int find_code(ColorImageFrame colorFrame, DepthImageFrame depthFrame)
        {
            ZXing.Kinect.BarcodeReader reader = new ZXing.Kinect.BarcodeReader();
            if (colorFrame != null)
            {
                //Decode the colorFrame
                var result = reader.Decode(colorFrame);
                if (result != null)
                {
                    string val      = result.Text;
                    int    code_num = Convert.ToInt32(val);
                    double center_x = result.ResultPoints[0].X + 0.5 * (result.ResultPoints[2].X - result.ResultPoints[0].X);
                    double center_y = result.ResultPoints[0].Y + 0.5 * (result.ResultPoints[2].Y - result.ResultPoints[0].Y);

                    code_size = new Point((result.ResultPoints[2].X - result.ResultPoints[0].X), (result.ResultPoints[2].Y - result.ResultPoints[0].Y));

                    // Must mirror the coordinate here -- the depth frame comes in mirrored.
                    center_x = 640 - center_x;

                    // Map the color frame onto the depth frame
                    DepthImagePixel[] depthPixel = new DepthImagePixel[depthFrame.PixelDataLength];
                    depthFrame.CopyDepthImagePixelDataTo(depthPixel);
                    DepthImagePoint[] depthImagePoints = new DepthImagePoint[sensor.DepthStream.FramePixelDataLength];
                    sensor.CoordinateMapper.MapColorFrameToDepthFrame(sensor.ColorStream.Format, sensor.DepthStream.Format, depthPixel, depthImagePoints);

                    // Get the point in the depth frame at the center of the barcode
                    int             center_point_color_index = (int)center_y * 640 + (int)center_x;
                    DepthImagePoint converted_depth_point    = depthImagePoints[center_point_color_index];
                    Point           p = new Point(converted_depth_point.X, converted_depth_point.Y);
                    code_points[code_num] = p;

                    Console.WriteLine("Found code " + code_num + " at (" + center_x + ", " + center_y + ") in color coordinates.");
                    Console.WriteLine("Translated to (" + p.X + ", " + p.Y + ") in depth coordinates.");
                    return(code_num);
                }
            }

            return(-1);
        }
        int find_code(ColorImageFrame colorFrame, DepthImageFrame depthFrame)
        {
            ZXing.Kinect.BarcodeReader reader = new ZXing.Kinect.BarcodeReader();
            if (colorFrame != null)
            {
                //Decode the colorFrame
                var result = reader.Decode(colorFrame);
                if (result != null)
                {
                    string val = result.Text;
                    int code_num = Convert.ToInt32(val);
                    double center_x = result.ResultPoints[0].X + 0.5 * (result.ResultPoints[2].X - result.ResultPoints[0].X);
                    double center_y = result.ResultPoints[0].Y + 0.5 * (result.ResultPoints[2].Y - result.ResultPoints[0].Y);

                    code_size = new Point((result.ResultPoints[2].X - result.ResultPoints[0].X), (result.ResultPoints[2].Y - result.ResultPoints[0].Y));

                    // Must mirror the coordinate here -- the depth frame comes in mirrored.
                    center_x = 640 - center_x;

                    // Map the color frame onto the depth frame
                    DepthImagePixel[] depthPixel = new DepthImagePixel[depthFrame.PixelDataLength];
                    depthFrame.CopyDepthImagePixelDataTo(depthPixel);
                    DepthImagePoint[] depthImagePoints = new DepthImagePoint[sensor.DepthStream.FramePixelDataLength];
                    sensor.CoordinateMapper.MapColorFrameToDepthFrame(sensor.ColorStream.Format, sensor.DepthStream.Format, depthPixel, depthImagePoints);

                    // Get the point in the depth frame at the center of the barcode
                    int center_point_color_index = (int)center_y * 640 + (int)center_x;
                    DepthImagePoint converted_depth_point = depthImagePoints[center_point_color_index];
                    Point p = new Point(converted_depth_point.X, converted_depth_point.Y);
                    code_points[code_num] = p;

                    Console.WriteLine("Found code " + code_num + " at (" + center_x + ", " + center_y + ") in color coordinates.");
                    Console.WriteLine("Translated to (" + p.X + ", " + p.Y + ") in depth coordinates.");
                    return code_num;
                }
            }

            return -1;
        }