From PXCCapture interface you can query and create stream(s) of different image types and color formats: per-pixel depth data or 3D real-world coordinates, or both streams.
Please refer to PXCImage::ColorFormat section in http://software.intel.com/en-us/articles/intel-perceptual-computing-sdk-... for more details.
In COLOR_FORMAT_DEPTH image, the first plane contains a depth map; the second plane contains the corresponding confidence map; and the third plane contains the corresponding UV map.
In COLOR_FORMAT_VERTICES image, the first plane contains the vertices in fixed-point integers; the second plane contains the corresponding confidence map; and the third plane contains the corresponding UV map