uvmap

// Create the Projection instance.
Projection *projection=device->CreateProjection();

// color and depth image size.
ImageInfo dinfo=depth->QueryInfo();
ImageInfo cinfo=color->QueryInfo();

// Calculate the UV map.
PointF32 *uvmap=new PointF32[dinfo.width*dinfo.height];
projection->QueryUVMap(depth, uvmap);

// Translate depth points uv[] to color ij[]
for (int i=0;i<npoints;i++) {
    ij[i].x=uvmap[(int)uv[i].y*dinfo.width+(int)uv[i].x].x*cinfo.width;
    ij[i].y=uvmap[(int)uv[i].y*dinfo.width+(int)uv[i].x].y*cinfo.height;
}

// Clean up
delete[] uvmap;
projection->Release();