This project has software for capturing point clouds using Microsoft Azure Kinect cameras, k4a for short. The software turns k4a depth- and colorframes into cwipc pointclouds.
The Azure Kinect cameras can no longer be purchased, and are no longer supported. As of 2026 the cwipc kinect capturer can still be built on Windows 11, but not on other platforms any more.
It is usually built or installed as part of the cwipc suite, https://github.com/cwi-dis/cwipc.