@Burkholder - look at the set of related functions that Bas mentions. I'll have to check if we have a Color -> Depth mapping. Most scenarios I've seen that deal with both color and depth, start with Depth, and get the appropriate Color for each "pixel" by calling GetColorPixelCoordinatesFromDepthPixel.
@Bas - yes, the naming and locations of all those "sensor space mapping" methods is a bit suspect. We've not yet been able to go make sense of them, but have many suggestions from people like you to do so. We understand the need.
@Ahmad - Not with our beta2 build. You may not, in the same process, use 2 kinects (with skeletal tracking turned on both). I believe that having 2 apps on the same machine...would allow both apps to use a different Kinect and get skeletal tracking going.
@Mo Relax - take a look at the readme and the documentation and the program files entry for the sdk and you'll find the location. %KINECTSDK_DIR%\Samples\Bin has a compiled version of that app. %KINECTSDK_DIR%\Samples\ also (in b2) has a .zip file with the source code for all the C#/C++ samples. (unzip to my docs, or related for best results). We are considering building a sample browser app (like Xbox SDK and DirectX SDK) to make it easy to run the different samples, or install the source code, or jump to docs about the sample.
sorry for the delay...it has been a crazy week!