This project has software for capturing point clouds using Microsoft Azure Kinect cameras, k4a for short. The software turns k4a depth- and colorframes into a cwipc pointcloud.
It is usually built or installed as part of the cwipc suite, https://github.com/cwi-dis/cwipc.
This module requires the following software to be installed:
- Azure Kinect SDK
- Azure Kinect Body Tracking SDK
- OpenCV
See the cwipc readme file for installation instructions.
The k4a capturer needs a cameraconfig.json file that specifies the serial numbers of the cameras and their position and orientation.
If you have a single camera in landscape mode looking forward, approximately 1m from the subject at 1m height you can automatically create a config file with
cwipc_register --tabletop
In the unlikely event that cwipc_register does not recognize the fact that you have Kinect camera you can supply the --kinect option.
If you have more cameras, or a single camera that is oriented differently (for example in portrait mode, so it is easier to capture a full human body) you should check the documentation on cwipc_register.
Inspect the resulting pointcloud view with
cwipc_view
You can edit cameraconfig.json and modify various settings, such as camera parameters like white balance, various processing options that govern how RGB and Depth images are converted to pointclouds, and bounding box parameters for the pointcloud.
After editing parameters you re-run cwipc_view to see the effect of your changes.