KinectV2Core.KinectCoreV2.MapJointToColor C# (CSharp) Method

        public Point MapJointToColor(KinectBase.Joint joint, bool undoTransform)
        {
            //TODO: Update this so it takes a joint array instead of a single joint (this is supposed to be more efficient for the Kinect 2)
            Point mappedPoint = new Point(0, 0);
            Point3D transformedPosition = joint.Position;

            if (undoTransform)
            {
                Matrix3D inverseTransform = skeletonTransformation;
                inverseTransform.Invert();
                transformedPosition = inverseTransform.Transform(transformedPosition);
            }

            //Setup the Kinect v2 objects to do the transformation
            CameraSpacePoint[] skelPoints = new CameraSpacePoint[1];
            skelPoints[0] = new CameraSpacePoint();
            skelPoints[0].X = (float)transformedPosition.X;
            skelPoints[0].Y = (float)transformedPosition.Y;
            skelPoints[0].Z = (float)transformedPosition.Z;
            ColorSpacePoint[] points = new ColorSpacePoint[1];
            kinect.CoordinateMapper.MapCameraPointsToColorSpace(skelPoints, points);

            //Convert back to the base object type
            mappedPoint.X = points[0].X;
            mappedPoint.Y = points[0].Y;

            return mappedPoint;
        }