BodySourceView.cs

private Vector3 GetVector3FromJoint(Kinect.Joint joint)
{
    var valid = joint.TrackingState != Kinect.TrackingState.NotTracked;

    if ( Camera != null || valid ) {
        // KinectのCamera座標系(3次元)をColor座標系(2次元)に変換する
        var point =_CoordinateMapper.MapCameraPointToColorSpace( joint.Position );
        var point2 = new Vector3( point.X, point.Y, 0 );
        if ( (0<= point2.x) && (point2.x < SensorWidth) && (0 <= point2.y) && (point2.y < SensorHeight) ) {
            // スクリーンサイズで調整(Kinect->Unity)
            point2.x = point2.x * Screen.width / SensorWidth;
            point2.y = point2.y * Screen.height / SensorHeight;

            // Unityのワールド座標系(3次元)に変換
            var colorPoint3 = _Camera.ScreenToWorldPoint( point2 );

            // 座標の調整
            // Y座標は逆、Z座標は0にする(Xもミラー状態によって逆にする必要あり)
            colorPoint3.y *= -1;
            colorPoint3.z = 0;

            return colorPoint3;
        }
    }

    // 適当に返す
    return new Vector3( joint.Position.X * 10, joint.Position.Y * 10, 0 );
}