Test the actual loop with the Xtion. Separate the Preprocessing functions as an independant bank of function under the spacename stalker. Able to run the loop one time but the kyepoints are badly chosen the next round, I s'pose it's a matter of how the resolution was computed so I changed the code there to not multiply by the resolution every time which i what it was doing.
Change a lot of thing in the overall stucture as well (Shape mostly).