33 #include "rtabmap/core/Version.h"
35 #include <pcl/pcl_config.h>
38 #if __linux__ && __i386__ && __cplusplus >= 201103L
39 #warning "Openni driver is not available on i386 when building with c++11 support"
41 #include <pcl/io/openni_camera/openni_depth_image.h>
42 #include <pcl/io/openni_camera/openni_image.h>
45 #include <boost/signals2/connection.hpp>
59 static bool available();
68 #if PCL_VERSION_COMPARE(>=, 1, 10, 0)
70 const std::shared_ptr<openni_wrapper::Image>& rgb,
71 const std::shared_ptr<openni_wrapper::DepthImage>& depth,
81 virtual bool init(
const std::string & calibrationFolder =
".",
const std::string & cameraName =
"");
82 virtual bool isCalibrated()
const;
83 virtual std::string getSerial()
const;