foreach (Joint joint in body.Joints)
{
    // 3D coordinates in meters
    SkeletonPoint skeletonPoint = joint.Position;

    // 2D coordinates in pixels
    Point point = new Point();

    if (_mode == CameraMode.Color)
    {
        // Skeleton-to-Color mapping
        ColorImagePoint colorPoint = _sensor.CoordinateMapper.MapSkeletonPointToColorPoint(
                                                              skeletonPoint,
                                                              ColorImageFormat.RgbResolution640x480Fps30);

        point.X = colorPoint.X;
        point.Y = colorPoint.Y;
    }
    else if (_mode == CameraMode.Depth)
    {
        // Skeleton-to-Depth mapping
        DepthImagePoint depthPoint = _sensor.CoordinateMapper.MapSkeletonPointToDepthPoint(
                                                              skeletonPoint,
                                                              DepthImageFormat.Resolution320x240Fps30);

        point.X = depthPoint.X;
        point.Y = depthPoint.Y;
    }
}