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I'm attempting to create blobs detection in two rectangular detection areas using Kinect depth information and passing it to a flob detection routine.

For some reason I see the framerate drop dramatically alot of times. And I'm getting only one blob at the same time. I would appreciate any thoughts to improve blob detection..

1. import SimpleOpenNI.*;
2. import s373.flob.*;
3. SimpleOpenNI context;
4. Flob flob1;
5. float minThreshold = 1000; // minimum distance from the sensor
6. float maxThreshold = 1500; // maximum distance from the sensor
7. color blobNo = color(0); // color if it's outside the range
8. color blobYes = color(0, 255, 0); // color if it's within the range
9. int tresh = 250;
10. int om = 0;
11. ArrayList blobs1;
12. 
    
13. void setup() {
14.   size(640, 480);
15.   context = new SimpleOpenNI(this);
16.   if (!context.enableDepth()) {
17.     exit();
18.     return;
19.   }
20.   context.setMirror(true);
21.   context.enableScene();
22.   flob1 = new Flob(context.sceneImage(), context.sceneWidth(), context.sceneHeight());
23.   flob1.setOm(om);
24.   //flob1.setThresh(250);
25. }
26. 
    
27. void draw() {
28.   context.update();
29.   PImage blobImage = getBlobImage(50, 165, 440, 165, 150, 150);
30.  
31.   blobs1 = flob1.track(flob1.binarize(blobImage));
32.  
33.   image(blobImage, 0, 0);
34.   stroke(255, 0, 0);
35.   noFill();
36.   rect(50, 165, 150, 150);
37.   rect(440, 165, 150, 150);
38.   for (int i = 0; i < blobs1.size(); i++) {
39.     trackedBlob tb = flob1.getTrackedBlob(i);
40.     String txt = "time: " + tb.presencetime;
41.     text(txt, 10, 30);
42.     stroke(0, 255, 0);
43.     rect(tb.boxminx, tb.boxminy, tb.dimx, tb.dimy);
44.   }
45.   println(frameRate);
46. }
47. 
    
48. PImage getBlobImage(int sx1, int sy1, int sx2, int sy2, int w, int h) {
49.   PVector[] realWorldMap = context.depthMapRealWorld();
50.   PImage blobImage = createImage(context.depthWidth(), context.depthHeight(), RGB);
51.   //int maxY = min(context.depthHeight()-sy, sy+h);
52.   //int maxX = min(context.depthWidth()-sx, sx+w);
53.   for (int y=sy1; y<sy1+h; y++) {
54.     for (int x=sx1; x<sx1+w; x++) {
55.       int index = x + y * context.depthWidth();
56.       PVector realWorldPoint = realWorldMap[index];
57.       color blobColor = blobNo;
58.       if (realWorldPoint.z > minThreshold && realWorldPoint.z < maxThreshold) {
59.         blobColor = blobYes;
60.       }
61.       blobImage.pixels[index] = blobColor;
62.     }
63.   }
64.   for (int y=sy2; y<sy2+h; y++) {
65.     for (int x=sx2; x<sx2+w; x++) {
66.       int index = x + y * context.depthWidth();
67.       PVector realWorldPoint = realWorldMap[index];
68.       color blobColor = blobNo;
69.       if (realWorldPoint.z > minThreshold && realWorldPoint.z < maxThreshold) {
70.         blobColor = blobYes;
71.       }
72.       blobImage.pixels[index] = blobColor;
73.     }
74.   }
75.   return blobImage;
76. }