diff --git a/src/ofxRealSense2/Device.cpp b/src/ofxRealSense2/Device.cpp
index 0c9a166..988c65e 100644
--- a/src/ofxRealSense2/Device.cpp
+++ b/src/ofxRealSense2/Device.cpp
@@ -550,6 +550,28 @@ namespace ofxRealSense2
         return 0.0f;
     }
 
+    ofDefaultVertexType Device::getWorldPosition(int x, int y) const
+    {
+        int idx = y * this->getDepthTex().getWidth() + x;
+        if (idx < this->points.size())
+        {
+            auto vertices = this->points.get_vertices();
+            return ofDefaultVertexType(vertices[idx].x, vertices[idx].y, vertices[idx].z);
+        }
+        return ofDefaultVertexType();
+    }
+
+    ofDefaultTexCoordType Device::getTexCoord(int x, int y) const
+    {
+        int idx = y * this->getDepthTex().getWidth() + x;
+        if (idx < this->points.size())
+        {
+            auto texCoords = this->points.get_texture_coordinates();
+            return ofDefaultTexCoordType(texCoords[idx].u, texCoords[idx].v);
+        }
+        return ofDefaultTexCoordType();
+    }
+
     const rs2::device& Device::getNativeDevice() const
     {
         return this->device;
diff --git a/src/ofxRealSense2/Device.h b/src/ofxRealSense2/Device.h
index 0bbbe25..5227029 100644
--- a/src/ofxRealSense2/Device.h
+++ b/src/ofxRealSense2/Device.h
@@ -60,6 +60,8 @@ namespace ofxRealSense2
         const size_t getNumPoints() const;
 
         float getDistance(int x, int y) const;
+        ofDefaultVertexType getWorldPosition(int x, int y) const;
+        ofDefaultTexCoordType getTexCoord(int x, int y) const;
 
         const rs2::device& getNativeDevice() const;
         const rs2::pipeline& getNativePipeline() const;