Freenect substitute for pcl::OpenNIGrabber();

asked 2016-04-27 12:51:51 -0600

Nxzx gravatar image

I'm using "pcl::OpenNIGrabber();" for creating the interface, but, I want to change it to a freenect compatible operations instead of the Openni, what can I do?

  bool new_cloud_available_flag = false;
  pcl::Grabber* interface = new pcl::OpenNIGrabber();
  boost::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f =
      boost::bind (&cloud_cb_, _1, cloud, &new_cloud_available_flag);
  interface->registerCallback (f);
  interface->start ();

That's the operation that I use, could you guys help me? I thought it would be something like this:

  pcl::Grabber* interface = new pcl::FreenectGrabber();

I need to do this because I'm working on a ROS system that doesn't use OpenNI, help?

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