Get pixel locations of the joints in the depth and in the RGB images

Question

l have skeleton data of 15 joints per person. Each person is described with (X,Y,Z) coordinates.

Give that coordinates, l would like to find the pixel locations in the depth and in the RGB images.

How can l get that ?

Is there any Kinect functions (in linux) such as :

SkeletonToDepthImage()
NuiTransformSkeletonToDepthImage()
NuiTransform()