diff --git a/app/android/jni/CMakeLists.txt b/app/android/jni/CMakeLists.txt
index f00b604e..bcb5c710 100644
--- a/app/android/jni/CMakeLists.txt
+++ b/app/android/jni/CMakeLists.txt
@@ -114,7 +114,35 @@ add_definitions(${PCL_DEFINITIONS})
 
 INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 
-add_library(NativeRTABMap SHARED ${sources})        
+####################################
+# Generate resources files
+####################################
+SET(RESOURCES
+    ${CMAKE_CURRENT_SOURCE_DIR}/resources/text_atlas.png
+)
+
+foreach(arg ${RESOURCES})
+   get_filename_component(filename ${arg} NAME)
+   string(REPLACE "." "_" output ${filename})
+   set(RESOURCES_HEADERS "${RESOURCES_HEADERS}" "${CMAKE_CURRENT_BINARY_DIR}/${output}.h")
+endforeach(arg ${RESOURCES})
+
+find_host_program(RTABMAP_RES_TOOL rtabmap-res_tool PATHS ${CMAKE_RUNTIME_OUTPUT_DIRECTORY})
+IF(NOT RTABMAP_RES_TOOL)
+  MESSAGE( FATAL_ERROR "RTABMAP_RES_TOOL is not defined (it is the path to \"rtabmap-res_tool\" application created by a non-Android build)." )
+ENDIF(NOT RTABMAP_RES_TOOL)
+
+ADD_CUSTOM_COMMAND(
+      OUTPUT ${RESOURCES_HEADERS}
+      COMMAND ${RTABMAP_RES_TOOL} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
+      COMMENT "[Creating resources]"
+      DEPENDS ${RESOURCES}
+)
+####################################
+# Generate resources files END
+####################################
+
+add_library(NativeRTABMap SHARED ${sources} ${RESOURCES_HEADERS})        
 target_link_libraries(NativeRTABMap ${LIBRARIES}
   android
   log
diff --git a/app/android/jni/CameraMobile.cpp b/app/android/jni/CameraMobile.cpp
index 316dd480..edb3e7f2 100644
--- a/app/android/jni/CameraMobile.cpp
+++ b/app/android/jni/CameraMobile.cpp
@@ -108,8 +108,9 @@ void CameraMobile::close()
     dataReady_.release();
 }
 
-void CameraMobile::resetOrigin()
+void CameraMobile::resetOrigin(const rtabmap::Transform & offset)
 {
+    manualOriginOffset_ = offset;
 	originUpdate_ = true;
 }
 
@@ -193,7 +194,7 @@ void CameraMobile::poseReceived(const Transform & pose, double deviceStamp)
 			previousAnchorPose_.setNull();
 			previousAnchorLinearVelocity_.clear();
 			previousAnchorStamp_ = 0.0;
-			originOffset_ = pose.translation().inverse();
+            originOffset_ = manualOriginOffset_.isNull() ? pose.translation().inverse() : manualOriginOffset_;
 			originUpdate_ = false;
 		}
         
diff --git a/app/android/jni/CameraMobile.h b/app/android/jni/CameraMobile.h
index 6d1e2b6e..28bd85ab 100644
--- a/app/android/jni/CameraMobile.h
+++ b/app/android/jni/CameraMobile.h
@@ -99,7 +99,7 @@ public:
 	void update(const SensorData & data, const Transform & pose, const glm::mat4 & viewMatrix, const glm::mat4 & projectionMatrix, const float * texCoord);
 	void updateOnRender();
 
-	void resetOrigin();
+	void resetOrigin(const rtabmap::Transform & offset = rtabmap::Transform());
 	virtual bool isCalibrated() const;
 
 	virtual bool odomProvided() const { return true; }
@@ -150,6 +150,7 @@ private:
 	EnvSensors lastEnvSensors_;
 	Transform originOffset_;
 	bool originUpdate_;
+    rtabmap::Transform manualOriginOffset_;
 	float upstreamRelocalizationAccThr_;
 	rtabmap::Transform previousAnchorPose_;
 	std::vector<float> previousAnchorLinearVelocity_;
diff --git a/app/android/jni/Measure.h b/app/android/jni/Measure.h
new file mode 100644
index 00000000..cd348710
--- /dev/null
+++ b/app/android/jni/Measure.h
@@ -0,0 +1,65 @@
+/*
+Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef MEASURE_H_
+#define MEASURE_H_
+
+#include <opencv2/opencv.hpp>
+
+class Measure
+{
+public:
+	Measure(
+			const cv::Point3f & pt1,
+			const cv::Point3f & pt2,
+			const cv::Vec3f & n1,
+			const cv::Vec3f & n2) :
+				pt1_(pt1),
+				pt2_(pt2),
+				n1_(n1),
+				n2_(n2)
+	{
+		length_ = cv::norm(pt2_ - pt1_);
+	}
+	virtual ~Measure() {}
+
+	float length() const {return length_;}
+	const cv::Point3f & pt1() const {return pt1_;}
+	const cv::Point3f & pt2() const {return pt2_;}
+	const cv::Vec3f & n1() const {return n1_;}
+	const cv::Vec3f & n2() const {return n2_;}
+
+private:
+	cv::Point3f pt1_;
+	cv::Point3f pt2_;
+	cv::Vec3f n1_;
+	cv::Vec3f n2_;
+	float length_;
+};
+
+
+#endif /* MEASURE_H_ */
diff --git a/app/android/jni/RTABMapApp.cpp b/app/android/jni/RTABMapApp.cpp
index 0e846fdb..29280963 100644
--- a/app/android/jni/RTABMapApp.cpp
+++ b/app/android/jni/RTABMapApp.cpp
@@ -132,6 +132,7 @@ rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
 
 	parameters.insert(mappingParameters_.begin(), mappingParameters_.end());
 
+    parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpDetectorStrategy(), "5")); // GFTT/FREAK
 	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpMaxFeatures(), std::string("200")));
 	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kGFTTQualityLevel(), std::string("0.0001")));
 	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemImagePreDecimation(), std::string(cameraColor_&&fullResolution_?"2":"1")));
@@ -264,13 +265,43 @@ RTABMapApp::RTABMapApp() :
 		lastPoseEventTime_(0.0),
 		visualizingMesh_(false),
 		exportedMeshUpdated_(false),
-		optMesh_(new pcl::TextureMesh),
+		measuresUpdated_(false),
+        targetPoint_(new pcl::PointCloud<pcl::PointXYZRGB>),
+        quadSample_(new pcl::PointCloud<pcl::PointXYZ>),
+        quadSamplePolygons_(2),
+        metricSystem_(true),
+		snapAxisThr_(0.95),
+        markerDetection_(false),
+        measuringMode_(0),
+        addMeasureClicked_(false),
+        teleportClicked_(false),
+        removeMeasureClicked_(false),
+		optTextureMesh_(new pcl::TextureMesh),
 		optRefId_(0),
 		optRefPose_(0),
 		mapToOdom_(rtabmap::Transform::getIdentity())
 
 {
-	mappingParameters_.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpDetectorStrategy(), "5")); // GFTT/FREAK
+    pcl::PointXYZRGB ptWhite;
+    ptWhite.r = ptWhite.g = ptWhite.b = 255;
+    targetPoint_->push_back(ptWhite);
+    snapAxes_.push_back(cv::Vec3f(1,0,0));
+    snapAxes_.push_back(cv::Vec3f(0,1,0));
+    snapAxes_.push_back(cv::Vec3f(0,0,1));
+
+    float quadSize = 0.05f;
+    quadSample_->push_back(pcl::PointXYZ(-quadSize, -quadSize, 0.0f));
+    quadSample_->push_back(pcl::PointXYZ(quadSize, -quadSize, 0.0f));
+    quadSample_->push_back(pcl::PointXYZ(quadSize, quadSize, 0.0f));
+    quadSample_->push_back(pcl::PointXYZ(-quadSize, quadSize, 0.0f));
+    quadSamplePolygons_[0].vertices.resize(3);
+    quadSamplePolygons_[0].vertices[0] = 0;
+    quadSamplePolygons_[0].vertices[1] = 1;
+    quadSamplePolygons_[0].vertices[2] = 2;
+    quadSamplePolygons_[1].vertices.resize(3);
+    quadSamplePolygons_[1].vertices[0] = 0;
+    quadSamplePolygons_[1].vertices[1] = 2;
+    quadSamplePolygons_[1].vertices[2] = 3;
 
 #ifdef __ANDROID__
 	env->GetJavaVM(&jvm);
@@ -278,19 +309,6 @@ RTABMapApp::RTABMapApp() :
 #endif
     
 	LOGI("RTABMapApp::RTABMapApp()");
-	createdMeshes_.clear();
-	rawPoses_.clear();
-	clearSceneOnNextRender_ = true;
-	openingDatabase_ = false;
-	exporting_ = false;
-	postProcessing_=false;
-	totalPoints_ = 0;
-	totalPolygons_ = 0;
-	lastDrawnCloudsCount_ = 0;
-	renderingTime_ = 0.0f;
-	lastPostRenderEventTime_ = 0.0;
-	lastPoseEventTime_ = 0.0;
-	bufferedStatsData_.clear();
 #ifdef __ANDROID__
 	progressionStatus_.setJavaObjects(jvm, RTABMapActivity);
 #endif
@@ -404,13 +422,16 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
     lastPoseEventTime_ = 0.0;
     bufferedStatsData_.clear();
     graphOptimization_ = true;
+    measuresUpdated_ = !measures_.empty();
+    measures_.clear();
 
 	this->registerToEventsManager();
 
 	int status = 0;
 
 	// Open visualization while we load (if there is an optimized mesh saved in database)
-	optMesh_.reset(new pcl::TextureMesh);
+	optTextureMesh_.reset(new pcl::TextureMesh);
+    optMesh_ = rtabmap::Mesh();
 	optTexture_ = cv::Mat();
 	optRefId_ = 0;
 	if(optRefPose_)
@@ -418,6 +439,7 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
 		delete optRefPose_;
 		optRefPose_ = 0;
 	}
+    visualizingMesh_ = false;
 	cv::Mat cloudMat;
 	std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons;
 #if PCL_VERSION_COMPARE(>=, 1, 8, 0)
@@ -436,19 +458,20 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
 			if(!cloudMat.empty())
 			{
 				LOGI("Open: Found optimized mesh! Visualizing it.");
-				optMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true);
+				optTextureMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true);
+                optMesh_ = rtabmap::Mesh();
 				optTexture_ = textures;
-				if(!optTexture_.empty())
+                if(!optTexture_.empty())
 				{
 					LOGI("Open: Texture mesh: %dx%d.", optTexture_.cols, optTexture_.rows);
 					status=3;
 				}
-				else if(optMesh_->tex_polygons.size())
+				else if(optTextureMesh_->tex_polygons.size())
 				{
 					LOGI("Open: Polygon mesh");
 					status=2;
 				}
-				else if(!optMesh_->cloud.data.empty())
+				else if(!optTextureMesh_->cloud.data.empty())
 				{
 					LOGI("Open: Point cloud");
 					status=1;
@@ -976,6 +999,11 @@ bool RTABMapApp::startCamera()
 		LOGI("Cloud density level %d", cloudDensityLevel_);
 
 		LOGI("Start camera thread");
+        if(visualizingMesh_)
+        {
+            // We are measuring!
+            main_scene_.setMapRendering(false);
+        }
 		cameraJustInitialized_ = true;
 		if(useExternalLidar_)
 		{
@@ -1330,7 +1358,8 @@ int RTABMapApp::Render()
 #ifdef DEBUG_RENDERING_PERFORMANCE
 				LOGD("Camera updateOnRender %fs", time.ticks());
 #endif
-				if(main_scene_.background_renderer_ == 0 && camera_->getTextureId() != 0)
+                // We detect if we are in measuring mode if rtabmap is not running
+				if(main_scene_.background_renderer_ == 0 && camera_->getTextureId() != 0 && !(rtabmapThread_ == 0 || !rtabmapThread_->isRunning()))
 				{
 					main_scene_.background_renderer_ = new BackgroundRenderer();
 					main_scene_.background_renderer_->InitializeGlContent(((rtabmap::CameraMobile*)camera_)->getTextureId(), cameraDriver_ <= 2);
@@ -1424,40 +1453,158 @@ int RTABMapApp::Render()
 			{
 				main_scene_.clear();
 				exportedMeshUpdated_ = false;
+                measuresUpdated_ = measures_.size()>0;
 			}
 			if(!main_scene_.hasCloud(g_optMeshId))
 			{
 				LOGI("Adding optimized mesh to opengl (%d points, %d polygons, %d tex_coords, materials=%d texture=%dx%d)...",
-						optMesh_->cloud.point_step==0?0:(int)optMesh_->cloud.data.size()/optMesh_->cloud.point_step,
-						optMesh_->tex_polygons.size()!=1?0:(int)optMesh_->tex_polygons[0].size(),
-						optMesh_->tex_coordinates.size()!=1?0:(int)optMesh_->tex_coordinates[0].size(),
-						(int)optMesh_->tex_materials.size(),
+						optTextureMesh_->cloud.point_step==0?0:(int)optTextureMesh_->cloud.data.size()/optTextureMesh_->cloud.point_step,
+						optTextureMesh_->tex_polygons.size()!=1?0:(int)optTextureMesh_->tex_polygons[0].size(),
+						optTextureMesh_->tex_coordinates.size()!=1?0:(int)optTextureMesh_->tex_coordinates[0].size(),
+						(int)optTextureMesh_->tex_materials.size(),
 						optTexture_.cols, optTexture_.rows);
-				if(optMesh_->tex_polygons.size() && optMesh_->tex_polygons[0].size())
+				if(optTextureMesh_->tex_polygons.size() && optTextureMesh_->tex_polygons[0].size())
 				{
-					rtabmap::Mesh mesh;
-					mesh.gains[0] = mesh.gains[1] = mesh.gains[2] = 1.0;
-					mesh.cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>);
-					mesh.normals.reset(new pcl::PointCloud<pcl::Normal>);
-					pcl::fromPCLPointCloud2(optMesh_->cloud, *mesh.cloud);
-					pcl::fromPCLPointCloud2(optMesh_->cloud, *mesh.normals);
-					mesh.polygons = optMesh_->tex_polygons[0];
-					mesh.pose.setIdentity();
-					if(optMesh_->tex_coordinates.size())
+                    optMesh_ = rtabmap::Mesh();
+                    optMesh_.gains[0] = optMesh_.gains[1] = optMesh_.gains[2] = 1.0;
+                    optMesh_.cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>);
+                    optMesh_.normals.reset(new pcl::PointCloud<pcl::Normal>);
+					pcl::fromPCLPointCloud2(optTextureMesh_->cloud, *optMesh_.cloud);
+					pcl::fromPCLPointCloud2(optTextureMesh_->cloud, *optMesh_.normals);
+                    optMesh_.polygons = optTextureMesh_->tex_polygons[0];
+					if(optTextureMesh_->tex_coordinates.size())
 					{
-						mesh.texCoords = optMesh_->tex_coordinates[0];
-						mesh.texture = optTexture_;
+                        optMesh_.texCoords = optTextureMesh_->tex_coordinates[0];
+                        optMesh_.texture = optTexture_;
 					}
-					main_scene_.addMesh(g_optMeshId, mesh, rtabmap::opengl_world_T_rtabmap_world, true);
+					main_scene_.addMesh(g_optMeshId, optMesh_, rtabmap::opengl_world_T_rtabmap_world, true);
 				}
 				else
 				{
 					pcl::IndicesPtr indices(new std::vector<int>); // null
 					pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
-					pcl::fromPCLPointCloud2(optMesh_->cloud, *cloud);
+					pcl::fromPCLPointCloud2(optTextureMesh_->cloud, *cloud);
 					main_scene_.addCloud(g_optMeshId, cloud, indices, rtabmap::opengl_world_T_rtabmap_world);
 				}
+                
+                if(!measures_.empty())
+                {
+                    measuresUpdated_ = true;
+                }
 			}
+            
+            if(camera_ != 0 && (rtabmapThread_ == 0 || !rtabmapThread_->isRunning()))
+            {
+                updateMeasuringState();
+            }
+            else
+            {
+                main_scene_.removeLine(55555);
+                main_scene_.removeQuad(55555);
+                main_scene_.removeQuad(55556);
+                main_scene_.removeText(55555);
+                main_scene_.removeCloudOrMesh(-99999);
+                measuringTmpPts_.clear();
+                measuringTmpNormals_.clear();
+            }
+
+            if(measuresUpdated_)
+            {
+                std::list<Measure> measures = measures_;
+                measuresUpdated_ = false;
+                main_scene_.clearLines();
+                main_scene_.clearTexts();
+                main_scene_.clearQuads();
+                int lineId = 0;
+                int textId = 0;
+                int quadId = 0;
+                float sphereRadius = 0.02f;
+                float textSize=0.05f;
+                float quadSize=0.05f;
+                float quadAlpha = 0.3f;
+
+                tango_gl::Color color(1.0f, 0.0f, 1.0f);
+                tango_gl::Color xColor(1.0f, 0.0f, 0.0f);
+                tango_gl::Color yColor(0.0f, 1.0f, 0.0f);
+                tango_gl::Color zColor(0.0f, 0.0f, 1.0f);
+
+                float restrictiveSnapThr = 0.9999;
+                for(std::list<Measure>::iterator iter=measures.begin(); iter!=measures.end(); ++iter)
+                {
+                    // Determinate color based on current snap axes
+                    tango_gl::Color quadColor = color;
+                    bool sameNormal = false;
+                    if(iter->n1().dot(iter->n2()) > 0.99) // Same normal, plane to plane
+                    {
+                        sameNormal = true;
+                        Eigen::Vector3f n(iter->n1()[0], iter->n1()[1], iter->n1()[2]);
+                        float n1ProdX = n.dot(Eigen::Vector3f(snapAxes_[0][0], snapAxes_[0][1], snapAxes_[0][2]));
+                        float n1ProdY = n.dot(Eigen::Vector3f(snapAxes_[1][0], snapAxes_[1][1], snapAxes_[1][2]));
+                        float n1ProdZ = n.dot(Eigen::Vector3f(snapAxes_[2][0], snapAxes_[2][1], snapAxes_[2][2]));
+                        if(fabs(n1ProdX) > restrictiveSnapThr)
+                        {
+                            quadColor = xColor;
+                        }
+                        else if(fabs(n1ProdY) > restrictiveSnapThr)
+                        {
+                            quadColor = yColor;
+                        }
+                        else if(fabs(n1ProdZ) > restrictiveSnapThr)
+                        {
+                            quadColor = zColor;
+                        }
+                    }
+                    
+                    const Measure & m = *iter;
+                    LOGI("dist=%f, %f,%f,%f -> %f,%f,%f", m.length(),
+                            m.pt1().x, m.pt1().y, m.pt1().z,
+                            m.pt2().x, m.pt2().y, m.pt2().z);
+                    cv::Point3f pt1 = rtabmap::util3d::transformPoint(m.pt1(), rtabmap::opengl_world_T_rtabmap_world);
+                    cv::Point3f pt2 = rtabmap::util3d::transformPoint(m.pt2(), rtabmap::opengl_world_T_rtabmap_world);
+                    main_scene_.addLine(++lineId, pt1, pt2, quadColor);
+
+                    if (fabs(iter->n1()[2]) < 0.00001 && sameNormal)
+                    {
+                        // Add a line so that in orthogonal view, we can see better where the lines are starting/finishing
+                        cv::Point3f n = cv::Vec3f(0,0,1).cross(iter->n1());
+
+                        n = rtabmap::util3d::transformPoint(n, rtabmap::opengl_world_T_rtabmap_world) * (quadSize/2);
+                        cv::Point3f pa = pt1 + n;
+                        cv::Point3f pb = pt1 - n;
+                        main_scene_.addLine(++lineId, pa, pb, quadColor);
+                        cv::Point3f pc = pt2 + n;
+                        cv::Point3f pd = pt2 - n;
+                        main_scene_.addLine(++lineId, pc, pd, quadColor);
+                    }
+
+                    float diff = m.length();
+                    std::string text = uFormat("%0.2f m", diff);
+                    if(!metricSystem_)
+                    {
+                        static const double METERS_PER_FOOT = 0.3048;
+                        static double INCHES_PER_FOOT = 12.0;
+                        double lengthInFeet = diff / METERS_PER_FOOT;
+                        int feet = (int)lengthInFeet;
+                        float inches = (lengthInFeet - feet) * INCHES_PER_FOOT;
+                        if(feet > 0)
+                        {
+                            text = uFormat("%d' %0.1f\"", feet, inches);
+                        }
+                        else
+                        {
+                            text = uFormat("%0.1f\"", inches);
+                        }
+                    }
+                    main_scene_.addText(++textId, text, rtabmap::Transform((pt1.x+pt2.x)/2.0f, (pt1.y+pt2.y)/2.0f, (pt1.z+pt2.z)/2.0f, 0, 0,0), textSize, quadColor);
+                    cv::Vec3f n1 = rtabmap::util3d::transformPoint(m.n1(), rtabmap::opengl_world_T_rtabmap_world);
+                    cv::Vec3f n2 = rtabmap::util3d::transformPoint(m.n2(), rtabmap::opengl_world_T_rtabmap_world);
+                    Eigen::Quaternionf q1, q2;
+                    q1.setFromTwoVectors(Eigen::Vector3f(0,0,1), Eigen::Vector3f(n1[0],n1[1],n1[2]));
+                    q2.setFromTwoVectors(Eigen::Vector3f(0,0,1), Eigen::Vector3f(n2[0],n2[1],n2[2]));
+                    main_scene_.addQuad(++quadId, quadSize, rtabmap::Transform(pt1.x, pt1.y, pt1.z, q1.x(), q1.y(), q1.z(), q1.w()), quadColor, quadAlpha);
+                    main_scene_.addQuad(++quadId, quadSize, rtabmap::Transform(pt2.x, pt2.y, pt2.z, q2.x(), q2.y(), q2.z(), q2.w()), quadColor, quadAlpha);
+                }
+            }
 
 			if(!openingDatabase_)
 			{
@@ -1576,7 +1723,8 @@ int RTABMapApp::Render()
 			if(main_scene_.hasCloud(g_optMeshId))
 			{
 				main_scene_.clear();
-				optMesh_.reset(new pcl::TextureMesh);
+				optTextureMesh_.reset(new pcl::TextureMesh);
+                optMesh_ = rtabmap::Mesh();
 				optTexture_ = cv::Mat();
 			}
 
@@ -1639,6 +1787,8 @@ int RTABMapApp::Render()
 				lastPostRenderEventTime_ = 0.0;
 				lastPoseEventTime_ = 0.0;
 				bufferedStatsData_.clear();
+                measuresUpdated_ = !measures_.empty();
+                measures_.clear();
 			}
 
 			// Did we lose OpenGL context? If so, recreate the context;
@@ -2270,6 +2420,358 @@ int RTABMapApp::Render()
 	}
 }
 
+void RTABMapApp::updateMeasuringState()
+{
+    rtabmap::Transform openglCam = main_scene_.GetOpenGLCameraPose();
+    rtabmap::Transform rtabmapCam = rtabmap::rtabmap_world_T_opengl_world * openglCam * rtabmap::opengl_world_T_rtabmap_world;
+    Eigen::Vector3f origin(openglCam.x(), openglCam.y(), openglCam.z());
+    Eigen::Vector3f rtabmapOrigin(rtabmapCam.x(), rtabmapCam.y(), rtabmapCam.z());
+    rtabmap::Transform v = openglCam.rotation() * rtabmap::Transform(0,0,-1,0,0,0);
+    Eigen::Vector3f dir(v.x(), v.y(), v.z());
+    v = rtabmapCam.rotation() * rtabmap::Transform(1,0,0,0,0,0);
+    Eigen::Vector3f rtabmapDir(v.x(), v.y(), v.z());
+    float textSize=0.05f;
+    tango_gl::Color color(1.0f, 0.0f, 1.0f);
+    tango_gl::Color xColor(1.0f, 0.0f, 0.0f); // in rtabmap world
+    tango_gl::Color yColor(0.0f, 1.0f, 0.0f); // in rtabmap world
+    tango_gl::Color zColor(0.0f, 0.0f, 1.0f); // in rtabmap world
+    float quadSize=0.05f;
+    float quadAlpha = 0.3f;
+
+    if(removeMeasureClicked_)
+    {
+        if(!measuringTmpPts_.empty())
+        {
+            main_scene_.removeLine(55555);
+            main_scene_.removeText(55555);
+            main_scene_.removeQuad(55555);
+            main_scene_.removeQuad(55556);
+            measuringTmpPts_.clear();
+            measuringTmpNormals_.clear();
+        }
+        else
+        {
+            bool removed = false;
+            for(std::list<Measure>::iterator iter=measures_.begin(); iter!=measures_.end() && !removed; ++iter)
+            {
+                const Measure & m = *iter;
+
+                for(int i=0; i<2;++i)
+                {
+                    // intersecting the quad?
+                    cv::Point3f pt = i==0?m.pt1():m.pt2();
+                    cv::Point3f n = i==0?m.n1():m.n2();
+                    pt = rtabmap::util3d::transformPoint(pt, rtabmap::opengl_world_T_rtabmap_world);
+                    n = rtabmap::util3d::transformPoint(n, rtabmap::opengl_world_T_rtabmap_world);
+                    Eigen::Quaternionf q;
+                    q.setFromTwoVectors(Eigen::Vector3f(0,0,-1), Eigen::Vector3f(n.x,n.y,n.z));
+                    float dTmp;
+                    Eigen::Vector3f nTmp;
+                    int indexTmp;
+                    if(rtabmap::util3d::intersectRayMesh(
+                                            origin,
+                                            dir,
+                                            *rtabmap::util3d::transformPointCloud(quadSample_, rtabmap::Transform(pt.x, pt.y, pt.z, q.x(), q.y(), q.z(), q.w())),
+                                            quadSamplePolygons_,
+                                            false,
+                                            dTmp,
+                                            nTmp,
+                                            indexTmp))
+                    {
+                        measures_.erase(iter);
+                        removed = true;
+                        break;
+                    }
+                }
+            }
+
+            measuresUpdated_ |= removed;
+        }
+    }
+
+    float distance =0.0f;
+    Eigen::Vector3f n;
+    int index;
+    if(rtabmap::util3d::intersectRayMesh(
+                    rtabmapOrigin,
+                    rtabmapDir,
+                    *optMesh_.cloud,
+                    optMesh_.polygons,
+                    true,
+                    distance,
+                    n,
+                    index))
+    {
+        
+        Eigen::Vector3f intersectionPt = origin + dir*distance;
+        cv::Point3f pt(intersectionPt[0], intersectionPt[1], intersectionPt[2]);
+        cv::Point3f normal(n[0], n[1], n[2]); // rtabmap world
+        cv::Point3f normalGl = rtabmap::util3d::transformPoint(normal, rtabmap::opengl_world_T_rtabmap_world); // opengl world
+        tango_gl::Color quadColor = color;
+        float normalProdX = n.dot(Eigen::Vector3f(snapAxes_[0][0], snapAxes_[0][1], snapAxes_[0][2]));
+        float normalProdY = n.dot(Eigen::Vector3f(snapAxes_[1][0], snapAxes_[1][1], snapAxes_[1][2]));
+        float normalProdZ = n.dot(Eigen::Vector3f(snapAxes_[2][0], snapAxes_[2][1], snapAxes_[2][2]));
+        if(fabs(normal.x) > fabs(normal.z) && fabs(normal.y) > fabs(normal.z))
+        {
+            if(fabs(normalProdX) > snapAxisThr_)
+            {
+                normal.x = snapAxes_[0][0] * (normalProdX>0?1:-1);
+                normal.y = snapAxes_[0][1] * (normalProdX>0?1:-1);
+                normal.z = snapAxes_[0][2] * (normalProdX>0?1:-1);
+                quadColor = xColor;
+            }
+            else if(fabs(normalProdY) > snapAxisThr_)
+            {
+                normal.x = snapAxes_[1][0] * (normalProdY>0?1:-1);
+                normal.y = snapAxes_[1][1] * (normalProdY>0?1:-1);
+                normal.z = snapAxes_[1][2] * (normalProdY>0?1:-1);
+                quadColor = yColor;
+            }
+            else if(measuringMode_ == 0)
+            {
+                // We force to be aligned with xy plane
+                normal.z = 0;
+                float n = cv::norm(normal);
+                normal.x/=n;
+                normal.y/=n;
+                normal.z/=n;
+            }
+        }
+        else if(fabs(normalProdZ) > snapAxisThr_)
+        {
+            normal.x = snapAxes_[2][0] * (normalProdZ>0?1:-1);
+            normal.y = snapAxes_[2][1] * (normalProdZ>0?1:-1);
+            normal.z = snapAxes_[2][2] * (normalProdZ>0?1:-1);
+            quadColor = zColor;
+        }
+        normalGl = rtabmap::util3d::transformPoint(normal, rtabmap::opengl_world_T_rtabmap_world);
+
+        if(teleportClicked_)
+        {
+            camera_->resetOrigin(rtabmap::Transform(-pt.z, -pt.x, pt.y-Scene::kHeightOffset.y,0,0,0));
+        }
+        else if(addMeasureClicked_) // Add measure
+        {
+            if((measuringMode_ == 1 || measuringTmpPts_.size()==1))
+            {
+                if(measuringMode_ == 1) // Height single click
+                {
+                    measuringTmpPts_.clear();
+                    measuringTmpNormals_.clear();
+
+                    normal.x=0;
+                    normal.y=0;
+                    normal.z=1;
+                    normalGl = rtabmap::util3d::transformPoint(normal, rtabmap::opengl_world_T_rtabmap_world);
+
+                    measuringTmpPts_.push_back(pt);
+                    measuringTmpNormals_.push_back(normalGl);
+                    pt.y = 0;
+                    measuringTmpPts_.push_back(pt);
+                    measuringTmpNormals_.push_back(normalGl);
+                }
+                else if(measuringMode_ == 0 || measuringMode_ == 2) // Plane to Plane or point to point
+                {
+                    if(measuringMode_ == 0)
+                    {
+                        normalGl = measuringTmpNormals_.front();
+
+                        // project point on line
+                        float n = (pt-measuringTmpPts_.front()).dot(measuringTmpNormals_.front());
+                        pt = measuringTmpPts_.front() + (measuringTmpNormals_.front() * n);
+                    }
+                    measuringTmpPts_.push_back(pt);
+                    measuringTmpNormals_.push_back(normalGl);
+                }
+
+                // Add measure!
+                const cv::Point3f & pt1 = measuringTmpPts_.at(0);
+                const cv::Point3f & pt2 = measuringTmpPts_.at(1);
+                const cv::Vec3f & n1 = measuringTmpNormals_.at(0);
+                const cv::Vec3f & n2 = measuringTmpNormals_.at(1);
+
+                Measure measure(
+                        rtabmap::util3d::transformPoint(pt1, rtabmap::rtabmap_world_T_opengl_world),
+                        rtabmap::util3d::transformPoint(pt2, rtabmap::rtabmap_world_T_opengl_world),
+                        rtabmap::util3d::transformPoint(n1, rtabmap::rtabmap_world_T_opengl_world),
+                        rtabmap::util3d::transformPoint(n2, rtabmap::rtabmap_world_T_opengl_world));
+
+                if(measure.length()>=0.01f)
+                {
+                    measures_.push_back(measure);
+
+                    main_scene_.removeLine(55555);
+                    main_scene_.removeText(55555);
+                    main_scene_.removeQuad(55555);
+                    main_scene_.removeQuad(55556);
+                    measuringTmpPts_.clear();
+                    measuringTmpNormals_.clear();
+
+                    measuresUpdated_ = true;
+                }
+            }
+            else
+            {
+                measuringTmpPts_.clear();
+                measuringTmpNormals_.clear();
+
+                // init the first point
+                measuringTmpPts_.push_back(pt);
+                measuringTmpNormals_.push_back(normalGl);
+            }
+        }
+        else if(measuringMode_ >= 0)
+        {
+            // move action
+            if(measuringMode_ == 0 && measuringTmpNormals_.size()==1)
+            {
+                normalGl = measuringTmpNormals_.front();
+                normal = rtabmap::util3d::transformPoint(normalGl, rtabmap::rtabmap_world_T_opengl_world);
+                n = Eigen::Vector3f(normal.x, normal.y, normal.z);
+                float normalProdX = n.dot(Eigen::Vector3f(snapAxes_[0][0], snapAxes_[0][1], snapAxes_[0][2]));
+                float normalProdY = n.dot(Eigen::Vector3f(snapAxes_[1][0], snapAxes_[1][1], snapAxes_[1][2]));
+                float normalProdZ = n.dot(Eigen::Vector3f(snapAxes_[2][0], snapAxes_[2][1], snapAxes_[2][2]));
+                if(fabs(normalProdX) > snapAxisThr_)
+                {
+                    quadColor = xColor;
+                }
+                else if(fabs(normalProdY) > snapAxisThr_)
+                {
+                    quadColor = yColor;
+                }
+                else if(fabs(normalProdZ) > snapAxisThr_)
+                {
+                    quadColor = zColor;
+                }
+                else
+                {
+                    quadColor = color;
+                }
+            }
+
+            float quadWidthLeft = 0.05;
+            float quadWidthRight = quadWidthLeft;
+            float quadHeightBottom = quadWidthLeft;
+            float quadHeightTop = quadWidthLeft;
+            cv::Point3f pt2 = pt;
+            // project point on line
+            if(measuringMode_ == 0 && measuringTmpPts_.size() == 1)
+            {
+                cv::Point3f v = pt2-measuringTmpPts_.front();
+                float n = v.dot(measuringTmpNormals_.front());
+                pt2 = measuringTmpPts_.front() + (measuringTmpNormals_.front() * n);
+                v = rtabmap::util3d::transformPoint(v, rtabmap::rtabmap_world_T_opengl_world);
+                if(!(fabs(normal.z) > fabs(normal.x) && fabs(normal.z) > fabs(normal.y)))
+                {
+                    quadHeightTop = v.z>quadSize?v.z:quadSize;
+                    quadHeightBottom = -v.z>quadSize?-v.z:quadSize;
+                    if(fabs(normal.x) > fabs(normal.y))
+                    {
+                        cv::Point3f y = cv::Point3f(0,0,1).cross(normal);
+                        float n = v.dot(y);
+                        quadWidthRight = n>quadSize?n:quadSize;
+                        quadWidthLeft = n<-quadSize?fabs(n):quadSize;
+                        if(normal.x>0)
+                        {
+                            quadWidthLeft = n>quadSize?n:quadSize;
+                            quadWidthRight = n<-quadSize?fabs(n):quadSize;
+                            float tmp  =quadHeightTop;
+                            quadHeightTop= quadHeightBottom;
+                            quadHeightBottom = tmp;
+                        }
+                    }
+                    else
+                    {
+                        cv::Point3f x = normal.cross(cv::Point3f(0,0,1));
+                        float n = v.dot(x);
+                        quadWidthRight = n<-quadSize?fabs(n):quadSize;
+                        quadWidthLeft = n>quadSize?n:quadSize;
+                    }
+                }
+                else
+                {
+                    if(normal.z>0)
+                    {
+                        quadHeightBottom = v.x<-quadSize?fabs(v.x):quadSize;
+                        quadHeightTop = v.x>quadSize?v.x:quadSize;
+                        quadWidthRight = v.y<-quadSize?fabs(v.y):quadSize;
+                        quadWidthLeft = v.y>quadSize?v.y:quadSize;
+                    }
+                    else
+                    {
+                        quadHeightTop = v.x<-quadSize?fabs(v.x):quadSize;
+                        quadHeightBottom = v.x>quadSize?v.x:quadSize;
+                        quadWidthRight = v.y<-quadSize?fabs(v.y):quadSize;
+                        quadWidthLeft = v.y>quadSize?v.y:quadSize;
+                    }
+                }
+
+                /*std::string text = uFormat("%0.1f %0.1f %0.1f [%0.2f %0.2f %0.2f %0.2f]", v.x, v.y, v.z,
+                        quadWidthLeft,
+                        quadWidthRight,
+                        quadHeightBottom,
+                        quadHeightTop);
+                main_scene_.addText(55555, text, rtabmap::Transform(pt.x, pt.y, pt.z, 0,0,0), textSize, color);*/
+            }
+
+            Eigen::Quaternionf q;
+            q.setFromTwoVectors(Eigen::Vector3f(0,0,1), Eigen::Vector3f(normalGl.x,normalGl.y,normalGl.z));
+
+            if(measuringTmpPts_.size() == 1 && measuringMode_ != 1)
+            {
+                const cv::Point3f & pt1 = measuringTmpPts_.at(0);
+                main_scene_.addLine(55555, pt1, pt2, quadColor);
+
+                main_scene_.addQuad(55555,
+                    quadSize,
+                    rtabmap::Transform(
+                            measuringTmpPts_.front().x,
+                            measuringTmpPts_.front().y,
+                            measuringTmpPts_.front().z,
+                            q.x(),q.y(), q.z(), q.w()), quadColor, quadAlpha);
+
+                main_scene_.addQuad(55556,
+                            quadWidthLeft,
+                            quadWidthRight,
+                            quadHeightBottom,
+                            quadHeightTop,
+                            rtabmap::Transform(pt2.x, pt2.y, pt2.z, q.x(),q.y(), q.z(), q.w()), quadColor, quadAlpha);
+            }
+            else
+            {
+                main_scene_.addQuad(55555,
+                            quadWidthLeft,
+                            quadWidthRight,
+                            quadHeightBottom,
+                            quadHeightTop,
+                            rtabmap::Transform(pt2.x, pt2.y, pt2.z, q.x(),q.y(), q.z(), q.w()), quadColor, quadAlpha);
+            }
+        }
+    }
+    else
+    {
+        main_scene_.removeText(55555);
+        main_scene_.removeQuad(55555);
+        main_scene_.removeQuad(55556);
+    }
+
+    Eigen::Vector3f target = origin+dir*(distance<100.0f?distance:0.5f);
+    rtabmap::Transform pose(target[0], target[1], target[2], 0,0,0);
+    if(main_scene_.hasCloud(-99999))
+    {
+        main_scene_.setCloudPose(-99999, pose);
+    }
+    else
+    {
+        main_scene_.addCloud(-99999, targetPoint_, pcl::IndicesPtr(), pose);
+    }
+
+    // reset states
+    removeMeasureClicked_ = false;
+    addMeasureClicked_ = false;
+    teleportClicked_ = false;
+}
+
 void RTABMapApp::SetCameraType(
     tango_gl::GestureCamera::CameraType camera_type) {
   main_scene_.SetCameraType(camera_type);
@@ -2337,6 +2839,15 @@ void RTABMapApp::setOrthoCropFactor(float value)
 }
 void RTABMapApp::setGridRotation(float value)
 {
+    // Update measuring snap axes
+    rtabmap::Transform rotation(0,0, value * DEGREE_2_RADIANS);
+    renderingMutex_.lock();
+    snapAxes_[0] = rtabmap::util3d::transformPoint(cv::Vec3f(1,0,0), rotation);
+    snapAxes_[1] = rtabmap::util3d::transformPoint(cv::Vec3f(0,1,0), rotation);
+    measuresUpdated_ = true;
+    renderingMutex_.unlock();
+    
+    // Update grid
 	main_scene_.setGridRotation(value);
 }
 void RTABMapApp::setLighting(bool enabled)
@@ -3492,7 +4003,8 @@ bool RTABMapApp::exportMesh(
 bool RTABMapApp::postExportation(bool visualize)
 {
 	LOGI("postExportation(visualize=%d)", visualize?1:0);
-	optMesh_.reset(new pcl::TextureMesh);
+	optTextureMesh_.reset(new pcl::TextureMesh);
+    optMesh_= rtabmap::Mesh();
 	optTexture_ = cv::Mat();
 	exportedMeshUpdated_ = false;
 
@@ -3513,8 +4025,9 @@ bool RTABMapApp::postExportation(bool visualize)
 			if(!cloudMat.empty())
 			{
 				LOGI("postExportation: Found optimized mesh! Visualizing it.");
-				optMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true);
-				optTexture_ = textures;
+				optTextureMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true);
+                optMesh_ = rtabmap::Mesh();
+                optTexture_ = textures;
 
 				boost::mutex::scoped_lock  lock(renderingMutex_);
 				visualizingMesh_ = true;
@@ -3799,6 +4312,57 @@ int RTABMapApp::postProcessing(int approach)
 	return returnedValue;
 }
 
+void RTABMapApp::clearMeasures()
+{
+    boost::mutex::scoped_lock  lockRender(renderingMutex_);
+    measures_.clear();
+    measuresUpdated_ = true;
+}
+
+void RTABMapApp::setMeasuringMode(int mode)
+{
+    if(visualizingMesh_)
+    {
+        measuringMode_ = mode;
+    }
+}
+
+void RTABMapApp::addMeasureButtonClicked()
+{
+    if(visualizingMesh_)
+    {
+        boost::mutex::scoped_lock lock(renderingMutex_);
+        addMeasureClicked_ = true;
+    }
+}
+
+void RTABMapApp::teleportButtonClicked()
+{
+    if(visualizingMesh_)
+    {
+        boost::mutex::scoped_lock lock(renderingMutex_);
+        teleportClicked_ = true;
+    }
+}
+
+void RTABMapApp::removeMeasure()
+{
+    if(visualizingMesh_)
+    {
+        boost::mutex::scoped_lock lock(renderingMutex_);
+        removeMeasureClicked_ = true;
+    }
+}
+
+void RTABMapApp::setMetricSystem(bool enabled)
+{
+    metricSystem_ = enabled;
+    if(measures_.size())
+    {
+        measuresUpdated_ = true;
+    }
+}
+
 void RTABMapApp::postOdometryEvent(
 		rtabmap::Transform pose,
 		float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
diff --git a/app/android/jni/RTABMapApp.h b/app/android/jni/RTABMapApp.h
index 67a7ab6d..8fcff2ed 100644
--- a/app/android/jni/RTABMapApp.h
+++ b/app/android/jni/RTABMapApp.h
@@ -48,6 +48,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/pcl_base.h>
 #include <pcl/TextureMesh.h>
 
+#include "Measure.h"
 
 // RTABMapApp handles the application lifecycle and resources.
 class RTABMapApp : public UEventsHandler {
@@ -84,7 +85,7 @@ class RTABMapApp : public UEventsHandler {
 #ifdef __ANDROID__
   bool startCamera(JNIEnv* env, jobject iBinder, jobject context, jobject activity, int driver);
 #else // __APPLE__
-    bool startCamera();
+  bool startCamera();
 #endif
   // Allocate OpenGL resources for rendering, mainly for initializing the Scene.
   void InitializeGLContent();
@@ -180,6 +181,13 @@ class RTABMapApp : public UEventsHandler {
   bool postExportation(bool visualize);
   bool writeExportedMesh(const std::string & directory, const std::string & name);
   int postProcessing(int approach);
+  void clearMeasures();
+  void showMeasures(bool x, bool y, bool z, bool custom);
+  void setMeasuringMode(int mode);
+  void addMeasureButtonClicked();
+  void teleportButtonClicked();
+  void removeMeasure();
+  void setMetricSystem(bool enabled);
 
   void postOdometryEvent(
 		rtabmap::Transform pose,
@@ -203,6 +211,7 @@ class RTABMapApp : public UEventsHandler {
  private:
   int updateMeshDecimation(int width, int height);
   rtabmap::ParametersMap getRtabmapParameters();
+  void updateMeasuringState();
   bool smoothMesh(int id, rtabmap::Mesh & mesh);
   void gainCompensation(bool full = false);
   std::vector<pcl::Vertices> filterOrganizedPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
@@ -264,11 +273,26 @@ class RTABMapApp : public UEventsHandler {
 
   bool visualizingMesh_;
   bool exportedMeshUpdated_;
-  pcl::TextureMesh::Ptr optMesh_;
+  pcl::TextureMesh::Ptr optTextureMesh_;
   cv::Mat optTexture_;
+  rtabmap::Mesh optMesh_;
   int optRefId_;
   rtabmap::Transform * optRefPose_; // App crashes when loading native library if not dynamic
-
+  std::list<Measure> measures_; // In opengl frame
+  bool measuresUpdated_;
+  bool metricSystem_;
+  float snapAxisThr_;
+  std::vector<cv::Vec3f> snapAxes_;
+  bool markerDetection_;
+  int measuringMode_;
+  bool addMeasureClicked_;
+  bool teleportClicked_;
+  bool removeMeasureClicked_;
+  std::vector<cv::Point3f> measuringTmpPts_; // In opengl frame
+  std::vector<cv::Point3f> measuringTmpNormals_; // In opengl frame
+  pcl::PointCloud<pcl::PointXYZRGB>::Ptr targetPoint_;
+  pcl::PointCloud<pcl::PointXYZ>::Ptr quadSample_;
+  std::vector<pcl::Vertices> quadSamplePolygons_;
   // main_scene_ includes all drawable object for visualizing Tango device's
   // movement and point cloud.
   Scene main_scene_;
diff --git a/app/android/jni/quad_color.cpp b/app/android/jni/quad_color.cpp
new file mode 100644
index 00000000..f3a0d1e3
--- /dev/null
+++ b/app/android/jni/quad_color.cpp
@@ -0,0 +1,69 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "quad_color.h"
+#include "tango-gl/util.h"
+
+static const float vertices[] = {-1.0f, -1.0f, 1.0f, -1.0f,
+                                 -1.0f, 1.0f,  1.0f, 1.0f};
+
+QuadColor::QuadColor(float size) {
+	SetShader();
+
+	vertices_.resize(8);
+	for(int i=0; i<8; ++i)
+	{
+		vertices_[i] = vertices[i]*size;
+	}
+}
+
+QuadColor::QuadColor(
+		float widthLeft,
+		float widthRight,
+		float heightBottom,
+		float heightTop) {
+	SetShader();
+
+	vertices_.resize(8);
+	vertices_[0] = vertices[0]*widthLeft;
+	vertices_[1] = vertices[1]*heightBottom;
+	vertices_[2] = vertices[2]*widthRight;
+	vertices_[3] = vertices[3]*heightBottom;
+	vertices_[4] = vertices[4]*widthLeft;
+	vertices_[5] = vertices[5]*heightTop;
+	vertices_[6] = vertices[6]*widthRight;
+	vertices_[7] = vertices[7]*heightTop;
+}
+
+void QuadColor::Render(const glm::mat4& projection_mat,
+                  const glm::mat4& view_mat) const {
+  glUseProgram(shader_program_);
+
+  // Calculate MVP matrix and pass it to shader.
+  glm::mat4 model_mat = GetTransformationMatrix();
+  glm::mat4 mvp_mat = projection_mat * view_mat * model_mat;
+  glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+
+  glUniform4f(uniform_color_, red_, green_, blue_, alpha_);
+
+  // Vertice binding
+  glEnableVertexAttribArray(attrib_vertices_);
+  glVertexAttribPointer(attrib_vertices_, 2, GL_FLOAT, GL_FALSE, 0, &vertices_[0]);
+  glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+  glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
+  glUseProgram(0);
+}
diff --git a/app/android/jni/quad_color.h b/app/android/jni/quad_color.h
new file mode 100644
index 00000000..825ffb15
--- /dev/null
+++ b/app/android/jni/quad_color.h
@@ -0,0 +1,35 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_QUADCOLOR_H_
+#define TANGO_GL_QUADCOLOR_H_
+
+#include "tango-gl/drawable_object.h"
+
+class QuadColor : public tango_gl::DrawableObject {
+ public:
+	QuadColor(float size);
+	QuadColor(float widthLeft,
+			float widthRight,
+			float heightBottom,
+			float heightTop);
+	QuadColor(const QuadColor& other) = delete;
+	QuadColor& operator=(const QuadColor&) = delete;
+	virtual ~QuadColor() {}
+
+	void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
+};
+#endif  // TANGO_GL_QUADCOLOR_H_
diff --git a/app/android/jni/resources/text_atlas.png b/app/android/jni/resources/text_atlas.png
new file mode 100644
index 00000000..0efda713
Binary files /dev/null and b/app/android/jni/resources/text_atlas.png differ
diff --git a/app/android/jni/scene.cpp b/app/android/jni/scene.cpp
index 5890c684..b3f4d953 100644
--- a/app/android/jni/scene.cpp
+++ b/app/android/jni/scene.cpp
@@ -36,7 +36,7 @@
 // add an offset in z to our origin. We'll set this offset to 1.3 meters based
 // on the average height of a human standing with a Tango device. This allows us
 // to place a grid roughly on the ground for most users.
-const glm::vec3 kHeightOffset = glm::vec3(0.0f, -1.3f, 0.0f);
+const glm::vec3 Scene::kHeightOffset = glm::vec3(0.0f, -1.3f, 0.0f);
 
 // Color of the motion tracking trajectory.
 const tango_gl::Color kTraceColor(0.66f, 0.66f, 0.66f);
@@ -124,6 +124,7 @@ void Scene::InitGLContent()
 
 	UASSERT(axis_ == 0);
 
+    TextDrawable::createShaderProgram();
 
 	axis_ = new tango_gl::Axis();
 	frustum_ = new tango_gl::Frustum();
@@ -166,6 +167,7 @@ void Scene::DeleteResources() {
 		background_renderer_ = 0;
 	}
 
+    TextDrawable::releaseShaderProgram();
 	PointCloudDrawable::releaseShaderPrograms();
 
 	if (graph_shader_program_) {
@@ -198,6 +200,9 @@ void Scene::clear()
 	{
 		delete iter->second;
 	}
+    clearLines();
+    clearQuads();
+    clearTexts();
 	if(trace_)
 	{
 		trace_->ClearVertexArray();
@@ -215,6 +220,31 @@ void Scene::clear()
 	}
 }
 
+void Scene::clearLines()
+{
+    for(std::map<int, tango_gl::Line*>::iterator iter=lines_.begin(); iter!=lines_.end(); ++iter)
+    {
+        delete iter->second;
+    }
+    lines_.clear();
+}
+void Scene::clearTexts()
+{
+    for(std::map<int, TextDrawable*>::iterator iter=texts_.begin(); iter!=texts_.end(); ++iter)
+    {
+        delete iter->second;
+    }
+    texts_.clear();
+}
+void Scene::clearQuads()
+{
+    for(std::map<int, QuadColor*>::iterator iter=quads_.begin(); iter!=quads_.end(); ++iter)
+    {
+        delete iter->second;
+    }
+    quads_.clear();
+}
+
 //Should only be called in OpenGL thread!
 void Scene::SetupViewPort(int w, int h) {
 	if (h == 0) {
@@ -631,6 +661,15 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 
 		cloud->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, meshRenderingTexture_, lighting_, distanceToCameraSqr, onlineBlending?depthTexture_:0, screenWidth_, screenHeight_, gesture_camera_->getNearClipPlane(), gesture_camera_->getFarClipPlane(), false, wireFrame_);
 	}
+    
+    if(quads_.find(55556)!=quads_.end())
+    {
+        glEnable(GL_BLEND);
+        glDisable(GL_CULL_FACE);
+        const QuadColor * quad = quads_.at(55556);
+        quad->Render(projectionMatrix, viewMatrix);
+        glEnable(GL_CULL_FACE);
+    }
 
 	if(onlineBlending)
 	{
@@ -643,6 +682,47 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 		glDepthMask(GL_TRUE);
 	}
     
+    ///////
+    glDisable (GL_DEPTH_TEST);
+    if(lines_.size())
+    {
+        for(std::map<int, tango_gl::Line*>::const_iterator iter=lines_.begin(); iter!=lines_.end(); ++iter)
+        {
+            const tango_gl::Line * line = iter->second;
+            line->Render(projectionMatrix, viewMatrix);
+        }
+    }
+
+    if(quads_.size())
+    {
+        glEnable(GL_BLEND);
+        glDisable(GL_CULL_FACE);
+        for(std::map<int, QuadColor*>::const_iterator iter=quads_.begin(); iter!=quads_.end(); ++iter)
+        {
+            if(iter->first!=55556)
+            {
+                const QuadColor * quad = iter->second;
+                quad->Render(projectionMatrix, viewMatrix);
+            }
+        }
+    }
+    if(texts_.size())
+    {
+        glDisable(GL_CULL_FACE);
+        glEnable(GL_BLEND);
+
+        glm::mat4 viewMatrixRotInv = viewMatrix;
+        viewMatrixRotInv[3][0] = 0;
+        viewMatrixRotInv[3][1] = 0;
+        viewMatrixRotInv[3][2] = 0;
+        viewMatrixRotInv = glm::inverse(viewMatrixRotInv);
+        for(std::map<int, TextDrawable*>::const_iterator iter=texts_.begin(); iter!=texts_.end(); ++iter)
+        {
+            const TextDrawable * text = iter->second;
+            text->Render(projectionMatrix, viewMatrix, viewMatrixRotInv);
+        }
+    }
+    
 	//draw markers on foreground
 	for(std::map<int, tango_gl::Axis*>::const_iterator iter=markers_.begin(); iter!=markers_.end(); ++iter)
 	{
@@ -800,12 +880,7 @@ void Scene::addCloud(
 		const rtabmap::Transform & pose)
 {
 	LOGI("add cloud %d (%d points %d indices)", id, (int)cloud->size(), indices.get()?(int)indices->size():0);
-	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
-	if(iter != pointClouds_.end())
-	{
-		delete iter->second;
-		pointClouds_.erase(iter);
-	}
+    removeCloudOrMesh(id);
 
 	//create
 	PointCloudDrawable * drawable = new PointCloudDrawable(cloud, indices);
@@ -813,6 +888,16 @@ void Scene::addCloud(
 	pointClouds_.insert(std::make_pair(id, drawable));
 }
 
+void Scene::removeCloudOrMesh(int id)
+{
+    std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
+    if(iter != pointClouds_.end())
+    {
+        delete iter->second;
+        pointClouds_.erase(iter);
+    }
+}
+
 void Scene::addMesh(
 		int id,
 		const rtabmap::Mesh & mesh,
@@ -820,12 +905,7 @@ void Scene::addMesh(
 		bool createWireframe)
 {
 	LOGI("add mesh %d", id);
-	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
-	if(iter != pointClouds_.end())
-	{
-		delete iter->second;
-		pointClouds_.erase(iter);
-	}
+    removeCloudOrMesh(id);
 
 	//create
 	PointCloudDrawable * drawable = new PointCloudDrawable(mesh, createWireframe);
@@ -885,6 +965,122 @@ void Scene::addMesh(
 	}
 }
 
+void Scene::addLine(
+        int id,
+        const cv::Point3f & pt1,
+        const cv::Point3f & pt2,
+        const tango_gl::Color & color)
+{
+    LOGI("add line %d", id);
+    removeLine(id);
+
+    //create
+    tango_gl::Line * line = new tango_gl::Line(2.0f, GL_LINES);
+    line->SetShader();
+    std::vector<glm::vec3> vertices(2);
+    vertices[0].x = pt1.x;
+    vertices[0].y = pt1.y;
+    vertices[0].z = pt1.z;
+    vertices[1].x = pt2.x;
+    vertices[1].y = pt2.y;
+    vertices[1].z = pt2.z;
+    line->UpdateLineVertices(vertices);
+    line->SetColor(color);
+    lines_.insert(std::make_pair(id, line));
+}
+
+void Scene::removeLine(int id)
+{
+    std::map<int, tango_gl::Line*>::iterator iter=lines_.find(id);
+    if(iter != lines_.end())
+    {
+        delete iter->second;
+        lines_.erase(iter);
+    }
+}
+
+void Scene::addText(
+        int id,
+        const std::string & text,
+        const rtabmap::Transform & pose,
+        float size,
+        const tango_gl::Color & color)
+{
+    LOGI("add text %d", id);
+    removeText(id);
+
+    //create
+    TextDrawable * textD = new TextDrawable(text, pose, size, color);
+    texts_.insert(std::make_pair(id, textD));
+}
+void Scene::removeText(int id)
+{
+    std::map<int, TextDrawable*>::iterator iter=texts_.find(id);
+    if(iter != texts_.end())
+    {
+        delete iter->second;
+        texts_.erase(iter);
+    }
+}
+
+void Scene::addQuad(
+        int id,
+        float size,
+        const rtabmap::Transform & pose,
+        const tango_gl::Color & color,
+        float alpha)
+{
+    //LOGI("add quad %d", id);
+    std::map<int, QuadColor*>::iterator iter=quads_.find(id);
+    if(iter != quads_.end())
+    {
+        delete iter->second;
+        quads_.erase(iter);
+    }
+
+    //create
+    QuadColor * quad = new QuadColor(size);
+    quad->SetTransformationMatrix(glmFromTransform(pose));
+    quad->SetColor(color);
+    quad->SetAlpha(alpha);
+    quads_.insert(std::make_pair(id, quad));
+}
+
+void Scene::addQuad(
+        int id,
+        float widthLeft,
+        float widthRight,
+        float heightBottom,
+        float heightTop,
+        const rtabmap::Transform & pose,
+        const tango_gl::Color & color,
+        float alpha)
+{
+    //LOGI("add quad %d", id);
+    removeQuad(id);
+
+    //create
+    QuadColor * quad = new QuadColor(widthLeft, widthRight, heightBottom, heightTop);
+    quad->SetTransformationMatrix(glmFromTransform(pose));
+    quad->SetColor(color);
+    quad->SetAlpha(alpha);
+    quads_.insert(std::make_pair(id, quad));
+}
+
+void Scene::removeQuad(int id)
+{
+    std::map<int, QuadColor*>::iterator iter=quads_.find(id);
+    if(iter != quads_.end())
+    {
+        delete iter->second;
+        quads_.erase(iter);
+    }
+}
+
+bool Scene::hasQuad(int id) const
+{
+    return quads_.find(id) != quads_.end();
+}
 
 void Scene::setCloudPose(int id, const rtabmap::Transform & pose)
 {
diff --git a/app/android/jni/scene.h b/app/android/jni/scene.h
index f241c12b..d217f31c 100644
--- a/app/android/jni/scene.h
+++ b/app/android/jni/scene.h
@@ -41,12 +41,16 @@
 #include "graph_drawable.h"
 #include "bounding_box_drawable.h"
 #include "background_renderer.h"
+#include "text_drawable.h"
+#include "quad_color.h"
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 
 // Scene provides OpenGL drawable objects and renders them for visualization.
 class Scene {
+ public:
+    static const glm::vec3 kHeightOffset;
  public:
   // Constructor and destructor.
   Scene();
@@ -67,6 +71,9 @@ class Scene {
   void setScreenRotation(rtabmap::ScreenRotation colorCameraToDisplayRotation) {color_camera_to_display_rotation_ = colorCameraToDisplayRotation;}
 
   void clear(); // removed all point clouds
+  void clearLines();
+  void clearTexts();
+  void clearQuads();
 
   // Render loop.
   // @param: cur_pose_transformation, latest pose's transformation.
@@ -119,11 +126,42 @@ class Scene {
   		  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
 		  const pcl::IndicesPtr & indices,
   		  const rtabmap::Transform & pose);
+  void removeCloudOrMesh(int id);
   void addMesh(
   		int id,
   		const rtabmap::Mesh & mesh,
   		const rtabmap::Transform & pose,
 		bool createWireframe = false);
+  void addLine(
+        int id,
+        const cv::Point3f & pt1,
+        const cv::Point3f & pt2,
+        const tango_gl::Color & color = tango_gl::Color(1.0f, 1.0f, 1.0f));
+  void removeLine(int id);
+  void addText(
+        int id,
+        const std::string & text,
+        const rtabmap::Transform & pose,
+        float size,
+        const tango_gl::Color & color);
+  void removeText(int id);
+  void addQuad(
+        int id,
+        float size,
+        const rtabmap::Transform & pose,
+        const tango_gl::Color & color,
+        float alpha = 1.0f);
+  void addQuad(
+        int id,
+        float widthLeft,
+        float widthRight,
+        float heightBottom,
+        float heightTop,
+        const rtabmap::Transform & pose,
+        const tango_gl::Color & color,
+        float alpha =1.0f);
+  void removeQuad(int id);
+  bool hasQuad(int id) const;
 
   void setCloudPose(int id, const rtabmap::Transform & pose);
   void setCloudVisible(int id, bool visible);
@@ -188,6 +226,9 @@ class Scene {
   rtabmap::ScreenRotation color_camera_to_display_rotation_;
 
   std::map<int, PointCloudDrawable*> pointClouds_;
+  std::map<int, tango_gl::Line*> lines_;
+  std::map<int, TextDrawable*> texts_;
+  std::map<int, QuadColor*> quads_;
 
   rtabmap::Transform * currentPose_;
 
diff --git a/app/android/jni/text_drawable.cpp b/app/android/jni/text_drawable.cpp
new file mode 100644
index 00000000..6171a4a7
--- /dev/null
+++ b/app/android/jni/text_drawable.cpp
@@ -0,0 +1,366 @@
+/*
+Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifdef __ANDROID__
+#include <jni.h>
+#endif
+
+#include <tango-gl/util.h>
+#include <vector>
+#include <rtabmap/core/Transform.h>
+#include "util.h"
+#include "text_drawable.h"
+#include "text_atlas_png.h"
+#include <rtabmap/utilite/UConversion.h>
+
+const std::string kTextVertexShader =
+	"uniform mat4 uMVPMatrix;"
+	"attribute vec4 vPosition;"
+	"attribute vec2 a_texCoord;"
+	"varying vec2 v_texCoord;"
+	"void main() {"
+	"  gl_Position = uMVPMatrix * vPosition;"
+	"  v_texCoord = a_texCoord;"
+	"}";
+const std::string kTextFragmentShader =
+	"precision mediump float;"
+	"uniform vec3 uColor;"
+	"varying vec2 v_texCoord;"
+	"uniform sampler2D s_texture;"
+	"void main() {"
+	"  gl_FragColor = texture2D( s_texture, v_texCoord );"
+	"  gl_FragColor.rgb = uColor;"
+	"}";
+
+const int RI_TEXT_TEXTURE_SIZE = 512; // 512
+const float RI_TEXT_HEIGHT_BASE = 32.0f;
+const char RI_TEXT_START = ' ';
+const char RI_TEXT_STOP = '~'+1;
+
+GLuint TextDrawable::textProgram_ = 0;
+GLuint TextDrawable::textTextureId_ = 0;
+float TextDrawable::textUVWidth_ = 0;
+float TextDrawable::textUVHeight_ = 0;
+float TextDrawable::textHeight_ = 0;
+std::vector<float> TextDrawable::textCharacterWidths_;
+
+void TextDrawable::createShaderProgram()
+{
+	releaseShaderProgram();
+
+	// hard-coded with text_atlas.png resource
+	textCharacterWidths_.resize(95);
+	textCharacterWidths_[0]=8;
+	textCharacterWidths_[1]=9.000000;
+	textCharacterWidths_[2]=10.000000;
+	textCharacterWidths_[3]=19.000000;
+	textCharacterWidths_[4]=18.000000;
+	textCharacterWidths_[5]=24.000000;
+	textCharacterWidths_[6]=21.000000;
+	textCharacterWidths_[7]=5.000000;
+	textCharacterWidths_[8]=11.000000;
+	textCharacterWidths_[9]=11.000000;
+	textCharacterWidths_[10]=15.000000;
+	textCharacterWidths_[11]=17.000000;
+	textCharacterWidths_[12]=8.000000;
+	textCharacterWidths_[13]=12.000000;
+	textCharacterWidths_[14]=9.000000;
+	textCharacterWidths_[15]=12.000000;
+	textCharacterWidths_[16]=18.000000;
+	textCharacterWidths_[17]=18.000000;
+	textCharacterWidths_[18]=18.000000;
+	textCharacterWidths_[19]=18.000000;
+	textCharacterWidths_[20]=18.000000;
+	textCharacterWidths_[21]=18.000000;
+	textCharacterWidths_[22]=18.000000;
+	textCharacterWidths_[23]=18.000000;
+	textCharacterWidths_[24]=18.000000;
+	textCharacterWidths_[25]=18.000000;
+	textCharacterWidths_[26]=9.000000;
+	textCharacterWidths_[27]=8.000000;
+	textCharacterWidths_[28]=16.000000;
+	textCharacterWidths_[29]=18.000000;
+	textCharacterWidths_[30]=17.000000;
+	textCharacterWidths_[31]=16.000000;
+	textCharacterWidths_[32]=29.000000;
+	textCharacterWidths_[33]=22.000000;
+	textCharacterWidths_[34]=20.000000;
+	textCharacterWidths_[35]=21.000000;
+	textCharacterWidths_[36]=21.000000;
+	textCharacterWidths_[37]=18.000000;
+	textCharacterWidths_[38]=18.000000;
+	textCharacterWidths_[39]=22.000000;
+	textCharacterWidths_[40]=23.000000;
+	textCharacterWidths_[41]=9.000000;
+	textCharacterWidths_[42]=18.000000;
+	textCharacterWidths_[43]=20.000000;
+	textCharacterWidths_[44]=17.000000;
+	textCharacterWidths_[45]=28.000000;
+	textCharacterWidths_[46]=23.000000;
+	textCharacterWidths_[47]=22.000000;
+	textCharacterWidths_[48]=21.000000;
+	textCharacterWidths_[49]=22.000000;
+	textCharacterWidths_[50]=20.000000;
+	textCharacterWidths_[51]=20.000000;
+	textCharacterWidths_[52]=20.000000;
+	textCharacterWidths_[53]=21.000000;
+	textCharacterWidths_[54]=21.000000;
+	textCharacterWidths_[55]=28.000000;
+	textCharacterWidths_[56]=20.000000;
+	textCharacterWidths_[57]=20.000000;
+	textCharacterWidths_[58]=19.000000;
+	textCharacterWidths_[59]=9.000000;
+	textCharacterWidths_[60]=14.000000;
+	textCharacterWidths_[61]=9.000000;
+	textCharacterWidths_[62]=14.000000;
+	textCharacterWidths_[63]=14.000000;
+	textCharacterWidths_[64]=11.000000;
+	textCharacterWidths_[65]=17.000000;
+	textCharacterWidths_[66]=18.000000;
+	textCharacterWidths_[67]=17.000000;
+	textCharacterWidths_[68]=18.000000;
+	textCharacterWidths_[69]=17.000000;
+	textCharacterWidths_[70]=11.000000;
+	textCharacterWidths_[71]=18.000000;
+	textCharacterWidths_[72]=18.000000;
+	textCharacterWidths_[73]=8.000000;
+	textCharacterWidths_[74]=8.000000;
+	textCharacterWidths_[75]=17.000000;
+	textCharacterWidths_[76]=8.000000;
+	textCharacterWidths_[77]=28.000000;
+	textCharacterWidths_[78]=18.000000;
+	textCharacterWidths_[79]=18.000000;
+	textCharacterWidths_[80]=18.000000;
+	textCharacterWidths_[81]=18.000000;
+	textCharacterWidths_[82]=12.000000;
+	textCharacterWidths_[83]=16.000000;
+	textCharacterWidths_[84]=11.000000;
+	textCharacterWidths_[85]=18.000000;
+	textCharacterWidths_[86]=16.000000;
+	textCharacterWidths_[87]=24.000000;
+	textCharacterWidths_[88]=16.000000;
+	textCharacterWidths_[89]=16.000000;
+	textCharacterWidths_[90]=16.000000;
+	textCharacterWidths_[91]=11.000000;
+	textCharacterWidths_[92]=8.000000;
+	textCharacterWidths_[93]=11.000000;
+	textCharacterWidths_[94]=21.000000;
+	textUVWidth_=0.062500;
+	textUVHeight_=0.082031;
+	textHeight_=42.000000;
+
+	textProgram_ = tango_gl::util::CreateProgram(kTextVertexShader.c_str(), kTextFragmentShader.c_str());
+	UASSERT(textProgram_ != 0);
+
+	glGenTextures(1, &textTextureId_);
+	UASSERT(textTextureId_);
+
+	// gen texture from image
+	glBindTexture(GL_TEXTURE_2D, textTextureId_);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+
+	std::vector<char> data = uHex2Bytes(rtabmap::TEXT_ATLAS_PNG);
+
+	cv::Mat rgbImage = cv::imdecode(data, cv::IMREAD_UNCHANGED);
+
+	glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
+	glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, rgbImage.cols, rgbImage.rows, 0, GL_RGBA, GL_UNSIGNED_BYTE, rgbImage.data);
+
+	GLint error = glGetError();
+	UASSERT(error == GL_NO_ERROR);
+}
+
+void TextDrawable::releaseShaderProgram()
+{
+	if(textProgram_)
+	{
+		glDeleteShader(textProgram_);
+		textProgram_ = 0;
+	}
+}
+
+TextDrawable::TextDrawable(
+		const std::string & text,
+		const rtabmap::Transform & pose,
+		float textSize, // meters
+		const tango_gl::Color & color) :
+		poseGl_(glmFromTransform(pose)),
+		color_(color)
+{
+	if(textProgram_ > 0)
+	{
+		vertexBuffer_ = std::vector<float>(text.size() * 12);
+		textureBuffer_ = std::vector<float>(text.size() * 8);
+		drawListBuffer_ = std::vector<unsigned short>(text.size() * 6);
+
+		int index_vecs = 0;
+		int index_indices = 0;
+		int index_uvs = 0;
+		float x=0.0f;
+		float y=0.0f;
+		float uniformscale = textSize/textHeight_;
+		for(unsigned int i=0; i<text.size(); ++i)
+		{
+			// get ascii value
+			char c = text[i];
+			int c_val = (int)c;
+
+			int indx = c_val-RI_TEXT_START;
+
+			if(indx<0 || indx>=textCharacterWidths_.size()) {
+				// unknown character, we will add a space for it to be save.
+				indx = 0;
+			}
+
+			int colCount = RI_TEXT_TEXTURE_SIZE/(int)RI_TEXT_HEIGHT_BASE;
+
+			// Calculate the uv parts
+			int row = indx / colCount;
+			int col = indx % colCount;
+
+			float v = row * textUVHeight_;
+			float v2 = v + textUVHeight_;
+			float u = col * textUVWidth_;
+			float u2 = u + textCharacterWidths_[indx]/(float)RI_TEXT_TEXTURE_SIZE;
+
+			// Creating the triangle information
+			std::vector<float> vec(12);
+			std::vector<float> uv(8);
+
+			vec[0] = x;
+			vec[1] = y + (textHeight_ * uniformscale);
+			vec[2] = 0;
+			vec[3] = x;
+			vec[4] = y;
+			vec[5] = 0;
+			vec[6] = x + (textCharacterWidths_[indx] * uniformscale);
+			vec[7] = y;
+			vec[8] = 0;
+			vec[9] = x + (textCharacterWidths_[indx] * uniformscale);
+			vec[10] = y + (textHeight_ * uniformscale);
+			vec[11] = 0;
+
+			// 0.001f = texture bleeding hack/fix
+			uv[0] = u+0.001f;
+			uv[1] = v+0.001f;
+			uv[2] = u+0.001f;
+			uv[3] = v2-0.001f;
+			uv[4] = u2-0.001f;
+			uv[5] = v2-0.001f;
+			uv[6] = u2-0.001f;
+			uv[7] = v+0.001f;
+
+			unsigned short inds[6] = {0, 1, 2, 0, 2, 3};
+
+			// We need a base value because the object has indices related to
+			// that object and not to this collection so basicly we need to
+			// translate the indices to align with the vertexlocation in ou
+			// vecs array of vectors.
+			short base = (short) (index_vecs / 3);
+
+			// We should add the vec, translating the indices to our saved vector
+			for(int i=0;i<vec.size();i++)
+			{
+				vertexBuffer_[index_vecs] = vec[i];
+				index_vecs++;
+			}
+
+			// We should add the uvs
+			for(int i=0;i<uv.size();i++)
+			{
+				textureBuffer_[index_uvs] = uv[i];
+				index_uvs++;
+			}
+
+			// We handle the indices
+			for(int j=0;j<6;j++)
+			{
+				drawListBuffer_[index_indices] = (unsigned short) (base + inds[j]);
+				index_indices++;
+			}
+
+			// Calculate the new position
+			x += (textCharacterWidths_[indx]  * uniformscale);
+		}
+	}
+}
+
+void TextDrawable::Render(
+		const glm::mat4 & projectionMatrix,
+		const glm::mat4 & viewMatrix,
+		const glm::mat4 & viewMatrixRotInv) const
+{
+	glUseProgram(textProgram_);
+
+	// get handle to vertex shader's vPosition member
+	int mPositionHandle = glGetAttribLocation(textProgram_, "vPosition");
+
+	// Enable a handle to the triangle vertices
+	glEnableVertexAttribArray(mPositionHandle);
+
+	// Prepare the background coordinate data
+	glVertexAttribPointer(mPositionHandle, 3, GL_FLOAT, false, 0, &vertexBuffer_[0]);
+
+	int mTexCoordLoc = glGetAttribLocation(textProgram_, "a_texCoord" );
+
+	// Prepare the texturecoordinates
+	glVertexAttribPointer ( mTexCoordLoc, 2, GL_FLOAT, false, 0, &textureBuffer_[0]);
+
+	glEnableVertexAttribArray ( mPositionHandle );
+	glEnableVertexAttribArray ( mTexCoordLoc );
+
+	// get handle to shape's transformation matrix
+	int mtrxhandle = glGetUniformLocation(textProgram_, "uMVPMatrix");
+
+	// Apply the projection and view transformation
+	//glUniformMatrix4fv(mtrxhandle, 1, false, m, 0);
+	glm::mat4 mvp_mat = projectionMatrix * viewMatrix * poseGl_ * viewMatrixRotInv;//glm::toMat4(gesture_camera_->GetParent()->GetRotation());
+	glUniformMatrix4fv(mtrxhandle, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+
+	// get handle to color value
+	int colorhandle = glGetUniformLocation(textProgram_, "uColor");
+	glUniform3f(colorhandle, color_.r, color_.g, color_.b);
+
+	int mSamplerLoc = glGetUniformLocation (textProgram_, "s_texture" );
+
+	// Texture activate unit 0
+	glActiveTexture(GL_TEXTURE0);
+	// Bind the texture to this unit.
+	glBindTexture(GL_TEXTURE_2D, textTextureId_);
+	// Set the sampler texture unit to our selected id
+	glUniform1i ( mSamplerLoc, 0);
+
+	// Draw the triangle
+	glDrawElements(GL_TRIANGLES, drawListBuffer_.size(), GL_UNSIGNED_SHORT, &drawListBuffer_[0]);
+
+	// Disable vertex array
+	glDisableVertexAttribArray(mPositionHandle);
+	glDisableVertexAttribArray(mTexCoordLoc);
+}
diff --git a/app/android/jni/text_drawable.h b/app/android/jni/text_drawable.h
new file mode 100644
index 00000000..4a6869be
--- /dev/null
+++ b/app/android/jni/text_drawable.h
@@ -0,0 +1,71 @@
+/*
+Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef TANGO_TEXT_DRAWABLE_H_
+#define TANGO_TEXT_DRAWABLE_H_
+
+#include <vector>
+#include <rtabmap/core/Transform.h>
+#include <tango-gl/color.h>
+
+// PointCloudDrawable is responsible for the point cloud rendering.
+class TextDrawable {
+private:
+	static GLuint textProgram_;
+	static GLuint textTextureId_;
+	static float textUVWidth_;
+	static float textUVHeight_;
+	static float textHeight_;
+	static std::vector<float> textCharacterWidths_;
+
+public:
+	static void createShaderProgram();
+	static void releaseShaderProgram();
+
+public:
+	TextDrawable(
+			const std::string & text,
+			const rtabmap::Transform & pose,
+			float textSize = 0.1f, // meters
+			const tango_gl::Color & color = tango_gl::Color(1,0,0));
+
+  virtual ~TextDrawable() {}
+
+  void Render(
+		  const glm::mat4 & projectionMatrix,
+		  const glm::mat4 & viewMatrix,
+		  const glm::mat4 & viewMatrixRotInv) const;
+
+ private:
+	std::vector<float> vertexBuffer_;
+	std::vector<float> textureBuffer_;
+	std::vector<unsigned short> drawListBuffer_;
+	glm::mat4 poseGl_;
+	tango_gl::Color color_;
+};
+
+#endif  // TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_
diff --git a/app/ios/RTABMapApp.xcodeproj/project.pbxproj b/app/ios/RTABMapApp.xcodeproj/project.pbxproj
index e2406206..9fee832a 100644
--- a/app/ios/RTABMapApp.xcodeproj/project.pbxproj
+++ b/app/ios/RTABMapApp.xcodeproj/project.pbxproj
@@ -8,6 +8,8 @@
 
 /* Begin PBXBuildFile section */
 		4E0D83832621F52C00C879AC /* Settings.bundle in Resources */ = {isa = PBXBuildFile; fileRef = 4E0D83822621F52C00C879AC /* Settings.bundle */; };
+		4E1E9CF72D618E69000CB881 /* quad_color.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 4E1E9CF62D618079000CB881 /* quad_color.cpp */; };
+		4E1E9CF82D618E69000CB881 /* text_drawable.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 4E1E9CF52D618079000CB881 /* text_drawable.cpp */; };
 		4E20B24E266AB94300316EE6 /* Images.xcassets in Resources */ = {isa = PBXBuildFile; fileRef = 4E20B24D266AB94300316EE6 /* Images.xcassets */; };
 		4E20B250266AB95600316EE6 /* Images.xcassets in Resources */ = {isa = PBXBuildFile; fileRef = 4E20B24F266AB95600316EE6 /* Images.xcassets */; };
 		4E2C516725A63119005CEDBD /* DatabaseView.swift in Sources */ = {isa = PBXBuildFile; fileRef = 4E2C516525A63119005CEDBD /* DatabaseView.swift */; };
@@ -156,6 +158,12 @@
 
 /* Begin PBXFileReference section */
 		4E0D83822621F52C00C879AC /* Settings.bundle */ = {isa = PBXFileReference; lastKnownFileType = "wrapper.plug-in"; path = Settings.bundle; sourceTree = "<group>"; };
+		4E1E9CF22D617D08000CB881 /* Measure.h */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.c.h; name = Measure.h; path = ../android/jni/Measure.h; sourceTree = "<group>"; };
+		4E1E9CF32D618079000CB881 /* quad_color.h */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.c.h; name = quad_color.h; path = ../android/jni/quad_color.h; sourceTree = "<group>"; };
+		4E1E9CF42D618079000CB881 /* text_drawable.h */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.c.h; name = text_drawable.h; path = ../android/jni/text_drawable.h; sourceTree = "<group>"; };
+		4E1E9CF52D618079000CB881 /* text_drawable.cpp */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.cpp.cpp; name = text_drawable.cpp; path = ../android/jni/text_drawable.cpp; sourceTree = "<group>"; };
+		4E1E9CF62D618079000CB881 /* quad_color.cpp */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.cpp.cpp; name = quad_color.cpp; path = ../android/jni/quad_color.cpp; sourceTree = "<group>"; };
+		4E1E9CF92D619025000CB881 /* text_atlas_png.h */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.c.h; name = text_atlas_png.h; path = RTABMapApp/text_atlas_png.h; sourceTree = "<group>"; };
 		4E20B24D266AB94300316EE6 /* Images.xcassets */ = {isa = PBXFileReference; lastKnownFileType = folder.assetcatalog; name = Images.xcassets; path = RTABMapApp/Images.xcassets; sourceTree = SOURCE_ROOT; };
 		4E20B24F266AB95600316EE6 /* Images.xcassets */ = {isa = PBXFileReference; lastKnownFileType = folder.assetcatalog; name = Images.xcassets; path = RTABMapApp/Images.xcassets; sourceTree = "<group>"; };
 		4E2C516525A63119005CEDBD /* DatabaseView.swift */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.swift; name = DatabaseView.swift; path = RTABMapApp/DatabaseView.swift; sourceTree = "<group>"; };
@@ -679,6 +687,12 @@
 		4EFD0BB0259D503200575D88 /* NativeWrapper */ = {
 			isa = PBXGroup;
 			children = (
+				4E1E9CF92D619025000CB881 /* text_atlas_png.h */,
+				4E1E9CF62D618079000CB881 /* quad_color.cpp */,
+				4E1E9CF32D618079000CB881 /* quad_color.h */,
+				4E1E9CF52D618079000CB881 /* text_drawable.cpp */,
+				4E1E9CF42D618079000CB881 /* text_drawable.h */,
+				4E1E9CF22D617D08000CB881 /* Measure.h */,
 				4EFD0F6E259F847300575D88 /* background_renderer.cc */,
 				4EFD0F6F259F847300575D88 /* background_renderer.h */,
 				4EFD0F66259E38DE00575D88 /* NativeWrapper.cpp */,
@@ -800,6 +814,8 @@
 			isa = PBXSourcesBuildPhase;
 			buildActionMask = 2147483647;
 			files = (
+				4E1E9CF72D618E69000CB881 /* quad_color.cpp in Sources */,
+				4E1E9CF82D618E69000CB881 /* text_drawable.cpp in Sources */,
 				4EFD0F70259F847300575D88 /* background_renderer.cc in Sources */,
 				4EFD0BC0259D50A800575D88 /* scene.cpp in Sources */,
 				4E2C516825A63119005CEDBD /* VerticalScrollerView.swift in Sources */,
diff --git a/app/ios/RTABMapApp/Base.lproj/Main.storyboard b/app/ios/RTABMapApp/Base.lproj/Main.storyboard
index 3b796cb3..ef737a3a 100644
--- a/app/ios/RTABMapApp/Base.lproj/Main.storyboard
+++ b/app/ios/RTABMapApp/Base.lproj/Main.storyboard
@@ -18,8 +18,8 @@
                         <rect key="frame" x="0.0" y="0.0" width="393" height="852"/>
                         <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
                         <subviews>
-                            <stackView opaque="NO" contentMode="scaleToFill" axis="vertical" translatesAutoresizingMaskIntoConstraints="NO" id="kPv-DO-hpd">
-                                <rect key="frame" x="323" y="366" width="60" height="120"/>
+                            <stackView opaque="NO" contentMode="scaleToFill" axis="vertical" spacing="30" translatesAutoresizingMaskIntoConstraints="NO" id="kPv-DO-hpd">
+                                <rect key="frame" x="323" y="261" width="60" height="330"/>
                                 <subviews>
                                     <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="mJN-Ru-yPg" userLabel="StopButton">
                                         <rect key="frame" x="0.0" y="1" width="60" height="58.666666666666671"/>
@@ -34,7 +34,7 @@
                                         </connections>
                                     </button>
                                     <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="7Lv-u6-mGh" userLabel="RecordButton">
-                                        <rect key="frame" x="0.0" y="61.000000000000007" width="60" height="58.666666666666664"/>
+                                        <rect key="frame" x="0.0" y="91" width="60" height="58.666666666666686"/>
                                         <constraints>
                                             <constraint firstAttribute="height" constant="60" id="DQI-eQ-v3X"/>
                                             <constraint firstAttribute="width" constant="60" id="Oeu-YT-wMz"/>
@@ -47,6 +47,32 @@
                                             <action selector="recordAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="dzY-yL-YBg"/>
                                         </connections>
                                     </button>
+                                    <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="lFB-Lm-zFS" userLabel="AddMeasureButton">
+                                        <rect key="frame" x="0.0" y="181.33333333333334" width="60" height="57.999999999999972"/>
+                                        <constraints>
+                                            <constraint firstAttribute="width" constant="60" id="Wtb-vg-lgB"/>
+                                            <constraint firstAttribute="height" constant="60" id="p0E-BN-poT"/>
+                                        </constraints>
+                                        <color key="tintColor" systemColor="systemYellowColor"/>
+                                        <inset key="imageEdgeInsets" minX="0.0" minY="0.0" maxX="2.2250738585072014e-308" maxY="0.0"/>
+                                        <state key="normal" backgroundImage="plus.viewfinder" catalog="system"/>
+                                        <connections>
+                                            <action selector="addMeasureAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="lUX-tm-SgY"/>
+                                        </connections>
+                                    </button>
+                                    <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="c1k-0i-64A" userLabel="RemoveMeasureButton">
+                                        <rect key="frame" x="0.0" y="271" width="60" height="58.666666666666686"/>
+                                        <constraints>
+                                            <constraint firstAttribute="height" constant="60" id="0gd-nd-i5y"/>
+                                            <constraint firstAttribute="width" constant="60" id="mSi-rI-NoN"/>
+                                        </constraints>
+                                        <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        <inset key="imageEdgeInsets" minX="0.0" minY="0.0" maxX="2.2250738585072014e-308" maxY="0.0"/>
+                                        <state key="normal" backgroundImage="minus.circle" catalog="system"/>
+                                        <connections>
+                                            <action selector="removeMeasureAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="2RW-qr-kvb"/>
+                                        </connections>
+                                    </button>
                                 </subviews>
                             </stackView>
                             <stackView opaque="NO" contentMode="scaleToFill" spacing="20" translatesAutoresizingMaskIntoConstraints="NO" id="ozY-dg-YOd">
@@ -83,17 +109,6 @@
                                 <color key="textColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
                                 <nil key="highlightedColor"/>
                             </label>
-                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="773-n4-lob" userLabel="ViewButton">
-                                <rect key="frame" x="321" y="756.33333333333337" width="52" height="40"/>
-                                <constraints>
-                                    <constraint firstAttribute="width" constant="52" id="epT-x2-WRc"/>
-                                    <constraint firstAttribute="height" constant="44" id="wAe-I1-qhs"/>
-                                </constraints>
-                                <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
-                                <state key="normal" backgroundImage="eye" catalog="system">
-                                    <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
-                                </state>
-                            </button>
                             <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="012-W3-dOS" userLabel="CloseVisualization">
                                 <rect key="frame" x="111.33333333333333" y="772" width="170.33333333333337" height="22"/>
                                 <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
@@ -163,25 +178,78 @@
                                     <action selector="rotateGridAction:" destination="zah-iI-EPt" eventType="valueChanged" id="eiC-QR-TYH"/>
                                 </connections>
                             </slider>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="aWA-YQ-w5B" userLabel="TeleportButton">
+                                <rect key="frame" x="10" y="396.66666666666669" width="62.666666666666671" height="60"/>
+                                <constraints>
+                                    <constraint firstAttribute="height" constant="60" id="fe3-pR-D97"/>
+                                    <constraint firstAttribute="width" constant="60" id="t1H-Yp-Ayy"/>
+                                </constraints>
+                                <color key="tintColor" systemColor="systemGreenColor"/>
+                                <inset key="imageEdgeInsets" minX="0.0" minY="0.0" maxX="2.2250738585072014e-308" maxY="0.0"/>
+                                <state key="normal" backgroundImage="accessibility.badge.arrow.up.right" catalog="system"/>
+                                <connections>
+                                    <action selector="teleportButtonAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="acD-kc-XA8"/>
+                                </connections>
+                            </button>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="773-n4-lob" userLabel="ViewButton">
+                                <rect key="frame" x="321" y="756.33333333333337" width="52" height="40"/>
+                                <constraints>
+                                    <constraint firstAttribute="width" constant="52" id="epT-x2-WRc"/>
+                                    <constraint firstAttribute="height" constant="44" id="wAe-I1-qhs"/>
+                                </constraints>
+                                <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <state key="normal" backgroundImage="eye" catalog="system">
+                                    <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                </state>
+                            </button>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="Z7f-kc-Rob" userLabel="MeasuringModeButton">
+                                <rect key="frame" x="293" y="687.33333333333337" width="80" height="32.333333333333371"/>
+                                <constraints>
+                                    <constraint firstAttribute="width" secondItem="Z7f-kc-Rob" secondAttribute="height" multiplier="52:27" id="78b-kS-OdV"/>
+                                    <constraint firstAttribute="width" constant="80" id="PFZ-dH-x12"/>
+                                </constraints>
+                                <color key="tintColor" systemColor="systemYellowColor"/>
+                                <inset key="imageEdgeInsets" minX="0.0" minY="0.0" maxX="2.2250738585072014e-308" maxY="0.0"/>
+                                <state key="normal" backgroundImage="ruler" catalog="system"/>
+                                <connections>
+                                    <action selector="startMeasuring:" destination="zah-iI-EPt" eventType="touchUpInside" id="uAe-Qu-Wwb"/>
+                                </connections>
+                            </button>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="wOV-tT-ZlN" userLabel="StopMeasuring">
+                                <rect key="frame" x="123.33333333333333" y="771" width="146.33333333333343" height="22"/>
+                                <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <state key="normal" title="Stop Measuring" image="xmark.square" catalog="system">
+                                    <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                </state>
+                                <connections>
+                                    <action selector="stopCameraAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="UY3-Dh-T9g"/>
+                                </connections>
+                            </button>
                         </subviews>
                         <viewLayoutGuide key="safeArea" id="qAR-pI-uT2"/>
                         <constraints>
                             <constraint firstItem="KlF-4H-k6I" firstAttribute="leading" secondItem="qAR-pI-uT2" secondAttribute="leading" constant="16" id="14l-HO-Yqo"/>
                             <constraint firstItem="kPv-DO-hpd" firstAttribute="centerY" secondItem="sqF-4e-2HU" secondAttribute="centerY" id="4S8-5c-tBm"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="trailing" secondItem="773-n4-lob" secondAttribute="trailing" constant="20" id="6TZ-Iy-b1B"/>
+                            <constraint firstItem="773-n4-lob" firstAttribute="top" secondItem="Z7f-kc-Rob" secondAttribute="bottom" constant="30" id="7cF-fT-hfI"/>
                             <constraint firstItem="JMv-UE-cvK" firstAttribute="leading" secondItem="sqF-4e-2HU" secondAttribute="leadingMargin" constant="35" id="Awg-pU-JkT"/>
                             <constraint firstItem="KlF-4H-k6I" firstAttribute="top" secondItem="qAR-pI-uT2" secondAttribute="top" constant="20" id="CS3-Rk-Wxs"/>
                             <constraint firstItem="012-W3-dOS" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="IsC-yB-kNs"/>
-                            <constraint firstItem="qAR-pI-uT2" firstAttribute="trailing" secondItem="773-n4-lob" secondAttribute="trailing" constant="20" id="N8s-Yg-VsL"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="bottom" secondItem="wOV-tT-ZlN" secondAttribute="bottom" constant="25" id="Kab-84-pPU"/>
                             <constraint firstItem="JMv-UE-cvK" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="NIf-UH-gZ7"/>
-                            <constraint firstItem="qAR-pI-uT2" firstAttribute="bottom" secondItem="773-n4-lob" secondAttribute="bottom" constant="20" id="O9t-O0-69d"/>
                             <constraint firstItem="Jj4-ow-MwD" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="OLx-LR-8xj"/>
+                            <constraint firstItem="aWA-YQ-w5B" firstAttribute="leading" secondItem="sqF-4e-2HU" secondAttribute="leading" constant="10" id="Rlo-Ir-NqY"/>
                             <constraint firstItem="012-W3-dOS" firstAttribute="top" secondItem="Z1x-Af-hdf" secondAttribute="bottom" constant="15" id="RpS-k0-btM"/>
                             <constraint firstItem="ozY-dg-YOd" firstAttribute="top" secondItem="qAR-pI-uT2" secondAttribute="top" constant="20" id="TFT-we-noh"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="trailing" secondItem="Z7f-kc-Rob" secondAttribute="trailing" constant="20" id="Tbc-4P-ryD"/>
+                            <constraint firstItem="aWA-YQ-w5B" firstAttribute="centerY" secondItem="sqF-4e-2HU" secondAttribute="centerY" id="YXX-yd-QGL"/>
                             <constraint firstAttribute="trailingMargin" secondItem="JMv-UE-cvK" secondAttribute="trailing" constant="35" id="Ya5-GD-1rM"/>
                             <constraint firstItem="30J-Tx-NRW" firstAttribute="leading" secondItem="sqF-4e-2HU" secondAttribute="leading" id="ZBG-GX-P1X"/>
+                            <constraint firstItem="wOV-tT-ZlN" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="aPp-NO-q0A"/>
                             <constraint firstItem="3Sc-lx-YKH" firstAttribute="top" secondItem="ozY-dg-YOd" secondAttribute="bottom" constant="16" id="abR-Tj-Nua"/>
                             <constraint firstItem="qAR-pI-uT2" firstAttribute="bottom" secondItem="012-W3-dOS" secondAttribute="bottom" constant="24" id="dcl-mV-bH1"/>
                             <constraint firstItem="9oq-op-NGV" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="g5b-gW-Amg"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="bottom" secondItem="773-n4-lob" secondAttribute="bottom" constant="20" id="h09-nI-8yH"/>
                             <constraint firstItem="9oq-op-NGV" firstAttribute="top" secondItem="JMv-UE-cvK" secondAttribute="bottom" constant="113.33" id="icg-DR-ZpX"/>
                             <constraint firstItem="qAR-pI-uT2" firstAttribute="bottom" secondItem="9oq-op-NGV" secondAttribute="bottom" constant="25" id="lFI-66-D3N"/>
                             <constraint firstAttribute="trailing" secondItem="kPv-DO-hpd" secondAttribute="trailing" constant="10" id="lFv-p3-LIS"/>
@@ -196,17 +264,22 @@
                         </connections>
                     </glkView>
                     <connections>
+                        <outlet property="addMeasureButton" destination="lFB-Lm-zFS" id="iOG-iO-mMQ"/>
                         <outlet property="closeVisualizationButton" destination="012-W3-dOS" id="qSV-q9-eOP"/>
                         <outlet property="exportOBJPLYButton" destination="3Sc-lx-YKH" id="ZvS-VQ-nsg"/>
                         <outlet property="libraryButton" destination="9kh-4C-KyP" id="Mvv-uQ-kmi"/>
+                        <outlet property="measuringModeButton" destination="Z7f-kc-Rob" id="C0D-Pc-wdr"/>
                         <outlet property="menuButton" destination="y53-OI-O76" id="v3g-JB-SsY"/>
                         <outlet property="newScanButtonLarge" destination="Jj4-ow-MwD" id="0Hv-3K-Xjh"/>
                         <outlet property="orthoDistanceSlider" destination="30J-Tx-NRW" id="4J1-8u-tDY"/>
                         <outlet property="orthoGridSlider" destination="Z1x-Af-hdf" id="Zsn-xz-jn0"/>
                         <outlet property="recordButton" destination="7Lv-u6-mGh" id="xTu-EK-FH2"/>
+                        <outlet property="removeMeasureButton" destination="c1k-0i-64A" id="E9z-yH-Vye"/>
                         <outlet property="statusLabel" destination="KlF-4H-k6I" id="NmA-K5-UOw"/>
                         <outlet property="stopButton" destination="mJN-Ru-yPg" id="DND-gz-jLg"/>
                         <outlet property="stopCameraButton" destination="9oq-op-NGV" id="sxO-jc-luC"/>
+                        <outlet property="stopMeasuringButton" destination="wOV-tT-ZlN" id="iK5-hG-9q0"/>
+                        <outlet property="teleportButton" destination="aWA-YQ-w5B" id="KTE-cK-RCI"/>
                         <outlet property="toastLabel" destination="JMv-UE-cvK" id="9a7-QF-h02"/>
                         <outlet property="viewButton" destination="773-n4-lob" id="deU-Na-mBk"/>
                     </connections>
@@ -230,7 +303,7 @@
                                 <nil key="highlightedColor"/>
                             </label>
                             <label opaque="NO" userInteractionEnabled="NO" contentMode="left" horizontalHuggingPriority="251" verticalHuggingPriority="251" textAlignment="center" lineBreakMode="tailTruncation" numberOfLines="0" baselineAdjustment="alignBaselines" enabled="NO" adjustsFontSizeToFit="NO" translatesAutoresizingMaskIntoConstraints="NO" id="4Js-Hw-3QU">
-                                <rect key="frame" x="21" y="394" width="351.33333333333326" height="64.333333333333314"/>
+                                <rect key="frame" x="21" y="394" width="351.33333333333331" height="64.333333333333314"/>
                                 <string key="text">This app requires a LiDAR-capable device, such as the second-generation iPad Pro 11-inch and fourth-generation iPad Pro 12.9-inch.</string>
                                 <fontDescription key="fontDescription" style="UICTFontTextStyleBody"/>
                                 <nil key="textColor"/>
@@ -256,16 +329,26 @@
         </scene>
     </scenes>
     <resources>
+        <image name="accessibility.badge.arrow.up.right" catalog="system" width="128" height="114"/>
         <image name="ellipsis.circle" catalog="system" width="128" height="123"/>
         <image name="eye" catalog="system" width="128" height="79"/>
         <image name="folder" catalog="system" width="128" height="96"/>
+        <image name="minus.circle" catalog="system" width="128" height="123"/>
         <image name="plus.app" catalog="system" width="128" height="114"/>
-        <image name="record.circle" catalog="system" width="32" height="32"/>
+        <image name="plus.viewfinder" catalog="system" width="128" height="115"/>
+        <image name="record.circle" catalog="system" width="128" height="123"/>
+        <image name="ruler" catalog="system" width="128" height="57"/>
         <image name="square.and.arrow.up" catalog="system" width="108" height="128"/>
-        <image name="stop.circle" catalog="system" width="32" height="32"/>
+        <image name="stop.circle" catalog="system" width="128" height="123"/>
         <image name="xmark.square" catalog="system" width="128" height="114"/>
+        <systemColor name="systemGreenColor">
+            <color red="0.20392156859999999" green="0.78039215689999997" blue="0.34901960780000002" alpha="1" colorSpace="custom" customColorSpace="sRGB"/>
+        </systemColor>
         <systemColor name="systemRedColor">
             <color red="1" green="0.23137254900000001" blue="0.18823529410000001" alpha="1" colorSpace="custom" customColorSpace="sRGB"/>
         </systemColor>
+        <systemColor name="systemYellowColor">
+            <color red="1" green="0.80000000000000004" blue="0.0" alpha="1" colorSpace="custom" customColorSpace="sRGB"/>
+        </systemColor>
     </resources>
 </document>
diff --git a/app/ios/RTABMapApp/NativeWrapper.cpp b/app/ios/RTABMapApp/NativeWrapper.cpp
index eb73602f..53d035ba 100644
--- a/app/ios/RTABMapApp/NativeWrapper.cpp
+++ b/app/ios/RTABMapApp/NativeWrapper.cpp
@@ -622,3 +622,46 @@ void addEnvSensorNative(const void *object, int type, float value)
     else
         UERROR("object is null!");
 }
+
+void removeMeasureNative(const void *object)
+{
+    if(object)
+        return native(object)->removeMeasure();
+    else
+        UERROR("object is null!");
+}
+void addMeasureNative(const void *object)
+{
+    if(object)
+        return native(object)->addMeasureButtonClicked();
+    else
+        UERROR("object is null!");
+}
+void teleportNative(const void *object)
+{
+    if(object)
+        return native(object)->teleportButtonClicked();
+    else
+        UERROR("object is null!");
+}
+void setMeasuringModeNative(const void *object, int mode)
+{
+    if(object)
+        return native(object)->setMeasuringMode(mode);
+    else
+        UERROR("object is null!");
+}
+void setMetricSystemNative(const void *object, bool enabled)
+{
+    if(object)
+        return native(object)->setMetricSystem(enabled);
+    else
+        UERROR("object is null!");
+}
+void clearMeasuresNative(const void *object)
+{
+    if(object)
+        return native(object)->clearMeasures();
+    else
+        UERROR("object is null!");
+}
diff --git a/app/ios/RTABMapApp/NativeWrapper.hpp b/app/ios/RTABMapApp/NativeWrapper.hpp
index c31e2da1..45be78e0 100644
--- a/app/ios/RTABMapApp/NativeWrapper.hpp
+++ b/app/ios/RTABMapApp/NativeWrapper.hpp
@@ -115,6 +115,13 @@ void setDepthConfidenceNative(const void *object, int value);
 void setExportPointCloudFormatNative(const void *object, const char * format);
 int setMappingParameterNative(const void *object, const char * key, const char * value);
 
+void removeMeasureNative(const void *object);
+void addMeasureNative(const void *object);
+void teleportNative(const void *object);
+void setMeasuringModeNative(const void *object, int mode);
+void setMetricSystemNative(const void *object, bool enabled);
+void clearMeasuresNative(const void *object);
+
 typedef struct ImageNative
 {
     const void * objectPtr;
diff --git a/app/ios/RTABMapApp/RTABMap.swift b/app/ios/RTABMapApp/RTABMap.swift
index 733010c4..d132c4de 100644
--- a/app/ios/RTABMapApp/RTABMap.swift
+++ b/app/ios/RTABMapApp/RTABMap.swift
@@ -152,6 +152,24 @@ class RTABMap {
         }
     }
     
+    func removeMeasure() {
+        removeMeasureNative(native_rtabmap)
+    }
+    func addMeasureButtonClicked() {
+        addMeasureNative(native_rtabmap)
+    }
+    func teleportButtonClicked() {
+        teleportNative(native_rtabmap)
+    }
+    func setMeasuringMode(_ mode: Int) {
+        setMeasuringModeNative(native_rtabmap, Int32(mode))
+    }
+    func setMetricSystem(_ enabled: Bool) {
+        setMetricSystemNative(native_rtabmap, enabled)
+    }
+    func clearMeasures() {
+        clearMeasuresNative(native_rtabmap)
+    }
     func cancelProcessing() {
         cancelProcessingNative(native_rtabmap);
     }
@@ -223,7 +241,7 @@ class RTABMap {
         return Int(renderNative(native_rtabmap))
     }
     
-    func startCamera() -> Bool {
+    func startCamera(imageOverlayInFirstPerson: Bool = true) -> Bool {
         return startCameraNative(native_rtabmap)
     }
     
diff --git a/app/ios/RTABMapApp/ViewController.swift b/app/ios/RTABMapApp/ViewController.swift
index eb2c960f..f21019c2 100644
--- a/app/ios/RTABMapApp/ViewController.swift
+++ b/app/ios/RTABMapApp/ViewController.swift
@@ -55,8 +55,9 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
         STATE_IDLE,            // Camera/Motion off
         STATE_PROCESSING,      // Camera/Motion off - post processing
         STATE_VISUALIZING,     // Camera/Motion off - Showing optimized mesh
-        STATE_VISUALIZING_CAMERA,     // Camera/Motion on  - Showing optimized mesh
-        STATE_VISUALIZING_WHILE_LOADING // Camera/Motion off - Loading data while showing optimized mesh
+        STATE_VISUALIZING_CAMERA,     // Camera/Motion on  - Showing optimized mesh and localizing
+        STATE_VISUALIZING_WHILE_LOADING, // Camera/Motion off - Loading data while showing optimized mesh
+        STATE_VISUALIZING_AND_MEASURING    // Camera/Motion on  - Showing optimized mesh without localizing and measuring tools enabled
     }
     private var mState: State = State.STATE_WELCOME;
     private func getStateString(state: State) -> String {
@@ -75,6 +76,8 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
             return "Visualizing with Camera"
         case .STATE_VISUALIZING_WHILE_LOADING:
             return "Visualizing while Loading"
+        case .STATE_VISUALIZING_AND_MEASURING:
+            return "Measuring"
         default: // IDLE
             return "Idle"
         }
@@ -100,6 +103,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
     private var mMenuOpened: Bool = false
     private var lowMemoryWarningShown: Bool = false
     static var previewImages: [String: UIImage] = [:]
+    private var measuringMode: Int = 0
     
     @IBOutlet weak var stopButton: UIButton!
     @IBOutlet weak var recordButton: UIButton!
@@ -110,6 +114,11 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
     @IBOutlet weak var statusLabel: UILabel!
     @IBOutlet weak var closeVisualizationButton: UIButton!
     @IBOutlet weak var stopCameraButton: UIButton!
+    @IBOutlet weak var stopMeasuringButton: UIButton!
+    @IBOutlet weak var teleportButton: UIButton!
+    @IBOutlet weak var addMeasureButton: UIButton!
+    @IBOutlet weak var removeMeasureButton: UIButton!
+    @IBOutlet weak var measuringModeButton: UIButton!
     @IBOutlet weak var exportOBJPLYButton: UIButton!
     @IBOutlet weak var orthoDistanceSlider: UISlider!{
         didSet{
@@ -206,6 +215,11 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
         addShadow(libraryButton)
         addShadow(closeVisualizationButton)
         addShadow(stopCameraButton)
+        addShadow(stopMeasuringButton)
+        addShadow(teleportButton)
+        addShadow(addMeasureButton)
+        addShadow(removeMeasureButton)
+        addShadow(measuringModeButton)
         addShadow(exportOBJPLYButton)
         
         addShadow(statusLabel, 0)
@@ -529,7 +543,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
     }
     
     @objc func appMovedToBackground() {
-        if(mState == .STATE_VISUALIZING_CAMERA || mState == .STATE_MAPPING || mState == .STATE_CAMERA)
+        if(mState == .STATE_VISUALIZING_CAMERA || mState == .STATE_VISUALIZING_AND_MEASURING || mState == .STATE_MAPPING || mState == .STATE_CAMERA)
         {
             stopMapping(ignoreSaving: true)
         }
@@ -580,29 +594,33 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
         switch AVCaptureDevice.authorizationStatus(for: .video) {
             case .authorized: // The user has previously granted access to the camera.
                 print("Start Camera")
-                rtabmap!.startCamera()
+            	rtabmap!.startCamera()
                 let configuration = ARWorldTrackingConfiguration()
                 var message = ""
-                if(!UserDefaults.standard.bool(forKey: "LidarMode"))
-                {
-                    message = "LiDAR is disabled (Settings->Mapping->LiDAR Mode = OFF), only tracked features will be mapped."
-                    self.setMeshRendering(viewMode: 0)
-                }
-                else if !depthSupported
-                {
-                    message = "The device does not have a LiDAR, only tracked features will be mapped. A LiDAR is required for accurate 3D reconstruction."
-                    self.setMeshRendering(viewMode: 0)
-                }
-                else
-                {
-                    configuration.frameSemantics = .sceneDepth
-                }
+            	if(mState != .STATE_VISUALIZING_AND_MEASURING)
+            	{
+                	if(!UserDefaults.standard.bool(forKey: "LidarMode"))
+                	{
+       		        	message = "LiDAR is disabled (Settings->Mapping->LiDAR Mode = OFF), only tracked features will be mapped."
+       		        	self.setMeshRendering(viewMode: 0)
+        	    	}
+                	else if !depthSupported
+                	{
+                    	message = "The device does not have a LiDAR, only tracked features will be mapped. A LiDAR is required for accurate 3D reconstruction."
+                    	self.setMeshRendering(viewMode: 0)
+                	}
+                	else
+                	{
+                    	configuration.frameSemantics = .sceneDepth
+                	}
+            	}
                 
                 session.run(configuration, options: [.resetSceneReconstruction, .resetTracking, .removeExistingAnchors])
                 
                 switch mState {
-                case .STATE_VISUALIZING:
-                    updateState(state: .STATE_VISUALIZING_CAMERA)
+                case .STATE_VISUALIZING_AND_MEASURING,
+                    .STATE_VISUALIZING_CAMERA:
+                    break // State should be already set
                 default:
                     locationManager?.startUpdatingLocation()
                     updateState(state: .STATE_CAMERA)
@@ -669,6 +687,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
         var actionExportEnabled: Bool
         var actionOptimizeEnabled: Bool
         var actionSettingsEnabled: Bool
+        var actionMeasuringEnabled: Bool
         
         switch mState {
         case .STATE_CAMERA:
@@ -681,9 +700,14 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
             stopButton.isHidden = true
             closeVisualizationButton.isHidden = true
             stopCameraButton.isHidden = false
+            stopMeasuringButton.isHidden = true
             exportOBJPLYButton.isHidden = true
             orthoDistanceSlider.isHidden = cameraMode != 3
             orthoGridSlider.isHidden = cameraMode != 3
+            teleportButton.isHidden = true
+            addMeasureButton.isHidden = true
+            removeMeasureButton.isHidden = true
+            measuringModeButton.isHidden = true
             actionNewScanEnabled = !mDataRecording
             actionNewDataRecording = mDataRecording
             actionSaveEnabled = false
@@ -691,6 +715,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
             actionExportEnabled = false
             actionOptimizeEnabled = false
             actionSettingsEnabled = false
+            actionMeasuringEnabled = false
         case .STATE_MAPPING:
             libraryButton.isEnabled = false
             libraryButton.isHidden = !mHudVisible
@@ -701,9 +726,14 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
             stopButton.isHidden = false
             closeVisualizationButton.isHidden = true
             stopCameraButton.isHidden = true
+            stopMeasuringButton.isHidden = true
             exportOBJPLYButton.isHidden = true
             orthoDistanceSlider.isHidden = cameraMode != 3 || !mHudVisible
             orthoGridSlider.isHidden = cameraMode != 3 || !mHudVisible
+            teleportButton.isHidden = true
+            addMeasureButton.isHidden = true
+            removeMeasureButton.isHidden = true
+            measuringModeButton.isHidden = true
             actionNewScanEnabled = !mDataRecording
             actionNewDataRecording = mDataRecording
             actionSaveEnabled = false
@@ -711,9 +741,11 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
             actionExportEnabled = false
             actionOptimizeEnabled = false
             actionSettingsEnabled = false
+            actionMeasuringEnabled = false
         case .STATE_PROCESSING,
              .STATE_VISUALIZING_WHILE_LOADING,
-             .STATE_VISUALIZING_CAMERA:
+             .STATE_VISUALIZING_CAMERA,
+             .STATE_VISUALIZING_AND_MEASURING:
             libraryButton.isEnabled = false
             libraryButton.isHidden = !mHudVisible
             menuButton.isHidden = !mHudVisible
@@ -723,9 +755,14 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
             stopButton.isHidden = true
             closeVisualizationButton.isHidden = true
             stopCameraButton.isHidden = mState != .STATE_VISUALIZING_CAMERA
+            stopMeasuringButton.isHidden = mState != .STATE_VISUALIZING_AND_MEASURING
             exportOBJPLYButton.isHidden = true
-            orthoDistanceSlider.isHidden = cameraMode != 3 || mState != .STATE_VISUALIZING_WHILE_LOADING
-            orthoGridSlider.isHidden = cameraMode != 3 || mState != .STATE_VISUALIZING_WHILE_LOADING
+            orthoDistanceSlider.isHidden = cameraMode != 3 || mState == .STATE_PROCESSING
+            orthoGridSlider.isHidden = cameraMode != 3 || mState == .STATE_PROCESSING
+            teleportButton.isHidden = mState != .STATE_VISUALIZING_AND_MEASURING || cameraMode != 0
+            addMeasureButton.isHidden = mState != .STATE_VISUALIZING_AND_MEASURING || cameraMode == 3
+            removeMeasureButton.isHidden = mState != .STATE_VISUALIZING_AND_MEASURING || cameraMode == 3
+            measuringModeButton.isHidden = true
             actionNewScanEnabled = false
             actionNewDataRecording = false
             actionSaveEnabled = false
@@ -733,6 +770,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
             actionExportEnabled = false
             actionOptimizeEnabled = false
             actionSettingsEnabled = false
+            actionMeasuringEnabled = mState == .STATE_VISUALIZING_AND_MEASURING
         case .STATE_VISUALIZING:
             libraryButton.isEnabled = !databases.isEmpty
             libraryButton.isHidden = !mHudVisible
@@ -743,9 +781,14 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
             stopButton.isHidden = true
             closeVisualizationButton.isHidden = !mHudVisible
             stopCameraButton.isHidden = true
+            stopMeasuringButton.isHidden = true
             exportOBJPLYButton.isHidden = !mHudVisible
             orthoDistanceSlider.isHidden = cameraMode != 3 || !mHudVisible
             orthoGridSlider.isHidden = cameraMode != 3 || !mHudVisible
+            teleportButton.isHidden = true
+            addMeasureButton.isHidden = true
+            removeMeasureButton.isHidden = true
+            measuringModeButton.isHidden = !mHudVisible
             actionNewScanEnabled = true
             actionNewDataRecording = true
             actionSaveEnabled = mMapNodes>0
@@ -753,6 +796,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
             actionExportEnabled = mMapNodes>0
             actionOptimizeEnabled = mMapNodes>0
             actionSettingsEnabled = true
+            actionMeasuringEnabled = true
         default: // IDLE // WELCOME
             libraryButton.isEnabled = !databases.isEmpty
             libraryButton.isHidden = mState != .STATE_WELCOME && !mHudVisible
@@ -763,9 +807,14 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
             stopButton.isHidden = true
             closeVisualizationButton.isHidden = true
             stopCameraButton.isHidden = true
+            stopMeasuringButton.isHidden = true
             exportOBJPLYButton.isHidden = true
             orthoDistanceSlider.isHidden = cameraMode != 3 || !mHudVisible
             orthoGridSlider.isHidden = cameraMode != 3 || !mHudVisible
+            teleportButton.isHidden = true
+            addMeasureButton.isHidden = true
+            removeMeasureButton.isHidden = true
+            measuringModeButton.isHidden = true
             actionNewScanEnabled = true
             actionNewDataRecording = true
             actionSaveEnabled = mState != .STATE_WELCOME && mMapNodes>0
@@ -773,10 +822,11 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
             actionExportEnabled = mState != .STATE_WELCOME && mMapNodes>0
             actionOptimizeEnabled = mState != .STATE_WELCOME && mMapNodes>0
             actionSettingsEnabled = true
+            actionMeasuringEnabled = false
         }
 
         let view = self.view as? GLKView
-        if(mState != .STATE_MAPPING && mState != .STATE_CAMERA && mState != .STATE_VISUALIZING_CAMERA)
+        if(mState != .STATE_MAPPING && mState != .STATE_CAMERA && mState != .STATE_VISUALIZING_CAMERA && mState != .STATE_VISUALIZING_AND_MEASURING)
         {
             self.isPaused = true
             view?.enableSetNeedsDisplay = true
@@ -856,6 +906,25 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
             	self.newScan(dataRecordingMode: true)
         	})
         ])
+        
+        // Measuring menu
+        print("measuringMode = \(measuringMode)")
+        let measuringMenu = UIMenu(title: "Measuring...", image: UIImage(systemName: "ruler"), children: [
+            UIAction(title: "Plane to Plane Mode", image: measuringMode == 0 ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), handler: { _ in
+                self.measuringMode = 0
+                self.rtabmap!.setMeasuringMode(self.measuringMode)
+                self.resetNoTouchTimer(true)
+            }),
+            UIAction(title: "Point to Point Mode", image: measuringMode == 2 ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), handler: { _ in
+                self.measuringMode = 2
+                self.rtabmap!.setMeasuringMode(self.measuringMode)
+                self.resetNoTouchTimer(true)
+            }),
+            UIAction(title: "Clear All Measures", image: UIImage(systemName: "trash"), state: .off, handler: { _ in
+                self.clearMeasures();
+                self.resetNoTouchTimer(true)
+            })
+        ])
                 
         var fileMenuChildren: [UIMenuElement] = []
         fileMenuChildren.append(UIAction(title: "New Mapping Session", image: UIImage(systemName: "plus.app"), attributes: actionNewScanEnabled ? [] : .disabled, state: .off, handler: { _ in
@@ -881,6 +950,13 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
         fileMenuChildren.append(UIAction(title: "Append Scan", image: UIImage(systemName: "play.fill"), attributes: actionResumeEnabled ? [] : .disabled, state: .off, handler: { _ in
             self.resumeScan()
         }))
+        if(actionMeasuringEnabled) {
+            fileMenuChildren.append(measuringMenu)
+        }
+        else {
+            fileMenuChildren.append(UIAction(title: "Measuring...", image: UIImage(systemName: "ruler"), attributes: .disabled, state: .off, handler: { _ in
+            }))
+        }
         fileMenuChildren.append(advancedMenu)
         
         // File menu
@@ -896,7 +972,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
                 self.debugShown = !self.debugShown
                 self.resetNoTouchTimer(true)
             }),
-            UIAction(title: "Odom Visible", image: odomShown ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), attributes: (self.mState == .STATE_MAPPING || self.mState == .STATE_CAMERA || self.mState == .STATE_VISUALIZING_CAMERA) ? [] : .disabled, handler: { _ in
+            UIAction(title: "Odom Visible", image: odomShown ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), attributes: (self.mState == .STATE_MAPPING || self.mState == .STATE_CAMERA || self.mState == .STATE_VISUALIZING_CAMERA || self.mState == .STATE_VISUALIZING_AND_MEASURING) ? [] : .disabled, handler: { _ in
                 self.odomShown = !self.odomShown
                 self.rtabmap!.setOdomCloudShown(shown: self.odomShown)
                 self.resetNoTouchTimer(true)
@@ -956,7 +1032,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
                 self.rtabmap!.setWireframe(enabled: self.wireframeShown)
                 self.resetNoTouchTimer(true)
             }),
-            UIAction(title: "Lighting", image: self.lightingShown ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), attributes: self.mState == .STATE_VISUALIZING || self.mState == .STATE_VISUALIZING_CAMERA || self.mState == .STATE_VISUALIZING_WHILE_LOADING ? [] : .disabled, handler: { _ in
+            UIAction(title: "Lighting", image: self.lightingShown ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), attributes: self.mState == .STATE_VISUALIZING || self.mState == .STATE_VISUALIZING_CAMERA || self.mState == .STATE_VISUALIZING_AND_MEASURING || self.mState == .STATE_VISUALIZING_WHILE_LOADING ? [] : .disabled, handler: { _ in
                 self.lightingShown = !self.lightingShown
                 self.rtabmap!.setLighting(enabled: self.lightingShown)
                 self.resetNoTouchTimer(true)
@@ -969,21 +1045,21 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
         ])
         
         let cameraMenu = UIMenu(title: "View", options: .displayInline, children: [
-            UIAction(title: "First-P. View", image: cameraMode == 0 ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), attributes: (self.mState == .STATE_CAMERA || self.mState == .STATE_VISUALIZING || self.mState == .STATE_MAPPING || self.mState == .STATE_VISUALIZING_CAMERA) ? [] : .disabled, handler: { _ in
+            UIAction(title: "First-P. View", image: cameraMode == 0 ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), attributes: (self.mState == .STATE_CAMERA || self.mState == .STATE_VISUALIZING || self.mState == .STATE_MAPPING || self.mState == .STATE_VISUALIZING_CAMERA || self.mState == .STATE_VISUALIZING_AND_MEASURING) ? [] : .disabled, handler: { _ in
                 self.setGLCamera(type: 0)
                 if(self.mState == .STATE_VISUALIZING)
                 {
                     self.rtabmap?.setLocalizationMode(enabled: true)
                     self.rtabmap?.setPausedMapping(paused: false);
-                    self.startCamera()
                     self.updateState(state: .STATE_VISUALIZING_CAMERA)
+                    self.startCamera()
                 }
                 else
                 {
                     self.resetNoTouchTimer(true)
                 }
             }),
-            UIAction(title: "Third-P. View", image: cameraMode == 1 ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), handler: { _ in
+            UIAction(title: "Third-P. View", image: cameraMode == 1 ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), attributes: (self.mState != .STATE_VISUALIZING_AND_MEASURING) ? [] : .disabled, handler: { _ in
                 self.setGLCamera(type: 1)
                 self.resetNoTouchTimer(true)
             }),
@@ -997,7 +1073,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
             })
         ])
         
-        let showCloudMeshActions = mState != .STATE_VISUALIZING && mState != .STATE_VISUALIZING_CAMERA && mState != .STATE_PROCESSING && mState != .STATE_VISUALIZING_WHILE_LOADING
+        let showCloudMeshActions = mState != .STATE_VISUALIZING && mState != .STATE_VISUALIZING_CAMERA && mState != .STATE_VISUALIZING_AND_MEASURING && mState != .STATE_PROCESSING && mState != .STATE_VISUALIZING_WHILE_LOADING
         let cloudMeshMenu = UIMenu(title: "CloudMesh", options: .displayInline, children: [
             UIAction(title: "Point Cloud", image: viewMode == 0 ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), attributes: showCloudMeshActions ? [] : .disabled, handler: { _ in
                 self.setMeshRendering(viewMode: 0)
@@ -1987,7 +2063,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
         {
             self.rtabmap?.setLocalizationMode(enabled: false)
         }
-        updateState(state: mState == .STATE_VISUALIZING_CAMERA ? .STATE_VISUALIZING : .STATE_IDLE);
+        updateState(state: mState == .STATE_VISUALIZING_CAMERA || mState == .STATE_VISUALIZING_AND_MEASURING ? .STATE_VISUALIZING : .STATE_IDLE);
         
         if !ignoreSaving
         {
@@ -2419,6 +2495,26 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
         rtabmap!.setOrthoCropFactor(Float(120-sender.value)/20.0 - 3.0)
         self.view.setNeedsDisplay()
     }
+    
+    @IBAction func removeMeasureAction(_ sender: UIButton) {
+        self.rtabmap!.removeMeasure()
+    }
+    @IBAction func addMeasureAction(_ sender: UIButton) {
+        self.rtabmap!.addMeasureButtonClicked()
+    }
+    @IBAction func teleportButtonAction(_ sender: UIButton) {
+        self.rtabmap!.teleportButtonClicked()
+    }
+    func clearMeasures()
+    {
+        self.rtabmap!.clearMeasures()
+        self.resetNoTouchTimer(true)
+    }
+    @IBAction func startMeasuring(_ sender: UIButton) {
+        self.setGLCamera(type: 0)
+        self.updateState(state: .STATE_VISUALIZING_AND_MEASURING)
+        self.startCamera()
+    }
 }
 
 func clearBackgroundColor(of view: UIView) {
diff --git a/app/ios/RTABMapApp/text_atlas_png.h b/app/ios/RTABMapApp/text_atlas_png.h
new file mode 100644
index 00000000..9f5a0bab
--- /dev/null
+++ b/app/ios/RTABMapApp/text_atlas_png.h
@@ -0,0 +1,40 @@
+/*This is a generated file...*/
+
+#ifndef TEXT_ATLAS_PNG_H
+#define TEXT_ATLAS_PNG_H
+
+namespace rtabmap
+{
+
+static const char * TEXT_ATLAS_PNG = 
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+   "0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000D629FF0F4A0CD12A5E549F170000000049454E44AE426082";
+
+}
+
+#endif //TEXT_ATLAS_PNG_H
+