OpenNI_Viewer

OpenNI Viewer is a lightweight PointCloud2 viewer.

$ rosrun openni_pcl openni_viewer ~input:=/camera/depth/points2

The viewer is based on PCL and PCLVisualization, two packages available in the perception_pcl and perception_pcl_addons stacks. To download them, you can use the following rosinstall file:

- svn:
    uri: https://code.ros.org/svn/ros-pkg/stacks/perception_pcl/tags/unstable
    local-name: ros_pkg/stacks/perception_pcl
- svn:
    uri: https://code.ros.org/svn/ros-pkg/stacks/perception_pcl_addons/tags/unstable
    local-name: ros_pkg/stacks/perception_pcl_addons

Then just rosmake openni_pcl:

rosmake openni_pcl