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

        public MCvPoint3D32f[] RetrievePointCloudMap()
        {
            IntPtr img = CvInvoke.cvRetrieveFrame(Ptr, (int)OpenNIDataType.PointCloudMap);
             if (img == IntPtr.Zero)
            return null;

             if (FlipType != Emgu.CV.CvEnum.FLIP.NONE)
            CvInvoke.cvFlip(img, img, FlipType);

             MIplImage iplImage = (MIplImage)Marshal.PtrToStructure(img, typeof(MIplImage));

             MCvPoint3D32f[] points = new MCvPoint3D32f[iplImage.width * iplImage.height];
             GCHandle handle = GCHandle.Alloc(points, GCHandleType.Pinned);
             using (Matrix<float> m = new Matrix<float>(iplImage.height, iplImage.width, handle.AddrOfPinnedObject()))
             {
            CvInvoke.cvCopy(img, m, IntPtr.Zero);
             }
             handle.Free();

             return points;
        }