetrieveDisparityMap32f C# (CSharp) Метод

        public Image<Gray, float> RetrieveDisparityMap32f()
        {
            IntPtr img = CvInvoke.cvRetrieveFrame(Ptr, (int)OpenNIDataType.DisparityMap32f);
             if (img == IntPtr.Zero)
            return null;
             MIplImage iplImage = (MIplImage)Marshal.PtrToStructure(img, typeof(MIplImage));

             Image<Gray, float> res = new Image<Gray, float>(iplImage.width, iplImage.height, iplImage.widthStep, iplImage.imageData);

             //inplace flip the image if necessary
             res._Flip(FlipType);

             return res;
        }