public Vector2 MapDepthPointToColorCoords(KinectInterop.SensorData sensorData, Vector2 depthPos, ushort depthVal)
{
Vector2 vPoint = Vector2.zero;
if (_coordinateMapper != null && _depthCameraIntrinsics != null && _colorCameraIntrinsics != null && depthPos != Vector2.zero)
{
System.Numerics.Vector2 depthPoint = new System.Numerics.Vector2(depthPos.x, depthPos.y);
System.Numerics.Vector3 depthSpace = _depthCameraIntrinsics.UnprojectFromFrame(depthPoint, (float)depthVal / 1000f);
System.Numerics.Vector3 colorSpace = _coordinateMapper.MapDepthSpacePointToColor(depthSpace);
System.Numerics.Vector2 colorPoint = _colorCameraIntrinsics.ProjectOntoFrame(colorSpace);
vPoint = new Vector2(colorPoint.X, colorPoint.Y);
}
return(vPoint);
}
