PCL manual settings on Raspberry Pi

PCLManualSettings.sh

# These settings are obtained from 
#   pkg-config --print-variables pcl_common-1.7
#   pkg-config --variable=libdir pcl_common-1.7

PCL_INCLUDE_DIRS=/usr/include/pcl-1.7
PCL_LIBRARY_DIRS=/usr/lib/arm-linux-gnueabihf

Commented out in openni_device.cpp:

// status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(image_node), image_generator_);
  // if (status != XN_STATUS_OK)
  //   THROW_OPENNI_EXCEPTION ("creating image generator failed. Reason: %s", xnGetStatusString (status));
// image_generator_.RegisterToNewDataAvailable (static_cast<xn::StateChangedHandler> (NewImageDataAvailable), this, image_callback_handle_);

Also

// status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(ir_node), ir_generator_);
  // if (status != XN_STATUS_OK)
  //   THROW_OPENNI_EXCEPTION ("creating IR generator failed. Reason: %s", xnGetStatusString (status));
// ir_generator_.RegisterToNewDataAvailable (static_cast<xn::StateChangedHandler> (NewIRDataAvailable), this, ir_callback_handle_);

also, make the following methods return 0 always.

openni_wrapper::OpenNIDevice::hasImageStream () const throw ()
openni_wrapper::OpenNIDevice::hasIRStream () const throw ()

Also, make these methods return without doing anything:

openni_wrapper::OpenNIDevice::setIROutputMode (const XnMapOutputMode& output_mode)
openni_wrapper::OpenNIDevice::setImageOutputMode (const XnMapOutputMode& output_mode)

in openni_device_primesense.cpp, comment out lines (commenting out the image_generator_ stuff and ensure that status is declared) :

openni_wrapper::DevicePrimesense::DevicePrimesense (
    xn::Context& context, 
    const xn::NodeInfo& device_node, 
    const xn::NodeInfo& image_node, 
    const xn::NodeInfo& depth_node, 
    const xn::NodeInfo& ir_node) : OpenNIDevice (context, device_node, image_node, depth_node, ir_node)
{
  // setup stream modes
  enumAvailableModes ();
  setDepthOutputMode (getDefaultDepthMode ());
  setImageOutputMode (getDefaultImageMode ());
  setIROutputMode (getDefaultIRMode ());

  boost::unique_lock<boost::mutex> image_lock (image_mutex_);
  // XnStatus status = image_generator_.SetIntProperty ("InputFormat", 5);
  // if (status != XN_STATUS_OK)
  //   THROW_OPENNI_EXCEPTION ("Error setting the image input format to Uncompressed YUV422. Reason: %s", xnGetStatusString (status));

  // status = image_generator_.SetPixelFormat (XN_PIXEL_FORMAT_YUV422);
  // if (status != XN_STATUS_OK)
  //   THROW_OPENNI_EXCEPTION ("Failed to set image pixel format to YUV422. Reason: %s", xnGetStatusString (status));

  image_lock.unlock ();

  boost::lock_guard<boost::mutex> depth_lock (depth_mutex_);
  XnStatus status = depth_generator_.SetIntProperty ("RegistrationType", 1);
  if (status != XN_STATUS_OK)
    THROW_OPENNI_EXCEPTION ("Error setting the registration type. Reason: %s", xnGetStatusString (status));
}

In your program, changed the binding function to use only XYZ. Basically, replace everything with XYZRGBA to XYZ

boost::function<void (const PointCloud<PointXYZ>::ConstPtr&)> f =
            boost::bind(&grabberCallback, _1);

The example in pcl/io/tools/openni_grabber_depth_example.cpp may be a better starting point than the one on the website.

Knowledge in this post is captured in this fork of PCL