Scanning for Fabrication using Kinect

Scanning_Kinect

import processing.opengl.*; 
import unlekker.util.*;
import unlekker.modelbuilder.*; 
import SimpleOpenNI.*; 
SimpleOpenNI kinect;
boolean scanning = false;  
int spacing = 3;
UGeometry model;
UVertexList vertexList;
void setup() { 
  size(1024, 768, OPENGL); 
  kinect = new SimpleOpenNI(this); 
  kinect.enableDepth();
  model = new UGeometry();
  vertexList = new UVertexList();
}
void draw() {  
  background(0);
  kinect.update();
  translate(width/2, height/2, -1000);
  rotateX(radians(180));
  PVector[] depthPoints = kinect.depthMapRealWorld(); 
  if (scanning) { 
    model.beginShape(TRIANGLES);
  }
  for (int y = 0; y < 480 -spacing; y+=spacing) {  
    for (int x = 0; x < 640 -spacing; x+= spacing) {
      if (scanning) { 
        int nw = x + y * 640 ; 
        int ne = (x + spacing) + y * 640 ;
        int sw = x + (y + spacing) * 640;
        int se = (x + spacing) + (y + spacing) * 640;
        model.addFace(
        new UVec3(depthPoints[nw].x, depthPoints[nw].y, depthPoints[nw].z), 
        new UVec3(depthPoints[ne].x, depthPoints[ne].y, depthPoints[ne].z), 
        new UVec3(depthPoints[sw].x, depthPoints[sw].y, depthPoints[sw].z));

        model.addFace(
        new UVec3(depthPoints[ne].x, depthPoints[ne].y, depthPoints[ne].z), 
        new UVec3(depthPoints[se].x, depthPoints[se].y, depthPoints[se].z), 
        new UVec3(depthPoints[sw].x, depthPoints[sw].y, depthPoints[sw].z));
      }
      else {
        stroke(255);
        int i = x + y * 640;
        PVector currentPoint = depthPoints[i];
        point(currentPoint.x, currentPoint.y, currentPoint.z);
      }
    }
  }
  if (scanning) { 
    
      model.endShape();
    SimpleDateFormat logFileFmt =
      new SimpleDateFormat("'scan_'yyyyMMddHHmmss'.stl'");
    model.writeSTL(this, logFileFmt.format(new Date()));
    model.writeSTL(this, "scan_"+random(1000)+".stl");
    scanning = false;
  }
}
void keyPressed() {
  if (key == ' ') {
    scanning = true;
  }
}