AstraDotNet - Need example on how to use MapDepthPointToWorldSpace

I must premise that I’m not very good at c# but I prefer it instead of c++.

Starting from the AstraDotNet demo (I admit, I had lot of difficulties with the WPF) I’ve been able to get depth frames from a depth stream.

Now I need to get measurements x,y,z for a simple object in front of the camera (Astra Stereo S) but I don’t know how to accomplish it.

I also tried to put the image data in a PictureBox but I only get a distorted image.

If anyone could help me, I would be really grateful.