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Thanks for reaching out!
Please correct me if I'm wrong. You are able to map depth using the RGB image using QueryUVMap (https://software.intel.com/sites/landingpage/realsense/camera-sdk/v2016r3/documentation/html/queryuvmap_pxcprojection.html) but now you would like to do it using the IR (right or left) image, right? If not, then I'm confused and I would like you to explain me your goal again.
According to https://software.intel.com/sites/landingpage/realsense/camera-sdk/v2016r3/documentation/html/doc_essential_coordinates_mapping.html, which is where you got the lines of code above, this is the only way in which the SDK maps depth. Unfortunately the SDK has this limitation, therefore it seems that the only way you will be able to do this mapping will be between RGB and depth.
You might want to check if librealsense (https://github.com/IntelRealSense/librealsense) has this option available, perhaps it has an option that fits your needs better.
I hope this information helps you,
Thanks a lot for your answer, I am so sorry it took me so long to reply.
You are right, I need to the mapping from the IR left or right camera to the depth image, but the SDK does not have that option.
I have also tried with the librealsense without luck, but I think I found a solution.
The previous answers gave me an idea,
at the beginning I needed to find out how to map a specific point detected on one of the infrared cameras to the depth image. So, my final solution was to subtract the sector of interest (detected in the IR Left camera, which is the nearest to the color camera) from the RGB image and from the result doing the mapping to depth.
The gap exists, but is not too much.