Using Kinect with OPENRNDR, see full article: https://medium.com/@kazikpogoda/the-limits-of-processing-and-how-i-transcend-them-with-openrndr-e6a63c5924fd

KinectDepthMap.kt

// see full article: https://medium.com/@kazikpogoda/the-limits-of-processing-and-how-i-transcend-them-with-openrndr-e6a63c5924fd
import org.openkinect.freenect.DepthFormat
import org.openkinect.freenect.Freenect
import org.openrndr.*
import org.openrndr.draw.*
import java.nio.ByteBuffer
import java.util.*
import java.util.concurrent.ConcurrentLinkedQueue

const val KINECT_WIDTH : Int = 640
const val KINECT_HEIGHT : Int = 480
const val KINECT_DEPTH_SCALE : Int = 32 // would be 64 for kinect 2

class KinectDepthMap : Program() {

    var frameQueue : Queue<ByteBuffer> = ConcurrentLinkedQueue()
    lateinit var kinectRaw: ColorBuffer
    lateinit var kinectDepth: ColorBuffer
    lateinit var kinectFilter: Filter

    override fun setup() {
        kinectRaw = colorBuffer(
                width = KINECT_WIDTH,
                height = KINECT_HEIGHT,
                format = ColorFormat.R, // no need to waste space for RGB
                type = ColorType.UINT16 // Kinect needs more than 8bit int
        )
        kinectDepth = colorBuffer(
                width = KINECT_WIDTH,
                height = KINECT_HEIGHT,
                format = ColorFormat.RGB, // just R for intermediate buffer 
                type = ColorType.FLOAT16
        )
        kinectFilter = Filter(filterShaderFromCode("""
            #version 330
            uniform sampler2D tex0;
            out vec4 o_color;
            void main() {
              ivec2 uv = ivec2(
                ${KINECT_WIDTH - 1} - int(gl_FragCoord.x),
                ${KINECT_HEIGHT - 1} - int(gl_FragCoord.y));
              float depth = texelFetch(tex0, uv, 0).r * $KINECT_DEPTH_SCALE;
              o_color = vec4(depth, depth, depth, 1);
            }
        """
        ))
        val context = Freenect.createContext()
        val kinect = context.openDevice(0)
        kinect.setDepthFormat(DepthFormat.D11BIT)
        kinect.startDepth {
            _, byteBuffer, _ -> frameQueue.offer(byteBuffer)
        }
    }

    override fun draw() {
        frameQueue.poll()?.let { buffer ->
            kinectRaw.write(buffer)
            kinectFilter.apply(kinectRaw, kinectDepth)
        }
        drawer.image(kinectDepth)
    }

}

fun main(args: Array<String>) {
    Application.run(KinectDepthMap(), configuration {
        width = KINECT_WIDTH
        height = KINECT_HEIGHT
    })
}