0.17.1: Fixed issue #282 and https://github.com/introlab/rtabmap_ros/issues/243

CMakeLists.txt

@@ -21,7 +21,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
 SET(RTABMAP_MINOR_VERSION 17)
-SET(RTABMAP_PATCH_VERSION 0)
+SET(RTABMAP_PATCH_VERSION 1)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
   

corelib/include/rtabmap/core/CameraRGBD.h

@@ -39,9 +39,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/pcl_config.h>
 
 #ifdef HAVE_OPENNI
+#if __linux__ && __i386__ && __cplusplus >= 201103L
+#warning "Openni driver is not available on i386 when building with c++11 support"
+#else
+#define RTABMAP_OPENNI
 #include <pcl/io/openni_camera/openni_depth_image.h>
 #include <pcl/io/openni_camera/openni_image.h>
 #endif
+#endif
 
 #include <boost/signals2/connection.hpp>
 
@@ -102,7 +107,7 @@ public:
 			float imageRate = 0,
 			const Transform & localTransform = Transform::getIdentity());
 	virtual ~CameraOpenni();
-#ifdef HAVE_OPENNI
+#ifdef RTABMAP_OPENNI
     void image_cb (
     		const boost::shared_ptr<openni_wrapper::Image>& rgb,
 			const boost::shared_ptr<openni_wrapper::DepthImage>& depth,

corelib/src/CameraRGBD.cpp

@@ -39,7 +39,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UMath.h>
 
-#ifdef HAVE_OPENNI
+#ifdef RTABMAP_OPENNI
 #include <pcl/io/openni_grabber.h>
 #include <pcl/io/oni_grabber.h>
 #include <pcl/io/openni_camera/openni_depth_image.h>
@@ -97,7 +97,7 @@ CameraOpenni::CameraOpenni(const std::string & deviceId, float imageRate, const
 
 bool CameraOpenni::available() 
 {
-#ifdef HAVE_OPENNI
+#ifdef RTABMAP_OPENNI
 	return true;
 #else
 	return false;
@@ -106,7 +106,7 @@ bool CameraOpenni::available()
 
 CameraOpenni::~CameraOpenni()
 {
-#ifdef HAVE_OPENNI
+#ifdef RTABMAP_OPENNI
 	UDEBUG("");
 	if(connection_.connected())
 	{
@@ -122,7 +122,7 @@ CameraOpenni::~CameraOpenni()
 	}
 #endif
 }
-#ifdef HAVE_OPENNI
+#ifdef RTABMAP_OPENNI
 void CameraOpenni::image_cb (
 		const boost::shared_ptr<openni_wrapper::Image>& rgb,
 		const boost::shared_ptr<openni_wrapper::DepthImage>& depth,
@@ -150,7 +150,7 @@ void CameraOpenni::image_cb (
 
 bool CameraOpenni::init(const std::string & calibrationFolder, const std::string & cameraName)
 {
-#ifdef HAVE_OPENNI
+#ifdef RTABMAP_OPENNI
 	if(interface_)
 	{
 		interface_->stop();
@@ -197,7 +197,7 @@ bool CameraOpenni::init(const std::string & calibrationFolder, const std::string
 
 bool CameraOpenni::isCalibrated() const
 {
-#ifdef HAVE_OPENNI
+#ifdef RTABMAP_OPENNI
 	return true;
 #else
 	return false;
@@ -206,7 +206,7 @@ bool CameraOpenni::isCalibrated() const
 
 std::string CameraOpenni::getSerial() const
 {
-#ifdef HAVE_OPENNI
+#ifdef RTABMAP_OPENNI
 	if(interface_)
 	{
 		return interface_->getName();
@@ -218,7 +218,7 @@ std::string CameraOpenni::getSerial() const
 SensorData CameraOpenni::captureImage(CameraInfo * info)
 {
 	SensorData data;
-#ifdef HAVE_OPENNI
+#ifdef RTABMAP_OPENNI
 	if(interface_ && interface_->isRunning())
 	{
 		if(!dataReady_.acquire(1, 5000))

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>rtabmap</name>
-  <version>0.17.0</version>
+  <version>0.17.1</version>
   <description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
   <maintainer email="[email protected]">Mathieu Labbe</maintainer>
   <author>Mathieu Labbe</author>