Getting Started

To use the RGBD Toolkit you'll need:

  • The RGBD Toolkit software downloaded and unzipped.
  • A Windows or Mac OS X computer with modern graphics.
  • An HD video camera.
  • A depth sensor.
  • A method of mounting the cameras together securely.
  • The black and white checkerboard printed on a flat surface.


The RGBD Toolkit is compatible with the following operating system & sensor combinations:


Mac OS X

Primsesense Carmine 1.08 (Requires Sensecast drivers)
Asus Xtion pro LIVE (Requires Sensecast drivers)
Microsoft Xbox Kinect 1414 (NOT 1437 models or Kinect 4 Windows)

Microsoft Windows 7

Microsoft Xbox Kinect v1 (Only compatible with the older model number, 1414)


We recommend the Primsesense Carmine 1.08 sensor over the Kinect because they feature the same resolution, but are smaller in size and don't require wall power allowing for more portability.

Video Camera

The RGBD Toolkit can be used with any HD video camera, including digital SLRs, GoPros, even newer iPhones. We'll be using the Canon 5D MkII DSLR for the purposes of the tutorials, but feel free to use what you have.

Lens Choice

In order to match the field of view between your camera and sensor so that the color information adequately covers the depth information we recommend a ~24mm lens on a full frame sensor. A ~16mm lens is adequate coverage for an APS-C sensor like an entry-level Canon DSLR. If you aren't familiar with these terms you should be able to find your crop factor in the specifications section of your camera manual and you can look up the conversion to full-frame here. When in doubt, set your zoom lens to its widest setting. Use a wide angle prime (not zoom) lens for best results.


The workflow requires the use of hardware to bind the video camera and the depth sensor together. There are a few ways to do this.

Laser Cutter – Download the laser cutter mount plans for Asus or Kinect.
Home Workshop – A mount made from angle aluminum with basic tools.
Home 3D Printing – Print a mount using community created files.

Please add your own mounting solutions and designs - however simple or rudimentary - to Instructables or your 3D printable models to Thingiverse and tag them with "DepthKit" or "RGBDToolkit." For recommendations about designing your own mounts see the FAQ.

If you'd rather just buy a kit, we have a stockpile of fabricated mounts and are happy to sell them to you. We ship anywhere!

Mount kits include one aluminum base and interchangeable arms that can accommodate the Asus, PrimeSense or Kinect. Please note we typically only ship mounts on Mondays. Don't forget to allow for time in customs for international orders. If you're on a tight timeframe or have any questions about mounts please contact us directly.

Kinect V1 DepthKit Mount
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Print out the A4 or A3 calibration checkerboard PDF in black and white on matte paper. Glue or otherwise mount it to something flat and rigid like wood or foamcore. This can be done easily at most print shops – if you do it at home look out for bubbling or warping. It helps to attach a bracket or some way to put it to a stand or the wall.

Once you have all the items in the checklist, you're ready to calibrate the cameras!