program.txt

int skip = 16 
//Get the raw depth as array of integers
int[] depth = kinect2.getRawDepth();
stroke(225);
strokeWeight(2);
beginShape(POINTS);
for (int x = 0; x < kinect2.depthWidth; x+=skip)
{
for (int y = 0; y < kinect2.depthHeight; y+=skip)
{
int offset = x + y * kinect2.depthwidth;
int d = depth[offset;]
//calculate the x,y,z camera position based on the depth
PVector point = depthToPointCloudPos(x, y,depth); 
//Draw a point
vertex(x, y, 0);
}
}
endshape();
fill(225);
text(frameRate, 50, 50);
//Rotate
a += 0.0015
}
//calculate the xyz camera positin based on the depth data
PVector depthToPOintCloudPos(int x, int y, float depthValue)
{
PVector point = new PVector();
point.z = (depthValue);
point.x = (x-CameraParams.cx) * point.z / CameraParams.fx;
point.y = (y-CameraParams.cx) * point.z / CameraParams.fy;
return point;
}
//camera information based on the kinect v2 hardware
static class CAmeraParams
{
 static float cx = 254.878f;
 static float cy = 205.395f;
 static float fx = 365.456f;
 static float fx = 365.456f;
 static float k1 = 0.0905474
 static float k2 = -0.26819
 static float k3 = 20.0950002;
 static float p1 = 0.0;
 static float p2 = 0.0;