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

Manual libraries paths:
/usr/lib/arm-linux-gnueabihf/libpcl_apps.so.1.7
/usr/lib/libOpenNI.so

Path of PCLConfig.cmake:

/usr/lib/arm-linux-gnueabihf/cmake/pcl
/home/pi/pcl-pcl-1.7.2/build/PCLConfig.cmake
/usr/local/share/pcl-1.7/PCLConfig.cmake

Manually adding OpenNI in CMakeLists.txt of each project. Add the following text just below the line starting with set(PCL_BUILD_TYPE

set(OPENNI_INCLUDE_DIRS_HINT "/usr/include/ni")
set(OPENNI_LIBRARY_DIRS "/usr/lib/") 
set(OPENNI_LIBRARY "/usr/lib/libOpenNI.so")

Fixing device not found

Edited sudo nano /usr/etc/primesense/GlobalDefaults.ini and uncommented ;UsbInterface=2 (removing semi colon)

;UsbInterface=2: Python: works, PCL: doesn't work
UsbInterface =2: Python: works, PCL: doesn't work

The depth generator is successfully created, but image generator is not.

  what():  void pcl::OpenNIGrabber::setupDevice(const string&, const pcl::OpenNIGrabber::Mode&, const pcl::OpenNIGrabber::Mode&) in /home/pi/pcl-pcl-1.7.2/io/src/openni_grabber.cpp @ 375 : No matching device found. openni_wrapper::OpenNIDevice::OpenNIDevice(xn::Context&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&, const xn::NodeInfo&) @ /home/pi/pcl-pcl-1.7.2/io/src/openni_camera/openni_device.cpp @ 133 : creating image generator failed. Reason: Failed to set USB interface!

Now testing different modes of image generator.

In the worst case, we can try commenting out line 131-133 in io/src/openni_camera/openni_device.cpp and recompile PCL. :(

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