I apologize for the delay in responding. It was necessary to think very carefully about your question, because there was the potential to get texture mapping (often referring to applying detail to the surface of a 3D model) with coordinate mapping (overlaying depth coordinates on a color image).
Given that the same feature list that you quoted also mentions these as separate items:
- Synchronized Depth, Color, Infrared Video
- Depth Unprojection to World Coordinates
By a process of elimination, I would therefore tend to think that 'texture mapping depth to color' refers to 3D modeling, like the image below:
Somebody else may be able to confirm or correct this assumption. I'm sorry I can't be more definite on this occasion.