diff --git a/corelib/include/rtabmap/core/CameraRGBD.h b/corelib/include/rtabmap/core/CameraRGBD.h
index 5f23a2b5..b06a199e 100644
--- a/corelib/include/rtabmap/core/CameraRGBD.h
+++ b/corelib/include/rtabmap/core/CameraRGBD.h
@@ -35,6 +35,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/Camera.h"
 #include "rtabmap/core/CameraRGB.h"
 
+#ifdef HAVE_OPENNI
+#include <pcl/io/openni_camera/openni_depth_image.h>
+#include <pcl/io/openni_camera/openni_image.h>
+#endif
+
 #include <boost/signals2/connection.hpp>
 
 namespace openni