From b7fc8918f4029d6b20634d5e5243ee831758230d Mon Sep 17 00:00:00 2001
From: Kazik Pogoda <morisil@xemantic.com>
Date: Wed, 24 Aug 2022 20:53:50 +0200
Subject: [PATCH] orx-kinect refactoring + new general orx-depth-camera (#257)

---
 .gitignore                                    |   4 +-
 README.md                                     |   1 +
 build.gradle                                  |   4 +-
 orx-color/src/commonMain/kotlin/Color.kt      |   5 +
 orx-depth-camera/build.gradle.kts             |  26 +
 .../src/commonMain/kotlin/DepthCamera.kt      |  72 +++
 orx-fx/README.md                              |  19 +
 .../kotlin/colormap/ColormapFilter.kt         |  24 +
 .../kotlin/colormap/GrayscaleColormap.kt      |  10 +
 .../colormap/SpectralZucconiColormap.kt       |  13 +
 .../kotlin/colormap/TurboColormap.kt          |  12 +
 .../glsl/colormap/grayscale-colormap.frag     |  31 +
 .../colormap/spectral-zucconi-colormap.frag   |  38 +-
 .../shaders/glsl/colormap/turbo-colormap.frag |  51 +-
 .../build.gradle.kts                          |   5 +
 .../src/main/kotlin/DepthCameraCalibrator.kt  | 267 +++++++++
 orx-jvm/orx-kinect-common/build.gradle.kts    |   3 +
 .../src/main/kotlin/Kinect.kt                 | 183 +++---
 .../openrndr/extra/kinect/impl/KinectImpl.kt  | 154 -----
 .../extra/kinect/depth-to-grayscale.frag      |   9 -
 .../extra/kinect/depth-to-raw-normalized.frag |  19 +
 .../kinect/impl/kinect-raw-to-depth.frag      |  16 -
 orx-jvm/orx-kinect-v1-demo/build.gradle.kts   |   3 +
 .../src/main/kotlin/DepthToColorMapsDemo.kt   |  73 ---
 ...seDemo.kt => Kinect1Demo01BasicUseCase.kt} |  14 +-
 .../Kinect1Demo02MotionCaptureUseCase.kt      | 111 ++++
 .../kotlin/Kinect1Demo03DepthToColorMaps.kt   |  93 +++
 .../main/kotlin/Kinect1Demo04SwitchOffLed.kt  |  31 +
 .../kotlin/Kinect1Demo05MultipleDevices.kt    |  32 +
 .../Kinect1Demo07NativeFreenectCommands.kt    |  44 ++
 .../main/kotlin/Kinect1Demo08LogLevelFlood.kt |  30 +
 .../kotlin/Kinect1Demo09RawDepthProcessing.kt |  49 ++
 .../Kinect1Demo10DepthCameraCalibration.kt    | 117 ++++
 .../src/main/kotlin/MultipleKinectsDemo.kt    |  33 -
 .../main/kotlin/NativeFreenectCommandsDemo.kt |  43 --
 .../orx-kinect-v1/src/main/kotlin/Kinect1.kt  | 562 ++++++++++++++++++
 .../orx-kinect-v1/src/main/kotlin/KinectV1.kt | 289 ---------
 .../kinect/v1/kinect1-depth-to-meters.frag    |  23 +
 settings.gradle.kts                           |   4 +-
 39 files changed, 1792 insertions(+), 725 deletions(-)
 create mode 100644 orx-color/src/commonMain/kotlin/Color.kt
 create mode 100644 orx-depth-camera/build.gradle.kts
 create mode 100644 orx-depth-camera/src/commonMain/kotlin/DepthCamera.kt
 create mode 100644 orx-fx/src/commonMain/kotlin/colormap/ColormapFilter.kt
 create mode 100644 orx-fx/src/commonMain/kotlin/colormap/GrayscaleColormap.kt
 create mode 100644 orx-fx/src/commonMain/kotlin/colormap/SpectralZucconiColormap.kt
 create mode 100644 orx-fx/src/commonMain/kotlin/colormap/TurboColormap.kt
 create mode 100644 orx-fx/src/shaders/glsl/colormap/grayscale-colormap.frag
 rename orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/depth-to-colors-zucconi6.frag => orx-fx/src/shaders/glsl/colormap/spectral-zucconi-colormap.frag (71%)
 rename orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/depth-to-colors-turbo.frag => orx-fx/src/shaders/glsl/colormap/turbo-colormap.frag (56%)
 create mode 100644 orx-jvm/orx-depth-camera-calibrator/build.gradle.kts
 create mode 100644 orx-jvm/orx-depth-camera-calibrator/src/main/kotlin/DepthCameraCalibrator.kt
 create mode 100644 orx-jvm/orx-kinect-common/build.gradle.kts
 delete mode 100644 orx-jvm/orx-kinect-common/src/main/kotlin/org/openrndr/extra/kinect/impl/KinectImpl.kt
 delete mode 100644 orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/depth-to-grayscale.frag
 create mode 100644 orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/depth-to-raw-normalized.frag
 delete mode 100644 orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/impl/kinect-raw-to-depth.frag
 delete mode 100644 orx-jvm/orx-kinect-v1-demo/src/main/kotlin/DepthToColorMapsDemo.kt
 rename orx-jvm/orx-kinect-v1-demo/src/main/kotlin/{BasicUseCaseDemo.kt => Kinect1Demo01BasicUseCase.kt} (54%)
 create mode 100644 orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo02MotionCaptureUseCase.kt
 create mode 100644 orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo03DepthToColorMaps.kt
 create mode 100644 orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo04SwitchOffLed.kt
 create mode 100644 orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo05MultipleDevices.kt
 create mode 100644 orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo07NativeFreenectCommands.kt
 create mode 100644 orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo08LogLevelFlood.kt
 create mode 100644 orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo09RawDepthProcessing.kt
 create mode 100644 orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo10DepthCameraCalibration.kt
 delete mode 100644 orx-jvm/orx-kinect-v1-demo/src/main/kotlin/MultipleKinectsDemo.kt
 delete mode 100644 orx-jvm/orx-kinect-v1-demo/src/main/kotlin/NativeFreenectCommandsDemo.kt
 create mode 100644 orx-jvm/orx-kinect-v1/src/main/kotlin/Kinect1.kt
 delete mode 100644 orx-jvm/orx-kinect-v1/src/main/kotlin/KinectV1.kt
 create mode 100644 orx-jvm/orx-kinect-v1/src/main/resources/org/openrndr/extra/kinect/v1/kinect1-depth-to-meters.frag

diff --git a/.gitignore b/.gitignore
index 225d38d4..58b9fbd7 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,4 +6,6 @@ build/
 *.iml/
 .idea/
 gradle.properties
-/ShaderError.txt
+/hs_err_pid*.log
+/gui-parameters/
+/ShaderError.glsl
diff --git a/README.md b/README.md
index 515beef7..c011557d 100644
--- a/README.md
+++ b/README.md
@@ -37,6 +37,7 @@ A growing library of assorted data structures, algorithms and utilities.
 | [`orx-temporal-blur`](orx-temporal-blur/) | Post-processing temporal-blur video effect. CPU intense, therefore not intended  for use with the `ScreenRecorder` extension or other real-time uses. |
 | [`orx-time-operators`](orx-time-operators/) | A collection of time-sensitive functions aimed at controlling raw data over-time,  such as Envelope and LFO. |
 | [`orx-timer`](orx-timer/) | Simple timer functionality providing `repeat`, to run code with a given interval and `timeOut`, to run code once after a given delay. |
+| [`orx-depth-camera`](orx-depth-camera/) | Common API for various depth cameras like Kinect 1 and 2. |
 
 ## JVM only
 
diff --git a/build.gradle b/build.gradle
index 212d7cfd..81f5ae83 100644
--- a/build.gradle
+++ b/build.gradle
@@ -35,8 +35,8 @@ def multiplatformModules = [
         "orx-shader-phrases",
         "orx-shapes",
         "orx-quadtree",
-        "orx-hash-grid"
-
+        "orx-hash-grid",
+        "orx-depth-camera"
 ]
 
 def doNotPublish = ["openrndr-demos"]
diff --git a/orx-color/src/commonMain/kotlin/Color.kt b/orx-color/src/commonMain/kotlin/Color.kt
new file mode 100644
index 00000000..91eaf885
--- /dev/null
+++ b/orx-color/src/commonMain/kotlin/Color.kt
@@ -0,0 +1,5 @@
+// keeping this file here will stop IntelliJ from showing warning in nested relative packages
+/**
+ * orx-color
+ */
+package org.openrndr.extra.color
diff --git a/orx-depth-camera/build.gradle.kts b/orx-depth-camera/build.gradle.kts
new file mode 100644
index 00000000..206c42b3
--- /dev/null
+++ b/orx-depth-camera/build.gradle.kts
@@ -0,0 +1,26 @@
+plugins {
+    kotlin("multiplatform")
+}
+
+kotlin {
+    jvm {
+        testRuns["test"].executionTask.configure {
+            useJUnitPlatform()
+        }
+    }
+    js(IR) {
+        browser()
+        nodejs()
+    }
+
+    sourceSets {
+        @Suppress("UNUSED_VARIABLE")
+        val commonMain by getting {
+            dependencies {
+                implementation(libs.openrndr.application)
+                implementation(libs.openrndr.math)
+            }
+        }
+    }
+
+}
diff --git a/orx-depth-camera/src/commonMain/kotlin/DepthCamera.kt b/orx-depth-camera/src/commonMain/kotlin/DepthCamera.kt
new file mode 100644
index 00000000..07452b88
--- /dev/null
+++ b/orx-depth-camera/src/commonMain/kotlin/DepthCamera.kt
@@ -0,0 +1,72 @@
+package org.openrndr.extra.depth.camera
+
+import org.openrndr.draw.ColorBuffer
+import org.openrndr.math.IntVector2
+
+/**
+ * Defines how pixel values encoded in depth [ColorBuffer] will be interpreted.
+ */
+enum class DepthMeasurement {
+
+    /**
+     * Raw values, but normalized to the range 0-1.
+     * Useful for debugging, because full range of captured values can be rendered
+     * as a texture. Therefore it's a default setting.
+     */
+    RAW_NORMALIZED,
+
+    /**
+     * Raw values, exactly as they are provided by the device.
+     * Note: it might imply that [ColorBuffer] of the depth camera frame
+     * is provided in integer-based format (for example in case of Kinect devices).
+     */
+    RAW,
+
+    /**
+     * Expressed in meters.
+     * It is using floating point numbers.
+     * Note: values above `1.0` will not be visible if displayed as a texture.
+     */
+    METERS,
+
+}
+
+/**
+ * General API of any depth camera.
+ */
+interface DepthCamera {
+
+    /**
+     * Current operating resolution.
+     */
+    val resolution: IntVector2
+
+    /**
+     * The units/mapping in which depth is expressed on received frames.
+     */
+    var depthMeasurement: DepthMeasurement
+
+    /**
+     * Flips source depth data image in horizontal axis (mirror).
+     */
+    var flipH: Boolean
+
+    /**
+     * Flips source depth data image in vertical axis (upside-down).
+     */
+    var flipV: Boolean
+
+    /**
+     * The most recent frame received from the depth camera.
+     */
+    val currentFrame: ColorBuffer
+
+    /**
+     * Will execute the supplied block of code with each most recent frame
+     * from the depth camera as an input.
+     *
+     * @param block the code to execute when the new frame is received.
+     */
+    fun onFrameReceived(block: (frame: ColorBuffer) -> Unit)
+
+}
diff --git a/orx-fx/README.md b/orx-fx/README.md
index c42da676..487a5da9 100644
--- a/orx-fx/README.md
+++ b/orx-fx/README.md
@@ -167,6 +167,25 @@ fun main() = application {
 }
 ```
 
+### Colormap
+
+Colormap filters operate only on the RED color channel. For example
+depth maps from
+[orx-depth-camera](https://github.com/openrndr/orx/tree/master/orx-depth-camera).
+
+They allow selection of `min` / `max` value range and applying exponential
+shaping `curve` within this range:
+
+- `GrayscaleColormap` - maps to gray tones
+- `SpectralZucconiColormap` - maps to natural light dispersion spectrum as described
+  by Alan Zucconi in the
+  [Improving the Rainbow](https://www.alanzucconi.com/2017/07/15/improving-the-rainbow/)
+  article.
+- `TurboColormap` - maps to Turbo Colormap according to
+  [Turbo, An Improved Rainbow Colormap for Visualization](https://ai.googleblog.com/2019/08/turbo-improved-rainbow-colormap-for.html)
+  by Google.
+
+
 
 <!-- __demos__ >
 # Demos
diff --git a/orx-fx/src/commonMain/kotlin/colormap/ColormapFilter.kt b/orx-fx/src/commonMain/kotlin/colormap/ColormapFilter.kt
new file mode 100644
index 00000000..81ab09ba
--- /dev/null
+++ b/orx-fx/src/commonMain/kotlin/colormap/ColormapFilter.kt
@@ -0,0 +1,24 @@
+package org.openrndr.extra.fx.colormap
+
+import org.openrndr.draw.Filter
+import org.openrndr.extra.fx.mppFilterShader
+import org.openrndr.extra.parameters.DoubleParameter
+
+abstract class ColormapFilter(code: String, name: String) : Filter(mppFilterShader(code, name)) {
+
+    @DoubleParameter(label = "min value", low = 0.0, high = 1.0, order = 0)
+    var minValue: Double by parameters
+
+    @DoubleParameter(label = "max value", low = 0.0, high = 1.0, order = 1)
+    var maxValue: Double by parameters
+
+    @DoubleParameter(label = "curve", low = 0.001, high = 10.0, order = 2)
+    var curve: Double by parameters
+
+    init {
+        minValue = 0.0
+        maxValue = 1.0
+        curve = 1.0
+    }
+
+}
diff --git a/orx-fx/src/commonMain/kotlin/colormap/GrayscaleColormap.kt b/orx-fx/src/commonMain/kotlin/colormap/GrayscaleColormap.kt
new file mode 100644
index 00000000..51289ed9
--- /dev/null
+++ b/orx-fx/src/commonMain/kotlin/colormap/GrayscaleColormap.kt
@@ -0,0 +1,10 @@
+package org.openrndr.extra.fx.colormap
+
+import org.openrndr.extra.fx.fx_grayscale_colormap
+import org.openrndr.extra.parameters.Description
+
+/**
+ * Maps values of the RED color channel to grayscale.
+ */
+@Description("grayscale colormap")
+class GrayscaleColormap : ColormapFilter(fx_grayscale_colormap, "grayscale-colormap")
diff --git a/orx-fx/src/commonMain/kotlin/colormap/SpectralZucconiColormap.kt b/orx-fx/src/commonMain/kotlin/colormap/SpectralZucconiColormap.kt
new file mode 100644
index 00000000..fcf4e963
--- /dev/null
+++ b/orx-fx/src/commonMain/kotlin/colormap/SpectralZucconiColormap.kt
@@ -0,0 +1,13 @@
+package org.openrndr.extra.fx.colormap
+
+import org.openrndr.extra.fx.fx_spectral_zucconi_colormap
+import org.openrndr.extra.parameters.Description
+
+/**
+ * Maps values of the RED color channel to natural light dispersion spectrum as described
+ * by Alan Zucconi in the
+ * [Improving the Rainbow](https://www.alanzucconi.com/2017/07/15/improving-the-rainbow/)
+ * article.
+ */
+@Description("spectral colormap")
+class SpectralZucconiColormap : ColormapFilter(fx_spectral_zucconi_colormap, "spectral-zucconi-colormap")
diff --git a/orx-fx/src/commonMain/kotlin/colormap/TurboColormap.kt b/orx-fx/src/commonMain/kotlin/colormap/TurboColormap.kt
new file mode 100644
index 00000000..8924ccfd
--- /dev/null
+++ b/orx-fx/src/commonMain/kotlin/colormap/TurboColormap.kt
@@ -0,0 +1,12 @@
+package org.openrndr.extra.fx.colormap
+
+import org.openrndr.extra.fx.fx_turbo_colormap
+import org.openrndr.extra.parameters.Description
+
+/**
+ * Maps values of the RED color channel to Turbo Colormap according to
+ * [Turbo, An Improved Rainbow Colormap for Visualization](https://ai.googleblog.com/2019/08/turbo-improved-rainbow-colormap-for.html)
+ * by Google.
+ */
+@Description("turbo colormap")
+open class TurboColormap : ColormapFilter(fx_turbo_colormap, "turbo-colormap")
diff --git a/orx-fx/src/shaders/glsl/colormap/grayscale-colormap.frag b/orx-fx/src/shaders/glsl/colormap/grayscale-colormap.frag
new file mode 100644
index 00000000..9bd502d1
--- /dev/null
+++ b/orx-fx/src/shaders/glsl/colormap/grayscale-colormap.frag
@@ -0,0 +1,31 @@
+#ifdef OR_IN_OUT
+in vec2 v_texCoord0;
+#else
+varying vec2 v_texCoord0;
+#endif
+
+uniform sampler2D   tex0;
+uniform float       minValue;
+uniform float       maxValue;
+uniform float       curve;
+
+#ifndef OR_GL_FRAGCOLOR
+out vec4 o_color;
+#endif
+
+void main() {
+    #ifndef OR_GL_TEXTURE2D
+    float red = texture(tex0, v_texCoord0).r;
+    #else
+    float red = texture2D(tex0, v_texCoord0).r;
+    #endif
+    float value = (red - minValue) / (maxValue - minValue);
+    vec3 color = vec3(pow(value, curve));
+    color *= step(value, 1.) * step(0., value);
+    vec4 result = vec4(color, 1.);
+    #ifdef OR_GL_FRAGCOLOR
+    gl_FragColor = result;
+    #else
+    o_color = result;
+    #endif
+}
diff --git a/orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/depth-to-colors-zucconi6.frag b/orx-fx/src/shaders/glsl/colormap/spectral-zucconi-colormap.frag
similarity index 71%
rename from orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/depth-to-colors-zucconi6.frag
rename to orx-fx/src/shaders/glsl/colormap/spectral-zucconi-colormap.frag
index 882e6c0c..4d7bc393 100644
--- a/orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/depth-to-colors-zucconi6.frag
+++ b/orx-fx/src/shaders/glsl/colormap/spectral-zucconi-colormap.frag
@@ -1,8 +1,3 @@
-#version 330
-
-uniform sampler2D tex0;             // kinect raw
-out     vec3 color;
-
 // Spectral Colour Schemes
 // By Alan Zucconi
 // Website: www.alanzucconi.com
@@ -19,7 +14,20 @@ out     vec3 color;
 // Read "Improving the Rainbow" for more information
 // http://www.alanzucconi.com/?p=6703
 
+#ifdef OR_IN_OUT
+in vec2 v_texCoord0;
+#else
+varying vec2 v_texCoord0;
+#endif
 
+uniform sampler2D tex0;             // kinect raw
+uniform float     minValue;
+uniform float     maxValue;
+uniform float     curve;
+
+#ifndef OR_GL_FRAGCOLOR
+out vec4 o_color;
+#endif
 
 float saturate (float x)
 {
@@ -58,11 +66,23 @@ vec3 spectral_zucconi6 (float x)
     const vec3 y2 = vec3(0.84897130, 0.88445281, 0.73949448);
 
     return
-    bump3y(c1 * (x - x1), y1) +
-    bump3y(c2 * (x - x2), y2) ;
+        bump3y(c1 * (x - x1), y1) +
+        bump3y(c2 * (x - x2), y2);
 }
 
 void main() {
-    float depth = texelFetch(tex0, ivec2(int(gl_FragCoord.x), int(gl_FragCoord.y)), 0).r;
-    color = (depth >= .999) ? vec3(0) : spectral_zucconi6(depth);
+    #ifndef OR_GL_TEXTURE2D
+    float red = texture(tex0, v_texCoord0).r;
+    #else
+    float red = texture2D(tex0, v_texCoord0).r;
+    #endif
+    float value = (red - minValue) / (maxValue - minValue);
+    vec3 color = spectral_zucconi6(pow(value, curve));
+    color *= step(value, 1.) * step(0., value);
+    vec4 result = vec4(color, 1.);
+    #ifdef OR_GL_FRAGCOLOR
+    gl_FragColor = result;
+    #else
+    o_color = result;
+    #endif
 }
diff --git a/orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/depth-to-colors-turbo.frag b/orx-fx/src/shaders/glsl/colormap/turbo-colormap.frag
similarity index 56%
rename from orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/depth-to-colors-turbo.frag
rename to orx-fx/src/shaders/glsl/colormap/turbo-colormap.frag
index 307736a1..3edb22d5 100644
--- a/orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/depth-to-colors-turbo.frag
+++ b/orx-fx/src/shaders/glsl/colormap/turbo-colormap.frag
@@ -1,12 +1,4 @@
-#version 330
-
-uniform sampler2D tex0;
-out     vec3 color;
-
-float saturate(in float x) {
-    return max(0, min(1, x));
-}
-
+// TurboColormap
 // Copyright 2019 Google LLC.
 // SPDX-License-Identifier: Apache-2.0
 
@@ -17,6 +9,25 @@ float saturate(in float x) {
 //   Colormap Design: Anton Mikhailov (mikhailov@google.com)
 //   GLSL Approximation: Ruofei Du (ruofei@google.com)
 
+#ifdef OR_IN_OUT
+in vec2 v_texCoord0;
+#else
+varying vec2 v_texCoord0;
+#endif
+
+uniform sampler2D tex0;
+uniform float     minValue;
+uniform float     maxValue;
+uniform float     curve;
+
+#ifndef OR_GL_FRAGCOLOR
+out vec4 o_color;
+#endif
+
+float saturate(in float x) {
+    return max(0, min(1, x));
+}
+
 vec3 TurboColormap(in float x) {
     const vec4 kRedVec4 = vec4(0.13572138, 4.61539260, -42.66032258, 132.13108234);
     const vec4 kGreenVec4 = vec4(0.09140261, 2.19418839, 4.84296658, -14.18503333);
@@ -29,13 +40,25 @@ vec3 TurboColormap(in float x) {
     vec4 v4 = vec4( 1.0, x, x * x, x * x * x);
     vec2 v2 = v4.zw * v4.z;
     return vec3(
-    dot(v4, kRedVec4)   + dot(v2, kRedVec2),
-    dot(v4, kGreenVec4) + dot(v2, kGreenVec2),
-    dot(v4, kBlueVec4)  + dot(v2, kBlueVec2)
+        dot(v4, kRedVec4)   + dot(v2, kRedVec2),
+        dot(v4, kGreenVec4) + dot(v2, kGreenVec2),
+        dot(v4, kBlueVec4)  + dot(v2, kBlueVec2)
     );
 }
 
 void main() {
-    float depth = texelFetch(tex0, ivec2(int(gl_FragCoord.x), int(gl_FragCoord.y)), 0).r;
-    color = (depth >= .999) ? vec3(0) : TurboColormap(depth);
+    #ifndef OR_GL_TEXTURE2D
+    float red = texture(tex0, v_texCoord0).r;
+    #else
+    float red = texture2D(tex0, v_texCoord0).r;
+    #endif
+    float value = (red - minValue) / (maxValue - minValue);
+    vec3 color = TurboColormap(pow(value, curve));
+    color *= step(value, 1.) * step(0., value);
+    vec4 result = vec4(color, 1.);
+    #ifdef OR_GL_FRAGCOLOR
+    gl_FragColor = result;
+    #else
+    o_color = result;
+    #endif
 }
diff --git a/orx-jvm/orx-depth-camera-calibrator/build.gradle.kts b/orx-jvm/orx-depth-camera-calibrator/build.gradle.kts
new file mode 100644
index 00000000..fdf14c9b
--- /dev/null
+++ b/orx-jvm/orx-depth-camera-calibrator/build.gradle.kts
@@ -0,0 +1,5 @@
+dependencies {
+    api(project(":orx-depth-camera"))
+    api(project(":orx-jvm:orx-gui"))
+    implementation(project(":orx-fx"))
+}
diff --git a/orx-jvm/orx-depth-camera-calibrator/src/main/kotlin/DepthCameraCalibrator.kt b/orx-jvm/orx-depth-camera-calibrator/src/main/kotlin/DepthCameraCalibrator.kt
new file mode 100644
index 00000000..d29487e5
--- /dev/null
+++ b/orx-jvm/orx-depth-camera-calibrator/src/main/kotlin/DepthCameraCalibrator.kt
@@ -0,0 +1,267 @@
+package org.openrndr.extra.depth.camera.calibrator
+
+import org.openrndr.*
+import org.openrndr.draw.ColorBuffer
+import org.openrndr.draw.Drawer
+import org.openrndr.draw.colorBuffer
+import org.openrndr.draw.isolated
+import org.openrndr.extra.depth.camera.DepthCamera
+import org.openrndr.extra.depth.camera.DepthMeasurement
+import org.openrndr.extra.fx.colormap.TurboColormap
+import org.openrndr.extra.gui.GUI
+import org.openrndr.extra.parameters.*
+import org.openrndr.math.IntVector2
+import org.openrndr.math.Vector2
+
+/**
+ * Depth camera calibrator extension.
+ *
+ * @param program the program using this extension, Note: normally
+ *          we would pass program in [setup], however there is a
+ *          cyclic dependency between GUI and calibrator, so some
+ *          dimensions have to be established before setup.
+ *          See Kinect1Demo10DepthCameraCalibration.kt.
+ * @param depthCameras depth cameras to calibrate.
+ */
+class DepthCameraCalibrator(
+    private val program: Program,
+    vararg depthCameras: DepthCamera
+) : Extension {
+
+    init {
+        check(depthCameras.isNotEmpty()) {
+            "depthCameras cannot be empty"
+        }
+        depthCameras.forEach {
+            check(it.depthMeasurement == DepthMeasurement.METERS) {
+                "depthCameras: calibration requires depthMeasurement of each camera to be set to METERS"
+            }
+        }
+    }
+
+    override var enabled: Boolean
+        get() = commonParameters.calibratorView
+        set(value) { commonParameters.calibratorView = value }
+
+    private val resolution = IntVector2(program.width, program.height).vector2
+
+    private val calibrations = depthCameras.map { Calibration(it) }.toList()
+
+    private val colormap = TurboColormap()
+
+    private var onCalibrationChange: (calibration: Calibration) -> Unit =
+        { _ -> } // empty on startup
+
+    override fun setup(program: Program) {
+        program.keyboard.keyDown.listen {
+            if (enabled) {
+                handleKeyDown(it)
+            }
+        }
+    }
+
+    override fun afterDraw(drawer: Drawer, program: Program) {
+        calibrations.forEach {
+            colormap.minValue = it.minDepth
+            colormap.maxValue = it.maxDepth
+            colormap.apply(it.camera.currentFrame, it.colorBuffer)
+            drawer.isolatedWithCalibration(it) {
+                image(
+                    colorBuffer = it.colorBuffer,
+                    position = it.position,
+                    width = it.width,
+                    height = it.height
+                )
+            }
+        }
+    }
+
+    fun handleKeyDown(event: KeyEvent) {
+        when(event.name) {
+            "1" -> commonParameters.allMinDepth -= CENTIMETER
+            "2" -> commonParameters.allMinDepth += CENTIMETER
+            "3" -> commonParameters.allMaxDepth -= CENTIMETER
+            "4" -> commonParameters.allMaxDepth += CENTIMETER
+        }
+        calibrations
+            .filter { it.tuneWithKeyboard }
+            .forEach {
+                when(event.key) {
+                    KEY_ARROW_LEFT -> it.offset += Direction.LEFT * OFFSET_CHANGE_SCALE
+                    KEY_ARROW_RIGHT -> it.offset += Direction.RIGHT * OFFSET_CHANGE_SCALE
+                    KEY_ARROW_UP -> it.offset += Direction.UP * OFFSET_CHANGE_SCALE
+                    KEY_ARROW_DOWN -> it.offset += Direction.DOWN * OFFSET_CHANGE_SCALE
+                }
+                when(event.name) {
+                    "-" -> it.scale -= SCALE_CHANGE
+                    "=" -> it.scale += SCALE_CHANGE
+                    "l" -> it.rotation -= ROTATION_CHANGE
+                    "r" -> it.rotation += ROTATION_CHANGE
+                    "a" -> it.minDepth -= CENTIMETER
+                    "s" -> it.minDepth += CENTIMETER
+                    "d" -> it.maxDepth -= CENTIMETER
+                    "f" -> it.maxDepth += CENTIMETER
+                }
+            }
+    }
+
+    fun addControlsTo(gui: GUI) {
+        gui.add(commonParameters)
+        calibrations.forEachIndexed { index, calibration ->
+            gui.add(calibration, label = "depth camera $index")
+        }
+    }
+
+    fun getCalibration(camera: DepthCamera): Calibration = calibrations
+        .find { it.camera === camera }
+        ?: throw IllegalArgumentException("No calibration for provided depth camera")
+
+    fun onCalibrationChange(block: (calibration: Calibration) -> Unit) {
+        onCalibrationChange = block
+        calibrations.forEach { // run on first install
+            block(it)
+        }
+    }
+
+    private val commonParameters = @Description("calibration: all depth cameras") object {
+
+        @BooleanParameter(label = "calibrator view [k]", order = 0)
+        var calibratorView: Boolean = false
+
+        @DoubleParameter(label = "min depth [1/2]", low = 0.2, high = 10.0, order = 1)
+        var allMinDepth: Double = 0.1
+            set(value) {
+                field = value
+                calibrations.forEach {
+                    it.minDepth = value
+                }
+            }
+
+        @DoubleParameter(label = "max depth [3/4]", low = 0.2, high = 10.0, order = 2)
+        var allMaxDepth: Double = 10.0
+            set(value) {
+                field = value
+                calibrations.forEach {
+                    it.maxDepth = value
+                }
+            }
+
+    }
+
+    @Suppress("unused") // used by reflection
+    inner class Calibration(
+        val camera: DepthCamera,
+        val colorBuffer: ColorBuffer = colorBuffer(
+            camera.resolution.x,
+            camera.resolution.y
+        )
+    ) {
+
+        @BooleanParameter(label = "tune with keyboard", order = 0)
+        var tuneWithKeyboard: Boolean = true
+
+        @BooleanParameter(label = "flipH", order = 1)
+        var flipH
+            get() = camera.flipH
+            set(value) { camera.flipH = value }
+
+        @BooleanParameter(label = "flipV", order = 2)
+        var flipV
+            get() = camera.flipV
+            set(value) { camera.flipV = value }
+
+        @XYParameter(
+            label = "offset [arrows]",
+            minX = -1.0,
+            minY = -1.0,
+            maxX = 1.0,
+            maxY = 1.0,
+            order = 3,
+            invertY = true
+        )
+        var offset: Vector2 = Vector2.ZERO
+            set(value) {
+                field = value
+                onCalibrationChange(this)
+            }
+
+        @DoubleParameter(label = "rotation [l/r]", low = -360.0, high = 360.0, order = 4)
+        var rotation: Double = 0.0
+            set(value) {
+                field = value
+                onCalibrationChange(this)
+            }
+
+        @DoubleParameter(label = "scale [+/-]", low = 0.0, high = 10.0, order = 5)
+        var scale: Double = 1.0
+            set(value) {
+                field = value
+                onCalibrationChange(this)
+            }
+
+        @DoubleParameter(label = "min depth [a/s]", low = 0.0, high = 10.0, order = 6)
+        var minDepth: Double = 0.2
+            set(value) {
+                field = value
+                onCalibrationChange(this)
+            }
+
+        @DoubleParameter(label = "max depth [d/f]", low = 0.0, high = 10.0, order = 7)
+        var maxDepth: Double = 10.0
+            set(value) {
+                field = value
+                onCalibrationChange(this)
+            }
+
+        @ActionParameter(label = "reset", order = 8)
+        fun reset() {
+            offset = Vector2.ZERO
+            rotation = 0.0
+            scale = 1.0
+            minDepth = 0.2
+            maxDepth = 10.0
+        }
+
+        val width: Double =
+            camera.resolution.x * resolution.y /
+                    camera.resolution.y
+
+        val height: Double = resolution.y
+
+        val position: Vector2 =
+            -(resolution - Vector2(resolution.x - width, 0.0)) / 2.0
+
+    }
+
+}
+
+fun Drawer.isolatedWithCalibration(
+    calibration: DepthCameraCalibrator.Calibration,
+    block: Drawer.() -> Unit
+) {
+    this.isolated {
+        translate(
+            IntVector2(width, height).vector2 / 2.0
+                    + calibration.offset * Vector2(1.0, -1.0) * height.toDouble()
+        )
+        rotate(calibration.rotation)
+        scale(calibration.scale)
+        block()
+    }
+}
+
+enum class Direction(val vector: Vector2) {
+    LEFT(Vector2(-1.0, 0.0)),
+    RIGHT(Vector2(1.0, 0.0)),
+    UP(Vector2(0.0, 1.0)),
+    DOWN(Vector2(0.0, -1.0));
+
+    operator fun times(scale: Double): Vector2 = this.vector * scale
+
+}
+
+private const val CENTIMETER = .01
+private const val OFFSET_CHANGE_SCALE = .001
+private const val ROTATION_CHANGE = .1
+private const val SCALE_CHANGE = .001
+
diff --git a/orx-jvm/orx-kinect-common/build.gradle.kts b/orx-jvm/orx-kinect-common/build.gradle.kts
new file mode 100644
index 00000000..83fd4f4f
--- /dev/null
+++ b/orx-jvm/orx-kinect-common/build.gradle.kts
@@ -0,0 +1,3 @@
+dependencies {
+    api(project(":orx-depth-camera"))
+}
diff --git a/orx-jvm/orx-kinect-common/src/main/kotlin/Kinect.kt b/orx-jvm/orx-kinect-common/src/main/kotlin/Kinect.kt
index a38d47dd..53ddea81 100644
--- a/orx-jvm/orx-kinect-common/src/main/kotlin/Kinect.kt
+++ b/orx-jvm/orx-kinect-common/src/main/kotlin/Kinect.kt
@@ -1,105 +1,140 @@
 package org.openrndr.extra.kinect
 
-import org.openrndr.Extension
 import org.openrndr.draw.*
+import org.openrndr.extra.depth.camera.DepthCamera
+import org.openrndr.math.IntVector2
 import org.openrndr.resourceUrl
 import java.lang.RuntimeException
+import java.net.URL
+import java.nio.ByteBuffer
+import java.nio.ByteOrder
+import kotlin.reflect.KClass
 
 /**
- * Represents all the accessible kinects handled by a specific driver (V1, V2).
- *
- * @param <CTX> data needed to make low level kinect support calls.
+ * Represents all the accessible kinects handled by a specific driver (V1, V2, etc.).
  */
-interface Kinects<CTX> {
-
-    fun countDevices(): Int
+interface Kinect {
 
     /**
-     * Starts kinect device of a given number.
+     * Lists available kinect devices.
+     */
+    fun listDevices(): List<Device.Info>
+
+    /**
+     * Opens kinect device of a given index.
      *
-     * @param num the kinect device index (starts with 0). If no value specified,
+     * @param index 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
+     * @throws KinectException if device of such an index does not exist,
+     *          or it was already started.
+     * @see listDevices
      */
-    fun startDevice(num: Int = 0): KinectDevice<CTX>
+    fun openDevice(index: Int = 0): Device
 
     /**
-     * Executes low level Kinect commands in the kinect thread.
+     * Opens kinect device of a given serial number.
+     *
+     * @param serialNumber the kinect device serialNumber.
+     * @throws KinectException if device of such a serial number does not exist
+     *          , or it was already started.
+     * @see listDevices
      */
-    fun <T> execute(commands: (CTX) -> T) : T
+    fun openDevice(serialNumber: String): Device
+
+    /**
+     * The list of kinect devices which are already opened and haven't been closed.
+     */
+    val activeDevices: List<Device>
+
+    /**
+     * Represents physical kinect device.
+     */
+    interface Device {
+
+        /**
+         * Provides information about kinect device.
+         *
+         * Note: in implementation it can be extended with any
+         * additional information next to the serial number.
+         */
+        interface Info {
+            val serialNumber: String
+        }
+
+        val info: Info
+
+        val depthCamera: KinectDepthCamera
+
+        fun close()
+
+    }
 
 }
 
 /**
- * Represents specific device.
- *
- * @param CTX type of data needed to make low level kinect support calls (e.g. freenect contexts).
+ * Generic interface for all the kinect cameras.
  */
-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 {
+
     var enabled: Boolean
-    val width: Int
-    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?
+
 }
 
-interface KinectDepthCamera : KinectCamera {
+interface KinectDepthCamera : KinectCamera, DepthCamera {
     /* no special attributes at the moment */
 }
 
-class KinectException(msg: String) : RuntimeException(msg)
+open class KinectException(msg: String) : RuntimeException(msg)
 
-/**
- * Maps depth values to grayscale.
- */
-class DepthToGrayscaleMapper : Filter(
-        filterShaderFromUrl(resourceUrl("depth-to-grayscale.frag", Kinects::class))
-)
+fun kinectRawDepthByteBuffer(resolution: IntVector2): ByteBuffer =
+    ByteBuffer.allocateDirect(
+        resolution.x * resolution.y * 2
+    ).also {
+        it.order(ByteOrder.nativeOrder())
+    }
 
-/**
- * Maps depth values to color map according to natural light dispersion as described
- * by Alan Zucconi in the
- * <a href="https://www.alanzucconi.com/2017/07/15/improving-the-rainbow/">Improving the Rainbow</a>
- * article.
- */
-class DepthToColorsZucconi6Mapper : Filter(
-        filterShaderFromUrl(resourceUrl("depth-to-colors-zucconi6.frag", Kinects::class))
-)
+fun <T : Kinect> KClass<T>.filterFrom(resource: String, flipH: Boolean, flipV: Boolean): Filter {
+    val url = resourceUrl(resource, this)
+    val preamble =
+        (if (flipH) "#define KINECT_FLIPH\n" else "") +
+        (if (flipV) "#define KINECT_FLIPV\n" else "")
+    return Filter(
+        filterShaderFromCode(
+            "$preamble\n${URL(url).readText()}",
+            "kinect-shader: $url + flipH: $flipH, flipV: $flipV"
+        )
+    )
+}
 
-/**
- * Maps depth values to color map according to
- * <a href="https://ai.googleblog.com/2019/08/turbo-improved-rainbow-colormap-for.html">
- *     Turbo, An Improved Rainbow Colormap for Visualization
- * </a>
- * by Google.
- */
-class DepthToColorsTurboMapper : Filter(
-        filterShaderFromUrl(resourceUrl("depth-to-colors-turbo.frag", Kinects::class))
-)
+class KinectDepthMappers<T : Kinect>(resource: String, `class`: KClass<T>) {
+
+    private val flipHFalseVFalse = `class`.filterFrom(resource, flipH = false, flipV = false)
+    private val flipHFalseVTrue = `class`.filterFrom(resource, flipH = false, flipV = true)
+    private val flipHTrueVFalse = `class`.filterFrom(resource, flipH = true, flipV = false)
+    private val flipHTrueVTrue = `class`.filterFrom(resource, flipH = true, flipV = true)
+
+    fun select(flipH: Boolean, flipV: Boolean): Filter =
+        if (flipH) {
+            if (flipV) flipHTrueVTrue
+            else flipHTrueVFalse
+        } else {
+            if (flipV) flipHFalseVTrue
+            else flipHFalseVFalse
+        }
+
+    fun update(resolution: IntVector2) {
+        val resolutionXMinus1 = resolution.x - 1
+        flipHTrueVFalse.parameters["resolutionXMinus1"] = resolutionXMinus1
+        flipHTrueVTrue.parameters["resolutionXMinus1"] = resolutionXMinus1
+    }
+
+    fun forEach(block: (filter: Filter) -> Unit) {
+        block(flipHFalseVFalse)
+        block(flipHFalseVTrue)
+        block(flipHTrueVFalse)
+        block(flipHTrueVTrue)
+    }
+
+}
+
+fun depthToRawNormalizedMappers() = KinectDepthMappers("depth-to-raw-normalized.frag", Kinect::class)
diff --git a/orx-jvm/orx-kinect-common/src/main/kotlin/org/openrndr/extra/kinect/impl/KinectImpl.kt b/orx-jvm/orx-kinect-common/src/main/kotlin/org/openrndr/extra/kinect/impl/KinectImpl.kt
deleted file mode 100644
index 296bb785..00000000
--- a/orx-jvm/orx-kinect-common/src/main/kotlin/org/openrndr/extra/kinect/impl/KinectImpl.kt
+++ /dev/null
@@ -1,154 +0,0 @@
-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
-import java.util.concurrent.atomic.AtomicReference
-import java.util.function.Supplier
-
-class DefaultKinects<CTX>(
-    private val program: Program,
-    private val manager: KinectsManager<CTX>
-) : Kinects<CTX> {
-
-    private inner class Destroyer : Thread() {
-        override fun run() {
-            manager.shutdown()
-        }
-    }
-
-    init {
-        manager.initialize()
-        // as we don't have explicit shutdown mechanism in OPENRNDR
-        // we need to install a shutdown hook for now
-        Runtime.getRuntime().addShutdownHook(Destroyer())
-    }
-
-    override fun countDevices(): Int {
-        return manager.countDevices()
-    }
-
-    override fun startDevice(num: Int): KinectDevice<CTX> {
-        val device = manager.startDevice(num)
-        program.extend(device)
-        return device
-    }
-
-    override fun <T> execute(commands: (CTX) -> T): T {
-        return manager.execute(commands)
-    }
-
-}
-
-interface KinectsManager<CTX> {
-    fun initialize()
-    fun countDevices(): Int
-    fun startDevice(num: Int): KinectDevice<CTX>
-    fun <T> execute(commands: (CTX) -> T): T
-    fun shutdown()
-}
-
-interface KinectFeatureEnabler {
-    var enabled: Boolean
-}
-
-interface KinectCommandsExecutor<CTX> {
-    fun <T> execute(commands: (CTX) -> T): T
-}
-
-class DefaultKinectDevice<CTX>(
-    override val depthCamera: DefaultKinectDepthCamera,
-    private val commandsExecutor: KinectCommandsExecutor<CTX>
-) : KinectDevice<CTX> {
-    override var enabled: Boolean = true
-    override fun beforeDraw(drawer: Drawer, program: Program) {
-        depthCamera.update()
-    }
-
-    override fun <T> execute(commands: (CTX) -> T): T {
-        return commandsExecutor.execute(commands)
-    }
-}
-
-class DefaultKinectDepthCamera(
-    override val width: Int,
-    override val height: Int,
-    depthScale: Double,
-    private val enabler: KinectFeatureEnabler,
-    private val bytesSupplier: Supplier<ByteBuffer?>
-) :
-    KinectDepthCamera, UpdatableKinectCamera {
-
-    override var enabled: Boolean
-        get() = enabler.enabled
-        set(value) {
-            enabler.enabled = value
-        }
-
-    private val rawBuffer: ColorBuffer = colorBuffer(
-        width,
-        height,
-        format = ColorFormat.R,
-        type = ColorType.UINT16 // it would be perfect if we could use isampler in the shader
-    )
-    override val currentFrame: ColorBuffer = colorBuffer(
-        width,
-        height,
-        format = ColorFormat.R,
-        type = ColorType.FLOAT16 // in the future we might want to choose the precision here
-    )
-
-    private val depthMapper = KinectRawDataToDepthMapper()
-
-    init {
-        depthMapper.depthScale = depthScale
-        depthMapper.mirror = false
-        depthMapper.resolution = Vector2(width.toDouble(), height.toDouble())
-    }
-
-    private val newFrameRef = AtomicReference<ColorBuffer>()
-
-    override fun getLatestFrame(): ColorBuffer? {
-        return newFrameRef.getAndSet(null)
-    }
-
-    override fun update() {
-        if (enabled) {
-            bytesSupplier.get()?.let { bytes ->
-                rawBuffer.write(bytes)
-                depthMapper.apply(rawBuffer, currentFrame)
-                newFrameRef.set(currentFrame)
-            }
-        }
-    }
-
-    override var mirror: Boolean
-        get() = depthMapper.mirror
-        set(value) {
-            depthMapper.mirror = value
-        }
-
-}
-
-private class KinectRawDataToDepthMapper :
-    Filter(
-        filterShaderFromUrl(
-            resourceUrl(
-                "kinect-raw-to-depth.frag",
-                DefaultKinects::class
-            )
-        )
-    ) {
-    var depthScale: Double by parameters
-    var mirror: Boolean by parameters
-    var resolution: Vector2 by parameters
-}
-
-private interface UpdatableKinectCamera {
-    fun update()
-}
diff --git a/orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/depth-to-grayscale.frag b/orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/depth-to-grayscale.frag
deleted file mode 100644
index 24e40387..00000000
--- a/orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/depth-to-grayscale.frag
+++ /dev/null
@@ -1,9 +0,0 @@
-#version 330
-
-uniform sampler2D tex0;
-out     vec3 color;
-
-void main() {
-    float depth = texelFetch(tex0, ivec2(int(gl_FragCoord.x), int(gl_FragCoord.y)), 0).r;
-    color = (depth >= .999) ? vec3(0) : vec3(depth);
-}
diff --git a/orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/depth-to-raw-normalized.frag b/orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/depth-to-raw-normalized.frag
new file mode 100644
index 00000000..025ae902
--- /dev/null
+++ b/orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/depth-to-raw-normalized.frag
@@ -0,0 +1,19 @@
+#ifndef KINECT_FLIPV
+layout(origin_upper_left) in vec4 gl_FragCoord;
+#endif
+
+uniform usampler2D  tex0;             // kinect raw
+uniform float       maxDepthValue;
+#ifdef KINECT_FLIPH
+uniform int         resolutionXMinus1;
+#endif
+out     float       outDepth;         // measured in meters
+
+void main() {
+    ivec2 uv = ivec2(gl_FragCoord);
+    #ifdef KINECT_FLIPH
+    uv = ivec2(resolutionXMinus1 - uv.x, uv.y);
+    #endif
+    uint uintDepth = texelFetch(tex0, uv, 0).r;
+    outDepth = float(uintDepth) / maxDepthValue;
+}
diff --git a/orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/impl/kinect-raw-to-depth.frag b/orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/impl/kinect-raw-to-depth.frag
deleted file mode 100644
index 804078af..00000000
--- a/orx-jvm/orx-kinect-common/src/main/resources/org/openrndr/extra/kinect/impl/kinect-raw-to-depth.frag
+++ /dev/null
@@ -1,16 +0,0 @@
-#version 330
-
-uniform sampler2D tex0;             // kinect raw
-uniform vec2      resolution;       // kinect resolution
-uniform float     depthScale;       // 32 for kinect1, 64 for kinect2
-uniform bool      mirror;
-
-out     float depth;
-
-void main() {
-    ivec2 uv = ivec2(
-        mirror ? int(resolution.x) - 1 - int(gl_FragCoord.x) : int(gl_FragCoord.x),
-        int(resolution.y) - 1 - int(gl_FragCoord.y)
-    );
-    depth = texelFetch(tex0, uv, 0).r * depthScale;
-}
diff --git a/orx-jvm/orx-kinect-v1-demo/build.gradle.kts b/orx-jvm/orx-kinect-v1-demo/build.gradle.kts
index 5efeb676..5ff3ef45 100644
--- a/orx-jvm/orx-kinect-v1-demo/build.gradle.kts
+++ b/orx-jvm/orx-kinect-v1-demo/build.gradle.kts
@@ -1,5 +1,8 @@
 dependencies {
     implementation(project(":orx-jvm:orx-kinect-v1"))
+    implementation(project(":orx-jvm:orx-depth-camera-calibrator"))
+    implementation(project(":orx-fx"))
+    implementation(project(":orx-jvm:orx-gui"))
     runtimeOnly(project(":orx-jvm:orx-kinect-v1-${(gradle as ExtensionAware).extra["openrndrClassifier"]}"))
     runtimeOnly(libs.openrndr.gl3.core)
     runtimeOnly(libs.openrndr.gl3.natives)
diff --git a/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/DepthToColorMapsDemo.kt b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/DepthToColorMapsDemo.kt
deleted file mode 100644
index 150491e5..00000000
--- a/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/DepthToColorMapsDemo.kt
+++ /dev/null
@@ -1,73 +0,0 @@
-package org.openrndr.extra.kinect.v1.demo
-
-import org.openrndr.application
-import org.openrndr.draw.ColorBuffer
-import org.openrndr.draw.ColorFormat
-import org.openrndr.draw.colorBuffer
-import org.openrndr.extra.kinect.*
-import org.openrndr.extra.kinect.v1.getKinectsV1
-
-/**
- * Shows 4 different representations of the depth map.
- * <ol>
- *     <li>the original depth map stored as RED channel values</li>
- *     <li>the same values expressed as gray tones</li>
- *     <li>
- *         color map according to natural light dispersion as described
- *         by Alan Zucconi in the
- *         <a href="https://www.alanzucconi.com/2017/07/15/improving-the-rainbow/">Improving the Rainbow</a>
- *         article.
- *     </li>
- *     <li>
- *         color map according to
- *         <a href="https://ai.googleblog.com/2019/08/turbo-improved-rainbow-colormap-for.html">
- *             Turbo, An Improved Rainbow Colormap for Visualization
- *         </a>
- *         by Google.
- *     </li>
- * </ol>
- *
- * @see DepthToGrayscaleMapper
- * @see DepthToColorsZucconi6Mapper
- * @see DepthToColorsTurboMapper
- */
-fun main() = application {
-    configure {
-        width =  2 * 640
-        height = 2 * 480
-    }
-    program {
-        val kinects = getKinectsV1(this)
-        val kinect = kinects.startDevice()
-        kinect.depthCamera.enabled = true
-        kinect.depthCamera.mirror = true
-        val camera = kinect.depthCamera
-        val grayscaleFilter = DepthToGrayscaleMapper()
-        val zucconiFilter = DepthToColorsZucconi6Mapper()
-        val turboFilter = DepthToColorsTurboMapper()
-        val grayscaleBuffer = kinectColorBuffer(camera)
-        val zucconiBuffer = kinectColorBuffer(camera)
-        val turboBuffer = kinectColorBuffer(camera)
-        extend {
-            /*
-             * Note: getting the latest frame this way will guarantee
-             * that filters are being applied only if the actual new frame
-             * from kinect was received. Kinect has different refresh rate
-             * than usual screen (30 fps).
-             */
-            kinect.depthCamera.getLatestFrame()?.let { frame ->
-                grayscaleFilter.apply(frame, grayscaleBuffer)
-                zucconiFilter.apply(frame, zucconiBuffer)
-                turboFilter.apply(frame, turboBuffer)
-            }
-            drawer.image(camera.currentFrame)
-            drawer.image(grayscaleBuffer, camera.width.toDouble(), 0.0)
-            drawer.image(turboBuffer, 0.0, camera.height.toDouble())
-            drawer.image(zucconiBuffer, camera.width.toDouble(), camera.height.toDouble())
-        }
-    }
-}
-
-private fun kinectColorBuffer(camera: KinectCamera): ColorBuffer {
-    return colorBuffer(camera.width, camera.height, format = ColorFormat.RGB)
-}
\ No newline at end of file
diff --git a/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/BasicUseCaseDemo.kt b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo01BasicUseCase.kt
similarity index 54%
rename from orx-jvm/orx-kinect-v1-demo/src/main/kotlin/BasicUseCaseDemo.kt
rename to orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo01BasicUseCase.kt
index 8cca5feb..a90dd0b9 100644
--- a/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/BasicUseCaseDemo.kt
+++ b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo01BasicUseCase.kt
@@ -1,10 +1,10 @@
 package org.openrndr.extra.kinect.v1.demo
 
 import org.openrndr.application
-import org.openrndr.extra.kinect.v1.getKinectsV1
+import org.openrndr.extra.kinect.v1.Kinect1
 
 /**
- * Basic kinect use case showing continuous stream from the depth camera.
+ * Basic kinect1 use case showing continuous stream from the depth camera.
  *
  * Note: kinect depth map is stored only on the RED color channel to save
  *       space. Therefore depth map is displayed only in the red tones.
@@ -15,12 +15,12 @@ fun main() = application {
         height = 480
     }
     program {
-        val kinects = getKinectsV1(this)
-        val kinect = kinects.startDevice()
-        kinect.depthCamera.enabled = true
-        kinect.depthCamera.mirror = true
+        val kinect = extend(Kinect1())
+        val device = kinect.openDevice()
+        device.depthCamera.flipH = true // to make a mirror
+        device.depthCamera.enabled = true
         extend {
-            drawer.image(kinect.depthCamera.currentFrame)
+            drawer.image(device.depthCamera.currentFrame)
         }
     }
 }
diff --git a/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo02MotionCaptureUseCase.kt b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo02MotionCaptureUseCase.kt
new file mode 100644
index 00000000..95308cdc
--- /dev/null
+++ b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo02MotionCaptureUseCase.kt
@@ -0,0 +1,111 @@
+package org.openrndr.extra.kinect.v1.demo
+
+import org.openrndr.application
+import org.openrndr.draw.colorBuffer
+import org.openrndr.extra.depth.camera.DepthMeasurement
+import org.openrndr.extra.fx.colormap.TurboColormap
+import org.openrndr.extra.gui.GUI
+import org.openrndr.extra.kinect.v1.Kinect1
+import org.openrndr.extra.parameters.BooleanParameter
+import org.openrndr.extra.parameters.DoubleParameter
+
+/**
+ * A use case where "virtual walls" can be established within certain
+ * depth ranges. Useful for actual installations, like interactive
+ * projections in the form of a "mirror" for the human silhouette.
+ * The measurement in meters helps in calibration.
+ */
+fun main() = application {
+    configure { // default resolution of the Kinect v1 depth camera
+        width = 640
+        height = 480
+    }
+    program {
+        val kinect = extend(Kinect1())
+        val device = kinect.openDevice()
+        val camera = device.depthCamera
+        camera.flipH = true // to make a mirror
+        camera.depthMeasurement = DepthMeasurement.METERS
+        val turboColormap = TurboColormap().apply {
+            minValue = .5
+            maxValue = 5.0
+            curve = 1.0
+        }
+        val outputBuffer = colorBuffer(
+            camera.resolution.x,
+            camera.resolution.y
+        )
+
+        /*
+         * Note: the code specified in onFrameReceived  will be executed as soon as
+         * possible, also when GPU is idle.
+         *
+         * Also TurboColormap filter will be applied only after actual new frame
+         * from kinect is received instead of being applied for each
+         * program frame. Kinect has different refresh rate (30 fps) than usual
+         * display.
+         */
+        camera.onFrameReceived { frame ->
+            turboColormap.apply(frame, outputBuffer)
+        }
+        camera.enabled = true
+
+        @Suppress("unused")
+        val settings = object {
+
+            @BooleanParameter(label = "enabled", order = 0)
+            var enabled: Boolean
+                get() = camera.enabled
+                set(value) {
+                    camera.enabled = value
+                }
+
+            @BooleanParameter(label = "flipH", order = 1)
+            var flipH: Boolean
+                get() = camera.flipH
+                set(value) {
+                    camera.flipH = value
+                }
+
+            @BooleanParameter(label = "flipV", order = 2)
+            var flipV: Boolean
+                get() = camera.flipV
+                set(value) {
+                    camera.flipV = value
+                }
+
+            /*
+             Note: we could use turboColormap parameters directly in the GUI, however the
+             high range is cap to 1.0 there, and we want to use calibration in meters.
+             Increase 5.0 to something higher if you are calibrating for a bigger space.
+             */
+            @DoubleParameter(label = "min distance", order = 3, low = 0.2, high = 5.0)
+            var minDistance: Double
+                get() = turboColormap.minValue
+                set(value) {
+                    turboColormap.minValue = value
+                }
+
+            @DoubleParameter(label = "max distance", order = 4, low = 0.2, high = 5.0)
+            var maxDistance: Double
+                get() = turboColormap.maxValue
+                set(value) { turboColormap.maxValue = value }
+
+            @DoubleParameter(label = "distance curve", order = 5, low = 0.01, high = 10.0)
+            var curve: Double
+                get() = turboColormap.curve
+                set(value) {
+                    turboColormap.curve = value
+                }
+
+        }
+        extend(GUI()) {
+            persistState = false
+            compartmentsCollapsedByDefault = false
+            add(settings, label = "depth camera")
+        }
+        extend {
+            drawer.image(outputBuffer)
+        }
+    }
+}
diff --git a/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo03DepthToColorMaps.kt b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo03DepthToColorMaps.kt
new file mode 100644
index 00000000..888fe6a6
--- /dev/null
+++ b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo03DepthToColorMaps.kt
@@ -0,0 +1,93 @@
+package org.openrndr.extra.kinect.v1.demo
+
+import org.openrndr.application
+import org.openrndr.draw.ColorFormat
+import org.openrndr.draw.colorBuffer
+import org.openrndr.extra.fx.colormap.GrayscaleColormap
+import org.openrndr.extra.fx.colormap.SpectralZucconiColormap
+import org.openrndr.extra.fx.colormap.TurboColormap
+import org.openrndr.extra.gui.GUI
+import org.openrndr.extra.kinect.v1.Kinect1
+import org.openrndr.extra.parameters.BooleanParameter
+import org.openrndr.math.Vector2
+
+/**
+ * Shows 4 different color representations of the depth map:
+ *
+ * * the original depth map stored as RED channel values
+ * * the same values expressed as gray tones
+ * * zucconi6 color map according to natural light dispersion as described
+ *   by Alan Zucconi in
+ *   [Improving the Rainbow](https://www.alanzucconi.com/2017/07/15/improving-the-rainbow/)
+ *   article
+ * * turbo color map according to
+ *   [Turbo, An Improved Rainbow Colormap for Visualization](https://ai.googleblog.com/2019/08/turbo-improved-rainbow-colormap-for.html)
+ *   by Google.
+ *
+ * Note: the values are normalized in range 0-1, not in meters.
+ * @see GrayscaleColormap
+ * @see SpectralZucconiColormap
+ * @see TurboColormap
+ */
+fun main() = application {
+    val guiOffset = 200
+    configure {
+        width =  2 * 640 + guiOffset
+        height = 2 * 480
+    }
+    program {
+        val kinect = extend(Kinect1())
+        val device = kinect.openDevice()
+        val camera = device.depthCamera
+        fun outputBuffer() = colorBuffer(
+            camera.resolution.x,
+            camera.resolution.y,
+            format = ColorFormat.RGB
+        )
+        val grayscaleColormap = GrayscaleColormap()
+        val spectralZucconiColormap = SpectralZucconiColormap()
+        val turboColormap = TurboColormap()
+        val grayscaleBuffer = outputBuffer()
+        val zucconiBuffer = outputBuffer()
+        val turboBuffer = outputBuffer()
+        @Suppress("unused")
+        val settings = object {
+
+            @BooleanParameter(label = "enabled", order = 0)
+            var enabled: Boolean
+                get() = camera.enabled
+                set(value) { camera.enabled = value }
+
+            @BooleanParameter(label = "flipH", order = 1)
+            var flipH: Boolean
+                get() = camera.flipH
+                set(value) { camera.flipH = value }
+
+            @BooleanParameter(label = "flipV", order = 2)
+            var flipV: Boolean
+                get() = camera.flipV
+                set(value) { camera.flipV = value }
+
+        }
+        camera.onFrameReceived { frame ->
+            grayscaleColormap.apply(frame, grayscaleBuffer)
+            spectralZucconiColormap.apply(frame, zucconiBuffer)
+            turboColormap.apply(frame, turboBuffer)
+        }
+        camera.enabled = true
+        extend(GUI()) {
+            persistState = false
+            compartmentsCollapsedByDefault = false
+            add(settings, label = "depth camera")
+            add(grayscaleColormap)
+            add(spectralZucconiColormap)
+            add(turboColormap)
+        }
+        extend {
+            drawer.image(camera.currentFrame, guiOffset.toDouble(), 0.0)
+            drawer.image(grayscaleBuffer, guiOffset + camera.resolution.x.toDouble(), 0.0)
+            drawer.image(turboBuffer, guiOffset.toDouble(), camera.resolution.y.toDouble())
+            drawer.image(zucconiBuffer, Vector2(guiOffset.toDouble(), 0.0) + camera.resolution.vector2)
+        }
+    }
+}
diff --git a/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo04SwitchOffLed.kt b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo04SwitchOffLed.kt
new file mode 100644
index 00000000..9eff2b41
--- /dev/null
+++ b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo04SwitchOffLed.kt
@@ -0,0 +1,31 @@
+package org.openrndr.extra.kinect.v1.demo
+
+import org.bytedeco.libfreenect.global.freenect
+import org.openrndr.application
+import org.openrndr.extra.kinect.v1.Kinect1
+
+/**
+ * This demo shows how to execute freenect commands directly, either globally
+ * or on the device. In this case demo is switching off LED light completely,
+ * which might be desirable for the aesthetics of an installation,
+ * however LED turned on might be still a useful indicator during development.
+ */
+fun main() = application {
+    configure { // default resolution of the Kinect v1 depth camera
+        width = 640
+        height = 480
+    }
+    program {
+        val kinect = extend(Kinect1())
+        val device = kinect.openDevice()
+        device.executeInFreenectDeviceContext(
+            "turn off led"
+        ) { _, _, dev ->
+            freenect.freenect_set_led(dev, freenect.LED_OFF)
+        }
+        device.depthCamera.enabled = true
+        extend {
+            drawer.image(device.depthCamera.currentFrame)
+        }
+    }
+}
diff --git a/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo05MultipleDevices.kt b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo05MultipleDevices.kt
new file mode 100644
index 00000000..0efea25f
--- /dev/null
+++ b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo05MultipleDevices.kt
@@ -0,0 +1,32 @@
+package org.openrndr.extra.kinect.v1.demo
+
+import org.openrndr.application
+import org.openrndr.extra.kinect.v1.Kinect1
+
+/**
+ * Render depth data from 2 kinect1 devices side-by-side.
+ */
+fun main() = application {
+    configure {
+        width  = 640 * 2
+        height = 480
+    }
+    program {
+        val kinect = extend(Kinect1())
+        /*
+         on production system you might consider using stable kinect serial numbers,
+         instead of index numbers, to avoid reordering of devices already installed
+         in physical space.
+        */
+        val depthCamera1 = kinect.openDevice(0).depthCamera
+        val depthCamera2 = kinect.openDevice(1).depthCamera
+        depthCamera1.enabled = true
+        depthCamera1.flipH = true
+        depthCamera2.enabled = true
+        depthCamera2.flipH = true
+        extend {
+            drawer.image(depthCamera1.currentFrame)
+            drawer.image(depthCamera2.currentFrame, depthCamera1.resolution.x.toDouble(), 0.0)
+        }
+    }
+}
diff --git a/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo07NativeFreenectCommands.kt b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo07NativeFreenectCommands.kt
new file mode 100644
index 00000000..432281b0
--- /dev/null
+++ b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo07NativeFreenectCommands.kt
@@ -0,0 +1,44 @@
+package org.openrndr.extra.kinect.v1.demo
+
+import org.bytedeco.libfreenect.global.freenect
+import org.bytedeco.libfreenect.global.freenect.*
+import org.openrndr.application
+import org.openrndr.extra.kinect.v1.Kinect1
+
+/**
+ * Even though this library is abstracting freenect access, it is still
+ * possible to call any low level kinect API through execute methods.
+ * The calls are executed in separate kinect runner thread but they will
+ * block the calling thread until the result is returned.
+ */
+fun main() = application {
+    program {
+        val kinect = extend(Kinect1())
+        /*
+         Blocking version will wait for the result, specifying the name
+         makes it easier to identify this call in logs when it is finally
+         executed on kinect. Note: enabling TRACE log level is required.
+         */
+        val numberOfKinectDevices = kinect.executeInFreenectContextBlocking(
+            name = "numberOfKinectDevices"
+        ) { ctx, _ ->
+            freenect.freenect_num_devices(ctx)
+        }
+        println("numberOfKinectDevices: $numberOfKinectDevices")
+        val device = kinect.openDevice()
+        val maxTilt = 90.0
+        var tilt = 0.0
+        extend {
+            device.executeInFreenectDeviceContext("disco LED") { _, _, dev ->
+                freenect_set_led(dev, (seconds * 10).toInt() % 7) // disco
+            }
+            val newTilt = if ((seconds % 10) < 5) -maxTilt else maxTilt
+            if (tilt != newTilt) {
+                device.executeInFreenectDeviceContext("tilt change") { _, _, dev ->
+                    freenect_set_tilt_degs(dev, tilt)
+                }
+                tilt = newTilt
+            }
+        }
+    }
+}
diff --git a/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo08LogLevelFlood.kt b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo08LogLevelFlood.kt
new file mode 100644
index 00000000..48940cbe
--- /dev/null
+++ b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo08LogLevelFlood.kt
@@ -0,0 +1,30 @@
+package org.openrndr.extra.kinect.v1.demo
+
+import org.openrndr.application
+import org.openrndr.extra.kinect.v1.Kinect1
+
+/**
+ * Here you can see freenect FLOOD log level in action.
+ *
+ * Note: technically it would be possible to redirect kinect log to
+ * slf4j logger in the implementation of [Kinect1], however I removed
+ * this callback and left logs on the standard out, because it might get so noisy,
+ * that native-to-JVM round trip with conversion into [String] for JVM
+ * logging might completely kill the performance and result in
+ * stack overflow exception.
+ */
+fun main() = application {
+    configure { // default resolution of the Kinect v1 depth camera
+        width = 640
+        height = 480
+    }
+    program {
+        val kinect = extend(Kinect1())
+        kinect.logLevel = Kinect1.LogLevel.FLOOD
+        val device = kinect.openDevice()
+        device.depthCamera.enabled = true
+        extend {
+            drawer.image(device.depthCamera.currentFrame)
+        }
+    }
+}
diff --git a/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo09RawDepthProcessing.kt b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo09RawDepthProcessing.kt
new file mode 100644
index 00000000..a214e172
--- /dev/null
+++ b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo09RawDepthProcessing.kt
@@ -0,0 +1,49 @@
+package org.openrndr.extra.kinect.v1.demo
+
+import org.openrndr.application
+import org.openrndr.draw.Filter
+import org.openrndr.draw.colorBuffer
+import org.openrndr.draw.filterShaderFromCode
+import org.openrndr.extra.depth.camera.DepthMeasurement
+import org.openrndr.extra.kinect.v1.Kinect1
+
+/**
+ * It is possible to rewrite raw kinect value interpretation completely
+ * while keeping all the performance characteristics.
+ *
+ * Note: when depth measurement is set to RAW, the flip options does not apply.
+ */
+fun main() = application {
+    configure { // default resolution of the Kinect v1 depth camera
+        width = 640
+        height = 480
+    }
+    program {
+        val kinect = extend(Kinect1())
+        val device = kinect.openDevice()
+        val camera = device.depthCamera
+        camera.depthMeasurement = DepthMeasurement.RAW
+        val outputBuffer = colorBuffer(camera.resolution.x, camera.resolution.y)
+        val filter = Filter(filterShaderFromCode("""
+            layout(origin_upper_left) in vec4 gl_FragCoord;            
+            uniform usampler2D  tex0;             // kinect raw
+            out     vec4        o_color;
+
+            void main() {
+                ivec2 uv = ivec2(gl_FragCoord);
+                uint uintDepth = texelFetch(tex0, uv, 0).r;
+                float depth = float(uintDepth) / 2047.;
+                o_color = vec4(vec3(depth), 1.);
+            }
+            """.trimIndent(),
+            "raw filter")
+        )
+        camera.onFrameReceived { frame ->
+            filter.apply(frame, outputBuffer)
+        }
+        device.depthCamera.enabled = true
+        extend {
+            drawer.image(outputBuffer)
+        }
+    }
+}
diff --git a/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo10DepthCameraCalibration.kt b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo10DepthCameraCalibration.kt
new file mode 100644
index 00000000..25fa68e8
--- /dev/null
+++ b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/Kinect1Demo10DepthCameraCalibration.kt
@@ -0,0 +1,117 @@
+package org.openrndr.extra.kinect.v1.demo
+
+import org.openrndr.Fullscreen
+import org.openrndr.application
+import org.openrndr.draw.Filter
+import org.openrndr.draw.colorBuffer
+import org.openrndr.draw.filterShaderFromCode
+import org.openrndr.extra.depth.camera.DepthMeasurement
+import org.openrndr.extra.depth.camera.calibrator.DepthCameraCalibrator
+import org.openrndr.extra.depth.camera.calibrator.isolatedWithCalibration
+import org.openrndr.extra.gui.GUI
+import org.openrndr.extra.kinect.v1.Kinect1
+
+/**
+ * How to use [DepthCameraCalibrator] with [Kinect1]?
+ */
+fun main() = application {
+    configure {
+        fullscreen = Fullscreen.CURRENT_DISPLAY_MODE
+    }
+    program {
+
+        val kinect = extend(Kinect1())
+        val device = kinect.openDevice()
+        val camera = device.depthCamera
+        // depth measurement in meters is required by the calibrator
+        camera.depthMeasurement = DepthMeasurement.METERS
+        val kinectResolution = camera.resolution
+
+        val outputBuffer = colorBuffer(
+            kinectResolution.x,
+            kinectResolution.y
+        )
+
+        // simple visual effect applied to kinect data
+        val spaceRangeExtractor = SpaceRangeExtractor()
+        camera.onFrameReceived { frame ->
+            spaceRangeExtractor.apply(frame, outputBuffer)
+        }
+        val calibrator = DepthCameraCalibrator(this, camera)
+
+        val gui = GUI()
+        calibrator.addControlsTo(gui)
+
+        /*
+         Note: remember that extend(gui) has to be called after all the parameter
+         controls are added.
+
+         Also extensions are rendered in reverse order, if we start with gui,
+         it will not be covered by calibrator view when calibrator is enabled
+         */
+        extend(gui)
+
+        /*
+         if it's an interactive installation, probably we don't want to
+         show GUI on startup. It can be shown by pressing F11.
+         */
+        gui.visible = false
+
+        /*
+         Registering this callback here after gui will prevent it from
+         being triggered multiple times when GUI parameters are restored
+         on startup.
+         */
+        calibrator.onCalibrationChange { calibration ->
+            spaceRangeExtractor.minDepth = calibration.minDepth
+            spaceRangeExtractor.maxDepth = calibration.maxDepth
+        }
+        extend(calibrator)
+        camera.enabled = true
+
+        extend {
+            val calibration = calibrator.getCalibration(camera)
+            drawer.isolatedWithCalibration(calibration) {
+                image(
+                    colorBuffer = outputBuffer,
+                    position = calibration.position,
+                    width = calibration.width,
+                    height = calibration.height
+                )
+            }
+        }
+
+        // switching calibrator view on and off with keyboard
+        program.keyboard.keyDown.listen {
+            if (it.name == "k") {
+                calibrator.enabled = !calibrator.enabled
+            }
+        }
+
+    }
+
+}
+
+/**
+ * A visual effect applied to kinect data in this demonstration.
+ * Everything is black, except for the white pixels within the range
+ * of 2 virtual walls positioned at [minDepth] at front of the
+ * viewer and [maxDepth] behind the viewer.
+ */
+class SpaceRangeExtractor : Filter(filterShaderFromCode("""
+    uniform sampler2D   tex0;             // kinect raw
+    uniform float       minDepth;
+    uniform float       maxDepth;
+    out     vec4        o_color;
+    void main() {
+        ivec2 uv = ivec2(gl_FragCoord.xy);
+        float depth = texelFetch(tex0, uv, 0).r;
+        float luma = ((depth >= minDepth) && (depth <= maxDepth)) ? 1.0 : 0.0;
+        o_color = vec4(vec3(luma), 1.0);
+    }
+    """.trimIndent(),
+    "space range extractor"
+)) {
+    var minDepth: Double by parameters
+    var maxDepth: Double by parameters
+}
diff --git a/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/MultipleKinectsDemo.kt b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/MultipleKinectsDemo.kt
deleted file mode 100644
index 3239327d..00000000
--- a/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/MultipleKinectsDemo.kt
+++ /dev/null
@@ -1,33 +0,0 @@
-package org.openrndr.extra.kinect.v1.demo
-
-import org.openrndr.application
-import org.openrndr.extra.kinect.v1.getKinectsV1
-
-/**
- * Stream from 2 kinects side by side.
- */
-fun main() = application {
-    configure {
-        width  = 640 * 2
-        height = 480
-    }
-    program {
-        val kinects = getKinectsV1(this)
-        val depthCamera1 = kinects.startDevice(0).depthCamera
-        val depthCamera2 = kinects.startDevice(1).depthCamera
-        depthCamera1.enabled = true
-        depthCamera1.mirror = true
-        depthCamera2.enabled = true
-        depthCamera2.mirror = true
-        extend {
-            drawer.image(depthCamera1.currentFrame)
-            drawer.image(depthCamera2.currentFrame, depthCamera1.width.toDouble(), 0.0)
-        }
-        keyboard.keyDown.listen { keyEvent ->
-            if (keyEvent.name == "1") {depthCamera1.enabled = !depthCamera1.enabled }
-            if (keyEvent.name == "2") {depthCamera2.enabled = !depthCamera2.enabled }
-            if (keyEvent.name == "q") {depthCamera1.mirror = !depthCamera1.mirror }
-            if (keyEvent.name == "w") {depthCamera2.mirror = !depthCamera2.mirror }
-        }
-    }
-}
diff --git a/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/NativeFreenectCommandsDemo.kt b/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/NativeFreenectCommandsDemo.kt
deleted file mode 100644
index e185bb6d..00000000
--- a/orx-jvm/orx-kinect-v1-demo/src/main/kotlin/NativeFreenectCommandsDemo.kt
+++ /dev/null
@@ -1,43 +0,0 @@
-package org.openrndr.extra.kinect.v1.demo
-
-import org.bytedeco.libfreenect.global.freenect
-import org.bytedeco.libfreenect.global.freenect.*
-import org.openrndr.application
-import org.openrndr.extra.kinect.v1.getKinectsV1
-import java.lang.RuntimeException
-
-/**
- * Even though this library is abstracting freenect access, it is still
- * possible to call any low level kinect API through execute methods.
- * The calls are executed in separate kinect runner thread but they will
- * block the calling thread until the result is returned.
- */
-fun main() = application {
-    program {
-        val kinects = getKinectsV1(this)
-        // the same as calling kinects.countDevices(), here to show that any value might be returned from execute
-        val num = kinects.execute { ctx -> freenect_num_devices(ctx.fnCtx) }
-        if (num == 0) { throw RuntimeException("no kinect detected") }
-        kinects.execute { ctx ->
-            freenect_set_log_level(ctx.fnCtx, freenect.FREENECT_LOG_FLOOD) // lots of logs
-        }
-        kinects.execute { ctx ->
-            // extra FREENECT_DEVICE_MOTOR gives control over tilt and LEDs
-            freenect_select_subdevices(ctx.fnCtx, FREENECT_DEVICE_CAMERA xor FREENECT_DEVICE_MOTOR)
-        }
-        val kinect = kinects.startDevice()
-        var tilt = 90.0
-        extend {
-            kinect.execute { ctx ->
-                freenect_set_led(ctx.fnDev, (seconds * 10).toInt() % 7) // disco
-            }
-            val currentTilt = if ((seconds % 10) < 5) -90.0 else 90.0
-            if (currentTilt != tilt) {
-                kinect.execute { ctx ->
-                    freenect_set_tilt_degs(ctx.fnDev, currentTilt)
-                }
-                tilt = currentTilt
-            }
-        }
-    }
-}
diff --git a/orx-jvm/orx-kinect-v1/src/main/kotlin/Kinect1.kt b/orx-jvm/orx-kinect-v1/src/main/kotlin/Kinect1.kt
new file mode 100644
index 00000000..c71dcc82
--- /dev/null
+++ b/orx-jvm/orx-kinect-v1/src/main/kotlin/Kinect1.kt
@@ -0,0 +1,562 @@
+package org.openrndr.extra.kinect.v1
+
+import kotlinx.coroutines.Job
+import kotlinx.coroutines.flow.*
+import mu.KotlinLogging
+import org.bytedeco.javacpp.Pointer
+import org.bytedeco.libfreenect.*
+import org.bytedeco.libfreenect.global.freenect.*
+import org.openrndr.Extension
+import org.openrndr.Program
+import org.openrndr.draw.*
+import org.openrndr.extra.depth.camera.DepthMeasurement
+import org.openrndr.extra.kinect.*
+import org.openrndr.launch
+import org.openrndr.math.IntVector2
+import java.util.*
+import java.util.concurrent.*
+import kotlin.concurrent.thread
+
+class Kinect1Exception(msg: String) : KinectException(msg)
+
+class Kinect1 : Kinect, Extension {
+
+    override var enabled: Boolean = true
+
+    /**
+     * Without the delay between starting depth camera and
+     * registering depth callback, no frames are transferred
+     * at all. However this problem happens only on the first
+     * try with freshly connected kinect.
+     * Subsequent runs of the same program don't require
+     * this delay at all.
+     */
+    private var cameraInitializationDelay: Long = 100
+
+    class DeviceInfo(
+        override val serialNumber: String,
+    ) : Kinect.Device.Info {
+        override fun toString(): String {
+            return "Kinect1[$serialNumber]"
+        }
+    }
+
+    /**
+     * Log level for native freenect logging.
+     *
+     * Note: logs will appear on standard out for performance reasons.
+     *
+     * @param code the code of corresponding freenect log level.
+     * @see Kinect1.logLevel
+     */
+    @Suppress("unused")
+    enum class LogLevel(val code: Int) {
+
+        /** Crashing/non-recoverable errors. */
+        FATAL(FREENECT_LOG_FATAL),
+
+        /** Major errors. */
+        ERROR(FREENECT_LOG_ERROR),
+
+        /** Warning messages. */
+        WARNING(FREENECT_LOG_WARNING),
+
+        /** Important messages. */
+        NOTICE(FREENECT_LOG_NOTICE),
+
+        /** Log for normal messages. */
+        INFO(FREENECT_LOG_INFO),
+
+        /** Log for useful development messages. */
+        DEBUG(FREENECT_LOG_DEBUG),
+
+        /** Log for slightly less useful messages. */
+        SPEW(FREENECT_LOG_SPEW),
+
+        /** Log EVERYTHING. May slow performance. */
+        FLOOD(FREENECT_LOG_FLOOD);
+
+    }
+
+    /**
+     * Kinect native log level, defaults to `INFO`.
+     */
+    var logLevel: LogLevel
+        get() = freenect.logLevel
+        set(value) { freenect.logLevel = value }
+
+    private val logger = KotlinLogging.logger {}
+
+    private lateinit var program: Program
+
+    private lateinit var freenect: Freenect
+
+    override fun setup(program: Program) {
+        if (!enabled) { return }
+        logger.info("Starting Kinect1 support")
+        this.program = program
+        freenect = Freenect(initialLogLevel = LogLevel.INFO)
+    }
+
+    override fun listDevices(): List<DeviceInfo> = freenect.callBlocking(
+        "listDevices"
+    ) { _, _ ->
+        freenect.listDevices()
+    }
+
+    override fun openDevice(index: Int): V1Device {
+        val result = freenect.callBlocking("openDeviceByIndex") { ctx, _ ->
+            val devices = freenect.listDevices()
+            if (devices.isEmpty()) {
+                throw KinectException("No kinect devices detected, cannot open any")
+            } else if (index >= devices.size) {
+                throw KinectException("Invalid device index, number of kinect1 devices: ${devices.size}")
+            }
+            Pair(
+                openFreenectDevice(
+                    ctx,
+                    devices[index].serialNumber
+                ),
+                devices[index]
+            )
+        }
+        val device = V1Device(result.first, result.second)
+        mutableActiveDevices.add(device)
+        return device
+    }
+
+    override fun openDevice(serialNumber: String): V1Device {
+        val dev = freenect.callBlocking("openDeviceBySerial") { ctx, _ ->
+            openFreenectDevice(ctx, serialNumber)
+        }
+        val device = V1Device(dev, DeviceInfo(serialNumber))
+        mutableActiveDevices.add(device)
+        return device
+    }
+
+    private val mutableActiveDevices = LinkedList<V1Device>()
+
+    override val activeDevices: List<Kinect.Device>
+        get() = mutableActiveDevices
+
+    private fun openFreenectDevice(
+        ctx: freenect_context,
+        serialNumber: String,
+    ): freenect_device {
+        val dev = freenect_device()
+        freenect.checkReturn(
+            freenect_open_device_by_camera_serial(ctx, dev, serialNumber)
+        )
+        return dev
+    }
+
+    override fun shutdown(program: Program) {
+        if (!enabled) { return }
+        logger.info { "Shutting down Kinect1 support" }
+        logger.debug("Closing active devices, count: ${mutableActiveDevices.size}")
+        mutableActiveDevices.forEach {
+            it.close()
+        }
+        mutableActiveDevices.clear()
+        freenect.close()
+    }
+
+    @Suppress("unused")
+    fun executeInFreenectContext(
+        name: String,
+        block: (ctx: freenect_context, usbCtx: freenect_usb_context) -> Unit
+    ) {
+        freenect.call(name) { ctx, usbCtx ->
+            block(ctx, usbCtx)
+        }
+    }
+
+    fun <T> executeInFreenectContextBlocking(
+        name: String,
+        block: (ctx: freenect_context, usbCtx: freenect_usb_context) -> T
+    ): T = freenect.callBlocking(name) { ctx, usbCtx ->
+        block(ctx, usbCtx)
+    }
+
+    inner class V1Device(
+        private val dev: freenect_device,
+        override val info: DeviceInfo
+    ) : Kinect.Device {
+
+        inner class V1DepthCamera(
+            override val resolution: IntVector2,
+        ) : KinectDepthCamera {
+
+            private var firstStart = true
+            private var started = false
+
+            private var bytesFront = kinectRawDepthByteBuffer(resolution)
+            private var bytesBack = kinectRawDepthByteBuffer(resolution)
+            private val bytesFlow = MutableStateFlow(bytesBack) // the first frame will come from bytesFront
+
+            private val rawBuffer = colorBuffer(
+                resolution.x,
+                resolution.y,
+                format = ColorFormat.R,
+                type = ColorType.UINT16_INT
+            ).also {
+                it.filter(MinifyingFilter.NEAREST, MagnifyingFilter.NEAREST)
+            }
+
+            private val processedFrameBuffer = colorBuffer(
+                resolution.x,
+                resolution.y,
+                format = ColorFormat.R,
+                type = ColorType.FLOAT16 // in the future we might want to choose the precision here
+            ).also {
+                it.filter(MinifyingFilter.LINEAR, MagnifyingFilter.LINEAR)
+            }
+
+            private var mutableCurrentFrame = processedFrameBuffer
+
+            private val depthMappers = Kinect1DepthMappers().apply {
+                update(resolution)
+            }
+
+            override val currentFrame get() = mutableCurrentFrame
+
+            private var onFrameReceived: (frame: ColorBuffer) -> Unit = {}
+
+            // working on rendering thread
+            private val frameReceiverJob: Job = program.launch {
+                bytesFlow.collect { bytes ->
+                    rawBuffer.write(bytes)
+                    depthMappers.mapper?.apply(rawBuffer, processedFrameBuffer)
+                    onFrameReceived(mutableCurrentFrame)
+                }
+            }
+
+            private val freenectDepthCallback = object : freenect_depth_cb() {
+                override fun call(
+                    dev: freenect_device,
+                    depth: Pointer,
+                    timestamp: Int
+                ) {
+                    bytesFlow.tryEmit(bytesFront)
+                    val bytesTmp = bytesBack
+                    bytesBack = bytesFront
+                    bytesFront = bytesTmp
+                    freenect.checkReturn(
+                        freenect_set_depth_buffer(dev, Pointer(bytesFront))
+                    )
+                }
+            }
+
+            override var enabled: Boolean = false
+                set(value) {
+                    logger.debug { "$info.enabled = $value" }
+                    if (value == field) {
+                        logger.debug { "$info.enabled: doing nothing, already in state: $value" }
+                        return
+                    }
+                    field = value
+                    freenect.call("$info.enabled = $value") { _, _ ->
+                        if (value) start() else stop()
+                    }
+                }
+
+            override var depthMeasurement: DepthMeasurement
+                get() = depthMappers.depthMeasurement
+                set(value) {
+                    logger.debug { "$info.depthMeasurement = $value" }
+                    depthMappers.depthMeasurement = value
+                    mutableCurrentFrame =
+                        if (value == DepthMeasurement.RAW) rawBuffer
+                        else processedFrameBuffer
+                }
+
+            override var flipH: Boolean
+                get() = depthMappers.flipH
+                set(value) {
+                    logger.debug { "$info.flipH = $value" }
+                    depthMappers.flipH = value
+                }
+
+            override var flipV: Boolean
+                get() = depthMappers.flipV
+                set(value) {
+                    logger.debug { "$info.flipV = $value" }
+                    depthMappers.flipV = value
+                }
+
+            private fun start() {
+                logger.info { "$info.start()" }
+                freenect.checkReturn(freenect_set_depth_mode(
+                    dev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT))
+                )
+                freenect.checkReturn(freenect_set_depth_buffer(dev, Pointer(bytesFront)))
+                freenect.checkReturn(freenect_start_depth(dev))
+                if (firstStart) { // workaround, see comments above
+                    Thread.sleep(cameraInitializationDelay)
+                    firstStart = false
+                }
+                freenect_set_depth_callback(dev, freenectDepthCallback)
+                started = true
+                freenect.expectingEvents = true
+            }
+
+            internal fun stop() {
+                logger.info { "$info.stop()" }
+                if (started) {
+                    freenect.expectingEvents = false
+                    freenect.checkReturn(freenect_stop_depth(dev))
+                    started = false
+                } else {
+                    logger.warn { "$info.stop(): cannot stop already stopped depth camera" }
+                }
+            }
+
+            internal fun close() {
+                frameReceiverJob.cancel()
+            }
+
+            override fun onFrameReceived(block: (frame: ColorBuffer) -> Unit) {
+                onFrameReceived = block
+            }
+
+        }
+
+        override val depthCamera: V1DepthCamera = V1DepthCamera(
+            resolution = KINECT1_DEPTH_RESOLUTION
+        )
+
+        fun executeInFreenectDeviceContext(
+            name: String,
+            block: (ctx: freenect_context, usbCtx: freenect_usb_context, dev: freenect_device) -> Unit
+        ) {
+            freenect.call("$info: $name") { ctx, usbCtx ->
+                block(ctx, usbCtx, dev)
+            }
+        }
+
+        @Suppress("unused")
+        fun <T> executeInFreenectDeviceContextBlocking(
+            name: String,
+            block: (ctx: freenect_context, usbCtx: freenect_usb_context, dev: freenect_device) -> T
+        ): T = freenect.callBlocking("$info: $name") { ctx, usbCtx ->
+            block(ctx, usbCtx, dev)
+        }
+
+        override fun close() {
+            logger.info { "$info.close()" }
+            freenect.callBlocking("$info.closeDevice") { _, _ ->
+                depthCamera.stop()
+                freenect.checkReturn(freenect_close_device(dev))
+                mutableActiveDevices.remove(this)
+            }
+            depthCamera.close()
+        }
+
+    }
+
+}
+
+/**
+ * This class provides a low level API for accessing a kinect1 device.
+ * All the operations are executed in a single thread responsible for calling
+ * freenect API.
+ *
+ * @param initialLogLevel the log level to use when freenect is initialized.
+ */
+class Freenect(private val initialLogLevel: Kinect1.LogLevel) {
+
+    private val logger = KotlinLogging.logger {}
+
+    var logLevel: Kinect1.LogLevel = initialLogLevel
+        set(value) {
+            call("logLevel[$value]") { ctx, _ ->
+                freenect_set_log_level(ctx, value.code)
+            }
+            field = value
+        }
+
+    internal var expectingEvents: Boolean = false
+
+    private val ctx = freenect_context()
+
+    private val usbCtx = freenect_usb_context()
+
+    private var running: Boolean = true
+
+    private val runner = thread(name = "kinect1", start = true) {
+        logger.info("Starting Kinect1 thread")
+        checkReturn(freenect_init(ctx, usbCtx))
+        freenect_set_log_level(ctx, logLevel.code)
+        val num = checkReturn(freenect_num_devices(ctx))
+        if (num == 0) {
+            logger.warn { "Could not find any Kinect1 devices, calling openDevice() will throw exception" }
+        } else {
+            val devices = listDevices()
+            logger.info { "Kinect1 detected, device count: ${devices.size}" }
+            devices.forEachIndexed { index, info ->
+                logger.info { "  |-[$index]: ${info.serialNumber}" }
+            }
+        }
+
+        while (running) {
+            if (expectingEvents) {
+                val ret = freenect_process_events(ctx)
+                if (ret != 0) {
+                    logger.error { "freenect_process_events returned non-zero value: $ret" }
+                }
+                val tasks = freenectCallQueue.iterator()
+                for (task in tasks) {
+                    tasks.remove()
+                    task.run()
+                }
+            } else {
+                freenectCallQueue.pollFirst()?.run()
+            }
+        }
+
+        checkReturn(freenect_shutdown(ctx))
+    }
+
+    private val freenectCallQueue = LinkedBlockingDeque<FutureTask<*>>()
+
+    fun call(
+        name: String,
+        block: (
+            ctx: freenect_context,
+            usbCtx: freenect_usb_context
+        ) -> Unit
+    ) {
+        logger.debug { "'$name' requested (non-blocking)" }
+        val task = FutureTask {
+            logger.trace { "'$name': started" }
+            try {
+                block(ctx, usbCtx)
+                logger.trace { "'$name': ended" }
+            } catch (e: Exception) {
+                logger.error("'$name': failed", e)
+            }
+        }
+        freenectCallQueue.add(task)
+    }
+
+    fun <T> callBlocking(
+        name: String,
+        block: (
+            ctx: freenect_context,
+            usbCtx: freenect_usb_context
+        ) -> T
+    ): T {
+        logger.debug { "'$name' requested (blocking)" }
+        val task = FutureTask {
+            logger.trace { "'$name': started" }
+            try {
+                val result = block(ctx, usbCtx)
+                logger.trace { "'$name': ended" }
+                Result.success(result)
+            } catch (e: Exception) {
+                logger.error("'$name': failed", e)
+                Result.failure(e)
+            }
+        }
+        freenectCallQueue.add(task)
+        val result = task.get()
+        logger.trace { "'$name': returned result" }
+        return result.getOrThrow()
+    }
+
+    fun listDevices() : List<Kinect1.DeviceInfo> {
+        val attributes = freenect_device_attributes()
+        freenect_list_device_attributes(ctx, attributes)
+        try {
+            val devices = buildList {
+                var item: freenect_device_attributes? =
+                    if (attributes.isNull) null
+                    else attributes
+                while (item != null) {
+                    val serialNumber = item.camera_serial().string
+                    add(Kinect1.DeviceInfo(serialNumber))
+                    item = item.next()
+                }
+            }
+            return devices
+        } finally {
+            if (!attributes.isNull) {
+                freenect_free_device_attributes(attributes)
+            }
+        }
+    }
+
+    fun close() {
+        logger.debug("Closing Kinect1 runner")
+        running = false
+        logger.debug("Waiting for runner thread to finish")
+        runner.join()
+    }
+
+    fun checkReturn(ret: Int): Int =
+        if (ret >= 0) ret
+        else {
+            throw Kinect1Exception("Freenect error: ret=$ret")
+        }
+
+}
+
+internal const val KINECT1_MAX_DEPTH_VALUE: Double = 2047.0
+
+internal val KINECT1_DEPTH_RESOLUTION: IntVector2 = IntVector2(640, 480)
+
+internal class Kinect1DepthMappers {
+
+    private val depthToRawNormalized = depthToRawNormalizedMappers().apply {
+        forEach {
+            it.parameters["maxDepthValue"] = KINECT1_MAX_DEPTH_VALUE
+        }
+    }
+
+    private val depthToMeters = KinectDepthMappers(
+        "kinect1-depth-to-meters.frag",
+        Kinect1::class
+    )
+
+    var depthMeasurement: DepthMeasurement = DepthMeasurement.RAW_NORMALIZED
+        set(value) {
+            field = value
+            selectMapper()
+        }
+
+    var flipH: Boolean = false
+        set(value) {
+            field = value
+            selectMapper()
+        }
+
+    var flipV: Boolean = false
+        set(value) {
+            field = value
+            selectMapper()
+        }
+
+    var mapperState: Filter? = depthToRawNormalized.select(
+        flipH = false,
+        flipV = false
+    )
+    val mapper: Filter? get() = mapperState
+
+    fun update(resolution: IntVector2) {
+        depthToRawNormalized.update(resolution)
+        depthToMeters.update(resolution)
+    }
+
+    private fun selectMapper() {
+        mapperState = when (depthMeasurement) {
+            DepthMeasurement.RAW -> null
+            DepthMeasurement.RAW_NORMALIZED -> {
+                depthToRawNormalized.select(flipH, flipV)
+            }
+            DepthMeasurement.METERS -> {
+                depthToMeters.select(flipH, flipV)
+            }
+        }
+    }
+
+}
diff --git a/orx-jvm/orx-kinect-v1/src/main/kotlin/KinectV1.kt b/orx-jvm/orx-kinect-v1/src/main/kotlin/KinectV1.kt
deleted file mode 100644
index c509140c..00000000
--- a/orx-jvm/orx-kinect-v1/src/main/kotlin/KinectV1.kt
+++ /dev/null
@@ -1,289 +0,0 @@
-package org.openrndr.extra.kinect.v1
-
-import mu.KotlinLogging
-import org.bytedeco.javacpp.Pointer
-import org.bytedeco.libfreenect.*
-import org.bytedeco.libfreenect.global.freenect.*
-import org.bytedeco.libfreenect.presets.freenect
-import org.openrndr.Program
-import org.openrndr.extra.kinect.*
-import org.openrndr.extra.kinect.impl.*
-import java.nio.ByteBuffer
-import java.nio.ByteOrder
-import java.util.*
-import java.util.concurrent.*
-import java.util.concurrent.atomic.AtomicBoolean
-import java.util.concurrent.atomic.AtomicReference
-import java.util.function.Supplier
-import kotlin.concurrent.thread
-
-/**
- * Returns support for kinect version 1.
- *
- * @param depthCameraInitializationDelay defaults to 100 ms. Delay seems to be
- *          necessary due to either my misunderstanding or some weird freenect bug.
- *          Without the delay between starting depth camera and registering
- *          depth callback, no frames are transferred at all. However this
- *          problem happens only on the first try with freshly connected
- *          kinect. Subsequent runs of the same program don't require
- *          this delay at all.
- */
-fun getKinectsV1(program: Program, depthCameraInitializationDelay: Long = 100) : Kinects<Freenect> {
-    return DefaultKinects(program, KinectsV1Manager(depthCameraInitializationDelay))
-}
-
-/** Provides low level freenect context for calling native freenect methods. */
-class Freenect(
-        val fnCtx: freenect_context,
-        val fnUsbCtx: freenect_usb_context,
-        val fnDev: freenect_device? = null // only available for device level commands
-)
-
-private class KinectsV1Manager(val depthCameraInitializationDelay: Long) : KinectsManager<Freenect> {
-    private val logger = KotlinLogging.logger {}
-
-    private val fnCtx = freenect_context()
-
-    private val fnUsbCtx = freenect_usb_context()
-
-    private val ctx = Freenect(fnCtx, fnUsbCtx)
-
-    private var taskQueue = LinkedBlockingDeque<FutureTask<*>>()
-
-    private var running = true
-
-    private val runner = thread(
-            name = "Kinect1-runner",
-            start = false,
-            isDaemon = true
-    ) {
-        initializeFreenect()
-        while (running) { mainLoop() }
-        shutdownFreenect()
-    }
-
-    private var expectingEvents = false
-
-    private val devices: LinkedList<FreenectDevice> = LinkedList()
-
-    private val timeout = freenect.timeval()
-    init { timeout.tv_sec(1) }
-
-    private inner class KinectV1CommandsExecutor(val context: Freenect): KinectCommandsExecutor<Freenect> {
-        override fun <T> execute(commands: (Freenect) -> T): T {
-            return callSync {
-                logger.trace { "executing native freenect commands" }
-                commands(context)
-            }
-        }
-    }
-
-    private val commandsExecutor = KinectV1CommandsExecutor(ctx)
-
-    override fun initialize() {
-        logger.info("Initializing Kinect1 support, set log level to TRACE to see received frames")
-        runner.start()
-    }
-
-    private fun initializeFreenect() {
-        logger.debug("initializing freenect")
-        verify(freenect_init(fnCtx, fnUsbCtx))
-        freenect_set_log_level(fnCtx, FREENECT_LOG_INFO)
-        freenect_select_subdevices(fnCtx, FREENECT_DEVICE_CAMERA)
-        val num = verify(freenect_num_devices(fnCtx))
-        if (num == 0) {
-            logger.warn { "Could not find any Kinect1 device, calling startDevice() will throw exception" }
-        }
-    }
-
-    private fun mainLoop() {
-        if (expectingEvents) {
-            val ret = freenect_process_events(fnCtx)
-            if (ret != 0) { logger.error { "freenect_process_events returned non-zero value: $ret" } }
-            val tasks = taskQueue.iterator()
-            for (task in tasks) {
-                tasks.remove()
-                task.run()
-            }
-        } else {
-            taskQueue.poll(100, TimeUnit.MILLISECONDS)?.run()
-        }
-    }
-
-    private fun shutdownFreenect() {
-        logger.debug("shutting down freenect")
-        if (!fnCtx.isNull) {
-            devices.forEach { device -> device.shutdown() }
-            devices.clear()
-            verifyOnShutdown(freenect_shutdown(fnCtx))
-        }
-    }
-
-    override fun countDevices(): Int {
-        return callSync { verify(freenect_num_devices(fnCtx)) }
-    }
-
-    override fun startDevice(num: Int): KinectDevice<Freenect> {
-        callSync {
-            devices.find { device -> device.num == num }
-        }?.let {
-            throw KinectException("Kinect1 device already started, num: $num")
-        }
-        val count = countDevices()
-        if (num >= count) {
-            throw KinectException(
-                    "Trying to start non-existent Kinect1 device, " +
-                            "device count: $count, num: $num (index starts with 0)"
-            )
-        }
-        val device = callSync {
-            val device = FreenectDevice(num)
-            devices.add(device)
-            device
-        }
-        return DefaultKinectDevice(
-                DefaultKinectDepthCamera(
-                        device.depthCamera.width,
-                        device.depthCamera.height,
-                        32.0,
-                        device.depthCamera.enabler,
-                        device.depthCamera.bytesSupplier
-                ),
-                KinectV1CommandsExecutor(device.devCtx)
-        )
-    }
-
-    override fun <T> execute(commands: (Freenect) -> T): T {
-        return commandsExecutor.execute(commands)
-    }
-
-    override fun shutdown() {
-        logger.info("Shutting down Kinect1 support")
-        callSync { running = false }
-        runner.join()
-    }
-
-    private inline fun <T> callSync(crossinline block: () -> T): T {
-        val task = FutureTask<T>(Callable { block() })
-        taskQueue.add(task)
-        return task.get()
-    }
-
-    private inner class FreenectDevice(val num: Int) {
-
-        val depthCamera = FreenectDepthCamera()
-
-        val fnDev = freenect_device()
-
-        val devCtx = Freenect(fnCtx, fnUsbCtx, fnDev)
-
-        init {
-            logger.info { "Opening Kinect1 device num: $num" }
-            verify(freenect_open_device(fnCtx, fnDev, num))
-        }
-
-        val expectingEvents: Boolean
-            get() = depthCamera.expectingEvents // or other device in the future
-
-        fun shutdown() {
-            logger.info { "Shutting down Kinect1 device num: $num" }
-            if (!fnDev.isNull) {
-                verifyOnShutdown(freenect_stop_depth(fnDev))
-                verifyOnShutdown(freenect_close_device(fnDev))
-            }
-        }
-
-        inner class FreenectDepthCamera {
-
-            val width: Int = 640
-            val height: Int = 480
-
-            private val bytes = ByteBuffer.allocateDirect(width * height * 2)
-            init { bytes.order(ByteOrder.nativeOrder()) }
-
-            private val currentBytesRef = AtomicReference<ByteBuffer?>()
-
-            private val freenectDepthCb = object : freenect_depth_cb() {
-                override fun call(dev: freenect_device?, depth: Pointer?, timestamp: Int) {
-                    logger.trace { "depth frame received for Kinect1 device: $num, at: $timestamp" }
-                    currentBytesRef.set(bytes)
-                }
-            }
-
-            val bytesSupplier = Supplier<ByteBuffer?> { currentBytesRef.getAndSet(null) }
-
-            val enabler = object : KinectFeatureEnabler {
-
-                private val atomicEnabled = AtomicBoolean(false)
-                private val inProgress = AtomicBoolean(false)
-
-                override var enabled // usually called from rendering thread
-                    get() = atomicEnabled.get()
-                    set(value) {
-                        if (atomicEnabled.get() == value) {
-                            logger.warn { "Current state requested - doing nothing, Kinect1 device: $num, enabled=$value" }
-                            return
-                        }
-                        if (!inProgress.getAndSet(true)) {
-                            if (value) {
-                                callSync {
-                                    try {
-                                        start()
-                                        atomicEnabled.set(true)
-                                        updateExpectingEvents()
-                                    } finally { inProgress.set(false) }
-                                }
-                            } else {
-                                callSync {
-                                    try {
-                                        stop()
-                                        atomicEnabled.set(false)
-                                        updateExpectingEvents()
-                                    } finally { inProgress.set(false) }
-                                }
-                            }
-                        } else {
-                            logger.warn { "Operation in progress, Kinect1 device: $num, requested enabled=$value" }
-                        }
-                    }
-            }
-
-            val expectingEvents: Boolean
-                get() = depthCamera.enabler.enabled
-
-            private fun start() {
-                logger.info { "Enabling Kinect1 depth camera, device num: $num" }
-                verify(freenect_set_depth_mode(
-                        fnDev, freenect_find_depth_mode(FREENECT_RESOLUTION_MEDIUM, FREENECT_DEPTH_11BIT))
-                )
-                verify(freenect_set_depth_buffer(fnDev, Pointer(bytes)))
-                verify(freenect_start_depth(fnDev))
-                Thread.sleep(depthCameraInitializationDelay) // here is the hack
-                freenect_set_depth_callback(fnDev, freenectDepthCb)
-            }
-
-            private fun stop() {
-                logger.info { "Disabling Kinect1 depth camera, device num: $num" }
-                verify(freenect_stop_depth(fnDev))
-            }
-        }
-    }
-
-    private fun updateExpectingEvents() {
-        expectingEvents = devices.any { device -> device.expectingEvents }
-    }
-
-    private fun verifyOnShutdown(ret: Int) {
-        if (ret != 0) {
-            logger.error { "Unexpected return value while shutting down Kinect1 support: $ret" }
-        }
-    }
-
-    private fun verify(ret: Int): Int {
-        if (ret < 0) {
-            throw KinectException("Kinect1 error: ret=$ret")
-        }
-        return ret
-    }
-
-}
diff --git a/orx-jvm/orx-kinect-v1/src/main/resources/org/openrndr/extra/kinect/v1/kinect1-depth-to-meters.frag b/orx-jvm/orx-kinect-v1/src/main/resources/org/openrndr/extra/kinect/v1/kinect1-depth-to-meters.frag
new file mode 100644
index 00000000..69e27b58
--- /dev/null
+++ b/orx-jvm/orx-kinect-v1/src/main/resources/org/openrndr/extra/kinect/v1/kinect1-depth-to-meters.frag
@@ -0,0 +1,23 @@
+#ifndef KINECT_FLIPV
+layout(origin_upper_left) in vec4 gl_FragCoord;
+#endif
+
+uniform usampler2D  tex0;             // kinect raw
+#ifdef KINECT_FLIPH
+uniform int         resolutionXMinus1;
+#endif
+out     float       outDepth;         // measured in meters
+
+const uint  UINT_MAX_KINECT_DEPTH = 2047u;
+
+void main() {
+    ivec2 uv = ivec2(gl_FragCoord);
+    #ifdef KINECT_FLIPH
+    uv = ivec2(resolutionXMinus1 - uv.x, uv.y);
+    #endif
+    uint uintDepth = texelFetch(tex0, uv, 0).r;
+    float depth = float(uintDepth);
+    outDepth = (uintDepth < UINT_MAX_KINECT_DEPTH)
+        ? 1.0 / (depth * -0.0030711016 + 3.3309495161)
+        : 0.0;
+}
diff --git a/settings.gradle.kts b/settings.gradle.kts
index 34086518..7e757ba2 100644
--- a/settings.gradle.kts
+++ b/settings.gradle.kts
@@ -178,6 +178,8 @@ include(
         "orx-jvm:orx-kinect-v1-natives-macos",
         "orx-jvm:orx-kinect-v1-natives-windows",
         "orx-jvm:orx-kinect-v1-demo",
-        "orx-jvm:orx-video-profiles"
+        "orx-jvm:orx-video-profiles",
+        "orx-depth-camera",
+        "orx-jvm:orx-depth-camera-calibrator"
     )
 )