CEWorkbench.SkeletonDrawer.MapSkeletonPointToDepth C# (CSharp) Метод

        private DepthImagePoint MapSkeletonPointToDepth(SkeletonPoint skelpoint, DepthImageFormat depthImageFormat)
        {
            DepthImagePoint rPoint = new DepthImagePoint();
              rPoint.X = 0;
              rPoint.Y = 0;

              if (skelpoint.Z > _FLT_EPSILON)
              {
            rPoint.X = (int)(0.5 + skelpoint.X * (_NUI_CAMERA_COLOR_NOMINAL_FOCAL_LENGTH_IN_PIXELS / skelpoint.Z) / 640.0);
            rPoint.Y = (int)(0.5 - skelpoint.Y * (_NUI_CAMERA_COLOR_NOMINAL_FOCAL_LENGTH_IN_PIXELS / skelpoint.Z) / 480.0);
            return rPoint;
              }

              return rPoint;
        }