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); }