From 85eb7badfa4097afad5b3f432e30d2a156aa9bb9 Mon Sep 17 00:00:00 2001
From: k <metacomgd@users.noreply.github.com>
Date: Sun, 11 Oct 2015 11:44:21 +0200
Subject: [PATCH] Update OpenNI2 grabber to support devices without color

This commit contains a subset of changes proposed by @metacomgd in #1174.
---
 io/src/openni2/openni2_device.cpp | 5 ++++-
 io/src/openni2_grabber.cpp        | 6 +++---
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/io/src/openni2/openni2_device.cpp b/io/src/openni2/openni2_device.cpp
index 3f082bddf76..3d72828cc97 100644
--- 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
index c0bed4c9e10..11a12ff6236 100644
--- 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)