Kinect Colour Tracking Issue

I've been trying to get Kinect and colour tracking together, and recently managed to get some sort of breakthrough. The code is below, but there are a still a few more issues that I found. When I placed in the size in regards to display, the kinect only seemed to capture the top-left part of the screen. Also, another issue I noticed was when I clicked on a colour to track, it seemed that the tracking was following something else (tracking was all over the screen, did not land anything). I am not exactly sure if it is due impart with the size -- but when I increased, the tracker would go off-screen too. Any help would be appreciated, thanks!

    //import processing.video.*;
    import org.openkinect.freenect.*;
    import org.openkinect.freenect2.*;
    import org.openkinect.processing.*;
    import org.openkinect.tests.*;

    // Variable for capture device
    Kinect2 kinect2;

    // A variable for the color we are searching for.
    color trackColor;

    // shows what users see
    PImage display;

    // location
    PVector loc;

    void setup() {
      size(640, 480);
      // Start off tracking for red
      trackColor = color(0, 0, 255); // blue colour
      kinect2 = new Kinect2(this);
      kinect2.initVideo();
      kinect2.initDevice();
      display = createImage(kinect2.depthWidth, kinect2.depthHeight, RGB);
      background(0);

      // setup the vectors
      loc = new PVector(0, 0);
    }

    void draw() {
      // display.updatePixels();

      display = kinect2.getVideoImage();
      image(display, 0, 0);

      display.loadPixels();

      // worldRecord and
      // XY coordinate of closest color
      float worldRecord = 750;
      int closestX = 0;
      int closestY = 0;

      // Begin loop to walk through every pixel
      for (int x = 0; x < kinect2.depthWidth; x ++ ) {
        for (int y = 0; y < kinect2.depthHeight; y ++ ) {
          int loc = x + y*kinect2.depthWidth;
          // What is current color
          color currentColor = display.pixels[loc];
          float r1 = red(currentColor);
          float g1 = green(currentColor);
          float b1 = blue(currentColor);
          float r2 = red(trackColor);
          float g2 = green(trackColor);
          float b2 = blue(trackColor);

          // Using euclidean distance to compare colors
          float d = dist(r1, g1, b1, r2, g2, b2); // We are using the dist( ) function to compare the current color with the color we are tracking.

          // If current color is more similar to tracked color than
          // closest color, save current location and current difference
          if (d < worldRecord) {
            worldRecord = d;
            closestX = x;
            closestY = y;
            display.updatePixels();
            image(display, kinect2.depthWidth, kinect2.depthHeight, 0, 0); // draw image out
          }
        }
      }

      // We only consider the color found if its color distance is less than 10.
      // This threshold of 10 is arbitrary and you can adjust this number depending on how accurate you require the tracking to be.
      if (worldRecord < 10) {
        // Draw a circle at the tracked pixel
        fill(trackColor);
        strokeWeight(4.0);
        stroke(0);
        ellipse(closestX, closestY, 16, 16);
      }
    }

    void mousePressed() {
      // Save color where the mouse is clicked in trackColor variable
      int loc = mouseX + mouseY*display.width;
      println(loc);

      trackColor = display.pixels[loc];
    }