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

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