#include <pcl/io/openni_grabber.h>
#include <pcl/visualization/coud_viewer.h>

class SimpleOpenNIViewer
{
	public:
		SimpleOpenNIViewer (): viewer ("PCL_OpenNI_Viewer"){}
		void cloud_cb_ (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr &cloud)
		{
			if (!viewer.wasStopped())
				viewer.showCloud (cloud);
		}
		pcl::visualization::CloudViewer viewer;
		void run()
		{
		pcl::Grabber* interface = new pcl::OpenNIGrabber();
		boost::function<void (const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f = 
			boost::bind (&SimpleOpenNIViewer::cloud_cb_, this, _1);
		interface -> registerCallback (f);
		interface -> start ();
		while (!viewer.wasStopped())
		{
			boost::this_thread::sleep (boost::posix_time::seconds (1));
		}
		interface -> stop ();
		}
}
int main()
{
	SimpleOpenNIViewer v;
	v.run ();
	return 0;
}