From 8f451029e2140e2e94912d8e95e85080232c46d8 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Thu, 16 Oct 2014 00:07:25 +0000
Subject: [PATCH] Added setDepthColorSyncEnabled(true) for OpenNI2 devices to
 synchronize RGB and depth images

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1860 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 corelib/src/CameraRGBD.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/corelib/src/CameraRGBD.cpp b/corelib/src/CameraRGBD.cpp
index ccbab3fb..c5780b5b 100644
--- a/corelib/src/CameraRGBD.cpp
+++ b/corelib/src/CameraRGBD.cpp
@@ -420,6 +420,11 @@ bool CameraOpenNI2::init()
 		UERROR("CameraOpenNI2: Failed to set depth/color registration.");
 	}
 
+	if (_device->setDepthColorSyncEnabled(true) != openni::STATUS_OK)
+	{
+		UERROR("CameraOpenNI2: Failed to set depth color sync");
+	}
+
 	_depth->setMirroringEnabled(false);
 	_color->setMirroringEnabled(false);