Update OpenNI2 grabber to support devices without color

This commit contains a subset of changes proposed by @metacomgd in PointCloudLibrary#1174.
taketwo · Oct 11, 2015 · 18e1bce · 18e1bce
1 parent 4b1af99
commit 18e1bce
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Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/io/src/openni2/openni2_device.cpp b/io/src/openni2/openni2_device.cpp
@@ -89,7 +89,10 @@ pcl::io::openni2::OpenNI2Device::OpenNI2Device (const std::string& device_URI) :
   // Set default resolution if not reading a file
   if (!openni_device_->isFile ())
   {
-    setColorVideoMode (getDefaultColorMode ());
+    if (openni_device_->hasSensor (openni::SENSOR_COLOR))
+    {
+      setColorVideoMode (getDefaultColorMode ());
+    }
     setDepthVideoMode (getDefaultDepthMode ());
     setIRVideoMode (getDefaultIRMode ());
   }

diff --git a/io/src/openni2_grabber.cpp b/io/src/openni2_grabber.cpp
@@ -219,7 +219,7 @@ pcl::io::OpenNI2Grabber::start ()
   try
   {
     // check if we need to start/stop any stream
-    if (image_required_ && !device_->isColorStreamStarted () )
+    if (image_required_ && !device_->isColorStreamStarted () && device_->hasColorSensor ())
     {
       block_signals ();
       device_->startColorStream ();
@@ -401,8 +401,8 @@ pcl::io::OpenNI2Grabber::startSynchronization ()
 {
   try
   {
-    if (device_->isSynchronizationSupported () && !device_->isSynchronized () && !device_->isFile () &&
-      device_->getColorVideoMode ().frame_rate_ == device_->getDepthVideoMode ().frame_rate_)
+    if (device_->hasColorSensor () && (device_->isSynchronizationSupported () && !device_->isSynchronized () && !device_->isFile () &&
+        device_->getColorVideoMode ().frame_rate_ == device_->getDepthVideoMode ().frame_rate_))
       device_->setSynchronization (true);
   }
   catch (const IOException& exception)