Using rgbdslam with .oni files

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Hello, I needed to use the rgbd slam package with .oni files. After some hours of searching, I couldn't find any real help for this. Finally I figured out how to do it and it turned out that it's pretty simple. In fact, it's enough to add the following line to openni_nodelet.cpp:

device_ = driver.createVirtualDevice("yourONIfile.oni",true/false,true/false);

in the OpenNINodelet::setupDevice method as an alternative to the existing getDeviceBy options.

Finally, rebuild the openni_camera package (do not forget to move ROS_NOBUILD to ROS_NOBUILD_BAK or to delete it).

Hope this can be helpful!

Best

Axel Furlan