docs: public boolean process( int x , int y ) {
  		visualToDepth.compute(x, y,distorted);
  
  		int depthX = (int)distorted.x;
  		int depthY = (int)distorted.y;
  
  		if( depthImage.isInBounds(depthX,depthY) ) {
  			// get the depth at the specified location
  			double value = lookupDepth(depthX, depthY);
  
  			// see if its an invalid value
  			if( value == 0 )
  				return false;
  
  			// convert visual pixel into normalized image coordinate
  			p2n.compute(x,y,norm);
  
  			// project into 3D space
  			worldPt.z = value*depthScale;
  			worldPt.x = worldPt.z*norm.x;
  			worldPt.y = worldPt.z*norm.y;
  
  			return true;
  		} else {
  			return false;
  		}
  	}