A method and apparatus for X-ray tube scanner automation using a 3D camera is disclosed. An RGBD image of a patient on a patient table is received from a 3D camera mounted on an X-ray tube. A transformation between a coordinate system of the 3D camera and a coordinate system of the patient table is calculated. A patient model is estimated from the RGBD image of the patient. The X-ray tube is automatically controlled to acquire an X-ray image of a region of interest of the patient based on the patient model.
