ちょっと整形したAzure Kinectの点群取得サンプル

TestKinect.cs

using System.Threading;
using System.Threading.Tasks;
using UnityEngine;
using UnityEngine.Rendering;
using Microsoft.Azure.Kinect.Sensor;

namespace TestKinect
{
    public class TestKinect : MonoBehaviour
    {
        private Device _kinect;

        private int _pointCount = 0;
        private Mesh _mesh;
        private Vector3[] _vertices;
        private Color32[] _colors;
        private int[] _indices;
        private Task _imageFetchTask;
        private Image _depthColor;
        
        //NOTE: コレはKinect側の画像変換のやつ。UnityのTransformではないので注意
        private Transformation _transformation;

        private CancellationTokenSource _cts;

        private async void Start()
        {
            InitKinect();
            InitMesh();
            _cts = new CancellationTokenSource();
            await GetImageRoutine(_cts.Token);
        }
        
        private void InitKinect()
        {
            _kinect = Device.Open();
            _kinect.StartCameras(new DeviceConfiguration
            {
                ColorFormat = ImageFormat.ColorBGRA32,
                ColorResolution = ColorResolution.R720p,
                DepthMode = DepthMode.NFOV_2x2Binned,
                SynchronizedImagesOnly = true,
                CameraFPS = FPS.FPS30
            });
            var calibration = _kinect.GetCalibration();
            _transformation = calibration.CreateTransformation();
            _depthColor = new Image(
                ImageFormat.ColorBGRA32,
                calibration.DepthCameraCalibration.ResolutionWidth, 
                calibration.DepthCameraCalibration.ResolutionHeight,
                calibration.DepthCameraCalibration.ResolutionWidth * 4
                );
        }

        private void InitMesh()
        {
            var calibration = _kinect.GetCalibration();
            int width = calibration.DepthCameraCalibration.ResolutionWidth;
            int height = calibration.DepthCameraCalibration.ResolutionHeight;
            _pointCount = width * height;

            _mesh = new Mesh
            {
                indexFormat = IndexFormat.UInt32,
            };

            _vertices = new Vector3[_pointCount];
            _colors = new Color32[_pointCount];

            _indices = new int[_pointCount];
            for (int i = 0; i < _indices.Length; i++)
            {
                _indices[i] = i;
            }

            _mesh.vertices = _vertices;
            _mesh.colors32 = _colors;
            _mesh.SetIndices(_indices, MeshTopology.Points, 0);
            GetComponent<MeshFilter>().mesh = _mesh;
        }

        private async Task GetImageRoutine(CancellationToken token)
        {
            while (!token.IsCancellationRequested)
            {
                using (var capture = await Task
                    .Run(() => _kinect.GetCapture())
                    .ConfigureAwait(true))
                {
                    if (token.IsCancellationRequested)
                    {
                        break;
                    }

                    _transformation.ColorImageToDepthCamera(capture, _depthColor);
                    var colorArray = _depthColor.GetPixels<BGRA>().ToArray();
                    
                    var xyzImage = _transformation.DepthImageToPointCloud(capture.Depth);
                    var xyzArray = xyzImage.GetPixels<Short3>().ToArray();
                    
                    for (int i = 0; i < _pointCount; i++)
                    {
                        _vertices[i].x = xyzArray[i].X * 0.001f;
                        _vertices[i].y = -xyzArray[i].Y * 0.001f;
                        _vertices[i].z = xyzArray[i].Z * 0.001f;
                    
                        _colors[i].b = colorArray[i].B;
                        _colors[i].g = colorArray[i].G;
                        _colors[i].r = colorArray[i].R;
                        _colors[i].a = 255;
                    }
                    
                    _mesh.vertices = _vertices;
                    _mesh.colors32 = _colors;
                    _mesh.RecalculateBounds();
                }
            }
        }

        private void OnDestroy()
        {
            _kinect.StopCameras();
            _cts?.Cancel();
        }
    }
}