Kinect.KinectManager.GetJointPosDepthOverlay C# (CSharp) Method

        public Vector3 GetJointPosDepthOverlay(Int64 userId, int joint, Camera camera, Rect imageRect)
        {
            if (dictUserIdToIndex.ContainsKey(userId) && camera != null)
            {
                int index = dictUserIdToIndex[userId];

                if (index >= 0 && index < sensorData.bodyCount &&
                   bodyFrame.bodyData[index].bIsTracked != 0)
                {
                    if (joint >= 0 && joint < sensorData.jointCount)
                    {
                        KinectInterop.JointData jointData = bodyFrame.bodyData[index].joint[joint];
                        Vector3 posJointRaw = jointData.kinectPos;

                        if (posJointRaw != Vector3.zero)
                        {
                            // 3d position to depth
                            Vector2 posDepth = MapSpacePointToDepthCoords(posJointRaw);

                            if (posDepth != Vector2.zero && sensorData != null)
                            {
                                if (!float.IsInfinity(posDepth.x) && !float.IsInfinity(posDepth.y))
                                {
                                    float xScaled = (float)posDepth.x * imageRect.width / sensorData.depthImageWidth;
                                    float yScaled = (float)posDepth.y * imageRect.height / sensorData.depthImageHeight;

                                    float xScreen = imageRect.x + xScaled;
                                    float yScreen = camera.pixelHeight - (imageRect.y + yScaled);

                                    Plane cameraPlane = new Plane(camera.transform.forward, camera.transform.position);
                                    float zDistance = cameraPlane.GetDistanceToPoint(posJointRaw);

                                    Vector3 vPosJoint = camera.ScreenToWorldPoint(new Vector3(xScreen, yScreen, zDistance));

                                    return vPosJoint;
                                }
                            }
                        }
                    }
                }
            }

            return Vector3.zero;
        }