From 4fcfd871ef4435bb80b85ff0c82581691c3dcef3 Mon Sep 17 00:00:00 2001
From: Sergey Alexandrov <alexandrov88@gmail.com>
Date: Sun, 9 Dec 2018 13:20:25 +0100
Subject: [PATCH] Do not terminate application loop if image viewer was not
 instantiated

---
 visualization/tools/openni2_viewer.cpp | 2 +-
 visualization/tools/openni_viewer.cpp  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/visualization/tools/openni2_viewer.cpp b/visualization/tools/openni2_viewer.cpp
index ff97de55ce3..ccd2568c358 100644
--- a/visualization/tools/openni2_viewer.cpp
+++ b/visualization/tools/openni2_viewer.cpp
@@ -200,7 +200,7 @@ class OpenNI2Viewer
 
     grabber_.start ();
 
-    while (!cloud_viewer_->wasStopped () && (image_viewer_ && !image_viewer_->wasStopped ()))
+    while (!(cloud_viewer_->wasStopped () || (image_viewer_ && image_viewer_->wasStopped ())))
     {
       boost::shared_ptr<pcl::io::openni2::Image> image;
       CloudConstPtr cloud;
diff --git a/visualization/tools/openni_viewer.cpp b/visualization/tools/openni_viewer.cpp
index e03a7ad86df..04fac13501c 100644
--- a/visualization/tools/openni_viewer.cpp
+++ b/visualization/tools/openni_viewer.cpp
@@ -192,7 +192,7 @@ class OpenNIViewer
       
       grabber_.start ();
 
-      while (!cloud_viewer_->wasStopped () && (image_viewer_ && !image_viewer_->wasStopped ()))
+      while (!(cloud_viewer_->wasStopped () || (image_viewer_ && image_viewer_->wasStopped ())))
       {
         boost::shared_ptr<openni_wrapper::Image> image;
         CloudConstPtr cloud;