用pcl读取xtion点云

用的是openni2graber，多了个2.。。

注意，这里的interface1 变量。为什么多了个1呢，原因是interface1是windows系统的保留字。。

#include "stdafx.h"
#include <pcl/io/openni2_grabber.h>
#include <pcl/visualization/cloud_viewer.h>


class SimpleOpenNIViewer
{
public:
SimpleOpenNIViewer() : viewer("PCL OpenNI Viewer") {}


void cloud_cb_(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr &cloud)
{
if (!viewer.wasStopped())
viewer.showCloud(cloud);
}


void run()
{
pcl::Grabber* interface1 = new pcl::io::OpenNI2Grabber();


boost::function<void(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr&)> f =
boost::bind(&SimpleOpenNIViewer::cloud_cb_, this, _1);


interface1->registerCallback(f);


interface1->start();


while (!viewer.wasStopped())
{
boost::this_thread::sleep(boost::posix_time::seconds(1));
}


interface1->stop();
}


pcl::visualization::CloudViewer viewer;
};


int main()
{
SimpleOpenNIViewer v;
v.run();
return 0;
}