Yes, it is possible. You can install the OpenCV and boofCV libraries and explore the provided examples. You can even do this with plain Processing Java and raw pixel manipulation. Explore those examples and put together a demo sketch to test your idea. I recommend you work first with images (video stream) from the camera. If you want to work with the depth, you can do that at a later stage when you need to put some effort to fuse your camera and depth data.