getPointCloudColorPos doesn't respond to threshold settings

[paraclete-pizza]

I'm experimenting with creating a colored point cloud from raw data without OpenGL. When I was just creating a normal pointcloud, I used getPointCloudDepthPos();, which could be limited by setting .setLowThresholdPC() and .setHighThresholdPC().

However, to align the color data with the cloud data, I'm using .getPointCloudColorPos(), which returns a much higher res point cloud. I was hoping by setting thresholds, I could improve performance, but this cloud doesn't respond to my setting the thresholds. Below is a screenshot. The depth cloud image shows how narrow my threshold is set, yet you can see the point cloud captures the whole room, and my FPS counter is at about 3 fps.

Should the color point cloud respond to the threshold? If not, is there a way to align color info with the cloud returns by .getPointCloudDepthPos()?

Below is the code I am working with:

import java.nio.*;

import KinectPV2.*;

KinectPV2 kinect;


int  vertLoc;

//transformations
float a = 3.1;
int zval = 700;
float scaleVal = 2.0;


//value to scale the depth point when accessing each individual point in the PC.
float scaleDepthPoint = 100.0;

//Distance Threashold
int maxD = 1200; // 4m
int minD = 700;  //  0m

//VBO buffer location in the GPU
int vertexVboId;

public void setup() {
  size(1280, 720, P3D);

  kinect = new KinectPV2(this);

  kinect.enableDepthImg(true);
  kinect.enableColorImg(true);
  kinect.enableColorPointCloud(true);
  kinect.enablePointCloud(true);

  kinect.setLowThresholdPC(minD);
  kinect.setHighThresholdPC(maxD);

  kinect.init();
print("width: " + str(kinect.WIDTHDepth));

}

public void draw() {
  background(0);

  //draw the depth capture images
  image(kinect.getColorImage(), 0, 0, 320, 240);
  image(kinect.getPointCloudDepthImage(), 320, 0, 320, 240);
     stroke(255);
     text(frameRate, 640, 10);
  //translate the scene to the center
  translate(width / 2, height / 2, zval);
  scale(scaleVal, -1 * scaleVal, scaleVal);
  rotate(a, 0.0f, 1.0f, 0.0f);

  // Threahold of the point Cloud.
  kinect.setLowThresholdPC(minD);
  kinect.setHighThresholdPC(maxD);

  //get the points in 3d space
  FloatBuffer pointCloudBuffer = kinect.getPointCloudColorPos();

//get the color for each point of the cloud Points
  FloatBuffer colorBuffer      = kinect.getColorChannelBuffer();

  // obtain XYZ the values of the point cloud
    for(int i = 0; i < kinect.WIDTHColor * kinect.HEIGHTColor; i+=50){
      float x = pointCloudBuffer.get(i*3 + 0) * scaleDepthPoint;
      float y = pointCloudBuffer.get(i*3 + 1) * scaleDepthPoint;
      float z = pointCloudBuffer.get(i*3 + 2) * scaleDepthPoint;
  //obtain the RGB values of the color buffer (rgb values out of order? bgr??)
    float b = colorBuffer.get(i*3 + 0);
      float g = colorBuffer.get(i*3 + 1);
      float r = colorBuffer.get(i*3 + 2);
      stroke(r,g,b);
    point(x, y, z);
   }
}

public void mousePressed() {
  // saveFrame();
}


public void keyPressed() {
  if (key == 'a') {
    zval +=100;
    println("Z Value "+zval);
  }
  if (key == 's') {
    zval -= 100;
    println("Z Value "+zval);
  }

  if (key == 'z') {
    scaleVal += 1;
    println("Scale scene: "+scaleVal);
  }
  if (key == 'x') {
    scaleVal -= 1;
    println("Scale scene: "+scaleVal);
  }

  if (key == 'q') {
    a += .1;
    println("rotate scene: "+ a);
  }
  if (key == 'w') {
    a -= .1;
    println("rotate scene: "+a);
  }

  if (key == '1') {
    minD += 10;
    println("Change min: "+minD);
  }

  if (key == '2') {
    minD -= 10;
    println("Change min: "+minD);
  }

  if (key == '3') {
    maxD += 10;
    println("Change max: "+maxD);
  }

  if (key == '4') {
    maxD -= 10;
    println("Change max: "+maxD);
  }

  if(key == 'c'){
    scaleDepthPoint += 1;
    println("Change Scale Depth Point: "+scaleDepthPoint);
  }

    if(key == 'v'){
    scaleDepthPoint -= 1;
    println("Change Scale Depth Point: "+scaleDepthPoint);
  }

}