From bc36bbb0a3df5ac5b8224badd56d3a5a4b4aabf2 Mon Sep 17 00:00:00 2001
From: nekanat <nekanat.stock@gmail.com>
Date: Sat, 10 Oct 2020 21:46:13 +0900
Subject: [PATCH] azure kinect example

---
 .github/FUNDING.yml                           |  1 +
 .../azure_kinect/azure_kinect_pcd_viewer.py   | 45 +++++++++++++++++++
 2 files changed, 46 insertions(+)
 create mode 100644 .github/FUNDING.yml
 create mode 100644 examples/python/azure_kinect/azure_kinect_pcd_viewer.py

diff --git a/.github/FUNDING.yml b/.github/FUNDING.yml
new file mode 100644
index 00000000..80b4f797
--- /dev/null
+++ b/.github/FUNDING.yml
@@ -0,0 +1 @@
+github: neka-nat
\ No newline at end of file
diff --git a/examples/python/azure_kinect/azure_kinect_pcd_viewer.py b/examples/python/azure_kinect/azure_kinect_pcd_viewer.py
new file mode 100644
index 00000000..53ce06f8
--- /dev/null
+++ b/examples/python/azure_kinect/azure_kinect_pcd_viewer.py
@@ -0,0 +1,45 @@
+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()
\ No newline at end of file