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"Quokka is a software tool for connecting Microsoft Kinect with Grasshopper in Rhino. Quokka gives the ability to use the Kinect as a 3D scanner. This will help architects, designers, engineers, students and anyone who is interested in working in Rhino to parametrically manipulate physical data."
Link to "Quokka" website
Link to Food4Rhino Quokka webpage