If you are going to create your own C wrapper in Java, I would suggest to use javacpp to create the JNI wrapper for you and build a high level Java API on top of that. Or you use the cpp lib directly and generate the wrapper for it.
Everything else is quite difficult and usually gets out of sync with the underlaying lib, if you are not further developing the wrapper. I did the same thing for the RealSense camera recently and looked into multiple different options on how to do it (and tried out all of them). In the end javacpp won in terms of convenience, simplicity and functionality.
We are getting a Azure Kinect in our lab soon, so maybe I will have time to create a basic wrapper for it. But because there is no MacOS support atm, it will be even more difficult for me (and motivation-wise harder).