diff --git a/VL.Devices.Kinect2.vl b/VL.Devices.Kinect2.vl
index 8c16bc7..3ef7531 100644
--- a/VL.Devices.Kinect2.vl
+++ b/VL.Devices.Kinect2.vl
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
-<Document xmlns:p="property" xmlns:r="reflection" Id="UFzZq9LOxo3MtJDvgRWI7A" LanguageVersion="2025.7.1-0114-g4ec32120e8" Version="0.128">
-  <NugetDependency Id="EEYSk9rCs8TLQ1HUJFqHly" Location="VL.CoreLib" Version="2025.7.1-0114-g4ec32120e8" />
+<Document xmlns:p="property" xmlns:r="reflection" Id="UFzZq9LOxo3MtJDvgRWI7A" LanguageVersion="2025.7.1-0142-gabf274b680" Version="0.128">
+  <NugetDependency Id="EEYSk9rCs8TLQ1HUJFqHly" Location="VL.CoreLib" Version="2025.7.1-0142-gabf274b680" />
   <Patch Id="OF6M52TF0g1MIvRz41ucGu">
     <Canvas Id="Ue7xuqlBZHlLeRL5dLjZsS" DefaultCategory="Devices.Kinect2" CanvasType="FullCategory">
       <Canvas Id="ALzepdUffo2N2GS1PvjrMC" Name="Internal" Position="272,213">
@@ -1409,7 +1409,7 @@
     ************************ ColorImage (Reactive) ************************
 
 -->
-        <Node Name="ColorImage (Reactive)" Bounds="-287,6" Id="TfSpWEmzfKSMnyqgpFPApr" Summary="Returns an Observable of Kinect2 RGB image frames.">
+        <Node Name="ColorImage (Reactive)" Bounds="-289,6" Id="TfSpWEmzfKSMnyqgpFPApr" Summary="Returns an Observable of Kinect2 RGB image frames.">
           <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
             <Choice Kind="ContainerDefinition" Name="Process" />
           </p:NodeReference>
@@ -1447,7 +1447,7 @@
     ************************ DepthImage (Reactive) ************************
 
 -->
-        <Node Name="DepthImage (Reactive)" Bounds="-287,116" Id="Fvp5HZPLZRJN4KEGqSTxdn" Summary="Returns an Observable of Kinect2 Depth image frames." Remarks="Returned image is single channel 16-bit Unsigned Integer.">
+        <Node Name="DepthImage (Reactive)" Bounds="-289,116" Id="Fvp5HZPLZRJN4KEGqSTxdn" Summary="Returns an Observable of Kinect2 Depth image frames." Remarks="Returned image is single channel 16-bit Unsigned Integer.">
           <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
             <Choice Kind="ContainerDefinition" Name="Process" />
           </p:NodeReference>
@@ -1485,7 +1485,7 @@
     ************************ BodyImage (Reactive) ************************
 
 -->
-        <Node Name="BodyImage (Reactive)" Bounds="-287,171" Id="OhxPmE8wlYlMBxDkKNvvUD" Summary="Returns an Observable of an R8 formatted image with masks for each detected player." Remarks="The pixel values in this frame are 8-bit unsigned integers, where 0-5 correspond to tracked players. Values greater than the value obtained from the amount of tracked players indicate the pixel is part of the background, not associated with a tracked body.">
+        <Node Name="BodyImage (Reactive)" Bounds="-289,171" Id="OhxPmE8wlYlMBxDkKNvvUD" Summary="Returns an Observable of an R8 formatted image with masks for each detected player." Remarks="The pixel values in this frame are 8-bit unsigned integers, where 0-5 correspond to tracked players. Values greater than the value obtained from the amount of tracked players indicate the pixel is part of the background, not associated with a tracked body.">
           <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
             <Choice Kind="ContainerDefinition" Name="Process" />
           </p:NodeReference>
@@ -1523,7 +1523,7 @@
     ************************ RGBDepth (Reactive) ************************
 
 -->
-        <Node Name="RGBDepth (Reactive)" Bounds="-287,226" Id="Gk4NBGOuEb5LXW0NdOHry5" Summary="Returns an Observable of a G32R32F formatted image whose pixels represent a UV map mapping pixels from depth to color space.">
+        <Node Name="RGBDepth (Reactive)" Bounds="-289,226" Id="Gk4NBGOuEb5LXW0NdOHry5" Summary="Returns an Observable of a G32R32F formatted image whose pixels represent a UV map mapping pixels from depth to color space.">
           <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
             <Choice Kind="ContainerDefinition" Name="Process" />
           </p:NodeReference>
@@ -1561,7 +1561,7 @@
     ************************ DepthRGB (Reactive) ************************
 
 -->
-        <Node Name="DepthRGB (Reactive)" Bounds="-287,281" Id="J9kMS16ApdWPkBrtgbcoun" Summary="Returns an Observable of G32R32F formatted image whose pixels represent a UV map mapping pixels from depth to color space.">
+        <Node Name="DepthRGB (Reactive)" Bounds="-289,281" Id="J9kMS16ApdWPkBrtgbcoun" Summary="Returns an Observable of G32R32F formatted image whose pixels represent a UV map mapping pixels from depth to color space.">
           <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
             <Choice Kind="ContainerDefinition" Name="Process" />
           </p:NodeReference>
@@ -1599,7 +1599,7 @@
     ************************ InfraredImage (Reactive) ************************
 
 -->
-        <Node Name="InfraredImage (Reactive)" Bounds="-287,61" Id="Oyjx8KgGqKqOGWhwKrMvSu" Summary="Returns an Observable of Kinect2 Infrared image frames." Remarks="Returned image is single channel 16-bit Unsigned Integer.">
+        <Node Name="InfraredImage (Reactive)" Bounds="-289,61" Id="Oyjx8KgGqKqOGWhwKrMvSu" Summary="Returns an Observable of Kinect2 Infrared image frames." Remarks="Returned image is single channel 16-bit Unsigned Integer.">
           <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
             <Choice Kind="ContainerDefinition" Name="Process" />
           </p:NodeReference>
@@ -1637,7 +1637,7 @@
     ************************ Bodies (Reactive) ************************
 
 -->
-        <Node Name="Bodies (Reactive)" Bounds="-287,336" Id="LPs4SXCcj1BNSzM05xts4J" Summary="Returns an Observable of skeleton data for each tracked user.">
+        <Node Name="Bodies (Reactive)" Bounds="-289,336" Id="LPs4SXCcj1BNSzM05xts4J" Summary="Returns an Observable of skeleton data for each tracked user.">
           <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
             <Choice Kind="ContainerDefinition" Name="Process" />
           </p:NodeReference>
@@ -1678,7 +1678,7 @@
     ************************ PointCloud (Reactive) ************************
 
 -->
-        <Node Name="PointCloud (Reactive)" Bounds="-287,501" Id="Rjsz269jDkML3nY3Sg9qlh" Summary="Returns an Observable of a spread of Vector3 values representing the depth PointCloud detected by the Kinect2." Remarks="Returned image is single channel 16-bit Unsigned Integer.">
+        <Node Name="PointCloud (Reactive)" Bounds="-289,501" Id="Rjsz269jDkML3nY3Sg9qlh" Summary="Returns an Observable of a spread of Vector3 values representing the depth PointCloud detected by the Kinect2." Remarks="Returned image is single channel 16-bit Unsigned Integer.">
           <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
             <Choice Kind="ContainerDefinition" Name="Process" />
           </p:NodeReference>
@@ -1794,7 +1794,7 @@
     ************************ Faces (Reactive) ************************
 
 -->
-        <Node Name="Faces (Reactive)" Bounds="-287,391" Id="Mv8BcoyAy5RLdIpb1jwua9" Summary="Returns an Observable of face data for each tracked user.">
+        <Node Name="Faces (Reactive)" Bounds="-289,391" Id="Mv8BcoyAy5RLdIpb1jwua9" Summary="Returns an Observable of face data for each tracked user.">
           <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
             <Choice Kind="ContainerDefinition" Name="Process" />
           </p:NodeReference>
@@ -1835,7 +1835,7 @@
     ************************ FaceHD (Reactive) ************************
 
 -->
-        <Node Name="FaceHD (Reactive)" Bounds="-287,446" Id="L1HVsv4smQILbusr82x6yp" Summary="Returns an Observable of a Spread of Vector2 corresponding to the FaceHD points in Color space.">
+        <Node Name="FaceHD (Reactive)" Bounds="-289,446" Id="L1HVsv4smQILbusr82x6yp" Summary="Returns an Observable of a Spread of Vector2 corresponding to the FaceHD points in Color space.">
           <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
             <Choice Kind="ContainerDefinition" Name="Process" />
           </p:NodeReference>
@@ -1876,7 +1876,7 @@
     ************************ FOV ************************
 
 -->
-        <Node Name="FOV" Bounds="-287,655" Id="RleSjOMXT9oNbpcBOl2ree">
+        <Node Name="FOV" Bounds="-289,715" Id="RleSjOMXT9oNbpcBOl2ree">
           <p:NodeReference LastCategoryFullName="Primitive" LastDependency="builtin">
             <Choice Kind="ContainerDefinition" Name="Process" />
           </p:NodeReference>
@@ -2367,7 +2367,7 @@
     ************************ CameraIntrinsics ************************
 
 -->
-        <Node Name="CameraIntrinsics" Bounds="-287,601" Id="UsA4u47v1HPPZWciDr9Uhr" Summary="Returns Kinect Depth camera intrinsics.">
+        <Node Name="CameraIntrinsics" Bounds="-289,661" Id="UsA4u47v1HPPZWciDr9Uhr" Summary="Returns Kinect Depth camera intrinsics.">
           <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
             <Choice Kind="ContainerDefinition" Name="Process" />
           </p:NodeReference>
@@ -2996,7 +2996,7 @@
     ************************ WorldImage (Reactive) ************************
 
 -->
-        <Node Name="WorldImage (Reactive)" Bounds="-289,548" Id="Qg47i16JywoLfbv0L9zBaj" Summary="Returns an Observable of Kinect2 World (Camera Space) image frames." Remarks="Uses the depth frame data to map the entire frame from depth space to camera space. &#xD;&#xA; &#xD;&#xA;Camera space refers to the 3D coordinate system used by Kinect. The coordinate system is defined as follows:&#xD;&#xA;&#xD;&#xA;    The origin (x=0, y=0, z=0) is located at the center of the IR sensor on Kinect&#xD;&#xA;    X grows to the sensor’s left&#xD;&#xA;    Y grows up (note that this direction is based on the sensor’s tilt)&#xD;&#xA;    Z grows out in the direction the sensor is facing&#xD;&#xA;    1 unit = 1 meter">
+        <Node Name="WorldImage (Reactive)" Bounds="-289,608" Id="Qg47i16JywoLfbv0L9zBaj" Summary="Returns an Observable of Kinect2 World (Camera Space) image frames." Remarks="Uses the depth frame data to map the entire frame from depth space to camera space. &#xD;&#xA; &#xD;&#xA;Camera space refers to the 3D coordinate system used by Kinect. The coordinate system is defined as follows:&#xD;&#xA;&#xD;&#xA;    The origin (x=0, y=0, z=0) is located at the center of the IR sensor on Kinect&#xD;&#xA;    X grows to the sensor’s left&#xD;&#xA;    Y grows up (note that this direction is based on the sensor’s tilt)&#xD;&#xA;    Z grows out in the direction the sensor is facing&#xD;&#xA;    1 unit = 1 meter">
           <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
             <Choice Kind="ContainerDefinition" Name="Process" />
           </p:NodeReference>
@@ -3029,6 +3029,117 @@
             <Link Id="Qk4SGPSBocsMpjZpRUwKEH" Ids="ONXRe2mL36WP8qnYWyDswt,Lk5tuPnP2FfP5BJmBslu4C" />
           </Patch>
         </Node>
+        <!--
+
+    ************************ PointCloudWithUV (Reactive) ************************
+
+-->
+        <Node Name="PointCloudWithUV (Reactive)" Bounds="-289,550" Id="G2g28gatPkcOcSPF1XmFbA" Summary="Returns an Observable of a spread of Vector3 values representing the depth PointCloud detected by the Kinect2." Remarks="Returned image is single channel 16-bit Unsigned Integer.">
+          <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
+            <Choice Kind="ContainerDefinition" Name="Process" />
+          </p:NodeReference>
+          <Patch Id="H3A9x2X2ONoN0S94qqiD3g">
+            <Canvas Id="KxXuISlUqNRQSKEZoER57X" CanvasType="Group">
+              <ControlPoint Id="AYZTz9QhSN9PDxoGeEfsFU" Bounds="362,291" />
+              <ControlPoint Id="PsYT30GMXVSMswCQC1nw28" Bounds="362,637" />
+              <Node Bounds="360,340,71,19" Id="QtfultSH9LnN6gPO0HvLc5">
+                <p:NodeReference LastCategoryFullName="Devices.Kinect2" LastDependency="VL.Devices.Kinect2.vl">
+                  <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                  <Choice Kind="ProcessAppFlag" Name="DepthImage (Reactive)" />
+                </p:NodeReference>
+                <Pin Id="RB80tYtooLzMhsQ73aW6Hi" Name="Node Context" Kind="InputPin" IsHidden="true" />
+                <Pin Id="FvmrDlrHszjMggBD9XVzEx" Name="Device" Kind="InputPin" />
+                <Pin Id="UK0SHezIbYbPb7HUAqyRj4" Name="Output" Kind="OutputPin" />
+              </Node>
+              <Node Bounds="360,392,169,189" Id="IxQwvjsO9bWMDAPJMjjNdI">
+                <p:NodeReference LastCategoryFullName="Reactive" LastDependency="VL.CoreLib.vl">
+                  <Choice Kind="ProcessAppFlag" Name="ForEach" />
+                  <CategoryReference Kind="Category" Name="Reactive" NeedsToBeDirectParent="true" />
+                  <Choice Kind="StatefulRegion" Name="Region (Stateful)" Fixed="true" />
+                </p:NodeReference>
+                <Pin Id="B5Gs2hL742VP0eVdOXL4bq" Name="Node Context" Kind="InputPin" IsHidden="true" />
+                <Pin Id="Q6U5nT5riwGMPLiRqqHYkJ" Name="Messages" Kind="InputPin" />
+                <Pin Id="Gr5uanNDCgjOo6w1JgwUO5" Name="Reset" Kind="InputPin" />
+                <Pin Id="VtQQ0Em2hGgLLsast4XRBZ" Name="Output" Kind="OutputPin" IsHidden="true" />
+                <Pin Id="VSggo6qgEYKOB7HzyEXaTK" Name="Result" Kind="OutputPin" />
+                <Patch Id="RnvRO4vFUAxOpB9pRmuxRV" ManuallySortedPins="true">
+                  <Patch Id="KXWZvqsYQELMamSe0x4uU3" Name="Create" ManuallySortedPins="true" />
+                  <Patch Id="EDXjtOSIh5TN29dAG9kwhC" Name="Update" ManuallySortedPins="true">
+                    <Pin Id="PXN41wuF8zBMSldaWuSUBI" Name="Input 1" Kind="InputPin" />
+                    <Pin Id="UGbrqKIPlcgLEIplZ3a8DP" Name="Output" Kind="OutputPin" />
+                  </Patch>
+                  <ControlPoint Id="BYNa27SGLMjNA67mZkANjI" Bounds="409,400" />
+                  <ControlPoint Id="EktgAOAftiTPWUTwdCkPbm" Bounds="374,574" />
+                  <Node Bounds="372,500,145,19" Id="Gb7xmdDag1sOEMUwfDUjtM">
+                    <p:NodeReference LastCategoryFullName="VL.Devices.Kinect2.PointCloud" LastDependency="VL.Devices.Kinect2.dll">
+                      <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                      <Choice Kind="OperationCallFlag" Name="CollectPointsWithUV" />
+                    </p:NodeReference>
+                    <Pin Id="Gm6oLuqu6VgOa2HMKb36Ag" Name="Builder" Kind="InputPin" />
+                    <Pin Id="BiHqGxc34xkNzteWXoREUW" Name="Depth" Kind="InputPin" />
+                    <Pin Id="VfmW8W0u6BRL5UmK3sMO5R" Name="Min Z" Kind="InputPin" />
+                    <Pin Id="IgRrC57P7ufPJR8ngC9BQk" Name="Max Z" Kind="InputPin" />
+                    <Pin Id="DrRKtrGVcA4QaXFIYt3aRK" Name="Decimation" Kind="InputPin" />
+                    <Pin Id="FMyhdPdjoEXODhx5L4RvIc" Name="Output" Kind="OutputPin" />
+                  </Node>
+                </Patch>
+              </Node>
+              <ControlPoint Id="IzjaQIZYLiXQIjNswHMTSF" Bounds="463,291" />
+              <ControlPoint Id="QZxTSyRXkGzPRGAvSsgdgG" Bounds="546,291" />
+              <ControlPoint Id="RkBjH8v4eYJM1guKS5yena" Bounds="639,291" />
+              <Node Bounds="163,324,66,26" Id="V009TfTsJMLPaAVCRHZ5Kc">
+                <p:NodeReference LastCategoryFullName="Collections.Builder.SpreadBuilder" LastDependency="VL.CoreLib.vl">
+                  <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                  <CategoryReference Kind="ClassType" Name="SpreadBuilder" />
+                  <Choice Kind="OperationCallFlag" Name="Create" />
+                </p:NodeReference>
+                <Pin Id="CM8ziZcogSPOgZ08xLxp89" Name="Node Context" Kind="InputPin" IsHidden="true" />
+                <Pin Id="J3HiirG0MA6LNnzx7xT1bD" Name="Capacity" Kind="InputPin" />
+                <Pin Id="F0IgdzIOTEMMyCqaP4dnrx" Name="Output" Kind="StateOutputPin" />
+              </Node>
+              <Pad Id="ElBppkQGmfZMenfGbH8hwc" SlotId="DHkQNZPHPE0Mvkcz5WgHFY" Bounds="165,371" />
+            </Canvas>
+            <ProcessDefinition Id="IJOgYoyW7k0LHziPPIdVxi">
+              <Fragment Id="UTvw87bjnezL15xl2mm5w7" Patch="MD2xJvkiTUWPtdF1gJJS9n" Enabled="true" />
+              <Fragment Id="AQJ9W1Hz86MQYd3rzkKYEi" Patch="A3zcX4vpQXTMiYQEPSlGnb" Enabled="true" />
+            </ProcessDefinition>
+            <Link Id="CpT65dLUJnJOhxPM6DRyxU" Ids="ICxvFH4DUoGMCZc2WUDrm8,AYZTz9QhSN9PDxoGeEfsFU" IsHidden="true" />
+            <Link Id="V2B6Q6X4bioOvYXN3pmuUp" Ids="PsYT30GMXVSMswCQC1nw28,EGWZs6NRdV7OwRsjwU2o6V" IsHidden="true" />
+            <Link Id="LkkESgYtcZ2PcFv1aiSG1o" Ids="AYZTz9QhSN9PDxoGeEfsFU,FvmrDlrHszjMggBD9XVzEx" />
+            <Link Id="CElwINyycDvQWxrbXYJs2x" Ids="PXN41wuF8zBMSldaWuSUBI,BYNa27SGLMjNA67mZkANjI" IsHidden="true" />
+            <Link Id="TEVhTzlOK7bO6Snn5SYyHn" Ids="EktgAOAftiTPWUTwdCkPbm,UGbrqKIPlcgLEIplZ3a8DP" IsHidden="true" />
+            <Link Id="LNE3cOlxNjLPfRCWNTW8bE" Ids="UK0SHezIbYbPb7HUAqyRj4,Q6U5nT5riwGMPLiRqqHYkJ" />
+            <Link Id="NfO3d1XzRY4Lb1UTKFOl2Z" Ids="VSggo6qgEYKOB7HzyEXaTK,PsYT30GMXVSMswCQC1nw28" />
+            <Link Id="N8tDyhLiZJxN6KxaSy7UEM" Ids="PnVQnhjDFe7ME1aIaIUr3P,IzjaQIZYLiXQIjNswHMTSF" IsHidden="true" />
+            <Link Id="Lt3TUtigatAMucbkDDueMW" Ids="DQymaanDd2sQRv9EmBCQSE,QZxTSyRXkGzPRGAvSsgdgG" IsHidden="true" />
+            <Link Id="Lmsq2owlkecMd1omgfYwtr" Ids="ODHZmSdWbtTOx8MQYZxS0e,RkBjH8v4eYJM1guKS5yena" IsHidden="true" />
+            <Slot Id="DHkQNZPHPE0Mvkcz5WgHFY" Name="PositionBuffer" />
+            <Link Id="Dg9T2lsKD3YLHhd27gaRem" Ids="F0IgdzIOTEMMyCqaP4dnrx,ElBppkQGmfZMenfGbH8hwc" />
+            <Patch Id="MD2xJvkiTUWPtdF1gJJS9n" Name="Create" ParticipatingElements="V009TfTsJMLPaAVCRHZ5Kc" />
+            <Patch Id="A3zcX4vpQXTMiYQEPSlGnb" Name="Update">
+              <Pin Id="ICxvFH4DUoGMCZc2WUDrm8" Name="Device" Kind="InputPin" Bounds="282,402" />
+              <Pin Id="PnVQnhjDFe7ME1aIaIUr3P" Name="Minimum Z" Kind="InputPin" Bounds="601,316" />
+              <Pin Id="DQymaanDd2sQRv9EmBCQSE" Name="Maximum Z" Kind="InputPin" Bounds="670,317" DefaultValue="8">
+                <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+                  <Choice Kind="TypeFlag" Name="Float32" />
+                </p:TypeAnnotation>
+              </Pin>
+              <Pin Id="ODHZmSdWbtTOx8MQYZxS0e" Name="Decimation" Kind="InputPin" Bounds="728,318" DefaultValue="2" Summary="0 means no decimation (ie. original point count), 1 leaves out every second point, 2 leaves out every second and third points, and so on">
+                <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+                  <Choice Kind="TypeFlag" Name="Integer32" />
+                </p:TypeAnnotation>
+              </Pin>
+              <Pin Id="EGWZs6NRdV7OwRsjwU2o6V" Name="Output" Kind="OutputPin" Bounds="333,525" />
+            </Patch>
+            <Patch Id="ExF726QA34jLMGJa4qzYzE" Name="Dispose" />
+            <Link Id="MrmniYDnVQULS11liycaEy" Ids="IzjaQIZYLiXQIjNswHMTSF,VfmW8W0u6BRL5UmK3sMO5R" />
+            <Link Id="CLprwhwZVqxLfOOG4AF5mg" Ids="QZxTSyRXkGzPRGAvSsgdgG,IgRrC57P7ufPJR8ngC9BQk" />
+            <Link Id="HoGpRDFbD7gQU1sDybSAEd" Ids="RkBjH8v4eYJM1guKS5yena,DrRKtrGVcA4QaXFIYt3aRK" />
+            <Link Id="HrB0Xuho0wFQXmPibTFXTe" Ids="BYNa27SGLMjNA67mZkANjI,BiHqGxc34xkNzteWXoREUW" />
+            <Link Id="OlhLiDfQJMxOyJMF5NRat5" Ids="ElBppkQGmfZMenfGbH8hwc,Gm6oLuqu6VgOa2HMKb36Ag" />
+            <Link Id="L57JDkADlMpNQTIhTrWSb9" Ids="FMyhdPdjoEXODhx5L4RvIc,EktgAOAftiTPWUTwdCkPbm" />
+          </Patch>
+        </Node>
       </Canvas>
       <!--
 
@@ -3311,7 +3422,7 @@
           <Canvas Id="U6xg91D0hGnP9U6PvWxlnz" CanvasType="Group">
             <ControlPoint Id="DuIBWhTEnLNMa6BLvSZWm3" Bounds="433,272" />
             <ControlPoint Id="Gak7SZJ8zUQLRH9mRLEFYe" Bounds="433,428" />
-            <Node Bounds="431,366,-7,19" Id="QB4TOYieiGfNYLHdaFLptg">
+            <Node Bounds="431,366,88,19" Id="QB4TOYieiGfNYLHdaFLptg">
               <p:NodeReference LastCategoryFullName="Collections" LastDependency="VL.CoreLib.vl">
                 <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
                 <Choice Kind="ProcessAppFlag" Name="HoldLatestCopy" />
@@ -11054,6 +11165,176 @@
           <Link Id="KB8qiic5yFTNTRwhlzmETf" Ids="BvZva8P5og4MWicNHmY6bn,VKI20SjvD85Mci1DIVQNAp" IsHidden="true" />
         </Patch>
       </Node>
+      <!--
+
+    ************************ PointCloudWithUV ************************
+
+-->
+      <Node Name="PointCloudWithUV" Bounds="272,820" Id="OlztXJZfJnAOL0tvfZcLTm" Summary="Returns a spread of Vector3 values representing the depth PointCloud detected by the Kinect2.">
+        <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
+          <Choice Kind="ContainerDefinition" Name="Process" />
+        </p:NodeReference>
+        <Patch Id="JoGNBmjoPlfPc0OV6lHbM5">
+          <Canvas Id="HWcjb3jE7MKNQpRu6aEwka" CanvasType="Group">
+            <ControlPoint Id="KuXPpLLcnKLNHEPOBBib1g" Bounds="433,272" />
+            <Node Bounds="431,360,88,19" Id="SWsHjYlJAQfMjelVwDMC1h">
+              <p:NodeReference LastCategoryFullName="Collections" LastDependency="VL.CoreLib.vl">
+                <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                <Choice Kind="ProcessAppFlag" Name="HoldLatestCopy" />
+                <CategoryReference Kind="Category" Name="Collections" NeedsToBeDirectParent="true" />
+              </p:NodeReference>
+              <Pin Id="HkhlaqQPe30PkWr991U15r" Name="Node Context" Kind="InputPin" IsHidden="true" />
+              <Pin Id="Aj9JGtYaPYxNU2T5LISp0s" Name="Initial Result" Kind="InputPin" IsHidden="true" />
+              <Pin Id="KSPMqCD8CPONnwM4GyAtk5" Name="Async Notifications" Kind="InputPin" />
+              <Pin Id="Shx7KbxLTCgLSpwnRGPjpN" Name="Timeout" Kind="InputPin" />
+              <Pin Id="AzeBv6OCepZMmCJVQyIl4b" Name="Reset" Kind="InputPin" />
+              <Pin Id="VSBiDDa9IQrMqB5tyC7qUi" Name="Output" Kind="OutputPin" IsHidden="true" />
+              <Pin Id="MLDAebrZp4NOSNuGbSrvI2" Name="Result" Kind="OutputPin" />
+              <Pin Id="SrvD0amHj7FMNlXgTKxwcy" Name="Swap Count" Kind="OutputPin" />
+              <Pin Id="FebnY1a8BTPPROKjteRLxm" Name="Drop Count" Kind="OutputPin" />
+            </Node>
+            <Node Bounds="431,326,98,19" Id="D33YMxy3SoPMNFtg6YvsmL">
+              <p:NodeReference LastCategoryFullName="Devices.Kinect2" LastDependency="VL.Devices.Kinect2.vl">
+                <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                <Choice Kind="ProcessAppFlag" Name="PointCloudWithUV (Reactive)" />
+              </p:NodeReference>
+              <Pin Id="T0Ezym5iX6YMVp6xLkI8lu" Name="Node Context" Kind="InputPin" IsHidden="true" />
+              <Pin Id="QJNYQTw1j89MqkJFlrZs0N" Name="Device" Kind="InputPin" />
+              <Pin Id="BshkNBy8nmSNRiZlHYaONY" Name="Minimum Z" Kind="InputPin" />
+              <Pin Id="Bo44QxC9ItvN2JAvmltim5" Name="Maximum Z" Kind="InputPin" />
+              <Pin Id="GI6uMJmh2RaOhMyz5MO8nh" Name="Decimation" Kind="InputPin" />
+              <Pin Id="M6e5ENbVBJmOhLyVdyKKHt" Name="Output" Kind="OutputPin" />
+            </Node>
+            <ControlPoint Id="J8GND87u47iPa7FVzecERv" Bounds="494,272" />
+            <ControlPoint Id="CyyyTDF4h1AO3YRxEANEYU" Bounds="570,272" />
+            <ControlPoint Id="P5tst4Y9i5aQQ4Iu0G5pJ2" Bounds="648,272" />
+            <Node Bounds="358,415,172,118" Id="QNcUVjzGVdTLszaYnShVEE">
+              <p:NodeReference LastCategoryFullName="Primitive" LastDependency="Builtin">
+                <Choice Kind="StatefulRegion" Name="Region (Stateful)" Fixed="true" />
+                <CategoryReference Kind="Category" Name="Primitive" />
+                <Choice Kind="ApplicationStatefulRegion" Name="ForEach" />
+              </p:NodeReference>
+              <Pin Id="CgIXl99l5K0OPpcm66FdXn" Name="Break" Kind="OutputPin" />
+              <Patch Id="Eer7qkecplyPQr4MjI727m" ManuallySortedPins="true">
+                <Patch Id="GNdZp7zVL6tMZaaPkVt9kX" Name="Create" ManuallySortedPins="true" />
+                <Patch Id="BJ9fkYq1n2iPBVuEMiEYW7" Name="Update" ManuallySortedPins="true" />
+                <Patch Id="VHMytNLZWvJL1msYHJ4StK" Name="Dispose" ManuallySortedPins="true" />
+                <Node Bounds="431,438,87,19" Id="RebBdwiAQyPNKEqyfQhKEk">
+                  <p:NodeReference LastCategoryFullName="Primitive.ValueTuple (2 Items)" LastDependency="VL.CoreLib.vl">
+                    <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                    <FullNameCategoryReference ID="Primitive.ValueTuple (2 Items)" />
+                    <Choice Kind="OperationCallFlag" Name="ValueTuple (Split)" />
+                  </p:NodeReference>
+                  <Pin Id="Jm9r7oAXdVxPF244q9xB7b" Name="Input" Kind="StateInputPin" />
+                  <Pin Id="CL09fcug4sfPC1Y53AzWLI" Name="Item 1" Kind="OutputPin" />
+                  <Pin Id="OSVvZgp12HdPsg0k5fcyoZ" Name="Item 2" Kind="OutputPin" />
+                </Node>
+                <Node Bounds="370,487,66,26" Id="HVLTBXyyrdgM9lPn2NGKBK">
+                  <p:NodeReference LastCategoryFullName="Collections.Builder.SpreadBuilder" LastDependency="VL.CoreLib.vl">
+                    <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                    <FullNameCategoryReference ID="Collections.Builder.SpreadBuilder" />
+                    <Choice Kind="OperationCallFlag" Name="Add" />
+                  </p:NodeReference>
+                  <Pin Id="SfWYN2JuBn0POiXGvpbgHt" Name="Input" Kind="StateInputPin" />
+                  <Pin Id="JOgMWmdLRLaMEqX2xFetJB" Name="Item" Kind="InputPin" />
+                  <Pin Id="Sd0PVOg0j7XLwmjd4akLZM" Name="Output" Kind="StateOutputPin" />
+                </Node>
+                <Node Bounds="452,487,66,26" Id="OVmis6ejtZDOYjqNkOqPhU">
+                  <p:NodeReference LastCategoryFullName="Collections.Builder.SpreadBuilder" LastDependency="VL.CoreLib.vl">
+                    <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                    <FullNameCategoryReference ID="Collections.Builder.SpreadBuilder" />
+                    <Choice Kind="OperationCallFlag" Name="Add" />
+                  </p:NodeReference>
+                  <Pin Id="RxfaP6U47quNQj0v7R1gB1" Name="Input" Kind="StateInputPin" />
+                  <Pin Id="DPXp1B3xsAXLjmbOMiQq7b" Name="Item" Kind="InputPin" />
+                  <Pin Id="H0kqM7H5minPDhJqJGTSzA" Name="Output" Kind="StateOutputPin" />
+                </Node>
+              </Patch>
+              <ControlPoint Id="EHcJPk0IUuUONn4ALEws92" Bounds="433,421" Alignment="Top" />
+            </Node>
+            <Pad Id="OQKPyISbLT9MZRIuKFPGYS" SlotId="RoOgqLtZSgcLZdGwgTdTeF" Bounds="191,326" />
+            <Pad Id="R5R3rwJKvhQOMFSrpg2EMc" SlotId="A6VPIkkSSyzP0Knh2ImnzH" Bounds="294,327" />
+            <Node Bounds="189,237,66,26" Id="KtzLZ5kIY7CN7NVQo1Z4mL">
+              <p:NodeReference LastCategoryFullName="Collections.Builder.SpreadBuilder" LastDependency="VL.CoreLib.vl">
+                <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                <CategoryReference Kind="ClassType" Name="SpreadBuilder" />
+                <Choice Kind="OperationCallFlag" Name="Create" />
+              </p:NodeReference>
+              <Pin Id="T22FQghdhM1Qbqu6Is2mUw" Name="Node Context" Kind="InputPin" IsHidden="true" />
+              <Pin Id="AiEazirJwXROXAWahVtuFe" Name="Capacity" Kind="InputPin" />
+              <Pin Id="FYPKF6Na53PMxsJuXV8UNx" Name="Output" Kind="StateOutputPin" />
+            </Node>
+            <Node Bounds="292,237,66,26" Id="GaiNzjXcC9CNLjdGaxn5LH">
+              <p:NodeReference LastCategoryFullName="Collections.Builder.SpreadBuilder" LastDependency="VL.CoreLib.vl">
+                <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                <CategoryReference Kind="ClassType" Name="SpreadBuilder" />
+                <Choice Kind="OperationCallFlag" Name="Create" />
+              </p:NodeReference>
+              <Pin Id="OGHVWi3Fx7sLOKpEMs3N1v" Name="Node Context" Kind="InputPin" IsHidden="true" />
+              <Pin Id="IQWIWbkumf5PLoCSW4SF0v" Name="Capacity" Kind="InputPin" />
+              <Pin Id="CKG5YIZttH4MjJFbQDfjBK" Name="Output" Kind="StateOutputPin" />
+            </Node>
+            <Node Bounds="189,347,66,26" Id="TxERJo8cZZ8LtCUq606ung">
+              <p:NodeReference LastCategoryFullName="Collections.Builder.SpreadBuilder" LastDependency="VL.CoreLib.vl">
+                <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                <FullNameCategoryReference ID="Collections.Builder.SpreadBuilder" />
+                <Choice Kind="OperationCallFlag" Name="Clear" />
+              </p:NodeReference>
+              <Pin Id="NrTmTf63WlxPXVQ22YnKar" Name="Input" Kind="StateInputPin" />
+              <Pin Id="MrazD2pL1oPMcDYgBm9GuJ" Name="Output" Kind="StateOutputPin" />
+            </Node>
+            <Node Bounds="292,347,66,26" Id="UFU5Jz2Gkp5PBf0FmnUo4g">
+              <p:NodeReference LastCategoryFullName="Collections.Builder.SpreadBuilder" LastDependency="VL.CoreLib.vl">
+                <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+                <FullNameCategoryReference ID="Collections.Builder.SpreadBuilder" />
+                <Choice Kind="OperationCallFlag" Name="Clear" />
+              </p:NodeReference>
+              <Pin Id="TY9VwYOihB0OKydc6QpdDI" Name="Input" Kind="StateInputPin" />
+              <Pin Id="OXW7llDDPHhMxFJrZOI9Zy" Name="Output" Kind="StateOutputPin" />
+            </Node>
+            <ControlPoint Id="DbsqD6h4uwnPFxQYnrW9tB" Bounds="191,588" />
+            <ControlPoint Id="SVENEOFmx0FOehCsH6sWeu" Bounds="294,591" />
+          </Canvas>
+          <Patch Id="FCRnvwQzAS8OZxws8VtZKj" Name="Create" ParticipatingElements="KtzLZ5kIY7CN7NVQo1Z4mL,GaiNzjXcC9CNLjdGaxn5LH" />
+          <Patch Id="Rd8N8TA0G4iMrEk4jDsfF4" Name="Update">
+            <Pin Id="BboRIAVUuBdMuJa7yDvpcE" Name="Device" Kind="InputPin" Bounds="282,402" />
+            <Pin Id="PKGydDZoS5GNm7tSP3qw4f" Name="Minimum Z" Kind="InputPin" Bounds="622,280" />
+            <Pin Id="LggDR56EOxOOHMvp93j1Lt" Name="Maximum Z" Kind="InputPin" Bounds="688,282" />
+            <Pin Id="BZn0YPDGJlRO7XKFvuiFsp" Name="Decimation" Kind="InputPin" Bounds="615,280" Summary="0 means no decimation (ie. original point count), 1 leaves out every second point, 2 leaves out every second and third points, and so on." />
+            <Pin Id="AU7bKnXMWoMN40mQ6Gkxf6" Name="Position" Kind="OutputPin" />
+            <Pin Id="B6tChXjdYRgOmjsdzZfUhN" Name="UV" Kind="OutputPin" />
+          </Patch>
+          <ProcessDefinition Id="U2Sq1xj90Y6L5DBUqKuuBX">
+            <Fragment Id="KH9LHqjs6GdN1MyXkoOa3d" Patch="FCRnvwQzAS8OZxws8VtZKj" Enabled="true" />
+            <Fragment Id="UI4U4PGvbDVPFwQUkDWfXu" Patch="Rd8N8TA0G4iMrEk4jDsfF4" Enabled="true" />
+          </ProcessDefinition>
+          <Link Id="GKB8KxAQeYeOB0l9jPInCX" Ids="BboRIAVUuBdMuJa7yDvpcE,KuXPpLLcnKLNHEPOBBib1g" IsHidden="true" />
+          <Link Id="OO9Oc1rKzDGPP4dXqiEbbc" Ids="KuXPpLLcnKLNHEPOBBib1g,QJNYQTw1j89MqkJFlrZs0N" />
+          <Link Id="JVVY0GYEACqNmKOQrQ6dec" Ids="J8GND87u47iPa7FVzecERv,BshkNBy8nmSNRiZlHYaONY" />
+          <Link Id="FgpkEO2TKx8QDrjhCpCHo7" Ids="PKGydDZoS5GNm7tSP3qw4f,J8GND87u47iPa7FVzecERv" IsHidden="true" />
+          <Link Id="DU0LBdclhhJPPuPnpRNdPU" Ids="CyyyTDF4h1AO3YRxEANEYU,Bo44QxC9ItvN2JAvmltim5" />
+          <Link Id="Dy5tw1IJDAoOVD32OIa8WG" Ids="LggDR56EOxOOHMvp93j1Lt,CyyyTDF4h1AO3YRxEANEYU" IsHidden="true" />
+          <Link Id="JiMTBsJbLyJM3YMmGTRFW8" Ids="P5tst4Y9i5aQQ4Iu0G5pJ2,GI6uMJmh2RaOhMyz5MO8nh" />
+          <Link Id="VL6gfPwAGiWOQZOMSarz9E" Ids="BZn0YPDGJlRO7XKFvuiFsp,P5tst4Y9i5aQQ4Iu0G5pJ2" IsHidden="true" />
+          <Link Id="GIzwf3dx0BUPAkTONYBwzY" Ids="M6e5ENbVBJmOhLyVdyKKHt,KSPMqCD8CPONnwM4GyAtk5" />
+          <Link Id="G3LMQKQtcSeL1N3gJF75DQ" Ids="MLDAebrZp4NOSNuGbSrvI2,EHcJPk0IUuUONn4ALEws92" />
+          <Slot Id="RoOgqLtZSgcLZdGwgTdTeF" Name="position" />
+          <Slot Id="A6VPIkkSSyzP0Knh2ImnzH" Name="uv" />
+          <Link Id="UttDerSmf6oPb6PPTUQhfD" Ids="FYPKF6Na53PMxsJuXV8UNx,OQKPyISbLT9MZRIuKFPGYS" />
+          <Link Id="LZfHAGkVAclONWtDAd0Z8T" Ids="CKG5YIZttH4MjJFbQDfjBK,R5R3rwJKvhQOMFSrpg2EMc" />
+          <Link Id="AQYn7FAT2FrM5Fv4yMnlYE" Ids="EHcJPk0IUuUONn4ALEws92,Jm9r7oAXdVxPF244q9xB7b" />
+          <Link Id="PpxIiZf9ZznOf5jEq8PZPq" Ids="OQKPyISbLT9MZRIuKFPGYS,NrTmTf63WlxPXVQ22YnKar" />
+          <Link Id="FkvpUPpo8WaMpxahG6Js9O" Ids="R5R3rwJKvhQOMFSrpg2EMc,TY9VwYOihB0OKydc6QpdDI" />
+          <Link Id="NtBYtGBvbDQMEZjiERgBeb" Ids="MrazD2pL1oPMcDYgBm9GuJ,SfWYN2JuBn0POiXGvpbgHt" />
+          <Link Id="PxFLWOXfcZLO6QZS5DKOQv" Ids="CL09fcug4sfPC1Y53AzWLI,JOgMWmdLRLaMEqX2xFetJB" />
+          <Link Id="LYncFFArgCKOENf1UqYa2f" Ids="OXW7llDDPHhMxFJrZOI9Zy,RxfaP6U47quNQj0v7R1gB1" />
+          <Link Id="S2jTqYOMjyfNAWjmZoYcwT" Ids="OSVvZgp12HdPsg0k5fcyoZ,DPXp1B3xsAXLjmbOMiQq7b" />
+          <Link Id="IpvUBkvOAMePRaK38ZnF2S" Ids="MrazD2pL1oPMcDYgBm9GuJ,DbsqD6h4uwnPFxQYnrW9tB" />
+          <Link Id="USYp6kgGHcVNzglcvO5DRC" Ids="DbsqD6h4uwnPFxQYnrW9tB,AU7bKnXMWoMN40mQ6Gkxf6" IsHidden="true" />
+          <Link Id="Aa6dfCsMF02LYKZgPfZPr3" Ids="SVENEOFmx0FOehCsH6sWeu,B6tChXjdYRgOmjsdzZfUhN" IsHidden="true" />
+          <Link Id="DWSUXQdYy0eORsHxfxADO5" Ids="OXW7llDDPHhMxFJrZOI9Zy,SVENEOFmx0FOehCsH6sWeu" />
+        </Patch>
+      </Node>
     </Canvas>
     <!--
 
@@ -11079,12 +11360,12 @@
   <PlatformDependency Id="CJ99AqcYIMALGuFTkYA7Is" Location="./lib/net472/VL.Devices.Kinect2.dll" />
   <PlatformDependency Id="S36JEFIXXVvMre7qt6H783" Location="System" />
   <PlatformDependency Id="JMvORQOQIzrPEj9eCKbrF5" Location="System.Runtime" />
-  <NugetDependency Id="K4ICfeTj9dxLVvHqmGPgT9" Location="VL.Core" Version="2025.7.1-0114-g4ec32120e8" />
+  <NugetDependency Id="K4ICfeTj9dxLVvHqmGPgT9" Location="VL.Core" Version="2025.7.1-0142-gabf274b680" />
   <PlatformDependency Id="BUpgGtLZTuWOOQIIwQPuZE" Location="System.Runtime.InteropServices" />
-  <NugetDependency Id="K4aTqsYyX3qOyQBCvM0PDS" Location="VL.Skia" Version="2025.7.1-0114-g4ec32120e8" />
-  <NugetDependency Id="R4VFKgpnMLVNLeeooXue2t" Location="VL.EditingFramework" Version="2025.7.1-0114-g4ec32120e8" />
+  <NugetDependency Id="K4aTqsYyX3qOyQBCvM0PDS" Location="VL.Skia" Version="2025.7.1-0142-gabf274b680" />
+  <NugetDependency Id="R4VFKgpnMLVNLeeooXue2t" Location="VL.EditingFramework" Version="2025.7.1-0142-gabf274b680" />
   <NugetDependency Id="IC3JlEyjkaiOs1iFPK4qXv" Location="VL.Skia3d" Version="1.1.3" />
   <PlatformDependency Id="R1Df8fk5XcQLBf3Odk1RTt" Location="./lib/net6.0/Microsoft.Kinect.Face.dll" />
   <PlatformDependency Id="NYOrAbUxTRJQFPJgiRVbjf" Location="./lib/net6.0/Microsoft.Kinect.dll" />
-  <NugetDependency Id="HoEaqFjs6G3N3JUXpUSYOF" Location="VL.Skeleton" Version="0.0.0" />
+  <NugetDependency Id="HoEaqFjs6G3N3JUXpUSYOF" Location="VL.Skeleton" Version="0.0.5" />
 </Document>
\ No newline at end of file
diff --git a/src/PointCloud.cs b/src/PointCloud.cs
index 9a94421..7a01333 100644
--- a/src/PointCloud.cs
+++ b/src/PointCloud.cs
@@ -1,60 +1,155 @@
-using System;
-using Microsoft.Kinect;
-using Stride.Core.Mathematics;
-using VL.Lib.Collections;
-using System.Buffers;
-
-namespace VL.Devices.Kinect2
-{
-    public static class PointCloud
-    {
-        public static unsafe SpreadBuilder<Vector3> CollectPoints(
-            SpreadBuilder<Vector3> builder,
-            DepthImage image,
-            float minZ,
-            float maxZ,
-            int decimation = 2)
-        {
-            if (builder is null)
-                throw new ArgumentNullException(nameof(builder));
-            if (image is null)
-                throw new ArgumentNullException(nameof(image));
-
-            var frame = image.frame;
-            var pixelCount = frame.FrameDescription.LengthInPixels;
-
-            using (var depthBuffer = frame.LockImageBuffer())
-            using (var cameraSpacePoints = MemoryPool<CameraSpacePoint>.Shared.Rent((int)pixelCount))
-            {
-                using (var cameraSpacePointsHandle = cameraSpacePoints.Memory.Pin())
-                {
-                    var cameraSpacePointsPtr = new IntPtr(cameraSpacePointsHandle.Pointer);
-
-                    frame.DepthFrameSource.KinectSensor.CoordinateMapper.MapDepthFrameToCameraSpaceUsingIntPtr(
-                        depthBuffer.UnderlyingBuffer, depthBuffer.Size,
-                        cameraSpacePointsPtr, (uint)(pixelCount * sizeof(CameraSpacePoint)));
-                }
-
-                var step = Math.Max(1, decimation);
-                var width = image.Info.Width;
-                var height = image.Info.Height;
-
-                builder.Clear();
-
-                // The memory we got from the pool might be bigger than what we need. So let's slice it down to our expected size so we get index out of bounds checks.
-                var csps = cameraSpacePoints.Memory.Span.Slice(0, (int)pixelCount);
-                for (int y = 0; y < height; y += step)
-                {
-                    var r = y * width;
-                    for (int x = 0; x < width; x += step)
-                    {
-                        var csp = csps[r + x];
-                        if (csp.Z > minZ && csp.Z < maxZ)
-                            builder.Add(new Vector3(csp.X, csp.Y, csp.Z));
-                    }
-                }
-                return builder;
-            }
-        }
-    }
-}
+using System;
+using Microsoft.Kinect;
+using Stride.Core.Mathematics;
+using VL.Lib.Collections;
+using System.Buffers;
+using System.Runtime.InteropServices;
+
+namespace VL.Devices.Kinect2
+{
+    public static class PointCloud
+    {
+        public static unsafe SpreadBuilder<Vector3> CollectPoints(
+            SpreadBuilder<Vector3> builder,
+            DepthImage image,
+            float minZ,
+            float maxZ,
+            int decimation = 2)
+        {
+            if (builder is null)
+                throw new ArgumentNullException(nameof(builder));
+            if (image is null)
+                throw new ArgumentNullException(nameof(image));
+
+            var frame = image.frame;
+            var pixelCount = frame.FrameDescription.LengthInPixels;
+
+            using (var depthBuffer = frame.LockImageBuffer())
+            using (var cameraSpacePoints = MemoryPool<CameraSpacePoint>.Shared.Rent((int)pixelCount))
+            {
+                using (var cameraSpacePointsHandle = cameraSpacePoints.Memory.Pin())
+                {
+                    var cameraSpacePointsPtr = new IntPtr(cameraSpacePointsHandle.Pointer);
+
+                    frame.DepthFrameSource.KinectSensor.CoordinateMapper.MapDepthFrameToCameraSpaceUsingIntPtr(
+                        depthBuffer.UnderlyingBuffer, depthBuffer.Size,
+                        cameraSpacePointsPtr, (uint)(pixelCount * sizeof(CameraSpacePoint)));
+                }
+
+                var step = Math.Max(1, decimation);
+                var width = image.Info.Width;
+                var height = image.Info.Height;
+
+                builder.Clear();
+
+                // The memory we got from the pool might be bigger than what we need. So let's slice it down to our expected size so we get index out of bounds checks.
+                var csps = cameraSpacePoints.Memory.Span.Slice(0, (int)pixelCount);
+                for (int y = 0; y < height; y += step)
+                {
+                    var r = y * width;
+                    for (int x = 0; x < width; x += step)
+                    {
+                        var csp = csps[r + x];
+                        if (csp.Z > minZ && csp.Z < maxZ)
+                            builder.Add(new Vector3(csp.X, csp.Y, csp.Z));
+                    }
+                }
+                return builder;
+            }
+        }
+
+        // Tuple builder version - compatible with Observable pattern and HoldLatestCopy
+        public static unsafe SpreadBuilder<(Vector3 position, Vector2 uv)> CollectPointsWithUV(
+            SpreadBuilder<(Vector3 position, Vector2 uv)> builder,
+            DepthImage depth,
+            float minZ,
+            float maxZ,
+            int decimation = 2)
+        {
+            if (builder is null)
+                throw new ArgumentNullException(nameof(builder));
+            if (depth is null)
+                throw new ArgumentNullException(nameof(depth));
+
+            var frame = depth.frame;
+            var pixelCount = frame.FrameDescription.LengthInPixels;
+
+            // Get color frame dimensions dynamically
+            var sensor = frame.DepthFrameSource.KinectSensor;
+            var colorFrameDesc = sensor.ColorFrameSource.FrameDescription;
+            int colorW = colorFrameDesc.Width;
+            int colorH = colorFrameDesc.Height;
+
+            using (var depthBuffer = frame.LockImageBuffer())
+            using (var cameraSpacePoints = MemoryPool<CameraSpacePoint>.Shared.Rent((int)pixelCount))
+            using (var colorSpacePoints = MemoryPool<ColorSpacePoint>.Shared.Rent((int)pixelCount))
+            {
+                // Map to camera space
+                using (var cameraSpacePointsHandle = cameraSpacePoints.Memory.Pin())
+                {
+                    var cameraSpacePointsPtr = new IntPtr(cameraSpacePointsHandle.Pointer);
+
+                    frame.DepthFrameSource.KinectSensor.CoordinateMapper.MapDepthFrameToCameraSpaceUsingIntPtr(
+                        depthBuffer.UnderlyingBuffer, depthBuffer.Size,
+                        cameraSpacePointsPtr, (uint)(pixelCount * sizeof(CameraSpacePoint)));
+                }
+
+                // Map to color space
+                using (var colorSpacePointsHandle = colorSpacePoints.Memory.Pin())
+                {
+                    var colorSpacePointsPtr = new IntPtr(colorSpacePointsHandle.Pointer);
+
+                    frame.DepthFrameSource.KinectSensor.CoordinateMapper.MapDepthFrameToColorSpaceUsingIntPtr(
+                        depthBuffer.UnderlyingBuffer, depthBuffer.Size,
+                        colorSpacePointsPtr, (uint)(pixelCount * sizeof(ColorSpacePoint)));
+                }
+
+                var step = Math.Max(1, decimation);
+                var width = depth.Info.Width;
+                var height = depth.Info.Height;
+
+                builder.Clear();
+
+                // The memory we got from the pool might be bigger than what we need. So let's slice it down to our expected size so we get index out of bounds checks.
+                var camPoints = cameraSpacePoints.Memory.Span.Slice(0, (int)pixelCount);
+                var colPoints = colorSpacePoints.Memory.Span.Slice(0, (int)pixelCount);
+
+                for (int y = 0; y < height; y += step)
+                {
+                    var r = y * width;
+                    for (int x = 0; x < width; x += step)
+                    {
+                        var i = r + x;
+                        var cam = camPoints[i];
+                        
+                        // Filter by Z range
+                        if (cam.Z <= minZ || cam.Z >= maxZ)
+                            continue;
+
+                        var col = colPoints[i];
+
+                        // Validate ColorSpacePoint
+                        if (float.IsNaN(col.X) || float.IsInfinity(col.X) ||
+                            float.IsNaN(col.Y) || float.IsInfinity(col.Y) ||
+                            col.X < 0 || col.X >= colorW ||
+                            col.Y < 0 || col.Y >= colorH)
+                        {
+                            // Drop point entirely if UV is invalid (maintain synchronization)
+                            continue;
+                        }
+
+                        // Add position and UV as tuple (normalized UV coordinates 0..1)
+                        var position = new Vector3(cam.X, cam.Y, cam.Z);
+                        var uv = new Vector2(
+                            Math.Max(0f, Math.Min(1f, col.X / colorW)),
+                            Math.Max(0f, Math.Min(1f, col.Y / colorH)));
+                        builder.Add((position, uv));
+                    }
+                }
+
+                return builder;
+            }
+        }
+
+    }
+}