Simple multi-kinect - OpenProcessing

mySketch
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// Simple multi-Kinect
// Only Kinectv1
// Using openkinect
​
import org.openkinect.freenect.*;
import org.openkinect.processing.*;
​
public int main_devicesCount;
​
KinectTracker tracker;
​
// Depth image
PImage depthImg;
int minDepth =  60;
int maxDepth = 860;
float angle;
boolean showDepthData = false;
​
void setup() {
  size(1280, 828);
  tracker = new KinectTracker(this, maxDepth, minDepth);
}
​
void draw() {
​
  background(0);
​
  fill(0);
  text("Devices count: " + main_devicesCount, width-100, 50);
  text("Pressed 'c' show, depth data.", width-100, 70);
​
  if (showDepthData) {
    tracker.ShowDepth(0, 2, 2        );
    tracker.ShowDepth(1, 2+512, 0    );
    tracker.ShowDepth(2, 2, 2+512);
    tracker.ShowDepth(3, 2+512, 2+512);
  } else {
    tracker.ShowKinect(0, 2, 2    );
    tracker.ShowKinect(1, 2+512, 2    );
    tracker.ShowKinect(2, 2, 2+512);
    tracker.ShowKinect(3, 2+512, 2+512);
  }
}
​
​
void keyPressed() {
  tracker.KeyFuct();
​
    if (key == 'c') {
      showDepthData=!showDepthData;
    }
  
}
​
​
​
​
class KinectTracker {
​
​
  int maxthreshold;
  int minthreshold;
​
  ArrayList<Kinect> multiKinect;
​
  int numDevices = 0;
  int kinectIndex = 0;
  float[] angle = new float[4];
  //PImage[] display = new PImage[4];
​
  // Depth image
  PImage depthImg;
  //PImage[] depthImg = new PImage[4];
​
  KinectTracker(PApplet pa, int maxthr, int minthr) {
​
    maxthreshold = maxthr;
    minthreshold = minthr;
​
    numDevices = Kinect.countDevices();
    main_devicesCount = numDevices;
​
    multiKinect = new ArrayList<Kinect>();
​
    for (int i  = 0; i < numDevices; i++) {
      Kinect tmpKinect = new Kinect(pa);
      tmpKinect.activateDevice(i);
      tmpKinect.initDepth();
      multiKinect.add(tmpKinect);
      angle[i] = tmpKinect.getTilt();
​
      //Kinect tmp = (Kinect) multiKinect.get(i);
      //display[i] = createImage(tmp.width, tmp.height, RGB);
​
      //depthImg[i] = new PImage(tmpKinect.width, tmpKinect.height);
      depthImg  = new PImage(tmpKinect.width, tmpKinect.height);
    }
  }
​
  public void ShowKinect(int index, float px, float py) {
​
    if (index<numDevices) {
      Kinect tmpKinect = (Kinect) multiKinect.get(index);
      image(tmpKinect.getDepthImage(), px, py, 512, 424);
    }
  }
​
  public void ShowDepth(int index, float px, float py) {
    if (index<numDevices) {
      Kinect tmpKinect = (Kinect) multiKinect.get(index);
      int[] rawDepth = tmpKinect.getRawDepth();
      for (int i=0; i < rawDepth.length; i++) {
        if (rawDepth[i] >= minDepth && rawDepth[i] <= maxDepth) {
          //depthImg[0].pixels[i] = color(255);
          depthImg.pixels[i] = color(255);
        } else {
          //depthImg[0].pixels[i] = color(0);
          depthImg.pixels[i] = color(0);
        }
      }
​
      //depthImg[0].updatePixels();
      depthImg.updatePixels();
      //image(depthImg[0], px, py, 512, 424);
      image(depthImg, px, py, 512, 424);
    }
  }
​
  public int getMaxThreshold() {
    return maxthreshold;
  }
​
  public void setMaxThreshold(int t) {
    maxthreshold =  t;
  }
​
  public int getMinThreshold() {
    return minthreshold;
  }
​
  public void setMinThreshold(int t) {
    minthreshold =  t;
  }
​
  public void KeyFuct() {
    if (key == CODED) {
​
      if (keyCode == java.awt.event.KeyEvent.VK_F1) {
        kinectIndex=0;
      } else if (keyCode == java.awt.event.KeyEvent.VK_F2) {
        kinectIndex=1;
      } else if (keyCode == java.awt.event.KeyEvent.VK_F3) {
        kinectIndex=2;
      } else if (keyCode == java.awt.event.KeyEvent.VK_F4) {
        kinectIndex=3;
      }
​
​
      if (keyCode == UP) {
        if (kinectIndex<numDevices) {
          angle[kinectIndex]++;
          angle[kinectIndex] = constrain(angle[kinectIndex], 0, 30);
          multiKinect.get(kinectIndex).setTilt(angle[kinectIndex]);
        }
      }
​
      if (keyCode == DOWN) {
        if (kinectIndex<numDevices) {
          angle[kinectIndex]--;
          angle[kinectIndex] = constrain(angle[kinectIndex], 0, 30);
          multiKinect.get(kinectIndex).setTilt(angle[kinectIndex]);
        }
      }
    }
​
    if (key == 'a') 
    {
      println("a");
      minDepth = constrain(minDepth+10, 0, maxDepth);
    } else if (key == 's') {
      println("s");
      minDepth = constrain(minDepth-10, 0, maxDepth);
    } else if (key == 'z') {
      println("z");
      maxDepth = constrain(maxDepth+10, minDepth, 2047);
    } else if (key =='x') {
      println("x");
      maxDepth = constrain(maxDepth-10, minDepth, 2047);
    }
  }
}