Merge pull request #2150 from agrohn/openni2_viewer_fix

fixed issue #1348 by adding device sensor check for IR and depth modesetting
PointCloudLibrary · Dec 15, 2017 · ae4f57f · ae4f57f
2 parents c1e395b + 59473bc
commit ae4f57f
Showing 1 changed file with 8 additions and 2 deletions.
diff --git a/io/src/openni2/openni2_device.cpp b/io/src/openni2/openni2_device.cpp
@@ -93,8 +93,14 @@ pcl::io::openni2::OpenNI2Device::OpenNI2Device (const std::string& device_URI) :
     {
       setColorVideoMode (getDefaultColorMode ());
     }
-    setDepthVideoMode (getDefaultDepthMode ());
-    setIRVideoMode (getDefaultIRMode ());
+    if (openni_device_->hasSensor (openni::SENSOR_DEPTH))
+    {
+      setDepthVideoMode (getDefaultDepthMode ());
+    }
+    if (openni_device_->hasSensor (openni::SENSOR_IR))
+    {
+      setIRVideoMode (getDefaultIRMode ());
+    }
   }
 
   if (openni_device_->isFile ())