This is a code from library about kinect. I would like to know how to control the depth with RGB col

// Daniel Shiffman // Kinect Point Cloud example

// https://github.com/shiffman/OpenKinect-for-Processing // http://shiffman.net/p5/kinect/

import org.openkinect.freenect.*; import org.openkinect.processing.*;

// Kinect Library object Kinect kinect;

// Angle for rotation float a = 0;

// We'll use a lookup table so that we don't have to repeat the math over and over float[] depthLookUp = new float[2048];

void setup() { // Rendering in P3D size(800, 600, P3D); kinect = new Kinect(this); kinect.initDepth();

// Lookup table for all possible depth values (0 - 2047) for (int i = 0; i < depthLookUp.length; i++) { depthLookUp[i] = rawDepthToMeters(i); } }

void draw() {

background(0);

// Get the raw depth as array of integers int[] depth = kinect.getRawDepth();

// We're just going to calculate and draw every 4th pixel (equivalent of 160x120) int skip = 4;

// Translate and rotate translate(width/2, height/2, -50); rotateY(a);

for (int x = 0; x < kinect.width; x += skip) { for (int y = 0; y < kinect.height; y += skip) { int offset = x + y*kinect.width;

  // Convert kinect data to world xyz coordinate
  int rawDepth = depth[offset];
  PVector v = depthToWorld(x, y, rawDepth);

  stroke(255);
  pushMatrix();
  // Scale up by 200
  float factor = 200;
  translate(v.x*factor, v.y*factor, factor-v.z*factor);
  // Draw a point
  point(0, 0);
  popMatrix();
}

}

// Rotate a += 0.015f; }

// These functions come from: http://graphics.stanford.edu/~mdfisher/Kinect.html float rawDepthToMeters(int depthValue) { if (depthValue < 2047) { return (float)(1.0 / ((double)(depthValue) * -0.0030711016 + 3.3309495161)); } return 0.0f; }

PVector depthToWorld(int x, int y, int depthValue) {

final double fx_d = 1.0 / 5.9421434211923247e+02; final double fy_d = 1.0 / 5.9104053696870778e+02; final double cx_d = 3.3930780975300314e+02; final double cy_d = 2.4273913761751615e+02;

PVector result = new PVector(); double depth = depthLookUp[depthValue];//rawDepthToMeters(depthValue); result.x = (float)((x - cx_d) * depth * fx_d); result.y = (float)((y - cy_d) * depth * fy_d); result.z = (float)(depth); return result; }