azure kinect example

.github/FUNDING.yml

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+github: neka-nat

examples/python/azure_kinect/azure_kinect_pcd_viewer.py

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+import numpy as np
+import pyk4a
+from pyk4a import Config, PyK4A
+import cupoch as cph
+
+def main():
+    k4a = PyK4A(
+        Config(
+            color_resolution=pyk4a.ColorResolution.RES_720P,
+            depth_mode=pyk4a.DepthMode.NFOV_UNBINNED,
+            synchronized_images_only=True,
+        )
+    )
+    k4a.start()
+
+    # getters and setters directly get and set on device
+    k4a.whitebalance = 4500
+    assert k4a.whitebalance == 4500
+    k4a.whitebalance = 4510
+    assert k4a.whitebalance == 4510
+
+    vis = cph.visualization.Visualizer()
+    vis.create_window()
+    pcd = cph.geometry.PointCloud()
+    frame_count = 0
+    while True:
+        capture = k4a.get_capture()
+        if not np.any(capture.depth) or not np.any(capture.color):
+            break
+        points = capture.depth_point_cloud.reshape((-1, 3))
+        colors = capture.transformed_color[..., (2, 1, 0)].reshape((-1, 3)) / 255
+        pcd.points = cph.utility.Vector3fVector(points)
+        pcd.colors = cph.utility.Vector3fVector(colors)
+
+        if frame_count == 0:
+            vis.add_geometry(pcd)
+
+        vis.update_geometry(pcd)
+        vis.poll_events()
+        vis.update_renderer()
+        frame_count += 1
+    k4a.stop()
+
+if __name__ == "__main__":
+    main()