diff --git a/orx-kinect-common/src/main/kotlin/Kinect.kt b/orx-kinect-common/src/main/kotlin/Kinect.kt
index 736686fe..ff634dd6 100644
--- a/orx-kinect-common/src/main/kotlin/Kinect.kt
+++ b/orx-kinect-common/src/main/kotlin/Kinect.kt
@@ -17,9 +17,10 @@ interface Kinects<CTX> {
     /**
      * Starts kinect device of a given number.
      *
-     * @param num the kinect device index.
-     * @throws KinectException if device of such a number does not exist,
-     *          better to count them first.
+     * @param num the kinect device index (starts with 0). If no value specified,
+     *          it will default to 0.
+     * @throws KinectException if device of such a number does not exist
+     *          (better to count them first), or it was already started.
      * @see countDevices
      */
     fun startDevice(num: Int = 0): KinectDevice<CTX>
@@ -34,15 +35,17 @@ interface Kinects<CTX> {
 /**
  * Represents specific device.
  *
- * @param <CTX> data needed to make low level kinect support calls.
+ * @param CTX type of data needed to make low level kinect support calls (e.g. freenect contexts).
  */
 interface KinectDevice<CTX> : Extension {
+
     val depthCamera: KinectDepthCamera
 
     /**
      * Executes low level Kinect commands in the kinect thread in the context of this device.
      */
     fun <T> execute(commands: (CTX) -> T): T
+
 }
 
 interface KinectCamera {
@@ -51,6 +54,19 @@ interface KinectCamera {
     val height: Int
     var mirror: Boolean
     val currentFrame: ColorBuffer
+    /**
+     * Returns the latest frame, but only once. Useful for the scenarios
+     * where each new frame triggers extra computation. Therefore the same
+     * expensive operation might happen only once, especially when the refresh
+     * rate of the target screen is higher than kinect's 30 fps.
+     * <p>
+     * Example usage:
+     * <pre>
+     * kinect.depthCamera.getLatestFrame()?.let { frame ->
+     *     grayscaleFilter.apply(frame, grayscaleBuffer)
+     * }
+     * </pre>
+     */
     fun getLatestFrame(): ColorBuffer?
 }
 
diff --git a/orx-kinect-common/src/main/kotlin/KinectImpl.kt b/orx-kinect-common/src/main/kotlin/org/openrndr/extra/kinect/impl/KinectImpl.kt
similarity index 82%
rename from orx-kinect-common/src/main/kotlin/KinectImpl.kt
rename to orx-kinect-common/src/main/kotlin/org/openrndr/extra/kinect/impl/KinectImpl.kt
index 85d3e12e..c7a0dab8 100644
--- a/orx-kinect-common/src/main/kotlin/KinectImpl.kt
+++ b/orx-kinect-common/src/main/kotlin/org/openrndr/extra/kinect/impl/KinectImpl.kt
@@ -1,7 +1,10 @@
-package org.openrndr.extra.kinect
+package org.openrndr.extra.kinect.impl
 
 import org.openrndr.Program
 import org.openrndr.draw.*
+import org.openrndr.extra.kinect.KinectDepthCamera
+import org.openrndr.extra.kinect.KinectDevice
+import org.openrndr.extra.kinect.Kinects
 import org.openrndr.math.Vector2
 import org.openrndr.resourceUrl
 import java.nio.ByteBuffer
@@ -9,8 +12,11 @@ import java.util.concurrent.atomic.AtomicReference
 import java.util.function.Supplier
 import kotlin.concurrent.thread
 
+class DefaultKinects<CTX>(
+        private val program: Program,
+        private val manager: KinectsManager<CTX>
+) : Kinects<CTX> {
 
-class DefaultKinects<CTX>(private val manager: KinectsManager<CTX>) : Kinects<CTX> {
     init {
         manager.initialize()
         // as we don't have explicit shutdown mechanism in OPENRNDR
@@ -31,10 +37,12 @@ class DefaultKinects<CTX>(private val manager: KinectsManager<CTX>) : Kinects<CT
     }
 
     override fun startDevice(num: Int): KinectDevice<CTX> {
-        return manager.startDevice(num)
+        val device = manager.startDevice(num)
+        program.extend(device)
+        return device
     }
 
-    override fun execute(commands: (CTX) -> Any): Any {
+    override fun <T> execute(commands: (CTX) -> T): T {
         return manager.execute(commands)
     }
 
@@ -44,7 +52,7 @@ interface KinectsManager<CTX> {
     fun initialize()
     fun countDevices(): Int
     fun startDevice(num: Int): KinectDevice<CTX>
-    fun execute(commands: (CTX) -> Any): Any
+    fun <T> execute(commands: (CTX) -> T): T
     fun shutdown()
 }
 
@@ -53,7 +61,7 @@ interface KinectFeatureEnabler {
 }
 
 interface KinectCommandsExecutor<CTX> {
-    fun execute(commands: (CTX) -> Any): Any
+    fun <T> execute(commands: (CTX) -> T): T
 }
 
 class DefaultKinectDevice<CTX>(
@@ -64,7 +72,8 @@ class DefaultKinectDevice<CTX>(
     override fun beforeDraw(drawer: Drawer, program: Program) {
         depthCamera.update()
     }
-    override fun execute(commands: (CTX) -> Any): Any {
+
+    override fun <T> execute(commands: (CTX) -> T): T {
         return commandsExecutor.execute(commands)
     }
 }
@@ -128,7 +137,10 @@ class DefaultKinectDepthCamera(
 }
 
 private class KinectRawDataToDepthMapper :
-        Filter(filterShaderFromUrl(resourceUrl("kinect-raw-to-depth.frag", Kinects::class.java))) {
+        Filter(filterShaderFromUrl(
+                resourceUrl("kinect-raw-to-depth.frag",
+                DefaultKinects::class.java))
+        ) {
     var depthScale: Double by parameters
     var mirror: Boolean by parameters
     var resolution: Vector2 by parameters
diff --git a/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/kinect-raw-to-depth.frag b/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/impl/kinect-raw-to-depth.frag
similarity index 100%
rename from orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/kinect-raw-to-depth.frag
rename to orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/impl/kinect-raw-to-depth.frag