diff --git a/io/include/pcl/io/freenect2_grabber.h b/io/include/pcl/io/freenect2_grabber.h
index 0b6adcb84eb..488ae654508 100644
--- a/io/include/pcl/io/freenect2_grabber.h
+++ b/io/include/pcl/io/freenect2_grabber.h
@@ -62,16 +62,16 @@ namespace pcl
     CPU, OPENCL, OPENGL
   };
 
-class PCL_EXPORTS k4w2Grabber : public Grabber
+class PCL_EXPORTS Freenect2Grabber : public Grabber
 {
   public:
   typedef
-  void (sig_cb_k4w2_point_cloud_rgb)
+  void (sig_cb_freenect2_point_cloud_rgb)
   (const pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr&);
 
-  k4w2Grabber(processor p = CPU, std::string serial = std::string());
+  Freenect2Grabber(processor p = CPU, std::string serial = std::string());
   virtual
-  ~k4w2Grabber() throw();
+  ~Freenect2Grabber() throw();
 
   virtual bool
   isRunning() const;
@@ -85,7 +85,7 @@ class PCL_EXPORTS k4w2Grabber : public Grabber
   virtual std::string
   getName() const
   {
-    return (std::string("K4W2Grabber"));
+    return (std::string("Freenect2Grabber"));
   }
 
   virtual std::string
@@ -104,7 +104,7 @@ class PCL_EXPORTS k4w2Grabber : public Grabber
   void prepareMake3D(const libfreenect2::Freenect2Device::IrCameraParams & depth_p);
 
   // Signals to indicate whether new clouds are available
-  boost::signals2::signal<sig_cb_k4w2_point_cloud_rgb>* point_cloud_rgb_signal_;
+  boost::signals2::signal<sig_cb_freenect2_point_cloud_rgb>* point_cloud_rgb_signal_;
 
   boost::thread thread_;
 
diff --git a/io/src/freenect2_grabber.cpp b/io/src/freenect2_grabber.cpp
index a2b76983367..351da3d64bd 100644
--- a/io/src/freenect2_grabber.cpp
+++ b/io/src/freenect2_grabber.cpp
@@ -38,7 +38,7 @@
 #include <pcl/io/freenect2_grabber.h>
 #include <libfreenect2/packet_pipeline.h>
 
-pcl::k4w2Grabber::k4w2Grabber (processor p,
+pcl::Freenect2Grabber::Freenect2Grabber (processor p,
                                std::string serial) :
     Grabber (),
     is_running_ (false),
@@ -100,33 +100,33 @@ pcl::k4w2Grabber::k4w2Grabber (processor p,
   dev_->setColorFrameListener (listener_);
   dev_->setIrAndDepthFrameListener (listener_);
 
-  point_cloud_rgb_signal_ = createSignal<sig_cb_k4w2_point_cloud_rgb> ();
+  point_cloud_rgb_signal_ = createSignal<sig_cb_freenect2_point_cloud_rgb> ();
 }
 
-pcl::k4w2Grabber::~k4w2Grabber () throw ()
+pcl::Freenect2Grabber::~Freenect2Grabber () throw ()
 {
   dev_->stop ();
   dev_->close ();
 
-  disconnect_all_slots<sig_cb_k4w2_point_cloud_rgb> ();
+  disconnect_all_slots<sig_cb_freenect2_point_cloud_rgb> ();
 }
 
 void
-pcl::k4w2Grabber::start ()
+pcl::Freenect2Grabber::start ()
 {
   if (!is_running_)
   {
-    need_xyzrgb_ = num_slots<sig_cb_k4w2_point_cloud_rgb> () > 0;
+    need_xyzrgb_ = num_slots<sig_cb_freenect2_point_cloud_rgb> () > 0;
 
     frequency_.reset ();
 
     is_running_ = true;
-    thread_ = boost::thread (&k4w2Grabber::run, this);
+    thread_ = boost::thread (&Freenect2Grabber::run, this);
   }
 }
 
 void
-pcl::k4w2Grabber::stop ()
+pcl::Freenect2Grabber::stop ()
 {
   if (is_running_)
   {
@@ -136,20 +136,20 @@ pcl::k4w2Grabber::stop ()
 }
 
 bool
-pcl::k4w2Grabber::isRunning () const
+pcl::Freenect2Grabber::isRunning () const
 {
   return (is_running_);
 }
 
 float
-pcl::k4w2Grabber::getFramesPerSecond () const
+pcl::Freenect2Grabber::getFramesPerSecond () const
 {
   boost::mutex::scoped_lock lock (fps_mutex_);
   return (frequency_.getFrequency ());
 }
 
 void
-pcl::k4w2Grabber::prepareMake3D (const libfreenect2::Freenect2Device::IrCameraParams & depth_p)
+pcl::Freenect2Grabber::prepareMake3D (const libfreenect2::Freenect2Device::IrCameraParams & depth_p)
 {
   const int w = 512;
   const int h = 424;
@@ -166,7 +166,7 @@ pcl::k4w2Grabber::prepareMake3D (const libfreenect2::Freenect2Device::IrCameraPa
 }
 
 void
-pcl::k4w2Grabber::run ()
+pcl::Freenect2Grabber::run ()
 {
   dev_->start ();
 
diff --git a/visualization/tools/freenect2_viewer.cpp b/visualization/tools/freenect2_viewer.cpp
index 8ba37ec750f..184c5a644c1 100644
--- a/visualization/tools/freenect2_viewer.cpp
+++ b/visualization/tools/freenect2_viewer.cpp
@@ -60,24 +60,24 @@ printHelp (int,
 }
 
 template <typename PointT>
-class k4w2Viewer
+class Freenect2Viewer
 {
 
   public:
 
     typedef pcl::PointCloud<PointT> PointCloudT;
 
-    k4w2Viewer (pcl::k4w2Grabber& grabber) :
+    Freenect2Viewer (pcl::Freenect2Grabber& grabber) :
         grabber_ (grabber),
-        viewer_ ("k4w2 Viewer")
+        viewer_ ("Freenect2 Viewer")
     {
       viewer_.setCameraFieldOfView (0.785398);  // approximately 45 degrees
       viewer_.setCameraPosition (0, 0, 0, 0, 0, 1, 0, 1, 0);
-      viewer_.registerKeyboardCallback (&k4w2Viewer::keyboardCallback, *this);
-      viewer_.registerPointPickingCallback (&k4w2Viewer::pointPickingCallback, *this);
+      viewer_.registerKeyboardCallback (&Freenect2Viewer::keyboardCallback, *this);
+      viewer_.registerPointPickingCallback (&Freenect2Viewer::pointPickingCallback, *this);
     }
 
-    ~k4w2Viewer ()
+    ~Freenect2Viewer ()
     {
       connection_.disconnect ();
     }
@@ -86,7 +86,7 @@ class k4w2Viewer
     run ()
     {
       boost::function<void
-      (const typename PointCloudT::ConstPtr&)> f = boost::bind (&k4w2Viewer::cloudCallback, this, _1);
+      (const typename PointCloudT::ConstPtr&)> f = boost::bind (&Freenect2Viewer::cloudCallback, this, _1);
       connection_ = grabber_.registerCallback (f);
       grabber_.start ();
 
@@ -152,7 +152,7 @@ class k4w2Viewer
       pcl::console::print_value ("%.3f\n", z);
     }
 
-    pcl::k4w2Grabber& grabber_;
+    pcl::Freenect2Grabber& grabber_;
     pcl::visualization::PCLVisualizer viewer_;
     boost::signals2::connection connection_;
 
@@ -165,7 +165,7 @@ int
 main (int argc,
       char** argv)
 {
-  print_info ("Viewer for K4W2 devices (run with --help for more information)\n", argv[0]);
+  print_info ("Viewer for Freenect2 devices (run with --help for more information)\n", argv[0]);
 
   if (find_switch (argc, argv, "--help") || find_switch (argc, argv, "-h"))
   {
@@ -189,9 +189,9 @@ main (int argc,
 
   try
   {
-    pcl::k4w2Grabber grabber (pcl::OPENGL);
+    pcl::Freenect2Grabber grabber (pcl::OPENGL);
 
-    k4w2Viewer<pcl::PointXYZRGB> viewer (grabber);
+    Freenect2Viewer<pcl::PointXYZRGB> viewer (grabber);
     viewer.run ();
   }
   catch (pcl::io::IOException& e)