patch for using openni_camera with oni files

gistfile1.txt

# HG changeset patch
# User ruben.smits@intermodalics.eu
# Date 1354264641 -3600
# Node ID f0a77d69738b2eac0cbcb938280434b53ea0dc5e
# Parent  4ece7c6f00fbda4bd63f2e5d7a1743485e2e2304
Add support to read from oni files. No extra parameters are added. Will always loop and stream.

diff -r 4ece7c6f00fb -r f0a77d69738b src/nodelets/driver.cpp
--- a/src/nodelets/driver.cpp  Sun Jun 10 22:38:34 2012 -0500
+++ b/src/nodelets/driver.cpp	Fri Nov 30 09:37:21 2012 +0100
@@ -209,7 +209,23 @@
   // Initialize the openni device
   OpenNIDriver& driver = OpenNIDriver::getInstance ();
 
-  do {
+  string device_id;
+  try {
+    if (getPrivateNodeHandle().getParam("device_id", device_id)){
+      if(device_id.find('.oni') != string::npos){
+	{
+	  NODELET_INFO ("Creating virtual device from ONI file = %s",device_id.c_str());
+	  device_ = driver.createVirtualDevice(device_id,true,true);
+	}
+      }
+    }
+  } 
+  catch (const OpenNIException& exception) {
+    NODELET_ERROR ("No ONI file found: ", exception.what ());
+    exit (-1);
+  }
+  
+  while (!device_) {
     driver.updateDeviceList ();
 
     if (driver.getNumberDevices () == 0)
@@ -230,7 +246,6 @@
     }
 
     try {
-      string device_id;
       if (!getPrivateNodeHandle().getParam("device_id", device_id))
       {
         NODELET_WARN ("~device_id is not set! Using first device.");
@@ -270,7 +285,7 @@
         exit (-1);
       }
     }
-  } while (!device_);
+  }
 
   NODELET_INFO ("Opened '%s' on bus %d:%d with serial number '%s'", device_->getProductName (),
                 device_->getBus (), device_->getAddress (), device_->getSerialNumber ());