ios first release

app/android/jni/CameraMobile.cpp

@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/util3d_transforms.h"
 #include "rtabmap/core/OdometryEvent.h"
 #include "rtabmap/core/util2d.h"
+#include <glm/gtx/transform.hpp>
 
 namespace rtabmap {
 
@@ -59,13 +60,22 @@ CameraMobile::CameraMobile(bool smoothing) :
 		stampEpochOffset_(0.0),
 		smoothing_(smoothing),
 		colorCameraToDisplayRotation_(ROTATION_0),
-		originUpdate_(false)
+		originUpdate_(false),
+        textureId_(9999),
+        uvs_initialized_(false)
 {
+    glGenTextures(1, &textureId_);
 }
 
 CameraMobile::~CameraMobile() {
 	// Disconnect camera service
 	close();
+    
+    if(textureId_ != 9999)
+    {
+        glDeleteTextures(1, &textureId_);
+        textureId_ = 9999;
+    }
 }
 
 bool CameraMobile::init(const std::string &, const std::string &)
@@ -124,11 +134,53 @@ void CameraMobile::setGPS(const GPS & gps)
 	lastKnownGPS_ = gps;
 }
 
-void CameraMobile::setData(const SensorData & data, const Transform & pose)
+void CameraMobile::setData(const SensorData & data, const Transform & pose, const glm::mat4 & viewMatrix, const glm::mat4 & projectionMatrix, const float * texCoord)
 {
 	LOGD("CameraMobile::setData pose=%s stamp=%f", pose.prettyPrint().c_str(), data.stamp());
 	data_ = data;
 	pose_ = pose;
+
+    viewMatrix_ = viewMatrix;
+    projectionMatrix_ = projectionMatrix;
+    
+    if(textureId_ == 9999)
+    {
+        glGenTextures(1, &textureId_);
+    }
+    
+    if(texCoord)
+    {
+        memcpy(transformed_uvs_, texCoord, 8*sizeof(float));
+        uvs_initialized_ = true;
+    }
+    
+    LOGD("CameraMobile::setData textureId_=%d", (int)textureId_);
+    
+    if(textureId_ != 0)
+    {
+        cv::Mat rgbImage;
+        cv::cvtColor(data.imageRaw(), rgbImage, CV_BGR2RGBA);
+        
+        glBindTexture(GL_TEXTURE_2D, textureId_);
+        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);
+        
+        glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
+        //glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
+        //glPixelStorei(GL_UNPACK_SKIP_PIXELS, 0);
+        //glPixelStorei(GL_UNPACK_SKIP_ROWS, 0);
+        glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, rgbImage.cols, rgbImage.rows, 0, GL_RGBA, GL_UNSIGNED_BYTE, rgbImage.data);
+
+        GLint error = glGetError();
+        if(error != GL_NO_ERROR)
+        {
+            LOGE("OpenGL: Could not allocate texture (0x%x)\n", error);
+            textureId_ = 0;
+            return;
+        }
+    }
 }
 
 void CameraMobile::addEnvSensor(int type, float value)
@@ -338,4 +390,60 @@ SensorData CameraMobile::captureImage(CameraInfo * info)
 	return data_;
 }
 
+LaserScan CameraMobile::scanFromPointCloudData(
+        const cv::Mat & pointCloudData,
+        int points,
+        const Transform & pose,
+        const CameraModel & model,
+        const cv::Mat & rgb,
+        std::vector<cv::KeyPoint> * kpts,
+        std::vector<cv::Point3f> * kpts3D,
+        int kptsSize)
+{
+    if(!pointCloudData.empty())
+    {
+        cv::Mat scanData(1, pointCloudData.cols, CV_32FC4);
+        float * ptr = scanData.ptr<float>();
+        const float * inPtr = pointCloudData.ptr<float>();
+        int ic = pointCloudData.channels();
+        UASSERT(pointCloudData.depth() == CV_32F && ic >= 3);
+        
+        int oi = 0;
+        for(unsigned int i=0;i<points; ++i)
+        {
+            cv::Point3f pt(inPtr[i*ic], inPtr[i*ic + 1], inPtr[i*ic + 2]);
+            pt = util3d::transformPoint(pt, pose.inverse()*rtabmap_world_T_opengl_world);
+            ptr[oi*4] = pt.x;
+            ptr[oi*4 + 1] = pt.y;
+            ptr[oi*4 + 2] = pt.z;
+
+            //get color from rgb image
+            cv::Point3f org= pt;
+            pt = util3d::transformPoint(pt, opticalRotationInv);
+            int u,v;
+            model.reproject(pt.x, pt.y, pt.z, u, v);
+            unsigned char r=255,g=255,b=255;
+            if(model.inFrame(u, v))
+            {
+                b=rgb.at<cv::Vec3b>(v,u).val[0];
+                g=rgb.at<cv::Vec3b>(v,u).val[1];
+                r=rgb.at<cv::Vec3b>(v,u).val[2];
+                if(kpts)
+                    kpts->push_back(cv::KeyPoint(u,v,kptsSize));
+                if(kpts3D)
+                    kpts3D->push_back(org);
+                
+                *(int*)&ptr[oi*4 + 3] = int(b) | (int(g) << 8) | (int(r) << 16);
+                ++oi;
+            }
+
+            //confidence
+            //*(int*)&ptr[i*4 + 3] = (int(pointCloudData[i*4 + 3] * 255.0f) << 8) | (int(255) << 16);
+
+        }
+        return LaserScan::backwardCompatibility(scanData.colRange(0, oi), 0, 10, rtabmap::Transform::getIdentity());
+    }
+    return LaserScan();
+}
+
 } /* namespace rtabmap */

app/android/jni/CameraMobile.h

@@ -75,6 +75,17 @@ public:
 
 	static const rtabmap::Transform opticalRotation;
 	static const rtabmap::Transform opticalRotationInv;
+    
+public:
+    static LaserScan scanFromPointCloudData(
+            const cv::Mat & pointCloudData,
+            int points,
+            const Transform & pose,
+            const CameraModel & model,
+            const cv::Mat & rgb,
+            std::vector<cv::KeyPoint> * kpts = 0,
+            std::vector<cv::Point3f> * kpts3D = 0,
+            int kptsSize = 3);
 
 public:
 	CameraMobile(bool smoothing = false);
@@ -97,9 +108,17 @@ public:
 	virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height) {colorCameraToDisplayRotation_ = colorCameraToDisplayRotation;}
 	void setGPS(const GPS & gps);
 	void addEnvSensor(int type, float value);
-	void setData(const SensorData & data, const Transform & pose);
+	void setData(const SensorData & data, const Transform & pose, const glm::mat4 & viewMatrix, const glm::mat4 & projectionMatrix, const float * texCoord);
 
 	void spinOnce(); // Should only be called if not thread is not running, otherwise it does nothing
+    
+    GLuint getTextureId() {return textureId_;}
+    bool uvsInitialized() const {return uvs_initialized_;}
+    const float* uvsTransformed() const {return transformed_uvs_;}
+    void getVPMatrices(glm::mat4 & view, glm::mat4 & projection) const {view=viewMatrix_; projection=projectionMatrix_;}
+    
+    void setOcclusionImage(const cv::Mat & image, const CameraModel & model) {occlusionModel_ = model; occlusionImage_ = image;}
+    const cv::Mat & getOcclusionImage(CameraModel * model=0) const {if(model)*model=occlusionModel_; return occlusionImage_; }
 
 protected:
 	virtual SensorData captureImage(CameraInfo * info = 0);
@@ -113,6 +132,12 @@ protected:
 	Transform deviceTColorCamera_; // device to camera optical rotation in rtabmap frame
 	UTimer spinOnceFrameRateTimer_;
 	double spinOncePreviousStamp_;
+    
+    GLuint textureId_;
+    glm::mat4 viewMatrix_;
+    glm::mat4 projectionMatrix_;
+    float transformed_uvs_[8];
+    bool uvs_initialized_ = false;
 
 private:
 	Transform previousPose_;
@@ -128,6 +153,9 @@ private:
 
 	SensorData data_;
 	Transform pose_;
+    
+    cv::Mat occlusionImage_;
+    CameraModel occlusionModel_;
 };
 
 } /* namespace rtabmap */

app/android/jni/ProgressionStatus.h

@@ -11,7 +11,9 @@
 #include <rtabmap/core/ProgressState.h>
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/utilite/UEventsManager.h>
+#ifdef __ANDROID__
 #include <jni.h>
+#endif
 
 namespace rtabmap {
 
@@ -27,16 +29,29 @@ public:
 class ProgressionStatus: public ProgressState, public UEventsHandler
 {
 public:
-	ProgressionStatus() : count_(0), max_(100), jvm_(0), rtabmap_(0)
+	ProgressionStatus() : count_(0), max_(100)
+#ifdef __ANDROID__
+    , jvm_(0), rtabmap_(0)
+#else
+    , swiftClassPtr_(0)
+#endif
 	{
 		registerToEventsManager();
 	}
 
+#ifdef __ANDROID__
 	void setJavaObjects(JavaVM * jvm, jobject rtabmap)
 	{
 		jvm_ = jvm;
 		rtabmap_ = rtabmap;
 	}
+#else
+    void setSwiftCallback(void * classPtr, void(*callback)(void *, int, int))
+    {
+        swiftClassPtr_ = classPtr;
+        swiftCallback = callback;
+    }
+#endif
 
 	void reset(int max)
 	{
@@ -82,6 +97,7 @@ protected:
 			count_ += ((ProgressEvent*)event)->count_;
 			// Call JAVA callback
 			bool success = false;
+#ifdef __ANDROID__
 			if(jvm_ && rtabmap_)
 			{
 				JNIEnv *env = 0;
@@ -103,6 +119,16 @@ protected:
 				}
 				jvm_->DetachCurrentThread();
 			}
+#else // APPLE
+            if(swiftClassPtr_)
+            {
+                std::function<void()> actualCallback = [&](){
+                    swiftCallback(swiftClassPtr_, count_, max_);
+                };
+                actualCallback();
+                success = true;
+            }
+#endif
 			if(!success)
 			{
 				UERROR("Failed to call rtabmap::updateProgressionCallback");
@@ -114,8 +140,13 @@ protected:
 private:
 	int count_;
 	int max_;
+#ifdef __ANDROID__
 	JavaVM *jvm_;
 	jobject rtabmap_;
+#else
+    void * swiftClassPtr_;
+    void(*swiftCallback)(void *, int, int);
+#endif
 };
 
 }

app/android/jni/RTABMapApp.h

@@ -28,7 +28,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef RTABMAP_APP_H_
 #define RTABMAP_APP_H_
 
+#ifdef __ANDROID__
 #include <jni.h>
+#endif
 #include <memory>
 
 #include <tango-gl/util.h>
@@ -49,7 +51,26 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 class RTABMapApp : public UEventsHandler {
  public:
   // Constructor and deconstructor.
+#ifdef __ANDROID__
   RTABMapApp(JNIEnv* env, jobject caller_activity);
+#else // __APPLE__
+  RTABMapApp();
+  void setupSwiftCallbacks(void * classPtr,
+                           void(*progressCallback)(void *, int, int),
+                           void(*initCallback)(void *, int, const char*),
+                           void(*statsUpdatedCallback)(void *,
+                                                    int, int, int, int,
+                                                    float,
+                                                    int, int, int, int, int ,int,
+                                                    float,
+                                                    int,
+                                                    float,
+                                                    int,
+                                                    float, float, float, float,
+                                                    int, int,
+                                                    float, float, float, float, float, float));
+    
+#endif
   ~RTABMapApp();
 
   void setScreenRotation(int displayRotation, int cameraRotation);
@@ -57,8 +78,11 @@ class RTABMapApp : public UEventsHandler {
   int openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, const std::string & databaseSource=std::string());
 
   bool isBuiltWith(int cameraDriver) const;
+#ifdef __ANDROID__
   bool startCamera(JNIEnv* env, jobject iBinder, jobject context, jobject activity, int driver);
-
+#else // __APPLE__
+    bool startCamera();
+#endif
   // Allocate OpenGL resources for rendering, mainly for initializing the Scene.
   void InitializeGLContent();
 
@@ -117,11 +141,13 @@ class RTABMapApp : public UEventsHandler {
   void setMinCloudDepth(float value);
   void setCloudDensityLevel(int value);
   void setMeshAngleTolerance(float value);
+  void setMeshDecimationFactor(float value);
   void setMeshTriangleSize(int value);
   void setClusterRatio(float value);
   void setMaxGainRadius(float value);
   void setRenderingTextureDecimation(int value);
   void setBackgroundColor(float gray);
+  void setDepthConfidence(int value);
   int setMappingParameter(const std::string & key, const std::string & value);
   void setGPS(const rtabmap::GPS & gps);
   void addEnvSensor(int type, float value);
@@ -156,14 +182,19 @@ class RTABMapApp : public UEventsHandler {
   		float x, float y, float z, float qx, float qy, float qz, float qw,
   		float fx, float fy, float cx, float cy,
   		double stamp,
-		void * yPlane, void * uPlane, void * vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
-  		void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
-		float * points, int pointsLen);
+        const void * yPlane, const void * uPlane, const void * vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
+        const void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
+        const void * conf, int confLen, int confWidth, int confHeight, int confFormat,
+        const float * points, int pointsLen, int pointsChannels,
+        float vx, float vy, float vz, float vqx, float vqy, float vqz, float vqw, //view matrix
+        float p00, float p11, float p02, float p12, float p22, float p32, float p23, // projection matrix
+        float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7); // tex coord
 
  protected:
   virtual bool handleEvent(UEvent * event);
 
  private:
+  int updateMeshDecimation(int width, int height);
   rtabmap::ParametersMap getRtabmapParameters();
   bool smoothMesh(int id, rtabmap::Mesh & mesh);
   void gainCompensation(bool full = false);
@@ -188,15 +219,18 @@ class RTABMapApp : public UEventsHandler {
   bool cameraColor_;
   bool fullResolution_;
   bool appendMode_;
+  bool proximityDetection_;
   float maxCloudDepth_;
   float minCloudDepth_;
   int cloudDensityLevel_;
   int meshTrianglePix_;
   float meshAngleToleranceDeg_;
+  float meshDecimationFactor_;
   float clusterRatio_;
   float maxGainRadius_;
   int renderingTextureDecimation_;
   float backgroundColor_;
+  int depthConfidence_;
 
   rtabmap::ParametersMap mappingParameters_;
 
@@ -210,7 +244,6 @@ class RTABMapApp : public UEventsHandler {
   bool bilateralFilteringOnNextRender_;
   bool takeScreenshotOnNextRender_;
   bool cameraJustInitialized_;
-  int meshDecimation_;
   int totalPoints_;
   int totalPolygons_;
   int lastDrawnCloudsCount_;
@@ -251,6 +284,23 @@ class RTABMapApp : public UEventsHandler {
 	std::pair<rtabmap::RtabmapEventInit::Status, std::string> status_;
 
 	rtabmap::ProgressionStatus progressionStatus_;
+    
+#ifndef __ANDROID__
+    void * swiftClassPtr_;
+    void(*swiftInitCallback)(void *, int, const char *);
+    void(*swiftStatsUpdatedCallback)(void *,
+                             int, int, int, int,
+                             float,
+                             int, int, int, int, int ,int,
+                             float,
+                             int,
+                             float,
+                             int,
+                             float, float, float, float,
+                             int, int,
+                             float, float, float, float, float, float);
+    
+#endif
 };
 
 #endif  // TANGO_POINT_CLOUD_POINT_CLOUD_APP_H_

app/android/jni/background_renderer.cc

@@ -35,18 +35,42 @@ const std::string kVertexShader =
 		"}\n";
 
 const std::string kFragmentShader =
+#ifdef __ANDROID__
 	"#extension GL_OES_EGL_image_external : require\n"
-
+#endif
 	"precision mediump float;\n"
 	"varying vec2 v_TexCoord;\n"
+#ifdef __ANDROID__
 	"uniform samplerExternalOES sTexture;\n"
-
+#else
+    "uniform sampler2D sTexture;\n"
+#endif
 	"void main() {\n"
 	"    vec4 sample = texture2D(sTexture, v_TexCoord);\n"
 	"    float grey = 0.21 * sample.r + 0.71 * sample.g + 0.07 * sample.b;\n"
 	"    gl_FragColor = vec4(grey, grey, grey, 0.5);\n"
 	"}\n";
 
+/* To debug depth texture
+ const std::string kFragmentShader =
+     "precision mediump float;\n"
+     "varying vec2 v_TexCoord;\n"
+     "uniform sampler2D sTexture;\n"
+
+     "void main() {\n"
+     "  float uNearZ = 0.2;\n"
+     "  float uFarZ = 1000.0;\n"
+     "  float depth = texture2D(sTexture, v_TexCoord).r;\n"
+     "  float num =  (2.0 * uNearZ * uFarZ);\n"
+     "  float diff = (uFarZ - uNearZ);\n"
+     "  float add = (uFarZ + uNearZ);\n"
+     "  float ndcDepth = depth * 2.0 - 1.0;\n" // Back to NDC
+     "  float linearDepth = num / (add - ndcDepth * diff);\n" // inverse projection matrix
+     "  float grey = linearDepth/3.0;\n"
+     "  gl_FragColor = vec4(grey, grey, grey, 0.5);\n"
+     "}\n";
+ */
+
 }  // namespace
 
 void BackgroundRenderer::InitializeGlContent(GLuint textureId)
@@ -71,10 +95,14 @@ void BackgroundRenderer::Draw(const float * transformed_uvs) {
   glEnable (GL_BLEND);
 
   glActiveTexture(GL_TEXTURE0);
+#ifdef __ANDROID__
   glBindTexture(GL_TEXTURE_EXTERNAL_OES, texture_id_);
+#else
+  glBindTexture(GL_TEXTURE_2D, texture_id_);
+#endif
 
   glVertexAttribPointer(attribute_vertices_, 2, GL_FLOAT, GL_FALSE, 0, BackgroundRenderer_kVertices);
-  glVertexAttribPointer(attribute_uvs_, 2, GL_FLOAT, GL_FALSE, 0, transformed_uvs);
+  glVertexAttribPointer(attribute_uvs_, 2, GL_FLOAT, GL_FALSE, 0, transformed_uvs?transformed_uvs:BackgroundRenderer_kTexCoord);
 
   glEnableVertexAttribArray(attribute_vertices_);
   glEnableVertexAttribArray(attribute_uvs_);

app/android/jni/background_renderer.h

@@ -17,8 +17,13 @@
 #ifndef C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_
 #define C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_
 
+#ifdef __ANDROID__
 #include <GLES2/gl2.h>
 #include <GLES2/gl2ext.h>
+#else // __APPLE__
+#include <OpenGLES/ES2/gl.h>
+#include <OpenGLES/ES2/glext.h>
+#endif
 #include <cstdlib>
 
 #include "util.h"
@@ -26,6 +31,16 @@
 static const GLfloat BackgroundRenderer_kVertices[] = {
 	-1.0f, -1.0f, +1.0f, -1.0f, -1.0f, +1.0f, +1.0f, +1.0f,
 };
+static const GLfloat BackgroundRenderer_kTexCoord[] = {
+   1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
+};
+
+//android phone
+//11 10 01 00 // portrait
+//01 11 00 10 // left
+//10 00 11 01 // right
+//00 01 10 11 // down
+
 
 // This class renders the passthrough camera image into the OpenGL frame.
 class BackgroundRenderer {

app/android/jni/graph_drawable.cpp

@@ -31,7 +31,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/ULogger.h"
 #include "util.h"
 
+#ifdef __ANDROID__
 #include <GLES2/gl2.h>
+#else //__APPLE__
+#include <OpenGLES/ES2/gl.h>
+#endif
 
 GraphDrawable::GraphDrawable(
 		GLuint shaderProgram,

app/android/jni/graph_drawable.h

@@ -28,8 +28,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef GRAPH_DRAWABLE_H_
 #define GRAPH_DRAWABLE_H_
 
+#ifdef __ANDROID__
 #include <jni.h>
-
+#endif
 #include <tango-gl/util.h>
 #include <vector>
 #include <pcl/point_cloud.h>

app/android/jni/point_cloud_drawable.cpp

@@ -35,7 +35,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "util.h"
 #include "pcl/common/transforms.h"
 
+#ifdef __ANDROID__
 #include <GLES2/gl2.h>
+#else // __APPLE__
+#include <OpenGLES/ES2/gl.h>
+#endif
 
 #define LOW_DEC 2
 #define LOWLOW_DEC 4
@@ -257,7 +261,7 @@ const std::string kTextureMeshBlendingFragmentShader =
 	"  float linearFragz = num / (add - ndcFragz * diff);\n" // inverse projection matrix
 	"  if(linearFragz > linearDepth + 0.05)\n"
 	"    alpha=0.0;\n"
-	"  gl_FragColor = vec4(textureColor.r * uGainR * vLightWeighting, textureColor.g * uGainG * vLightWeighting, textureColor.b * uGainB * vLightWeighting, alpha);\n"
+    "  gl_FragColor = vec4(textureColor.r * uGainR * vLightWeighting, textureColor.g * uGainG * vLightWeighting, textureColor.b * uGainB * vLightWeighting, alpha);\n"
     "}\n";
 
 std::vector<GLuint> PointCloudDrawable::shaderPrograms_;
@@ -356,7 +360,7 @@ PointCloudDrawable::~PointCloudDrawable()
 
 void PointCloudDrawable::updatePolygons(const std::vector<pcl::Vertices> & polygons, const std::vector<pcl::Vertices> & polygonsLowRes, bool createWireframe)
 {
-	LOGD("Update polygons");
+	//LOGD("Update polygons");
 	polygons_.clear();
 	polygonLines_.clear();
 	polygonsLowRes_.clear();
@@ -580,13 +584,13 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 	int totalPoints = 0;
 	std::vector<pcl::Vertices> polygons = mesh.polygons;
 	std::vector<pcl::Vertices> polygonsLowRes;
-	hasNormals_ = mesh.normals.get() && mesh.normals->size() == mesh.cloud->size();
+    hasNormals_ = mesh.normals.get() && mesh.normals->size() == mesh.cloud->size();
 	UASSERT(!hasNormals_ || mesh.cloud->size() == mesh.normals->size());
 	if(mesh.cloud->isOrganized()) // assume organized mesh
 	{
 		polygonsLowRes = mesh.polygonsLowRes; // only in organized we keep the low res
 		organizedToDenseIndices_ = std::vector<unsigned int>(mesh.cloud->width*mesh.cloud->height, -1);
-		totalPoints = mesh.indices->size();
+		totalPoints = (int)mesh.indices->size();
 		verticesLowRes_.resize(totalPoints);
 		verticesLowLowRes_.resize(totalPoints);
 		int oi_low = 0;
@@ -672,7 +676,7 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 	}
 	else // assume dense mesh with texCoords set to polygons
 	{
-		if(textures_ && polygons.size() && mesh.normals->size())
+		if(textures_ && polygons.size())
 		{
 			//LOGD("Dense mesh with texture (%d texCoords %d points %d polygons %dx%d)",
 			//		(int)mesh.texCoords.size(), (int)mesh.cloud->size(), (int)mesh.polygons.size(), texture.cols, texture.rows);
@@ -681,14 +685,14 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 			//  tex_coordinates should be linked to points, not
 			//  polygon vertices. Points linked to multiple different texCoords (different textures) should
 			//  be duplicated.
-			totalPoints = mesh.texCoords.size();
-			vertices = std::vector<float>(mesh.texCoords.size()*9);
+			totalPoints = (int)mesh.texCoords.size();
+            int items = hasNormals_?9:6;
+			vertices = std::vector<float>(mesh.texCoords.size()*items);
 			organizedToDenseIndices_ = std::vector<unsigned int>(totalPoints, -1);
 
 			UASSERT_MSG(mesh.texCoords.size() == polygons[0].vertices.size()*polygons.size(),
 					uFormat("%d vs %d x %d", (int)mesh.texCoords.size(), (int)polygons[0].vertices.size(), (int)polygons.size()).c_str());
 
-			int items = hasNormals_?9:6;
 			unsigned int oi=0;
 			for(unsigned int i=0; i<polygons.size(); ++i)
 			{

app/android/jni/point_cloud_drawable.h

@@ -28,7 +28,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_
 #define TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_
 
+#ifdef __ANDROID__
 #include <jni.h>
+#endif
 
 #include <tango-gl/util.h>
 #include <vector>

app/android/jni/scene.cpp

@@ -88,7 +88,7 @@ Scene::Scene() :
 		mapRendering_(true),
 		meshRendering_(true),
 		meshRenderingTexture_(true),
-		pointSize_(5.0f),
+		pointSize_(10.0f),
 		boundingBoxRendering_(false),
 		lighting_(false),
 		backfaceCulling_(true),
@@ -220,11 +220,14 @@ void Scene::SetupViewPort(int w, int h) {
 	if (h == 0) {
 		LOGE("Setup graphic height not valid");
 	}
+    
 	UASSERT(gesture_camera_ != 0);
 	gesture_camera_->SetWindowSize(static_cast<float>(w), static_cast<float>(h));
 	glViewport(0, 0, w, h);
 	if(screenWidth_ != w || screenHeight_ != h || fboId_ == 0)
 	{
+        UINFO("Setup viewport OpenGL: %dx%d", w, h);
+        
 		if(fboId_>0)
 		{
 			glDeleteFramebuffers(1, &fboId_);
@@ -235,6 +238,9 @@ void Scene::SetupViewPort(int w, int h) {
 			depthTexture_ = 0;
 		}
 
+        GLint originid = 0;
+        glGetIntegerv(GL_FRAMEBUFFER_BINDING, &originid);
+        
 		// regenerate fbo texture
 		// create a framebuffer object, you need to delete them when program exits.
 		glGenFramebuffers(1, &fboId_);
@@ -260,12 +266,9 @@ void Scene::SetupViewPort(int w, int h) {
 		glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, rboId_);
 
 		GLuint status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
-		if ( status != GL_FRAMEBUFFER_COMPLETE)
-		{
-			LOGE("Frame buffer cannot be generated! Status: %in", status);
-		}
-		glBindFramebuffer(GL_FRAMEBUFFER,0);
-	}
+        UASSERT ( status == GL_FRAMEBUFFER_COMPLETE);
+		glBindFramebuffer(GL_FRAMEBUFFER, originid);
+    }
 	screenWidth_ = w;
 	screenHeight_ = h;
 }
@@ -411,13 +414,21 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 
 	bool renderBackgroundCamera =
 			background_renderer_ &&
-			gesture_camera_->GetCameraType() == tango_gl::GestureCamera::kFirstPerson &&
-			!rtabmap::glmToTransform(arProjectionMatrix).isNull() &&
-			uvsTransformed;
+            gesture_camera_->GetCameraType() == tango_gl::GestureCamera::kFirstPerson &&
+            !rtabmap::glmToTransform(arProjectionMatrix).isNull() &&
+            uvsTransformed;
+
 	if(renderBackgroundCamera)
 	{
-		projectionMatrix = arProjectionMatrix;
-		viewMatrix = arViewMatrix;
+        if(projectionMatrix[0][0] > arProjectionMatrix[0][0]-0.2)
+        {
+            projectionMatrix = arProjectionMatrix;
+            viewMatrix = arViewMatrix;
+        }
+        else
+        {
+            renderBackgroundCamera = false;
+        }
 	}
 
 	rtabmap::Transform openglCamera = GetOpenGLCameraPose();//*rtabmap::Transform(0.0f, 0.0f, 3.0f, 0.0f, 0.0f, 0.0f);
@@ -472,13 +483,16 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 	bool onlineBlending = (renderBackgroundCamera && occlusionMesh.cloud.get() && occlusionMesh.cloud->size()) || (blending_ && gesture_camera_->GetCameraType()!=tango_gl::GestureCamera::kTopOrtho && mapRendering_ && meshRendering_ && cloudsToDraw.size()>1);
 	if(onlineBlending && fboId_)
 	{
+        GLint originid = 0;
+        glGetIntegerv(GL_FRAMEBUFFER_BINDING, &originid);
+        
 		// set the rendering destination to FBO
 		glBindFramebuffer(GL_FRAMEBUFFER, fboId_);
 
 		glClearColor(0, 0, 0, 0);
 		glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 
-		if(renderBackgroundCamera)
+		if(renderBackgroundCamera && occlusionMesh.cloud.get() && occlusionMesh.cloud->size())
 		{
 			PointCloudDrawable drawable(occlusionMesh);
 			drawable.Render(projectionMatrix, viewMatrix, true, pointSize_, false, false, 999.0f, 0, 0, 0, 0, 0, true);
@@ -488,13 +502,17 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 			// Draw scene
 			for(std::vector<PointCloudDrawable*>::const_iterator iter=cloudsToDraw.begin(); iter!=cloudsToDraw.end(); ++iter)
 			{
-				// set large distance to cam to use low res polygons for fast processing
-				(*iter)->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, false, false, 999.0f, 0, 0, 0, 0, 0, true);
+                Eigen::Vector3f cloudToCamera(
+                          (*iter)->getPose().x() - openglCamera.x(),
+                          (*iter)->getPose().y() - openglCamera.y(),
+                          (*iter)->getPose().z() - openglCamera.z());
+                float distanceToCameraSqr = cloudToCamera[0]*cloudToCamera[0] + cloudToCamera[1]*cloudToCamera[1] + cloudToCamera[2]*cloudToCamera[2];
+				(*iter)->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, false, false, distanceToCameraSqr, 0, 0, 0, 0, 0, true);
 			}
 		}
 
 		// back to normal window-system-provided framebuffer
-		glBindFramebuffer(GL_FRAMEBUFFER, 0); // unbind
+		glBindFramebuffer(GL_FRAMEBUFFER, originid); // unbind
 	}
 
 	if(doubleTapOn_ && gesture_camera_->GetCameraType() != tango_gl::GestureCamera::kFirstPerson)
@@ -502,10 +520,16 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 		glClearColor(0, 0, 0, 0);
 		glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 
+        // FIXME: we could use the depthTexture if already computed!
 		for(std::vector<PointCloudDrawable*>::const_iterator iter=cloudsToDraw.begin(); iter!=cloudsToDraw.end(); ++iter)
 		{
-			// set large distance to cam to use low res polygons for fast processing
-			(*iter)->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_*10.0f, false, false, 999.0f, 0, 0, 0, 0, 0, true);
+            Eigen::Vector3f cloudToCamera(
+                      (*iter)->getPose().x() - openglCamera.x(),
+                      (*iter)->getPose().y() - openglCamera.y(),
+                      (*iter)->getPose().z() - openglCamera.z());
+            float distanceToCameraSqr = cloudToCamera[0]*cloudToCamera[0] + cloudToCamera[1]*cloudToCamera[1] + cloudToCamera[2]*cloudToCamera[2];
+            
+            (*iter)->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_*10.0f, false, false, distanceToCameraSqr, 0, 0, 0, 0, 0, true);
 		}
 
 		GLubyte zValue[4];
@@ -680,18 +704,10 @@ void Scene::updateGraph(
 		const std::multimap<int, rtabmap::Link> & links)
 {
 	LOGI("updateGraph");
-	if(graph_)
-	{
-		delete graph_;
-		graph_ = 0;
-	}
-
 	//create
-	if(graphVisible_)
-	{
-		UASSERT(graph_shader_program_ != 0);
-		graph_ = new GraphDrawable(graph_shader_program_, poses, links);
-	}
+    UASSERT(graph_shader_program_ != 0);
+    delete graph_;
+    graph_ = new GraphDrawable(graph_shader_program_, poses, links);
 }
 
 void Scene::setGraphVisible(bool visible)

app/android/jni/scene.h

@@ -17,7 +17,9 @@
 #ifndef TANGO_POINT_CLOUD_SCENE_H_
 #define TANGO_POINT_CLOUD_SCENE_H_
 
+#ifdef __ANDROID__
 #include <jni.h>
+#endif
 #include <memory>
 #include <set>
 
@@ -35,10 +37,10 @@
 #include <rtabmap/core/Transform.h>
 #include <rtabmap/core/Link.h>
 
-#include <point_cloud_drawable.h>
-#include <graph_drawable.h>
-#include <bounding_box_drawable.h>
-#include <background_renderer.h>
+#include "point_cloud_drawable.h"
+#include "graph_drawable.h"
+#include "bounding_box_drawable.h"
+#include "background_renderer.h"
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>

app/android/jni/tango-gl/camera.cpp

@@ -24,8 +24,8 @@ Camera::Camera() {
   aspect_ratio_ = 4.0f / 3.0f;
   width_ = 800.0f;
   height_ = 600.0f;
-  near_clip_plane_ = 0.2f;
-  far_clip_plane_ = 1000.0f;
+  near_clip_plane_ = 0.5f;
+  far_clip_plane_ = 50.0f;
   ortho_ = false;
   orthoScale_ = 2.0f;
   orthoCropFactor_ = -1.0f;

app/android/jni/tango-gl/gesture_camera.cpp

@@ -43,9 +43,11 @@ const float kCamViewMaxDist = 100.f;
 
 // FOV set up values.
 // Third and top down camera's FOV is 65 degrees.
-// First person camera's FOV is 45 degrees.
-const float kHighFov = 65.0f;
+// First person camera's FOV is 85 degrees.
+const float kHighestFov = 120.0f;
+const float kHighFov = 85.0f;
 const float kLowFov = 65.0f;
+const float kLowestFov = 40.0f;
 }
 
 namespace tango_gl {
@@ -111,7 +113,7 @@ void GestureCamera::OnTouchEvent(int touch_count, TouchEvent event, float x0,
 
 			if(camera_type_ == kFirstPerson)
 			{
-				this->SetFieldOfView(tango_gl::util::Clamp(cam_start_fov_ + dist * kZoomSpeed*10.0f, 45, 90));
+				this->SetFieldOfView(tango_gl::util::Clamp(cam_start_fov_ + dist * kZoomSpeed*10.0f, kLowestFov, kHighestFov));
 			}
 			else
 			{
@@ -179,8 +181,9 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
   camera_type_ = camera_index;
   switch (camera_index) {
     case kFirstPerson:
-    	SetOrthoMode(false);
-      SetFieldOfView(kLowFov);
+      SetOrthoMode(false);
+      SetFieldOfView(kLowestFov);
+      SetNearFarClipPlanes(0.5, 50);
       SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
       SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
       cam_cur_dist_ = 0.0f;
@@ -193,11 +196,12 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
       break;
     case kThirdPerson:
     case kThirdPersonFollow:
-    	SetOrthoMode(false);
-    	SetFieldOfView(kHighFov);
+      SetOrthoMode(false);
+      SetFieldOfView(kLowFov);
+      SetNearFarClipPlanes(0.5, 50);
       SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
       SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
-      cam_cur_dist_ = kThirdPersonFollow?kThirdPersonFollowCameraDist:kThirdPersonCameraDist;
+      cam_cur_dist_ = camera_index==kThirdPersonFollow?kThirdPersonFollowCameraDist:kThirdPersonCameraDist;
       anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
       cam_cur_angle_.x = -M_PI / 12.0f;
       cam_cur_angle_.y = kThirdPersonFollow?0:M_PI / 2.0f;
@@ -208,7 +212,8 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
       SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
       SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
       SetOrthoMode(false);
-      SetFieldOfView(kHighFov);
+      SetFieldOfView(kLowFov);
+      SetNearFarClipPlanes(0.5, 50);
       cam_cur_dist_ = kTopDownCameraDist;
       anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
       cam_cur_angle_.x = -M_PI / 2.0f;
@@ -222,6 +227,8 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
 	  SetOrthoMode(true);
 	  SetOrthoScale(kTopDownCameraDist);
 	  SetOrthoCropFactor(-1.0f);
+      SetFieldOfView(kLowFov);
+      SetNearFarClipPlanes(0.5, 50);
 	  cam_cur_dist_ = kTopDownCameraDist;
 	  anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
 	  cam_cur_angle_.x = -M_PI / 2.0f;

app/android/jni/tango-gl/include/tango-gl/texture.h

@@ -18,7 +18,10 @@
 #define TANGO_GL_TEXTURE_H_
 
 #include <errno.h>
+
+#ifdef __ANDROID__
 #include <png.h>
+#endif
 
 #include "tango-gl/util.h"
 
@@ -30,11 +33,15 @@ class Texture {
   Texture& operator=(const Texture&) = delete;
   ~Texture();
 
+#ifdef __ANDROID__
   bool LoadFromPNG(const char* file_path);
+#endif
   GLuint GetTextureID() const;
 
  private:
+#ifdef __ANDROID__
   png_uint_32 width_, height_;
+#endif
   int bit_depth_, color_type_;
   char* byte_data_;
   GLuint texture_id_;

app/android/jni/tango-gl/include/tango-gl/util.h

@@ -21,10 +21,16 @@
 #define GL_VERTEX_PROGRAM_POINT_SIZE 0x8642
 
 #include <stdlib.h>
+#ifdef __ANDROID__
 #include <jni.h>
 #include <android/log.h>
 #include <GLES2/gl2.h>
 #include <GLES2/gl2ext.h>
+#else // __APPLE__
+#include <OpenGLES/ES2/gl.h>
+#include <OpenGLES/ES2/glext.h>
+#include <syslog.h>
+#endif
 
 #include "glm/glm.hpp"
 #include "glm/gtc/matrix_transform.hpp"
@@ -33,17 +39,28 @@
 #include "glm/gtx/matrix_decompose.hpp"
 
 #define LOG_TAG "rtabmap"
-#ifdef DISABLE_LOG
+#if defined(DISABLE_LOG)
 #define LOGD(...) ;
 #define LOGI(...) ;
 #define LOGW(...) ;
 #else
+#ifdef __APPLE__
+#define LOGD(...) fprintf(stderr, __VA_ARGS__); fprintf(stderr, "\n")
+#define LOGI(...) fprintf(stderr, __VA_ARGS__); fprintf(stderr, "\n")
+#define LOGW(...) fprintf(stderr, __VA_ARGS__); fprintf(stderr, "\n")
+#else
 #define LOGD(...) __android_log_print(ANDROID_LOG_DEBUG,LOG_TAG,__VA_ARGS__)
 #define LOGI(...) __android_log_print(ANDROID_LOG_INFO,LOG_TAG,__VA_ARGS__)
 #define LOGW(...) __android_log_print(ANDROID_LOG_WARN,LOG_TAG,__VA_ARGS__)
 #endif
+#endif
+#ifdef __APPLE__
+#define LOGE(...) fprintf(stderr, __VA_ARGS__); fprintf(stderr, "\n")
+#define LOGF(...) fprintf(stderr, __VA_ARGS__); fprintf(stderr, "\n")
+#else
 #define LOGE(...) __android_log_print(ANDROID_LOG_ERROR,LOG_TAG,__VA_ARGS__)
 #define LOGF(...) __android_log_print(ANDROID_LOG_FATAL,LOG_TAG,__VA_ARGS__)
+#endif
 
 #ifndef M_PI
 #define M_PI 3.1415926f

app/android/jni/tango-gl/quad.cpp

@@ -57,7 +57,7 @@ Quad::Quad() {
 
 Quad::~Quad() { glDeleteShader(shader_program_); }
 
-void Quat::SetTextureId(GLuint texture_id) { texture_id_ = texture_id; }
+void Quad::SetTextureId(GLuint texture_id) { texture_id_ = texture_id; }
 
 void Quad::Render(const glm::mat4& projection_mat,
                   const glm::mat4& view_mat) const {

app/android/jni/tango-gl/texture.cpp

@@ -34,11 +34,13 @@ static int RoundUpPowerOfTwo(int w) {
 }
 
 Texture::Texture(const char* file_path) {
+#ifdef __ANDROID__
   if (!LoadFromPNG(file_path)) {
     LOGE("Texture initialing error");
   }
+#endif
 }
-
+#ifdef __ANDROID__
 bool Texture::LoadFromPNG(const char* file_path) {
   FILE* file = fopen(file_path, "rb");
 
@@ -94,7 +96,7 @@ bool Texture::LoadFromPNG(const char* file_path) {
 
   return true;
 }
-
+#endif
 GLuint Texture::GetTextureID() const { return texture_id_; }
 
 Texture::~Texture() {

app/android/jni/util.h

@@ -28,8 +28,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef UTIL_H_
 #define UTIL_H_
 
-
-#include <android/log.h>
 #include <rtabmap/utilite/UEventsHandler.h>
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/core/CameraModel.h>
@@ -46,8 +44,13 @@ class LogHandler : public UEventsHandler
 public:
 	LogHandler()
 	{
-		ULogger::setLevel(ULogger::kDebug);
-		ULogger::setEventLevel(ULogger::kDebug);
+#ifdef DISABLE_LOG
+		ULogger::setLevel(ULogger::kWarning);
+		ULogger::setEventLevel(ULogger::kWarning);
+#else
+        ULogger::setLevel(ULogger::kDebug);
+        ULogger::setEventLevel(ULogger::kDebug);
+#endif
 		ULogger::setPrintThreadId(true);
 
 		registerToEventsManager();
@@ -55,7 +58,7 @@ public:
 protected:
 	virtual bool handleEvent(UEvent * event)
 	{
-		if(event->getClassName().compare("ULogEvent") == 0)
+        if(event->getClassName().compare("ULogEvent") == 0)
 		{
 			ULogEvent * logEvent = (ULogEvent*)event;
 			if(logEvent->getCode() == ULogger::kDebug)
@@ -78,7 +81,6 @@ protected:
 			{
 				LOGF("%s", logEvent->getMsg().c_str());
 			}
-
 		}
 		return false;
 	}

app/android/res/values/strings.xml

@@ -324,7 +324,7 @@
     <string name="pref_title_mapping_core">Core</string>
     <string name="pref_title_mapping_database">Database</string>
     <string name="pref_title_camera_driver">Camera Driver</string>
-    <string name="pref_summary_camera_driver">AR sdk use for capturing 6DoF poses and images. A TOF camera is required to record a 3D model.</string>
+    <string name="pref_summary_camera_driver">AR sdk used for capturing 6DoF poses and images. A TOF camera is required to record a 3D model.</string>
     <string name="pref_title_depth_from_motion">Depth From Motion</string>
     <string name="pref_summary_depth_from_motion">Use ARCore\'s depth API to compute depth image from motion. If the phone has a TOF camera and is supported by ARCore, results should be better. Currently supported only with ARCore NDK driver.</string>
     <string name="pref_title_append">Append Mode</string>
@@ -373,7 +373,7 @@
     <string name="pref_summary_gps_saved">Save GPS to database.</string>
     <string name="pref_title_env_sensors_saved">Save Environmental Sensors</string>
     <string name="pref_summary_env_sensors_saved">Save Wifi strength, temperature, air pressure, light intensity and relative humidity to database.</string>
-    <string name="pref_title_db_in_memory">Database In Memory</string>
+    <string name="pref_title_db_in_memory">Database in Memory</string>
     <string name="pref_summary_db_in_memory">The database is kept in RAM for fast access. Set to false to reduce RAM used at the cost of slower access. This parameter is applied on reset or when a database is opened.</string>
 
     <string-array name="pref_camera_driver_keys">
@@ -433,7 +433,7 @@
         <item>"700 ms"</item>
         <item>"600 ms"</item>
         <item>"500 ms"</item>
-        <item>"400"</item>
+        <item>"400 ms"</item>
     </string-array>
     <string-array name="pref_time_thr_values">
         <item>"0"</item>
@@ -868,10 +868,10 @@
         <item>"0.2 m"</item>
         <item>"0.1 m"</item>
         <item>"0.05 m"</item>
-        <item>"0.025"</item>
-        <item>"0.02"</item>
-        <item>"0.015"</item>
-        <item>"0.01"</item>
+        <item>"0.025 m"</item>
+        <item>"0.02 m"</item>
+        <item>"0.015 m"</item>
+        <item>"0.01 m"</item>
         <item>"Disabled"</item>
     </string-array>
     <string-array name="pref_opt_color_radius_values">

app/ios/.gitignore

@@ -0,0 +1,68 @@
+# Xcode
+#
+# gitignore contributors: remember to update Global/Xcode.gitignore, Objective-C.gitignore & Swift.gitignore
+
+## User settings
+xcuserdata/
+
+## compatibility with Xcode 8 and earlier (ignoring not required starting Xcode 9)
+*.xcscmblueprint
+*.xccheckout
+
+## compatibility with Xcode 3 and earlier (ignoring not required starting Xcode 4)
+build/
+DerivedData/
+*.moved-aside
+*.pbxuser
+!default.pbxuser
+*.mode1v3
+!default.mode1v3
+*.mode2v3
+!default.mode2v3
+*.perspectivev3
+!default.perspectivev3
+
+## Obj-C/Swift specific
+*.hmap
+
+## App packaging
+*.ipa
+*.dSYM.zip
+*.dSYM
+
+# CocoaPods
+#
+# We recommend against adding the Pods directory to your .gitignore. However
+# you should judge for yourself, the pros and cons are mentioned at:
+# https://guides.cocoapods.org/using/using-cocoapods.html#should-i-check-the-pods-directory-into-source-control
+#
+# Pods/
+#
+# Add this line if you want to avoid checking in source code from the Xcode workspace
+# *.xcworkspace
+
+# Carthage
+#
+# Add this line if you want to avoid checking in source code from Carthage dependencies.
+# Carthage/Checkouts
+
+Carthage/Build/
+
+# fastlane
+#
+# It is recommended to not store the screenshots in the git repo.
+# Instead, use fastlane to re-generate the screenshots whenever they are needed.
+# For more information about the recommended setup visit:
+# https://docs.fastlane.tools/best-practices/source-control/#source-control
+
+fastlane/report.xml
+fastlane/Preview.html
+fastlane/screenshots/**/*.png
+fastlane/test_output
+
+# Code Injection
+#
+# After new code Injection tools there's a generated folder /iOSInjectionProject
+# https://github.com/johnno1962/injectionforxcode
+
+iOSInjectionProject/

app/ios/RTABMapApp.xcodeproj/project.xcworkspace/contents.xcworkspacedata

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Workspace
+   version = "1.0">
+   <FileRef
+      location = "self:">
+   </FileRef>
+</Workspace>

app/ios/RTABMapApp.xcodeproj/project.xcworkspace/xcshareddata/IDEWorkspaceChecks.plist

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>IDEDidComputeMac32BitWarning</key>
+	<true/>
+</dict>
+</plist>

app/ios/RTABMapApp.xcodeproj/project.xcworkspace/xcshareddata/swiftpm/Package.resolved

@@ -0,0 +1,16 @@
+{
+  "object": {
+    "pins": [
+      {
+        "package": "Zip",
+        "repositoryURL": "https://github.com/marmelroy/Zip.git",
+        "state": {
+          "branch": null,
+          "revision": "bd19d974e8a38cc8d3a88c90c8a107386c3b8ccf",
+          "version": "2.1.1"
+        }
+      }
+    ]
+  },
+  "version": 1
+}

app/ios/RTABMapApp.xcodeproj/xcshareddata/xcschemes/RTABMapApp.xcscheme

@@ -0,0 +1,78 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Scheme
+   LastUpgradeVersion = "1230"
+   version = "1.3">
+   <BuildAction
+      parallelizeBuildables = "YES"
+      buildImplicitDependencies = "YES">
+      <BuildActionEntries>
+         <BuildActionEntry
+            buildForTesting = "YES"
+            buildForRunning = "YES"
+            buildForProfiling = "YES"
+            buildForArchiving = "YES"
+            buildForAnalyzing = "YES">
+            <BuildableReference
+               BuildableIdentifier = "primary"
+               BlueprintIdentifier = "4EE015C1259A2AF0008CCE65"
+               BuildableName = "RTABMapApp.app"
+               BlueprintName = "RTABMapApp"
+               ReferencedContainer = "container:RTABMapApp.xcodeproj">
+            </BuildableReference>
+         </BuildActionEntry>
+      </BuildActionEntries>
+   </BuildAction>
+   <TestAction
+      buildConfiguration = "Debug"
+      selectedDebuggerIdentifier = "Xcode.DebuggerFoundation.Debugger.LLDB"
+      selectedLauncherIdentifier = "Xcode.DebuggerFoundation.Launcher.LLDB"
+      shouldUseLaunchSchemeArgsEnv = "YES">
+      <Testables>
+      </Testables>
+   </TestAction>
+   <LaunchAction
+      buildConfiguration = "Release"
+      selectedDebuggerIdentifier = "Xcode.DebuggerFoundation.Debugger.LLDB"
+      selectedLauncherIdentifier = "Xcode.DebuggerFoundation.Launcher.LLDB"
+      launchStyle = "0"
+      useCustomWorkingDirectory = "NO"
+      ignoresPersistentStateOnLaunch = "NO"
+      debugDocumentVersioning = "YES"
+      debugServiceExtension = "internal"
+      allowLocationSimulation = "YES">
+      <BuildableProductRunnable
+         runnableDebuggingMode = "0">
+         <BuildableReference
+            BuildableIdentifier = "primary"
+            BlueprintIdentifier = "4EE015C1259A2AF0008CCE65"
+            BuildableName = "RTABMapApp.app"
+            BlueprintName = "RTABMapApp"
+            ReferencedContainer = "container:RTABMapApp.xcodeproj">
+         </BuildableReference>
+      </BuildableProductRunnable>
+   </LaunchAction>
+   <ProfileAction
+      buildConfiguration = "Release"
+      shouldUseLaunchSchemeArgsEnv = "YES"
+      savedToolIdentifier = ""
+      useCustomWorkingDirectory = "NO"
+      debugDocumentVersioning = "YES">
+      <BuildableProductRunnable
+         runnableDebuggingMode = "0">
+         <BuildableReference
+            BuildableIdentifier = "primary"
+            BlueprintIdentifier = "4EE015C1259A2AF0008CCE65"
+            BuildableName = "RTABMapApp.app"
+            BlueprintName = "RTABMapApp"
+            ReferencedContainer = "container:RTABMapApp.xcodeproj">
+         </BuildableReference>
+      </BuildableProductRunnable>
+   </ProfileAction>
+   <AnalyzeAction
+      buildConfiguration = "Debug">
+   </AnalyzeAction>
+   <ArchiveAction
+      buildConfiguration = "Release"
+      revealArchiveInOrganizer = "YES">
+   </ArchiveAction>
+</Scheme>

app/ios/RTABMapApp/AppDelegate.swift

@@ -0,0 +1,76 @@
+//
+//  AppDelegate.swift
+//  GLKittutorial
+//
+//  Created by Mathieu Labbe on 2020-12-28.
+//
+
+import UIKit
+import ARKit
+
+func setDefaultsFromSettingsBundle() {
+    
+    let plistFiles = ["Root", "Mapping", "Assembling"]
+    
+    for plistName in plistFiles {
+        //Read PreferenceSpecifiers from Root.plist in Settings.Bundle
+        if let settingsURL = Bundle.main.url(forResource: plistName, withExtension: "plist", subdirectory: "Settings.bundle"),
+            let settingsPlist = NSDictionary(contentsOf: settingsURL),
+            let preferences = settingsPlist["PreferenceSpecifiers"] as? [NSDictionary] {
+
+            for prefSpecification in preferences {
+
+                if let key = prefSpecification["Key"] as? String, let value = prefSpecification["DefaultValue"] {
+
+                    //If key doesn't exists in userDefaults then register it, else keep original value
+                    if UserDefaults.standard.value(forKey: key) == nil {
+
+                        UserDefaults.standard.set(value, forKey: key)
+                        NSLog("registerDefaultsFromSettingsBundle: Set following to UserDefaults - (key: \(key), value: \(value), type: \(type(of: value)))")
+                    }
+                }
+            }
+        } else {
+            NSLog("registerDefaultsFromSettingsBundle: Could not find Settings.bundle")
+        }
+    }
+}
+
+@main
+class AppDelegate: UIResponder, UIApplicationDelegate {
+
+    var window: UIWindow?
+    
+    func application(_ application: UIApplication, didFinishLaunchingWithOptions launchOptions: [UIApplication.LaunchOptionsKey: Any]?) -> Bool {
+        
+        // Always set Version to default
+        let defaults = UserDefaults.standard
+        defaults.removeObject(forKey: "Version")
+        
+        setDefaultsFromSettingsBundle()
+        
+        // Override point for customization after application launch.
+        if !ARWorldTrackingConfiguration.supportsFrameSemantics(.sceneDepth) {
+            // Ensure that the device supports scene depth and present
+            //  an error-message view controller, if not.
+            let storyboard = UIStoryboard(name: "Main", bundle: nil)
+            window?.rootViewController = storyboard.instantiateViewController(withIdentifier: "unsupportedDeviceMessage")
+        }
+        return true
+    }
+
+    // MARK: UISceneSession Lifecycle
+
+    func application(_ application: UIApplication, configurationForConnecting connectingSceneSession: UISceneSession, options: UIScene.ConnectionOptions) -> UISceneConfiguration {
+        // Called when a new scene session is being created.
+        // Use this method to select a configuration to create the new scene with.
+        return UISceneConfiguration(name: "Default Configuration", sessionRole: connectingSceneSession.role)
+    }
+
+    func application(_ application: UIApplication, didDiscardSceneSessions sceneSessions: Set<UISceneSession>) {
+        // Called when the user discards a scene session.
+        // If any sessions were discarded while the application was not running, this will be called shortly after application:didFinishLaunchingWithOptions.
+        // Use this method to release any resources that were specific to the discarded scenes, as they will not return.
+    }
+}
+

app/ios/RTABMapApp/Assets.xcassets/AccentColor.colorset/Contents.json

@@ -0,0 +1,11 @@
+{
+  "colors" : [
+    {
+      "idiom" : "universal"
+    }
+  ],
+  "info" : {
+    "author" : "xcode",
+    "version" : 1
+  }
+}

app/ios/RTABMapApp/Assets.xcassets/AppIcon.appiconset/Contents.json

@@ -0,0 +1,116 @@
+{
+  "images" : [
+    {
+      "filename" : "RTAB-Map40-1.png",
+      "idiom" : "iphone",
+      "scale" : "2x",
+      "size" : "20x20"
+    },
+    {
+      "filename" : "RTAB-Map60.png",
+      "idiom" : "iphone",
+      "scale" : "3x",
+      "size" : "20x20"
+    },
+    {
+      "filename" : "RTAB-Map58-1.png",
+      "idiom" : "iphone",
+      "scale" : "2x",
+      "size" : "29x29"
+    },
+    {
+      "filename" : "RTAB-Map87.png",
+      "idiom" : "iphone",
+      "scale" : "3x",
+      "size" : "29x29"
+    },
+    {
+      "filename" : "RTAB-Map80-1.png",
+      "idiom" : "iphone",
+      "scale" : "2x",
+      "size" : "40x40"
+    },
+    {
+      "filename" : "RTAB-Map120-1.png",
+      "idiom" : "iphone",
+      "scale" : "3x",
+      "size" : "40x40"
+    },
+    {
+      "filename" : "RTAB-Map120.png",
+      "idiom" : "iphone",
+      "scale" : "2x",
+      "size" : "60x60"
+    },
+    {
+      "filename" : "RTAB-Map180.png",
+      "idiom" : "iphone",
+      "scale" : "3x",
+      "size" : "60x60"
+    },
+    {
+      "filename" : "RTAB-Map20.png",
+      "idiom" : "ipad",
+      "scale" : "1x",
+      "size" : "20x20"
+    },
+    {
+      "filename" : "RTAB-Map40.png",
+      "idiom" : "ipad",
+      "scale" : "2x",
+      "size" : "20x20"
+    },
+    {
+      "filename" : "RTAB-Map29.png",
+      "idiom" : "ipad",
+      "scale" : "1x",
+      "size" : "29x29"
+    },
+    {
+      "filename" : "RTAB-Map58.png",
+      "idiom" : "ipad",
+      "scale" : "2x",
+      "size" : "29x29"
+    },
+    {
+      "filename" : "RTAB-Map40-2.png",
+      "idiom" : "ipad",
+      "scale" : "1x",
+      "size" : "40x40"
+    },
+    {
+      "filename" : "RTAB-Map80.png",
+      "idiom" : "ipad",
+      "scale" : "2x",
+      "size" : "40x40"
+    },
+    {
+      "filename" : "RTAB-Map76.png",
+      "idiom" : "ipad",
+      "scale" : "1x",
+      "size" : "76x76"
+    },
+    {
+      "filename" : "RTAB-Map152.png",
+      "idiom" : "ipad",
+      "scale" : "2x",
+      "size" : "76x76"
+    },
+    {
+      "filename" : "RTAB-Map167.png",
+      "idiom" : "ipad",
+      "scale" : "2x",
+      "size" : "83.5x83.5"
+    },
+    {
+      "filename" : "RTAB-Map1024.png",
+      "idiom" : "ios-marketing",
+      "scale" : "1x",
+      "size" : "1024x1024"
+    }
+  ],
+  "info" : {
+    "author" : "xcode",
+    "version" : 1
+  }
+}

app/ios/RTABMapApp/Assets.xcassets/Contents.json

@@ -0,0 +1,6 @@
+{
+  "info" : {
+    "author" : "xcode",
+    "version" : 1
+  }
+}

app/ios/RTABMapApp/Base.lproj/LaunchScreen.storyboard

@@ -0,0 +1,85 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<document type="com.apple.InterfaceBuilder3.CocoaTouch.Storyboard.XIB" version="3.0" toolsVersion="18122" targetRuntime="iOS.CocoaTouch" propertyAccessControl="none" useAutolayout="YES" launchScreen="YES" useTraitCollections="YES" useSafeAreas="YES" colorMatched="YES" initialViewController="01J-lp-oVM">
+    <device id="retina6_1" orientation="portrait" appearance="light"/>
+    <dependencies>
+        <plugIn identifier="com.apple.InterfaceBuilder.IBCocoaTouchPlugin" version="18093"/>
+        <capability name="Safe area layout guides" minToolsVersion="9.0"/>
+        <capability name="documents saved in the Xcode 8 format" minToolsVersion="8.0"/>
+    </dependencies>
+    <scenes>
+        <!--View Controller-->
+        <scene sceneID="EHf-IW-A2E">
+            <objects>
+                <viewController id="01J-lp-oVM" sceneMemberID="viewController">
+                    <view key="view" contentMode="scaleToFill" id="Ze5-6b-2t3">
+                        <rect key="frame" x="0.0" y="0.0" width="414" height="896"/>
+                        <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
+                        <subviews>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="DqX-Vd-Tpo" userLabel="ViewButton">
+                                <rect key="frame" x="342" y="799.5" width="52" height="40.5"/>
+                                <constraints>
+                                    <constraint firstAttribute="width" constant="52" id="m5V-wG-7GI"/>
+                                    <constraint firstAttribute="height" constant="44" id="pbH-yg-ZHL"/>
+                                </constraints>
+                                <color key="tintColor" white="0.33333333333333331" 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>
+                            <stackView opaque="NO" contentMode="scaleToFill" spacing="20" translatesAutoresizingMaskIntoConstraints="NO" id="Ybb-6v-Prf">
+                                <rect key="frame" x="254" y="64" width="140" height="60"/>
+                                <subviews>
+                                    <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="qpg-QD-geo" userLabel="LibraryButton">
+                                        <rect key="frame" x="0.0" y="1" width="60" height="57.5"/>
+                                        <constraints>
+                                            <constraint firstAttribute="height" constant="60" id="MMK-i4-ipl"/>
+                                            <constraint firstAttribute="width" constant="60" id="MSB-kf-WKH"/>
+                                        </constraints>
+                                        <color key="tintColor" white="0.33333333333333331" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        <state key="normal" backgroundImage="folder" 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="Xjn-gQ-W57" userLabel="MenuButton">
+                                        <rect key="frame" x="80" y="0.5" width="60" height="59"/>
+                                        <constraints>
+                                            <constraint firstAttribute="height" constant="60" id="h7m-oO-bNI"/>
+                                            <constraint firstAttribute="width" constant="60" id="q9I-XS-C8P"/>
+                                        </constraints>
+                                        <color key="tintColor" white="0.33333333333333331" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        <state key="normal" backgroundImage="ellipsis.circle" catalog="system"/>
+                                    </button>
+                                </subviews>
+                            </stackView>
+                            <imageView clipsSubviews="YES" userInteractionEnabled="NO" contentMode="scaleAspectFit" horizontalHuggingPriority="251" verticalHuggingPriority="251" image="RTAB-Map1024" translatesAutoresizingMaskIntoConstraints="NO" id="TNo-z5-pM0">
+                                <rect key="frame" x="177" y="418" width="60" height="60"/>
+                                <constraints>
+                                    <constraint firstAttribute="width" constant="60" id="Lio-4G-f3t"/>
+                                    <constraint firstAttribute="height" constant="60" id="Q5D-zG-PAv"/>
+                                </constraints>
+                            </imageView>
+                        </subviews>
+                        <viewLayoutGuide key="safeArea" id="6Tk-OE-BBY"/>
+                        <color key="backgroundColor" white="0.0" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                        <constraints>
+                            <constraint firstItem="TNo-z5-pM0" firstAttribute="centerY" secondItem="Ze5-6b-2t3" secondAttribute="centerY" id="4fp-du-TTg"/>
+                            <constraint firstItem="Ybb-6v-Prf" firstAttribute="top" secondItem="6Tk-OE-BBY" secondAttribute="top" constant="20" id="Dcs-0a-Uhe"/>
+                            <constraint firstItem="6Tk-OE-BBY" firstAttribute="trailing" secondItem="DqX-Vd-Tpo" secondAttribute="trailing" constant="20" id="TTR-AB-iCr"/>
+                            <constraint firstItem="6Tk-OE-BBY" firstAttribute="trailing" secondItem="Ybb-6v-Prf" secondAttribute="trailing" constant="20" id="YPK-bW-6AC"/>
+                            <constraint firstItem="6Tk-OE-BBY" firstAttribute="bottom" secondItem="DqX-Vd-Tpo" secondAttribute="bottom" constant="20" id="cnW-a0-bhz"/>
+                            <constraint firstItem="TNo-z5-pM0" firstAttribute="centerX" secondItem="Ze5-6b-2t3" secondAttribute="centerX" id="epw-Qw-hdY"/>
+                        </constraints>
+                    </view>
+                </viewController>
+                <placeholder placeholderIdentifier="IBFirstResponder" id="iYj-Kq-Ea1" userLabel="First Responder" sceneMemberID="firstResponder"/>
+            </objects>
+            <point key="canvasLocation" x="52.173913043478265" y="375"/>
+        </scene>
+    </scenes>
+    <resources>
+        <image name="RTAB-Map1024" width="591" height="649"/>
+        <image name="ellipsis.circle" catalog="system" width="128" height="121"/>
+        <image name="eye" catalog="system" width="128" height="81"/>
+        <image name="folder" catalog="system" width="128" height="97"/>
+    </resources>
+</document>

app/ios/RTABMapApp/Base.lproj/Main.storyboard

@@ -0,0 +1,270 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<document type="com.apple.InterfaceBuilder3.CocoaTouch.Storyboard.XIB" version="3.0" toolsVersion="18122" targetRuntime="iOS.CocoaTouch" propertyAccessControl="none" useAutolayout="YES" useTraitCollections="YES" useSafeAreas="YES" colorMatched="YES" initialViewController="zah-iI-EPt">
+    <device id="retina3_5" orientation="portrait" appearance="light"/>
+    <dependencies>
+        <plugIn identifier="com.apple.InterfaceBuilder.IBCocoaTouchPlugin" version="18093"/>
+        <capability name="Image references" minToolsVersion="12.0"/>
+        <capability name="Safe area layout guides" minToolsVersion="9.0"/>
+        <capability name="System colors in document resources" minToolsVersion="11.0"/>
+        <capability name="documents saved in the Xcode 8 format" minToolsVersion="8.0"/>
+    </dependencies>
+    <scenes>
+        <!--GLKit View Controller-->
+        <scene sceneID="1cO-Jt-3GG">
+            <objects>
+                <glkViewController preferredFramesPerSecond="30" id="zah-iI-EPt" customClass="ViewController" customModule="RTABMapApp" customModuleProvider="target" sceneMemberID="viewController">
+                    <glkView key="view" opaque="NO" clipsSubviews="YES" multipleTouchEnabled="YES" contentMode="center" drawableDepthFormat="24" enableSetNeedsDisplay="NO" id="sqF-4e-2HU">
+                        <rect key="frame" x="0.0" y="0.0" width="320" height="480"/>
+                        <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="250" y="180" width="60" height="120"/>
+                                <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="0.5" width="60" height="59"/>
+                                        <constraints>
+                                            <constraint firstAttribute="height" constant="60" id="g9J-0P-CmQ"/>
+                                            <constraint firstAttribute="width" constant="60" id="m06-eJ-dIn"/>
+                                        </constraints>
+                                        <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        <state key="normal" backgroundImage="stop.circle" catalog="system"/>
+                                        <connections>
+                                            <action selector="stopAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="3iJ-xb-gzb"/>
+                                        </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="60.5" width="60" height="59"/>
+                                        <constraints>
+                                            <constraint firstAttribute="height" constant="60" id="DQI-eQ-v3X"/>
+                                            <constraint firstAttribute="width" constant="60" id="Oeu-YT-wMz"/>
+                                        </constraints>
+                                        <fontDescription key="fontDescription" type="system" pointSize="18"/>
+                                        <color key="tintColor" systemColor="systemRedColor"/>
+                                        <inset key="imageEdgeInsets" minX="0.0" minY="0.0" maxX="0.0" maxY="20"/>
+                                        <state key="normal" backgroundImage="record.circle" catalog="system"/>
+                                        <connections>
+                                            <action selector="recordAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="dzY-yL-YBg"/>
+                                        </connections>
+                                    </button>
+                                </subviews>
+                            </stackView>
+                            <stackView opaque="NO" contentMode="scaleToFill" spacing="20" translatesAutoresizingMaskIntoConstraints="NO" id="ozY-dg-YOd">
+                                <rect key="frame" x="160" y="20" width="140" height="60"/>
+                                <subviews>
+                                    <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="9kh-4C-KyP" userLabel="LibraryButton">
+                                        <rect key="frame" x="0.0" y="1" width="60" height="57.5"/>
+                                        <constraints>
+                                            <constraint firstAttribute="width" constant="60" id="Ekq-3J-kUL"/>
+                                            <constraint firstAttribute="height" constant="60" id="fqe-e7-0uk"/>
+                                        </constraints>
+                                        <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        <state key="normal" backgroundImage="folder" catalog="system">
+                                            <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        </state>
+                                        <connections>
+                                            <action selector="libraryAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="WOh-uA-T5h"/>
+                                        </connections>
+                                    </button>
+                                    <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="y53-OI-O76" userLabel="MenuButton">
+                                        <rect key="frame" x="80" y="0.5" width="60" height="59"/>
+                                        <constraints>
+                                            <constraint firstAttribute="height" constant="60" id="L5T-8h-ale"/>
+                                            <constraint firstAttribute="width" constant="60" id="pLI-ns-KHQ"/>
+                                        </constraints>
+                                        <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        <state key="normal" backgroundImage="ellipsis.circle" catalog="system"/>
+                                    </button>
+                                </subviews>
+                            </stackView>
+                            <label opaque="NO" userInteractionEnabled="NO" contentMode="left" horizontalHuggingPriority="251" verticalHuggingPriority="251" text="Label" textAlignment="natural" lineBreakMode="wordWrap" baselineAdjustment="alignBaselines" adjustsFontSizeToFit="NO" translatesAutoresizingMaskIntoConstraints="NO" id="KlF-4H-k6I">
+                                <rect key="frame" x="16" y="20" width="31" height="14.5"/>
+                                <color key="backgroundColor" red="0.0" green="0.0" blue="0.0" alpha="0.29820365646258501" colorSpace="custom" customColorSpace="sRGB"/>
+                                <fontDescription key="fontDescription" type="system" pointSize="12"/>
+                                <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="248" y="417.5" width="52" height="40.5"/>
+                                <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="75" y="434" width="170.5" height="22"/>
+                                <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <state key="normal" title="Close Visualization" image="xmark.square" catalog="system">
+                                    <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                </state>
+                                <connections>
+                                    <action selector="closeVisualizationAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="DqP-oy-XPe"/>
+                                </connections>
+                            </button>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="9oq-op-NGV" userLabel="StopCamera">
+                                <rect key="frame" x="98" y="433" width="124.5" height="22"/>
+                                <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <state key="normal" title="Stop Camera" 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="YZq-pZ-8Te"/>
+                                </connections>
+                            </button>
+                            <button opaque="NO" contentMode="scaleAspectFit" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="Jj4-ow-MwD" userLabel="NewScanButtonLarge">
+                                <rect key="frame" x="73.5" y="224" width="173" height="32"/>
+                                <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <state key="normal" title="Start the Camera">
+                                    <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                    <imageReference key="image" image="plus.app" catalog="system" symbolScale="large"/>
+                                    <preferredSymbolConfiguration key="preferredSymbolConfiguration" configurationType="font">
+                                        <fontDescription key="fontDescription" style="UICTFontTextStyleTitle1"/>
+                                    </preferredSymbolConfiguration>
+                                </state>
+                                <connections>
+                                    <action selector="newScanAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="jL9-xF-V9K"/>
+                                </connections>
+                            </button>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="3Sc-lx-YKH">
+                                <rect key="frame" x="161" y="96" width="149" height="22"/>
+                                <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <state key="normal" title="Export OBJ-PLY" image="square.and.arrow.up" catalog="system"/>
+                                <connections>
+                                    <action selector="exportOBJPLYAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="md0-pv-zlf"/>
+                                </connections>
+                            </button>
+                            <slider opaque="NO" contentMode="scaleToFill" placeholderIntrinsicWidth="114" placeholderIntrinsicHeight="30" contentHorizontalAlignment="center" contentVerticalAlignment="center" value="80" minValue="0.0" maxValue="120" translatesAutoresizingMaskIntoConstraints="NO" id="30J-Tx-NRW" userLabel="OrthoClipDistanceSlider">
+                                <rect key="frame" x="-2" y="344" width="122" height="31"/>
+                                <constraints>
+                                    <constraint firstAttribute="width" constant="118" id="dsv-im-K52"/>
+                                </constraints>
+                                <connections>
+                                    <action selector="clipDistanceAction:" destination="zah-iI-EPt" eventType="valueChanged" id="iKj-nz-0KW"/>
+                                </connections>
+                            </slider>
+                            <slider opaque="NO" contentMode="scaleToFill" placeholderIntrinsicWidth="114" placeholderIntrinsicHeight="30" contentHorizontalAlignment="center" contentVerticalAlignment="center" value="90" minValue="0.0" maxValue="180" translatesAutoresizingMaskIntoConstraints="NO" id="Z1x-Af-hdf" userLabel="GridRotationSlider">
+                                <rect key="frame" x="99" y="389" width="122" height="31"/>
+                                <constraints>
+                                    <constraint firstAttribute="width" constant="118" id="KDl-lP-Jj7"/>
+                                </constraints>
+                                <connections>
+                                    <action selector="rotateGridAction:" destination="zah-iI-EPt" eventType="valueChanged" id="eiC-QR-TYH"/>
+                                </connections>
+                            </slider>
+                            <label opaque="NO" userInteractionEnabled="NO" contentMode="left" horizontalHuggingPriority="251" verticalHuggingPriority="251" text="Toast Label" textAlignment="natural" lineBreakMode="tailTruncation" baselineAdjustment="alignBaselines" adjustsFontSizeToFit="NO" translatesAutoresizingMaskIntoConstraints="NO" id="JMv-UE-cvK" userLabel="ToastLabel">
+                                <rect key="frame" x="116.5" y="330" width="87.5" height="20.5"/>
+                                <color key="backgroundColor" white="0.0" alpha="0.3002232142857143" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <accessibility key="accessibilityConfiguration">
+                                    <accessibilityTraits key="traits" staticText="YES" notEnabled="YES"/>
+                                </accessibility>
+                                <fontDescription key="fontDescription" type="system" pointSize="17"/>
+                                <color key="textColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <nil key="highlightedColor"/>
+                            </label>
+                        </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="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="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="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="30J-Tx-NRW" firstAttribute="leading" secondItem="sqF-4e-2HU" secondAttribute="leading" id="ZBG-GX-P1X"/>
+                            <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="Z1x-Af-hdf" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="i2j-zQ-m1V"/>
+                            <constraint firstItem="Z1x-Af-hdf" firstAttribute="top" secondItem="JMv-UE-cvK" secondAttribute="bottom" constant="38.5" 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"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="trailing" secondItem="ozY-dg-YOd" secondAttribute="trailing" constant="20" id="ov4-d2-OMy"/>
+                            <constraint firstItem="012-W3-dOS" firstAttribute="top" secondItem="30J-Tx-NRW" secondAttribute="bottom" constant="60" id="tbj-nG-nfI"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="trailing" secondItem="3Sc-lx-YKH" secondAttribute="trailing" constant="10" id="v2K-Dp-Kyn"/>
+                            <constraint firstItem="Jj4-ow-MwD" firstAttribute="centerY" secondItem="sqF-4e-2HU" secondAttribute="centerY" id="vmc-4u-BtF"/>
+                        </constraints>
+                        <connections>
+                            <outlet property="delegate" destination="zah-iI-EPt" id="zXM-3t-Cw4"/>
+                        </connections>
+                    </glkView>
+                    <connections>
+                        <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="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="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="toastLabel" destination="JMv-UE-cvK" id="9a7-QF-h02"/>
+                        <outlet property="viewButton" destination="773-n4-lob" id="deU-Na-mBk"/>
+                    </connections>
+                </glkViewController>
+                <placeholder placeholderIdentifier="IBFirstResponder" id="plN-WG-seA" userLabel="First Responder" customClass="UIResponder" sceneMemberID="firstResponder"/>
+            </objects>
+            <point key="canvasLocation" x="-234.375" y="-586.25"/>
+        </scene>
+        <!--Unsupported View Controller-->
+        <scene sceneID="sJB-xy-u63">
+            <objects>
+                <viewController storyboardIdentifier="unsupportedDeviceMessage" id="v3G-nW-gVc" userLabel="Unsupported View Controller" sceneMemberID="viewController">
+                    <view key="view" contentMode="scaleToFill" id="hzM-1k-POo">
+                        <rect key="frame" x="0.0" y="0.0" width="320" height="480"/>
+                        <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
+                        <subviews>
+                            <label opaque="NO" userInteractionEnabled="NO" contentMode="left" horizontalHuggingPriority="251" verticalHuggingPriority="251" text="Unsupported Device" textAlignment="center" lineBreakMode="tailTruncation" baselineAdjustment="alignBaselines" enabled="NO" adjustsFontSizeToFit="NO" translatesAutoresizingMaskIntoConstraints="NO" id="kZt-ct-4KD">
+                                <rect key="frame" x="21.5" y="165" width="277.5" height="30"/>
+                                <fontDescription key="fontDescription" style="UICTFontTextStyleTitle1"/>
+                                <nil key="textColor"/>
+                                <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="21.5" y="203" width="277.5" height="74"/>
+                                <string key="text">This sample 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"/>
+                                <nil key="highlightedColor"/>
+                            </label>
+                        </subviews>
+                        <viewLayoutGuide key="safeArea" id="Wfl-Ts-arS"/>
+                        <color key="backgroundColor" white="1" alpha="1" colorSpace="calibratedWhite"/>
+                        <constraints>
+                            <constraint firstItem="kZt-ct-4KD" firstAttribute="centerX" secondItem="hzM-1k-POo" secondAttribute="centerX" id="5BV-Ql-eBq"/>
+                            <constraint firstAttribute="trailing" relation="greaterThanOrEqual" secondItem="4Js-Hw-3QU" secondAttribute="trailing" constant="20" symbolic="YES" id="5Sg-eL-Yhf"/>
+                            <constraint firstItem="4Js-Hw-3QU" firstAttribute="centerY" secondItem="hzM-1k-POo" secondAttribute="centerY" id="M1k-d1-BNV"/>
+                            <constraint firstItem="4Js-Hw-3QU" firstAttribute="top" secondItem="kZt-ct-4KD" secondAttribute="bottom" constant="8" symbolic="YES" id="PjQ-ik-Z1B"/>
+                            <constraint firstItem="kZt-ct-4KD" firstAttribute="width" secondItem="4Js-Hw-3QU" secondAttribute="width" id="aQe-nl-Pyq"/>
+                            <constraint firstItem="4Js-Hw-3QU" firstAttribute="centerX" secondItem="hzM-1k-POo" secondAttribute="centerX" id="cww-hm-oLb"/>
+                            <constraint firstItem="4Js-Hw-3QU" firstAttribute="leading" relation="greaterThanOrEqual" secondItem="hzM-1k-POo" secondAttribute="leading" constant="20" symbolic="YES" id="jfM-fP-rth"/>
+                        </constraints>
+                    </view>
+                </viewController>
+                <placeholder placeholderIdentifier="IBFirstResponder" id="jam-V0-csO" userLabel="First Responder" sceneMemberID="firstResponder"/>
+            </objects>
+            <point key="canvasLocation" x="476" y="-586"/>
+        </scene>
+    </scenes>
+    <resources>
+        <image name="ellipsis.circle" catalog="system" width="128" height="121"/>
+        <image name="eye" catalog="system" width="128" height="81"/>
+        <image name="folder" catalog="system" width="128" height="97"/>
+        <image name="plus.app" catalog="system" width="128" height="114"/>
+        <image name="record.circle" catalog="system" width="128" height="121"/>
+        <image name="square.and.arrow.up" catalog="system" width="115" height="128"/>
+        <image name="stop.circle" catalog="system" width="128" height="121"/>
+        <image name="xmark.square" catalog="system" width="128" height="114"/>
+        <systemColor name="systemRedColor">
+            <color red="1" green="0.23137254901960785" blue="0.18823529411764706" alpha="1" colorSpace="custom" customColorSpace="sRGB"/>
+        </systemColor>
+    </resources>
+</document>

app/ios/RTABMapApp/DatabaseView.swift

@@ -0,0 +1,186 @@
+/**
+ * Copyright (c) 2017 Razeware LLC
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * Notwithstanding the foregoing, you may not use, copy, modify, merge, publish,
+ * distribute, sublicense, create a derivative work, and/or sell copies of the
+ * Software in any work that is designed, intended, or marketed for pedagogical or
+ * instructional purposes related to programming, coding, application development,
+ * or information technology.  Permission for such use, copying, modification,
+ * merger, publication, distribution, sublicensing, creation of derivative works,
+ * or sale is expressly withheld.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+
+import UIKit
+
+protocol DatabaseViewDelegate: class {
+    func databaseShared(databaseURL: URL)
+    func databaseRenamed(databaseURL: URL)
+    func databaseDeleted(databaseURL: URL)
+}
+
+class DatabaseView: UIView {
+  
+  private var coverImageView: UIImageView!
+  private var indicatorView: UIActivityIndicatorView!
+  private var valueObservation: NSKeyValueObservation!
+  private var textLabel: UILabel!
+  private var databaseURL: URL!
+  public var delegate: DatabaseViewDelegate!
+  
+  required init?(coder aDecoder: NSCoder) {
+    super.init(coder: aDecoder)
+    commonInit(databasePath: "NA")
+  }
+  
+    init(frame: CGRect, databaseURL: URL) {
+        super.init(frame: frame)
+        self.databaseURL = databaseURL
+        commonInit(databasePath: databaseURL.path)
+        DispatchQueue.global().async {
+            let downloadedImage = getPreviewImage(databasePath: databaseURL.path)
+          DispatchQueue.main.async {
+            self.coverImageView.image = downloadedImage
+          }
+        }
+    }
+
+  private func commonInit(databasePath: String) {
+    
+    // Setup the background
+    backgroundColor = .black
+    // Create the cover image view
+    coverImageView = UIImageView()
+    coverImageView.translatesAutoresizingMaskIntoConstraints = false
+    
+    valueObservation = coverImageView.observe(\.image, options: [.new]) { [unowned self] observed, change in
+      if change.newValue is UIImage {
+        self.indicatorView.stopAnimating()
+      }
+    }
+    
+    //Text Label
+    textLabel = UILabel()
+    textLabel.numberOfLines = 0 
+    textLabel.text  =
+        URL(fileURLWithPath: databasePath).lastPathComponent + "\n" +
+        URL(fileURLWithPath: databasePath).fileSizeString + "\n" +
+        (try! URL(fileURLWithPath: databasePath).resourceValues(forKeys: [.contentModificationDateKey]).contentModificationDate!.getFormattedDate(format: "yyyy-MM-dd HH:mm:ss"))
+    textLabel.textColor = .white
+    textLabel.textAlignment = .left
+
+    //Stack View
+    let stackView   = UIStackView()
+    stackView.axis  = NSLayoutConstraint.Axis.horizontal
+    stackView.distribution  = UIStackView.Distribution.fill
+    stackView.alignment = UIStackView.Alignment.center
+    stackView.spacing   = 8.0
+
+    stackView.addArrangedSubview(coverImageView)
+    stackView.addArrangedSubview(textLabel)
+    stackView.translatesAutoresizingMaskIntoConstraints = false
+
+    addSubview(stackView)
+
+    // Create the indicator view
+    indicatorView = UIActivityIndicatorView()
+    indicatorView.translatesAutoresizingMaskIntoConstraints = false
+    indicatorView.style = .whiteLarge
+    indicatorView.startAnimating()
+    addSubview(indicatorView)
+    
+    NSLayoutConstraint.activate([
+      stackView.leftAnchor.constraint(equalTo: self.leftAnchor),
+      stackView.rightAnchor.constraint(equalTo: self.rightAnchor),
+      stackView.topAnchor.constraint(equalTo: self.topAnchor),
+      stackView.bottomAnchor.constraint(equalTo: self.bottomAnchor),
+      stackView.leadingAnchor.constraint(equalTo: self.leadingAnchor),
+      coverImageView.widthAnchor.constraint(equalToConstant: 180 - 5),
+      indicatorView.centerXAnchor.constraint(equalTo: coverImageView.centerXAnchor),
+      indicatorView.centerYAnchor.constraint(equalTo: coverImageView.centerYAnchor)
+      ])
+    
+    let interaction = UIContextMenuInteraction(delegate: self)
+    self.addInteraction(interaction)
+  }
+    
+    func highlightDatabase(_ didHighlightView: Bool) {
+      if didHighlightView == true {
+        backgroundColor = .white
+        textLabel.textColor = .black
+      } else {
+        backgroundColor = .black
+        textLabel.textColor = .white
+      }
+    }
+}
+
+extension URL {
+    var attributes: [FileAttributeKey : Any]? {
+        do {
+            return try FileManager.default.attributesOfItem(atPath: path)
+        } catch let error as NSError {
+            print("FileAttribute error: \(error)")
+        }
+        return nil
+    }
+
+    var fileSize: UInt64 {
+        return attributes?[.size] as? UInt64 ?? UInt64(0)
+    }
+
+    var fileSizeString: String {
+        return ByteCountFormatter.string(fromByteCount: Int64(fileSize), countStyle: .file)
+    }
+
+    var creationDate: Date? {
+        return attributes?[.creationDate] as? Date
+    }
+}
+
+extension DatabaseView: UIContextMenuInteractionDelegate {
+               
+      func contextMenuInteraction(_ interaction: UIContextMenuInteraction, configurationForMenuAtLocation location: CGPoint) -> UIContextMenuConfiguration? {
+        return UIContextMenuConfiguration(identifier: nil, previewProvider: nil) { suggestedActions in
+           
+            // Create an action for sharing
+            let share = UIAction(title: "Share", image: UIImage(systemName: "square.and.arrow.up")) { action in
+                // Show system share sheet
+                self.delegate?.databaseShared(databaseURL: self.databaseURL)
+            }
+    
+            // Create an action for renaming
+            let rename = UIAction(title: "Rename", image: UIImage(systemName: "square.and.pencil")) { action in
+                // Perform renaming
+                self.delegate?.databaseRenamed(databaseURL: self.databaseURL)
+            }
+    
+            // Here we specify the "destructive" attribute to show that it’s destructive in nature
+            let delete = UIAction(title: "Delete", image: UIImage(systemName: "trash"), attributes: .destructive) { action in
+                // Perform delete
+                self.delegate?.databaseDeleted(databaseURL: self.databaseURL)
+            }
+    
+            // Create and return a UIMenu with all of the actions as children
+            return UIMenu(title: "", children: [share, rename, delete])
+        }
+    }
+}

app/ios/RTABMapApp/Images.xcassets/Contents.json

@@ -0,0 +1,6 @@
+{
+  "info" : {
+    "author" : "xcode",
+    "version" : 1
+  }
+}

app/ios/RTABMapApp/Images.xcassets/RTAB-Map1024.imageset/Contents.json

@@ -0,0 +1,21 @@
+{
+  "images" : [
+    {
+      "filename" : "RTAB-Map1024.png",
+      "idiom" : "universal",
+      "scale" : "1x"
+    },
+    {
+      "idiom" : "universal",
+      "scale" : "2x"
+    },
+    {
+      "idiom" : "universal",
+      "scale" : "3x"
+    }
+  ],
+  "info" : {
+    "author" : "xcode",
+    "version" : 1
+  }
+}

app/ios/RTABMapApp/Info.plist

@@ -0,0 +1,80 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>CFBundleDevelopmentRegion</key>
+	<string>$(DEVELOPMENT_LANGUAGE)</string>
+	<key>CFBundleExecutable</key>
+	<string>$(EXECUTABLE_NAME)</string>
+	<key>CFBundleIcons</key>
+	<dict/>
+	<key>CFBundleIcons~ipad</key>
+	<dict/>
+	<key>CFBundleIdentifier</key>
+	<string>$(PRODUCT_BUNDLE_IDENTIFIER)</string>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleName</key>
+	<string>RTAB-Map</string>
+	<key>CFBundlePackageType</key>
+	<string>$(PRODUCT_BUNDLE_PACKAGE_TYPE)</string>
+	<key>CFBundleShortVersionString</key>
+	<string>$(MARKETING_VERSION)</string>
+	<key>CFBundleVersion</key>
+	<string>$(CURRENT_PROJECT_VERSION)</string>
+	<key>LSRequiresIPhoneOS</key>
+	<true/>
+	<key>LSSupportsOpeningDocumentsInPlace</key>
+	<true/>
+	<key>NSCameraUsageDescription</key>
+	<string>The camera is used for scanning (ideally with LiDAR).</string>
+	<key>NSLocationWhenInUseUsageDescription</key>
+	<string>The GPS is used when GPS option is enabled in Settings-&gt;Mapping...</string>
+	<key>UIApplicationSceneManifest</key>
+	<dict>
+		<key>UIApplicationSupportsMultipleScenes</key>
+		<false/>
+		<key>UISceneConfigurations</key>
+		<dict>
+			<key>UIWindowSceneSessionRoleApplication</key>
+			<array>
+				<dict>
+					<key>UISceneConfigurationName</key>
+					<string>Default Configuration</string>
+					<key>UISceneDelegateClassName</key>
+					<string>$(PRODUCT_MODULE_NAME).SceneDelegate</string>
+					<key>UISceneStoryboardFile</key>
+					<string>Main</string>
+				</dict>
+			</array>
+		</dict>
+	</dict>
+	<key>UIApplicationSupportsIndirectInputEvents</key>
+	<true/>
+	<key>UIFileSharingEnabled</key>
+	<true/>
+	<key>UILaunchStoryboardName</key>
+	<string>LaunchScreen</string>
+	<key>UIMainStoryboardFile</key>
+	<string>Main</string>
+	<key>UIRequiredDeviceCapabilities</key>
+	<array>
+		<string>armv7</string>
+		<string>opengles-2</string>
+		<string>arkit</string>
+	</array>
+	<key>UISupportedInterfaceOrientations</key>
+	<array>
+		<string>UIInterfaceOrientationPortrait</string>
+		<string>UIInterfaceOrientationLandscapeLeft</string>
+		<string>UIInterfaceOrientationLandscapeRight</string>
+	</array>
+	<key>UISupportedInterfaceOrientations~ipad</key>
+	<array>
+		<string>UIInterfaceOrientationPortrait</string>
+		<string>UIInterfaceOrientationPortraitUpsideDown</string>
+		<string>UIInterfaceOrientationLandscapeLeft</string>
+		<string>UIInterfaceOrientationLandscapeRight</string>
+	</array>
+</dict>
+</plist>

app/ios/RTABMapApp/Libraries/.gitignore

@@ -0,0 +1,6 @@
+# Ignore everything
+*
+
+# But not these files...
+!.gitignore
+!install_deps.sh

app/ios/RTABMapApp/Libraries/install_deps.sh

@@ -0,0 +1,150 @@
+#!/bin/bash
+
+# Tested on Apple Silicon Mac, with cmake 3.19.2.
+
+pwd=$(pwd)
+prefix=$pwd
+sysroot=iphoneos
+#sysroot=iphonesimulator
+
+
+# Install directory for all dependencies
+mkdir -p $prefix
+
+# openmp
+# based on https://github.com/Homebrew/homebrew-core/blob/HEAD/Formula/libomp.rb
+#curl -L https://github.com/llvm/llvm-project/releases/download/llvmorg-11.1.0/openmp-11.1.0.src.tar.xz -o openmp-11.1.0.src.tar.xz
+#tar -xzf openmp-11.1.0.src.tar.xz
+#cd openmp-11.1.0.src
+#curl -L https://raw.githubusercontent.com/Homebrew/formula-patches/7e2ee1d7/libomp/arm.patch -o arm.patch
+#patch -p1 < arm.patch
+#mkdir build
+#cd build
+#cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=11.0 -DCMAKE_C_FLAGS=-fembed-bitcode -DCMAKE_CXX_FLAGS=-fembed-bitcode -DCMAKE_INSTALL_PREFIX=$prefix -DLIBOMP_INSTALL_ALIASES=OFF -DLIBOMP_ENABLE_SHARED=OFF ..
+#cmake --build . --config Release -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS=""  CODE_SIGNING_ALLOWED="NO"
+#cp runtime/src/Release-iphoneos/libomp.a runtime/src/.
+#cmake --build . --config Release --target install -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS=""  CODE_SIGNING_ALLOWED="NO"
+
+# Boost
+echo "wget boost..."
+curl -L https://downloads.sourceforge.net/project/boost/boost/1.59.0/boost_1_59_0.tar.gz -o boost_1_59_0.tar.gz
+tar -xzf boost_1_59_0.tar.gz
+cd boost_1_59_0
+curl -L https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/489ff2869eccd6f8d03ffb9090ef839108762741/BoostConfig.cmake.in -o BoostConfig.cmake.in
+curl -L https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/b07fe7d4e5dfe5f1d110c733e5cf660d79a26378/CMakeLists.txt -o CMakeLists.txt
+mkdir build
+cd build
+cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=11.0 -DCMAKE_C_FLAGS=-fembed-bitcode -DCMAKE_CXX_FLAGS=-fembed-bitcode -DCMAKE_INSTALL_PREFIX=$prefix ..
+cmake --build . --config Release
+cmake --build . --config Release --target install
+cd $pwd
+#rm -r boost_1_59_0.tar.gz boost_1_59_0
+
+# eigen
+echo "wget eigen..."
+curl -L https://gitlab.com/libeigen/eigen/-/archive/3.3.9/eigen-3.3.9.tar.gz -o 3.3.9.tar.gz
+tar -xzf 3.3.9.tar.gz
+cd eigen-3.3.9
+mkdir build
+cd build
+cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=11.0 -DCMAKE_C_FLAGS=-fembed-bitcode -DCMAKE_CXX_FLAGS=-fembed-bitcode -DCMAKE_INSTALL_PREFIX=$prefix ..
+cmake --build . --config Release
+cmake --build . --config Release --target install
+cd $pwd
+#rm -r 3.3.9.tar.gz eigen-3.3.9
+
+# FLANN
+echo "wget flann..."
+curl -L http://www.cs.ubc.ca/research/flann/uploads/FLANN/flann-1.8.4-src.zip -o flann-1.8.4-src.zip
+unzip -qq flann-1.8.4-src.zip
+cd flann-1.8.4-src
+mkdir build
+cd build
+# comment "add_subdirectory( test )" in top CMakeLists.txt
+# comment "add_subdirectory( doc )" in top CMakeLists.txt
+cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=11.0 -DCMAKE_C_FLAGS=-fembed-bitcode -DCMAKE_CXX_FLAGS=-fembed-bitcode -DCMAKE_INSTALL_PREFIX=$prefix -DBUILD_PYTHON_BINDINGS=OFF -DBUILD_MATLAB_BINDINGS=OFF -DBUILD_C_BINDINGS=OFF  ..
+cmake --build . --config Release -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS=""  CODE_SIGNING_ALLOWED="NO"
+cmake --build . --config Release --target install -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS=""  CODE_SIGNING_ALLOWED="NO"
+cd $pwd
+#rm -r flann-1.8.4-src.zip flann-1.8.4-src
+
+# GTSAM
+git clone https://bitbucket.org/gtborg/gtsam.git
+cd gtsam
+git checkout fbb9d3bdda8b88df51896bc401bfd170573e66f5
+# patch
+curl -L https://gist.github.com/matlabbe/76d658dddb841b3355ae3a6e32850cd8/raw/7033cba1c89097b0c830651d7277c04dc92cbdd9/gtsam_GKlib_ios_fix.patch -o gtsam_GKlib_ios_fix.patch
+git apply gtsam_GKlib_ios_fix.patch
+mkdir build
+cd build
+cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=11.0 -DCMAKE_C_FLAGS=-fembed-bitcode -DCMAKE_CXX_FLAGS=-fembed-bitcode -DCMAKE_INSTALL_PREFIX=$prefix -DMETIS_SHARED=OFF -DGTSAM_BUILD_STATIC_LIBRARY=ON -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_WRAP_SERIALIZATION=OFF -DGTSAM_BUILD_WRAP=OFF -DGTSAM_INSTALL_CPPUNITLITE=OFF -DCMAKE_FIND_ROOT_PATH=$prefix ..
+cmake --build . --config Release -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS=""  CODE_SIGNING_ALLOWED="NO"
+cmake --build . --config Release --target install -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS=""  CODE_SIGNING_ALLOWED="NO"
+cd $pwd
+#rm -rf gtsam
+
+# g2o
+git clone https://github.com/RainerKuemmerle/g2o.git
+cd g2o
+git checkout a3f7706bdbb849b2808dc3e1b7aee189f63b498e
+# patch
+curl -L https://gist.github.com/matlabbe/b9ccfeae8f0744b275cab23510872680/raw/a58e06accba3976420d4b61341685c123193810e/g2o_ios_fix.patch -o g2o_ios_fix.patch
+git apply g2o_ios_fix.patch
+mkdir build
+cd build
+cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=11.0 -DCMAKE_C_FLAGS=-fembed-bitcode -DCMAKE_CXX_FLAGS=-fembed-bitcode -DCMAKE_INSTALL_PREFIX=$prefix -DBUILD_LGPL_SHARED_LIBS=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DCMAKE_FIND_ROOT_PATH=$prefix ..
+cmake --build . --config Release -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS=""  CODE_SIGNING_ALLOWED="NO"
+cmake --build . --config Release --target install -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS=""  CODE_SIGNING_ALLOWED="NO"
+cd $pwd
+#rm -rf g2o
+
+# VTK
+git clone https://github.com/Kitware/VTK.git
+cd VTK
+git checkout tags/v8.2.0
+git cherry-pick bf3ae8072df2393c7270509bae41be0776826346
+mkdir build
+cd build
+cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_FRAMEWORK_INSTALL_PREFIX=$prefix/lib -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_IOS_BUILD=ON -DIOS_SIMULATOR_ARCHITECTURES=arm64 -DModule_vtkFiltersModeling=ON ..
+# For iphonesimulator: add -DIOS_DEVICE_ARCHITECTURES=""
+cmake --build . --config Release
+cd $pwd
+#rm -rf VTK
+
+# PCL
+git clone https://github.com/PointCloudLibrary/pcl.git
+cd pcl
+git checkout tags/pcl-1.11.1
+# patch
+curl -L https://gist.github.com/matlabbe/f3ba9366eb91e1b855dadd2ddce5746d/raw/4a66ebb9faa1dfe997a0860d733bc5473cff20ee/pcl_1_11_1_vtk_ios_support.patch -o pcl_1_11_1_vtk_ios_support.patch
+git apply pcl_1_11_1_vtk_ios_support.patch
+mkdir build
+cd build
+cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=11.0 -DCMAKE_C_FLAGS=-fembed-bitcode -DCMAKE_CXX_FLAGS=-fembed-bitcode -DCMAKE_INSTALL_PREFIX=$prefix -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DCMAKE_FIND_ROOT_PATH=$prefix ..
+cmake --build . --config Release
+cmake --build . --config Release --target install
+cd $pwd
+#rm -rf pcl
+
+# OpenCV
+git clone https://github.com/opencv/opencv_contrib.git
+cd opencv_contrib
+git checkout tags/3.4.2
+cd $pwd
+git clone https://github.com/opencv/opencv.git
+cd opencv
+git checkout tags/3.4.2
+mkdir build
+cd build
+# add "add_definitions(-DPNG_ARM_NEON_OPT=0)" in 3rdparty/libpng/CMakeLists.txt
+cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=11.0 -DCMAKE_C_FLAGS=-fembed-bitcode -DCMAKE_CXX_FLAGS=-fembed-bitcode -DCMAKE_INSTALL_PREFIX=$prefix -DOPENCV_EXTRA_MODULES_PATH=$prefix/opencv_contrib/modules -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DWITH_CUDA=OFF -DBUILD_opencv_apps=OFF -DBUILD_opencv_xobjdetect=OFF -DBUILD_opencv_stereo=OFF ..
+cmake --build . --config Release
+cmake --build . --config Release --target install
+cd $pwd
+#rm -rf opencv opencv_contrib
+
+mkdir rtabmap
+cd rtabmap
+cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=11.0 -DCMAKE_C_FLAGS=-fembed-bitcode -DCMAKE_CXX_FLAGS=-fembed-bitcode -DCMAKE_INSTALL_PREFIX=$prefix -DCMAKE_FIND_ROOT_PATH=$prefix -DWITH_QT=OFF -DBUILD_APP=OFF -DBUILD_TOOLS=OFF -DWITH_TORO=OFF -DWITH_VERTIGO=OFF -DWITH_MADGWICK=OFF -DWITH_ORB_OCTREE=OFF  -DBUILD_EXAMPLES=OFF ../../../../..
+cmake --build . --config Release
+cmake --build . --config Release --target install

app/ios/RTABMapApp/NativeWrapper.cpp

@@ -0,0 +1,608 @@
+//
+//  PCLWrapper.cpp
+//  ThreeDScanner
+//
+//  Created by Steven Roach on 2/9/18.
+//  Copyright © 2018 Steven Roach. All rights reserved.
+//
+
+#include "NativeWrapper.hpp"
+#include "RTABMapApp.h"
+#include <rtabmap/core/DBDriverSqlite3.h>
+
+inline RTABMapApp *native(const void *object) {
+  return (RTABMapApp *)object;
+}
+
+const void * createNativeApplication()
+{
+    RTABMapApp *app = new RTABMapApp();
+    return (void *)app;
+}
+
+void setupCallbacksNative(const void *object, void * classPtr,
+                          void(*progressCallback)(void*, int, int),
+                          void(*initCallback)(void *, int, const char*),
+                          void(*statsUpdatedCallback)(void *,
+                                                   int, int, int, int,
+                                                   float,
+                                                   int, int, int, int, int ,int,
+                                                   float,
+                                                   int,
+                                                   float,
+                                                   int,
+                                                   float, float, float, float,
+                                                   int, int,
+                                                   float, float, float, float, float, float))
+{
+    if(object)
+    {
+        native(object)->setupSwiftCallbacks(classPtr, progressCallback, initCallback, statsUpdatedCallback);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+void destroyNativeApplication(const void *object)
+{
+    if(object)
+    {
+        delete native(object);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+void setScreenRotationNative(const void *object, int displayRotation)
+{
+    if(object)
+    {
+        return native(object)->setScreenRotation(displayRotation, 0);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+int openDatabaseNative(const void *object, const char * databasePath, bool databaseInMemory, bool optimize)
+{
+    if(object)
+    {
+        return native(object)->openDatabase(databasePath, databaseInMemory, optimize);
+    }
+    else
+    {
+        UERROR("object is null!");
+        return -1;
+    }
+}
+
+int openDatabase2Native(const void *object, const char * databaseSource, const char * databasePath, bool databaseInMemory, bool optimize)
+{
+    if(object)
+    {
+        return native(object)->openDatabase(databasePath, databaseInMemory, optimize, databaseSource);
+    }
+    else
+    {
+        UERROR("object is null!");
+        return -1;
+    }
+}
+
+void saveNative(const void *object, const char * databasePath)
+{
+    if(object)
+    {
+        return native(object)->save(databasePath);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+int postProcessingNative(const void *object, int approach)
+{
+    if(object)
+    {
+        return native(object)->postProcessing(approach);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+    return -1;
+}
+
+bool exportMeshNative(
+            const void *object,
+            float cloudVoxelSize,
+            bool regenerateCloud,
+            bool meshing,
+            int textureSize,
+            int textureCount,
+            int normalK,
+            bool optimized,
+            float optimizedVoxelSize,
+            int optimizedDepth,
+            int optimizedMaxPolygons,
+            float optimizedColorRadius,
+            bool optimizedCleanWhitePolygons,
+            int optimizedMinClusterSize,
+            float optimizedMaxTextureDistance,
+            int optimizedMinTextureClusterSize,
+            bool blockRendering)
+{
+    if(object)
+    {
+        return native(object)->exportMesh(cloudVoxelSize, regenerateCloud, meshing, textureSize, textureCount, normalK, optimized, optimizedVoxelSize, optimizedDepth, optimizedMaxPolygons, optimizedColorRadius, optimizedCleanWhitePolygons, optimizedMinClusterSize, optimizedMaxTextureDistance, optimizedMinTextureClusterSize, blockRendering);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+    return false;
+}
+
+bool postExportationNative(const void *object, bool visualize)
+{
+    if(object)
+    {
+        return native(object)->postExportation(visualize);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+    return false;
+}
+
+bool writeExportedMeshNative(const void *object, const char * directory, const char * name)
+{
+    if(object)
+    {
+        return native(object)->writeExportedMesh(directory, name);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+    return false;
+}
+
+void initGlContentNative(const void *object) {
+    if(object)
+    {
+        native(object)->InitializeGLContent();
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+void setupGraphicNative(const void *object, int width, int height) {
+    if(object)
+    {
+        native(object)->SetViewPort(width, height);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+void onTouchEventNative(const void *object, int touch_count, int event, float x0, float y0, float x1,
+    float y1) {
+    if(object)
+    {
+        using namespace tango_gl;
+        GestureCamera::TouchEvent touch_event =
+          static_cast<GestureCamera::TouchEvent>(event);
+        native(object)->OnTouchEvent(touch_count, touch_event, x0, y0, x1, y1);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+void setPausedMappingNative(const void *object, bool paused)
+{
+    if(object)
+    {
+        return native(object)->setPausedMapping(paused);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+int renderNative(const void *object) {
+    if(object)
+    {
+        return native(object)->Render();
+    }
+    else
+    {
+        UERROR("object is null!");
+        return -1;
+    }
+}
+
+bool startCameraNative(const void *object) {
+    if(object)
+    {
+        return native(object)->startCamera();
+    }
+    else
+    {
+        UERROR("object is null!");
+        return false;
+    }
+}
+
+void stopCameraNative(const void *object) {
+    if(object)
+    {
+        native(object)->stopCamera();
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+void setCameraNative(const void *object, int type) {
+    if(object)
+    {
+        native(object)->SetCameraType(tango_gl::GestureCamera::CameraType(type));
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+void postCameraPoseEventNative(const void *object,
+        float x, float y, float z, float qx, float qy, float qz, float qw)
+{
+    if(object)
+    {
+        native(object)->postCameraPoseEvent(x,y,z,qx,qy,qz,qw);
+    }
+    else
+    {
+        UERROR("object is null!");
+        return;
+    }
+}
+
+void postOdometryEventNative(const void *object,
+        float x, float y, float z, float qx, float qy, float qz, float qw,
+        float fx, float fy, float cx, float cy,
+        double stamp,
+        const void * yPlane,  const void * uPlane,  const void * vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
+        const void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
+        const void * conf, int confLen, int confWidth, int confHeight, int confFormat,
+        const void * points, int pointsLen, int pointsChannels,
+        float vx, float vy, float vz, float vqx, float vqy, float vqz, float vqw,
+        float p00, float p11, float p02, float p12, float p22, float p32, float p23,
+        float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7)
+{
+    if(object)
+    {
+        native(object)->postOdometryEvent(
+                x,y,z,qx,qy,qz,qw,
+                fx,fy,cx,cy,
+                stamp,
+                yPlane, uPlane, vPlane, yPlaneLen, rgbWidth, rgbHeight, rgbFormat,
+                depth, depthLen, depthWidth, depthHeight, depthFormat,
+                conf, confLen, confWidth, confHeight, confFormat,
+                (const float *)points, pointsLen, pointsChannels,
+                vx, vy, vz, vqx, vqy, vqz, vqw,
+                p00, p11, p02, p12, p22, p32, p23,
+                t0, t1, t2, t3, t4, t5, t6, t7);
+    }
+    else
+    {
+        UERROR("object is null!");
+        return;
+    }
+}
+
+ImageNative getPreviewImageNative(const char * databasePath)
+{
+    ImageNative imageNative;
+    imageNative.data = 0;
+    imageNative.objectPtr = 0;
+    rtabmap::DBDriverSqlite3 driver;
+    if(driver.openConnection(databasePath))
+    {
+        cv::Mat image = driver.loadPreviewImage();
+        if(image.empty())
+        {
+            return imageNative;
+        }
+        cv::Mat * imagePtr = new cv::Mat();
+        // We should add alpha channel
+        cv::cvtColor(image, *imagePtr, cv::COLOR_BGR2BGRA);
+        std::vector<cv::Mat> channels;
+        cv::split(*imagePtr, channels);
+        channels.back() = cv::Scalar(255);
+        cv::merge(channels, *imagePtr);
+        imageNative.objectPtr = imagePtr;
+        imageNative.data = imagePtr->data;
+        imageNative.width = imagePtr->cols;
+        imageNative.height = imagePtr->rows;
+        imageNative.channels = imagePtr->channels();
+    }
+    return imageNative;
+}
+
+void releasePreviewImageNative(ImageNative image)
+{
+    if(image.objectPtr)
+    {
+        delete (cv::Mat*)image.objectPtr;
+    }
+}
+
+
+// Parameters
+void setOnlineBlendingNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setOnlineBlending(enabled);
+    else
+        UERROR("object is null!");
+}
+void setMapCloudShownNative(const void *object, bool shown)
+{
+    if(object)
+        native(object)->setMapCloudShown(shown);
+    else
+        UERROR("object is null!");
+}
+void setOdomCloudShownNative(const void *object, bool shown)
+{
+    if(object)
+        native(object)->setOdomCloudShown(shown);
+    else
+        UERROR("object is null!");
+}
+void setMeshRenderingNative(const void *object, bool enabled, bool withTexture)
+{
+    if(object)
+        native(object)->setMeshRendering(enabled, withTexture);
+    else
+        UERROR("object is null!");
+}
+void setPointSizeNative(const void *object, float value)
+{
+    if(object)
+        native(object)->setPointSize(value);
+    else
+        UERROR("object is null!");
+}
+void setFOVNative(const void *object, float angle)
+{
+    if(object)
+        native(object)->setFOV(angle);
+    else
+        UERROR("object is null!");
+}
+void setOrthoCropFactorNative(const void *object, float value)
+{
+    if(object)
+        native(object)->setOrthoCropFactor(value);
+    else
+        UERROR("object is null!");
+}
+void setGridRotationNative(const void *object, float value)
+{
+    if(object)
+        native(object)->setGridRotation(value);
+    else
+        UERROR("object is null!");
+}
+void setLightingNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setLighting(enabled);
+    else
+        UERROR("object is null!");
+}
+void setBackfaceCullingNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setBackfaceCulling(enabled);
+    else
+        UERROR("object is null!");
+}
+void setWireframeNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setWireframe(enabled);
+    else
+        UERROR("object is null!");
+}
+void setLocalizationModeNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setLocalizationMode(enabled);
+    else
+        UERROR("object is null!");
+}
+void setTrajectoryModeNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setTrajectoryMode(enabled);
+    else
+        UERROR("object is null!");
+}
+void setGraphOptimizationNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setGraphOptimization(enabled);
+    else
+        UERROR("object is null!");
+}
+void setNodesFilteringNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setNodesFiltering(enabled);
+    else
+        UERROR("object is null!");
+}
+void setGraphVisibleNative(const void *object, bool visible)
+{
+    if(object)
+        native(object)->setGraphVisible(visible);
+    else
+        UERROR("object is null!");
+}
+void setGridVisibleNative(const void *object, bool visible)
+{
+    if(object)
+        native(object)->setGridVisible(visible);
+    else
+        UERROR("object is null!");
+}
+void setRawScanSavedNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setRawScanSaved(enabled);
+    else
+        UERROR("object is null!");
+}
+void setFullResolutionNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setFullResolution(enabled);
+    else
+        UERROR("object is null!");
+}
+void setSmoothingNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setSmoothing(enabled);
+    else
+        UERROR("object is null!");
+}
+void setAppendModeNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setAppendMode(enabled);
+    else
+        UERROR("object is null!");
+}
+void setMaxCloudDepthNative(const void *object, float value)
+{
+    if(object)
+        native(object)->setMaxCloudDepth(value);
+    else
+        UERROR("object is null!");
+}
+void setMinCloudDepthNative(const void *object, float value)
+{
+    if(object)
+        native(object)->setMinCloudDepth(value);
+    else
+        UERROR("object is null!");
+}
+void setCloudDensityLevelNative(const void *object, int value)
+{
+    if(object)
+        native(object)->setCloudDensityLevel(value);
+    else
+        UERROR("object is null!");
+}
+void setMeshAngleToleranceNative(const void *object, float value)
+{
+    if(object)
+        native(object)->setMeshAngleTolerance(value);
+    else
+        UERROR("object is null!");
+}
+void setMeshDecimationFactorNative(const void *object, float value)
+{
+    if(object)
+        native(object)->setMeshDecimationFactor(value);
+    else
+        UERROR("object is null!");
+}
+void setMeshTriangleSizeNative(const void *object, int value)
+{
+    if(object)
+        native(object)->setMeshTriangleSize(value);
+    else
+        UERROR("object is null!");
+}
+void setClusterRatioNative(const void *object, float value)
+{
+    if(object)
+        native(object)->setClusterRatio(value);
+    else
+        UERROR("object is null!");
+}
+void setMaxGainRadiusNative(const void *object, float value)
+{
+    if(object)
+        native(object)->setMaxGainRadius(value);
+    else
+        UERROR("object is null!");
+}
+void setRenderingTextureDecimationNative(const void *object, int value)
+{
+    if(object)
+        native(object)->setRenderingTextureDecimation(value);
+    else
+        UERROR("object is null!");
+}
+void setBackgroundColorNative(const void *object, float gray)
+{
+    if(object)
+        native(object)->setBackgroundColor(gray);
+    else
+        UERROR("object is null!");
+}
+void setDepthConfidenceNative(const void *object, int value)
+{
+    if(object)
+        native(object)->setDepthConfidence(value);
+    else
+        UERROR("object is null!");
+}
+int setMappingParameterNative(const void *object, const char * key, const char * value)
+{
+    if(object)
+        return native(object)->setMappingParameter(key, value);
+    else
+        UERROR("object is null!");
+    return -1;
+}
+
+void setGPSNative(const void *object, double stamp, double longitude, double latitude, double altitude, double accuracy, double bearing)
+{
+    rtabmap::GPS gps(stamp, longitude, latitude, altitude, accuracy, bearing);
+    if(object)
+        return native(object)->setGPS(gps);
+    else
+        UERROR("object is null!");
+}
+
+void addEnvSensorNative(const void *object, int type, float value)
+{
+    if(object)
+        return native(object)->addEnvSensor(type, value);
+    else
+        UERROR("object is null!");
+}

app/ios/RTABMapApp/NativeWrapper.hpp

@@ -0,0 +1,136 @@
+//
+//  PCLWrapper.hpp
+//  ThreeDScanner
+//
+//  Created by Steven Roach on 2/9/18.
+//  Copyright © 2018 Steven Roach. All rights reserved.
+//
+
+#ifndef NativeWrapper_hpp
+#define NativeWrapper_hpp
+
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+    
+const void *createNativeApplication();
+void setupCallbacksNative(const void *object, void * classPtr,
+                          void(*progressCallback)(void*, int, int),
+                          void(*initCallback)(void *, int, const char*),
+                          void(*statsUpdatedCallback)(void *,
+                                                   int, int, int, int,
+                                                   float,
+                                                   int, int, int, int, int ,int,
+                                                   float,
+                                                   int,
+                                                   float,
+                                                   int,
+                                                   float, float, float, float,
+                                                   int, int,
+                                                   float, float, float, float, float, float));
+void destroyNativeApplication(const void *object);
+void setScreenRotationNative(const void *object, int displayRotation);
+int openDatabaseNative(const void *object, const char * databasePath, bool databaseInMemory, bool optimize);
+int openDatabase2Native(const void *object, const char * databaseSource, const char * databasePath, bool databaseInMemory, bool optimize);
+void saveNative(const void *object, const char * databasePath);
+int postProcessingNative(const void *object, int approach);
+bool exportMeshNative(
+            const void *object,
+            float cloudVoxelSize,
+            bool regenerateCloud,
+            bool meshing,
+            int textureSize,
+            int textureCount,
+            int normalK,
+            bool optimized,
+            float optimizedVoxelSize,
+            int optimizedDepth,
+            int optimizedMaxPolygons,
+            float optimizedColorRadius,
+            bool optimizedCleanWhitePolygons,
+            int optimizedMinClusterSize,
+            float optimizedMaxTextureDistance,
+            int optimizedMinTextureClusterSize,
+            bool blockRendering);
+bool postExportationNative(const void *object, bool visualize);
+bool writeExportedMeshNative(const void *object, const char * directory, const char * name);
+void initGlContentNative(const void *object);
+void setupGraphicNative(const void *object, int width, int height);
+void onTouchEventNative(const void *object, int touch_count, int event, float x0, float y0, float x1,
+                        float y1);
+void setPausedMappingNative(const void *object, bool paused);
+int renderNative(const void *object);
+bool startCameraNative(const void *object);
+void stopCameraNative(const void *object);
+void setCameraNative(const void *object, int type);
+void postCameraPoseEventNative(const void *object,
+                         float x, float y, float z, float qx, float qy, float qz, float qw);
+void postOdometryEventNative(const void *object,
+                       float x, float y, float z, float qx, float qy, float qz, float qw,
+                       float fx, float fy, float cx, float cy,
+                       double stamp,
+                       const void * yPlane,  const void * uPlane,  const void * vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
+                       const void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
+                       const void * conf, int confLen, int confWidth, int confHeight, int confFormat,
+                       const void * points, int pointsLen, int pointsChannels,
+                       float vx, float vy, float vz, float vqx, float vqy, float vqz, float vqw,
+                       float p00, float p11, float p02, float p12, float p22, float p32, float p23,
+                       float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7);
+
+void setOnlineBlendingNative(const void *object, bool enabled);
+void setMapCloudShownNative(const void *object, bool shown);
+void setOdomCloudShownNative(const void *object, bool shown);
+void setMeshRenderingNative(const void *object, bool enabled, bool withTexture);
+void setPointSizeNative(const void *object, float value);
+void setFOVNative(const void *object, float angle);
+void setOrthoCropFactorNative(const void *object, float value);
+void setGridRotationNative(const void *object, float value);
+void setLightingNative(const void *object, bool enabled);
+void setBackfaceCullingNative(const void *object, bool enabled);
+void setWireframeNative(const void *object, bool enabled);
+void setLocalizationModeNative(const void *object, bool enabled);
+void setTrajectoryModeNative(const void *object, bool enabled);
+void setGraphOptimizationNative(const void *object, bool enabled);
+void setNodesFilteringNative(const void *object, bool enabled);
+void setGraphVisibleNative(const void *object, bool visible);
+void setGridVisibleNative(const void *object, bool visible);
+void setRawScanSavedNative(const void *object, bool enabled);
+void setFullResolutionNative(const void *object, bool enabled);
+void setSmoothingNative(const void *object, bool enabled);
+void setAppendModeNative(const void *object, bool enabled);
+void setMaxCloudDepthNative(const void *object, float value);
+void setMinCloudDepthNative(const void *object, float value);
+void setCloudDensityLevelNative(const void *object, int value);
+void setMeshAngleToleranceNative(const void *object, float value);
+void setMeshDecimationFactorNative(const void *object, float value);
+void setMeshTriangleSizeNative(const void *object, int value);
+void setClusterRatioNative(const void *object, float value);
+void setMaxGainRadiusNative(const void *object, float value);
+void setRenderingTextureDecimationNative(const void *object, int value);
+void setBackgroundColorNative(const void *object, float gray);
+void setDepthConfidenceNative(const void *object, int value);
+int setMappingParameterNative(const void *object, const char * key, const char * value);
+
+typedef struct ImageNative
+{
+    const void * objectPtr;
+    void * data;
+    int width;
+    int height;
+    int channels;
+    int totalBytes;
+} ImageNative;
+
+ImageNative getPreviewImageNative(const char * databasePath);
+void releasePreviewImageNative(ImageNative image);
+
+void setGPSNative(const void *object, double stamp, double longitude, double latitude, double altitude, double accuracy, double bearing);
+void addEnvSensorNative(const void *object, int type, float value);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* NativeWrapper_hpp */

app/ios/RTABMapApp/PointCloud.swift

@@ -0,0 +1,16 @@
+//
+//  PointCloud.swift
+//  ThreeDScanner
+//
+//  Created by Steven Roach on 4/3/18.
+//  Copyright © 2018 Steven Roach. All rights reserved.
+//
+
+import Foundation
+import SceneKit
+
+internal struct PointCloud {
+    internal var points: [vector_float3] = []
+    internal var framePointsSizes: [Int32] = []
+    internal var frameViewpoints: [SCNVector3] = []
+}

app/ios/RTABMapApp/PointCloudData.swift

@@ -0,0 +1,16 @@
+//
+//  PointCloudData.swift
+//  ThreeDScanner
+//
+//  Created by Steven Roach on 4/3/18.
+//  Copyright © 2018 Steven Roach. All rights reserved.
+//
+
+import Foundation
+import SceneKit
+
+internal struct PointCloud {
+    internal var points: [vector_float3] = []
+    internal var pointCloudFrameSizes: [Int32] = []
+    internal var pointCloudFrameViewpoints: [SCNVector3] = []
+}

app/ios/RTABMapApp/RTABMap.swift

@@ -0,0 +1,534 @@
+//
+//  RTABMap.swift
+//  RTABMapApp
+//
+//  Created by Mathieu Labbe on 2020-12-31.
+//
+
+import Foundation
+import ARKit
+
+class RTABMap {
+    var native_rtabmap: UnsafeMutableRawPointer
+    
+    struct Observation {
+        weak var observer: RTABMapObserver?
+    }
+    private var observations = [ObjectIdentifier : Observation]()
+    
+    func addObserver(_ observer: RTABMapObserver) {
+        let id = ObjectIdentifier(observer)
+        observations[id] = Observation(observer: observer)
+    }
+
+    func removeObserver(_ observer: RTABMapObserver) {
+        let id = ObjectIdentifier(observer)
+        observations.removeValue(forKey: id)
+    }
+    
+    init() {
+        native_rtabmap = UnsafeMutableRawPointer(mutating: createNativeApplication())
+    }
+    
+    func setupCallbacksWithCPP()
+    {
+        setupCallbacksNative(native_rtabmap,
+             UnsafeMutableRawPointer(Unmanaged.passUnretained(self).toOpaque()),
+             //progressCallback
+             {(observer, count, max) -> Void in
+                         // Extract pointer to `self` from void pointer:
+                let mySelf = Unmanaged<RTABMap>.fromOpaque(observer!).takeUnretainedValue()
+                         // Call instance method:
+                         //mySelf.TestMethod();
+                for (id, observation) in mySelf.observations {
+                    // If the observer is no longer in memory, we
+                    // can clean up the observation for its ID
+                    guard let observer = observation.observer else {
+                        mySelf.observations.removeValue(forKey: id)
+                        continue
+                    }
+
+                    observer.progressUpdated(mySelf, count: Int(count), max: Int(max))
+                }
+             },
+             //initCallback
+             {(observer, status, msg) -> Void in
+                         // Extract pointer to `self` from void pointer:
+                let mySelf = Unmanaged<RTABMap>.fromOpaque(observer!).takeUnretainedValue()
+                         // Call instance method:
+                         //mySelf.TestMethod();
+                for (id, observation) in mySelf.observations {
+                    // If the observer is no longer in memory, we
+                    // can clean up the observation for its ID
+                    guard let observer = observation.observer else {
+                        mySelf.observations.removeValue(forKey: id)
+                        continue
+                    }
+
+                    let str = String(cString: msg!)
+                    observer.initEventReceived(mySelf, status: Int(status), msg: str)
+                }
+             },
+             //statsUpdatedCallback
+             {(observer, nodes, words, points, polygons, updateTime, loopClosureId, highestHypId, databaseMemoryUsed, inliers, matches, featuresExtracted, hypothesis, nodesDrawn, fps, rejected, rehearsalValue, optimizationMaxError, optimizationMaxErrorRatio, distanceTravelled, fastMovement, landmarkDetected, x, y, z, roll, pitch, yaw) -> Void in
+                         // Extract pointer to `self` from void pointer:
+                let mySelf = Unmanaged<RTABMap>.fromOpaque(observer!).takeUnretainedValue()
+                         // Call instance method:
+                         //mySelf.TestMethod();
+                for (id, observation) in mySelf.observations {
+                    // If the observer is no longer in memory, we
+                    // can clean up the observation for its ID
+                    guard let observer = observation.observer else {
+                        mySelf.observations.removeValue(forKey: id)
+                        continue
+                    }
+
+                    observer.statsUpdated(mySelf, nodes: Int(nodes), words: Int(words), points: Int(points), polygons: Int(polygons), updateTime: updateTime, loopClosureId: Int(loopClosureId), highestHypId: Int(highestHypId), databaseMemoryUsed: Int(databaseMemoryUsed), inliers: Int(inliers), matches: Int(matches), featuresExtracted: Int(featuresExtracted), hypothesis: hypothesis, nodesDrawn: Int(nodesDrawn), fps: fps, rejected: Int(rejected), rehearsalValue: rehearsalValue, optimizationMaxError: optimizationMaxError, optimizationMaxErrorRatio: optimizationMaxErrorRatio, distanceTravelled: distanceTravelled, fastMovement: Int(fastMovement), landmarkDetected: Int(landmarkDetected), x: x, y: y, z: z, roll: roll, pitch: pitch, yaw: yaw)
+                }
+             })
+    }
+    
+    deinit {
+        destroyNativeApplication(native_rtabmap)
+    }
+    
+    func initGlContent() {
+        initGlContentNative(native_rtabmap)
+    }
+    
+    func setupGraphic(size: CGSize, orientation: UIInterfaceOrientation) {
+        var rotation: Int32
+        switch orientation.rawValue {
+        case 4:
+            rotation=2
+        case 1:
+            rotation=3
+        case 2:
+            rotation=1
+        default:
+            rotation=0
+        }
+        //NSLog("Orientation: ios %d android %d, view=%dx%d", orientation.rawValue, rotation, Int32(size.width), Int32(size.height))
+        setScreenRotationNative(native_rtabmap, rotation)
+        setupGraphicNative(native_rtabmap, Int32(size.width), Int32(size.height));
+    }
+    
+    func openDatabase(databasePath:String, databaseInMemory:Bool, optimize:Bool) -> Int {
+        databasePath.utf8CString.withUnsafeBufferPointer { buffer -> Int in
+            return Int(openDatabaseNative(native_rtabmap, buffer.baseAddress, databaseInMemory, optimize))
+        }
+    }
+    
+    func openDatabase(databaseSource:String, databasePath:String, databaseInMemory:Bool, optimize:Bool) -> Int {
+        databasePath.utf8CString.withUnsafeBufferPointer { buffer -> Int in
+            databaseSource.utf8CString.withUnsafeBufferPointer { bufferSource -> Int in
+                return Int(openDatabase2Native(native_rtabmap, bufferSource.baseAddress, buffer.baseAddress, databaseInMemory, optimize))
+            }
+        }
+    }
+    
+    func save(databasePath:String) {
+        databasePath.utf8CString.withUnsafeBufferPointer { buffer in
+            saveNative(native_rtabmap, databasePath)
+        }
+    }
+    
+    func postProcessing(approach: Int) -> Int {
+        return Int(postProcessingNative(native_rtabmap, Int32(approach)))
+    }
+    
+    func exportMesh(
+        cloudVoxelSize: Float,
+        regenerateCloud: Bool,
+        meshing: Bool,
+        textureSize: Int,
+        textureCount: Int,
+        normalK: Int,
+        optimized: Bool,
+        optimizedVoxelSize: Float,
+        optimizedDepth: Int,
+        optimizedMaxPolygons: Int,
+        optimizedColorRadius: Float,
+        optimizedCleanWhitePolygons: Bool,
+        optimizedMinClusterSize: Int,
+        optimizedMaxTextureDistance: Float,
+        optimizedMinTextureClusterSize: Int,
+        blockRendering: Bool) -> Bool
+    {
+       return exportMeshNative(native_rtabmap,
+                                    cloudVoxelSize,
+                                    regenerateCloud,
+                                    meshing,
+                                    Int32(textureSize),
+                                    Int32(textureCount),
+                                    Int32(normalK),
+                                    optimized,
+                                    optimizedVoxelSize,
+                                    Int32(optimizedDepth),
+                                    Int32(optimizedMaxPolygons),
+                                    optimizedColorRadius,
+                                    optimizedCleanWhitePolygons,
+                                    Int32(optimizedMinClusterSize),
+                                    optimizedMaxTextureDistance,
+                                    Int32(optimizedMinTextureClusterSize),
+                                    blockRendering)
+    }
+    
+    func postExportation(visualize: Bool) -> Bool
+    {
+        return postExportationNative(native_rtabmap, visualize)
+    }
+    
+    func writeExportedMesh(directory: String, name: String) -> Bool
+    {
+        directory.utf8CString.withUnsafeBufferPointer { bufferDir in
+            name.utf8CString.withUnsafeBufferPointer { bufferName in
+                return writeExportedMeshNative(native_rtabmap, bufferDir.baseAddress, bufferName.baseAddress)
+            }
+        }
+    }
+    
+    func onTouchEvent(touch_count: Int, event: Int, x0: Float, y0: Float, x1: Float, y1: Float) {
+        onTouchEventNative(native_rtabmap, Int32(touch_count), Int32(event), x0, y0, x1, y1)
+    }
+    
+    func setPausedMapping(paused: Bool) {
+        setPausedMappingNative(native_rtabmap, paused)
+    }
+    
+    func render() -> Int {
+        return Int(renderNative(native_rtabmap))
+    }
+    
+    func startCamera() -> Bool {
+        return startCameraNative(native_rtabmap)
+    }
+    
+    func stopCamera() {
+        stopCameraNative(native_rtabmap)
+    }
+    
+    func setCamera(type: Int) {
+        setCameraNative(native_rtabmap, Int32(type))
+    }
+    
+    func postCameraPoseEvent(pose: simd_float4x4) {
+        let rotation = GLKMatrix3(
+            m: (pose[0,0], pose[0,1], pose[0,2],
+            pose[1,0], pose[1,1], pose[1,2],
+            pose[2,0], pose[2,1], pose[2,2]))
+        let quat = GLKQuaternionMakeWithMatrix3(rotation)
+        postCameraPoseEventNative(native_rtabmap, pose[3,0], pose[3,1], pose[3,2], quat.x, quat.y, quat.z, quat.w)
+    }
+    
+    func postOdometryEvent(frame: ARFrame, orientation: UIInterfaceOrientation, viewport: CGSize) {
+        let pose = frame.camera.transform   // ViewMatrix
+        let rotation = GLKMatrix3(
+            m: (pose[0,0], pose[0,1], pose[0,2],
+            pose[1,0], pose[1,1], pose[1,2],
+            pose[2,0], pose[2,1], pose[2,2]))
+        
+        let quat = GLKQuaternionMakeWithMatrix3(rotation)
+                
+        postCameraPoseEventNative(native_rtabmap, pose[3,0], pose[3,1], pose[3,2], quat.x, quat.y, quat.z, quat.w)
+                
+        let confMap = frame.sceneDepth?.confidenceMap
+        let depthMap = frame.sceneDepth?.depthMap
+        let points = frame.rawFeaturePoints?.points
+                
+        if points != nil && (depthMap != nil || points!.count>0)
+        {
+            let v = frame.camera.viewMatrix(for: orientation)
+            let p = frame.camera.projectionMatrix(for: orientation, viewportSize: viewport, zNear: 0.5, zFar: 50.0)
+            
+            let rotation = GLKMatrix3(
+                m: (v[0,0], v[0,1], v[0,2],
+                    v[1,0], v[1,1], v[1,2],
+                    v[2,0], v[2,1], v[2,2]))
+            
+            let quatv = GLKQuaternionMakeWithMatrix3(rotation)
+            
+            //11 10 01 00 // portrait
+            //01 11 00 10 // right
+            //10 00 11 01 // left
+            //00 01 10 11 // down
+            var texCoord: [Float]
+            switch orientation {
+            case .portrait:
+                texCoord = [1, 1, 1, 0, 0, 1, 0, 0]
+            case .landscapeRight:
+                texCoord = [0, 1, 1, 1, 0, 0, 1, 0]
+            case .landscapeLeft:
+                texCoord = [1, 0, 0, 0, 1, 1, 0, 1]
+            default: // down
+                texCoord = [0, 0, 0, 1, 1, 0, 1, 1]
+            }
+            
+            frame.rawFeaturePoints?.points.withUnsafeBufferPointer { bufferPoints in
+                
+                CVPixelBufferLockBaseAddress(frame.capturedImage, CVPixelBufferLockFlags.readOnly)
+                var depthDataPtr: UnsafeMutableRawPointer?
+                var depthSize: Int32 = 0
+                var depthWidth: Int32 = 0
+                var depthHeight: Int32 = 0
+                var depthFormat: Int32 = 0
+                if depthMap != nil {
+                    CVPixelBufferLockBaseAddress(depthMap!, CVPixelBufferLockFlags.readOnly)
+                    depthDataPtr = CVPixelBufferGetBaseAddress(depthMap!)!
+                    depthSize = Int32(CVPixelBufferGetDataSize(depthMap!))
+                    depthWidth = Int32(CVPixelBufferGetWidth(depthMap!))
+                    depthHeight = Int32(CVPixelBufferGetHeight(depthMap!))
+                    depthFormat = Int32(CVPixelBufferGetPixelFormatType(depthMap!))
+                }
+                
+                var confDataPtr: UnsafeMutableRawPointer?
+                var confSize: Int32 = 0
+                var confWidth: Int32 = 0
+                var confHeight: Int32 = 0
+                var confFormat: Int32 = 0
+                if confMap != nil {
+                    CVPixelBufferLockBaseAddress(confMap!, CVPixelBufferLockFlags.readOnly)
+                    confDataPtr = CVPixelBufferGetBaseAddress(confMap!)!
+                    confSize = Int32(CVPixelBufferGetDataSize(confMap!))
+                    confWidth = Int32(CVPixelBufferGetWidth(confMap!))
+                    confHeight = Int32(CVPixelBufferGetHeight(confMap!))
+                    confFormat = Int32(CVPixelBufferGetPixelFormatType(confMap!))
+                }
+                
+                if(frame.lightEstimate != nil) {
+                    addEnvSensor(type: 4, value: Float(frame.lightEstimate!.ambientIntensity))
+                }
+                                
+                postOdometryEventNative(native_rtabmap,
+                                        pose[3,0], pose[3,1], pose[3,2], quat.x, quat.y, quat.z, quat.w,
+                                        frame.camera.intrinsics[0,0], // fx
+                                        frame.camera.intrinsics[1,1], // fy
+                                        frame.camera.intrinsics[2,0], // cx
+                                        frame.camera.intrinsics[2,1], // cy
+                                        frame.timestamp,
+                                        CVPixelBufferGetBaseAddressOfPlane(frame.capturedImage, 0),  // y plane pointer
+                                        nil,                                                         // u plane pointer
+                                        CVPixelBufferGetBaseAddressOfPlane(frame.capturedImage, 1),  // v plane pointer
+                                        Int32(CVPixelBufferGetBytesPerRowOfPlane(frame.capturedImage, 0)) * Int32(CVPixelBufferGetHeightOfPlane(frame.capturedImage, 0)),  // yPlaneLen
+                                        Int32(CVPixelBufferGetWidth(frame.capturedImage)),           // rgb width
+                                        Int32(CVPixelBufferGetHeight(frame.capturedImage)),          // rgb height
+                                        Int32(CVPixelBufferGetPixelFormatType(frame.capturedImage)), // rgb format
+                                        depthDataPtr, // depth pointer
+                                        depthSize,    // depth size
+                                        depthWidth,   // depth width
+                                        depthHeight,  // depth height
+                                        depthFormat,  // depth format
+                                        confDataPtr, // conf pointer
+                                        confSize,    // conf size
+                                        confWidth,   // conf width
+                                        confHeight,  // conf height
+                                        confFormat,  // conf format
+                                        bufferPoints.baseAddress, Int32(frame.rawFeaturePoints!.points.count), 4,
+                                        v[3,0], v[3,1], v[3,2], quatv.x, quatv.y, quatv.z, quatv.w,
+                                        p[0,0], p[1,1], p[2,0], p[2,1], p[2,2], p[2,3], p[3,2],
+                                        texCoord[0],texCoord[1],texCoord[2],texCoord[3],texCoord[4],texCoord[5],texCoord[6],texCoord[7])
+                if depthMap != nil {
+                    CVPixelBufferUnlockBaseAddress(depthMap!, CVPixelBufferLockFlags.readOnly)
+                }
+                if confMap != nil {
+                    CVPixelBufferUnlockBaseAddress(confMap!, CVPixelBufferLockFlags.readOnly)
+                }
+                CVPixelBufferUnlockBaseAddress(frame.capturedImage, CVPixelBufferLockFlags.readOnly)
+            }
+        }
+    }
+        
+    // Parameters
+    func setOnlineBlending(enabled: Bool) {
+        setOnlineBlendingNative(native_rtabmap, enabled)
+    }
+    func setMapCloudShown(shown: Bool) {
+        setMapCloudShownNative(native_rtabmap, shown)
+    }
+    func setOdomCloudShown(shown: Bool) {
+        setOdomCloudShownNative(native_rtabmap, shown)
+    }
+    func setMeshRendering(enabled: Bool, withTexture: Bool) {
+        setMeshRenderingNative(native_rtabmap, enabled, withTexture)
+    }
+    func setPointSize(value: Float) {
+        setPointSizeNative(native_rtabmap, value)
+    }
+    func setFOV(angle: Float) {
+        setFOVNative(native_rtabmap, angle)
+    }
+    func setOrthoCropFactor(value: Float) {
+        setOrthoCropFactorNative(native_rtabmap, value)
+    }
+    func setGridRotation(value: Float) {
+        setGridRotationNative(native_rtabmap, value)
+    }
+    func setLighting(enabled: Bool) {
+        setLightingNative(native_rtabmap, enabled)
+    }
+    func setBackfaceCulling(enabled: Bool) {
+        setBackfaceCullingNative(native_rtabmap, enabled)
+    }
+    func setWireframe(enabled: Bool) {
+        setWireframeNative(native_rtabmap, enabled)
+    }
+    func setLocalizationMode(enabled: Bool) {
+        setLocalizationModeNative(native_rtabmap, enabled)
+    }
+    func setTrajectoryMode(enabled: Bool) {
+        setTrajectoryModeNative(native_rtabmap, enabled)
+    }
+    func setGraphOptimization(enabled: Bool) {
+        setGraphOptimizationNative(native_rtabmap, enabled)
+    }
+    func setNodesFiltering(enabled: Bool) {
+        setNodesFilteringNative(native_rtabmap, enabled)
+    }
+    func setGraphVisible(visible: Bool) {
+        setGraphVisibleNative(native_rtabmap, visible)
+    }
+    func setGridVisible(visible: Bool) {
+        setGridVisibleNative(native_rtabmap, visible)
+    }
+    func setRawScanSaved(enabled: Bool) {
+        setRawScanSavedNative(native_rtabmap, enabled)
+    }
+    func setFullResolution(enabled: Bool) {
+        setFullResolutionNative(native_rtabmap, enabled)
+    }
+    func setSmoothing(enabled: Bool) {
+        setSmoothingNative(native_rtabmap, enabled)
+    }
+    func setAppendMode(enabled: Bool) {
+        setAppendModeNative(native_rtabmap, enabled)
+    }
+    func setMaxCloudDepth(value: Float) {
+        setMaxCloudDepthNative(native_rtabmap, value)
+    }
+    func setMinCloudDepth(value: Float) {
+        setMinCloudDepthNative(native_rtabmap, value)
+    }
+    func setCloudDensityLevel(value: Int) {
+        setCloudDensityLevelNative(native_rtabmap, Int32(value))
+    }
+    func setMeshAngleTolerance(value: Float) {
+        setMeshAngleToleranceNative(native_rtabmap, value)
+    }
+    func setMeshDecimationFactor(value: Float) {
+        setMeshDecimationFactorNative(native_rtabmap, value)
+    }
+    func setMeshTriangleSize(value: Int) {
+        setMeshTriangleSizeNative(native_rtabmap, Int32(value))
+    }
+    func setClusterRatio(value: Float) {
+        setClusterRatioNative(native_rtabmap, value)
+    }
+    func setMaxGainRadius(value: Float) {
+        setMaxGainRadiusNative(native_rtabmap, value)
+    }
+    func setRenderingTextureDecimation(value: Int) {
+        setRenderingTextureDecimationNative(native_rtabmap, Int32(value))
+    }
+    func setBackgroundColor(gray: Float) {
+        setBackgroundColorNative(native_rtabmap, gray)
+    }
+    func setDepthConfidence(value: Int) {
+        setDepthConfidenceNative(native_rtabmap, Int32(value))
+    }
+    func setMappingParameter(key: String, value: String) {
+        key.utf8CString.withUnsafeBufferPointer { bufferKey in
+            value.utf8CString.withUnsafeBufferPointer { bufferValue in
+                setMappingParameterNative(native_rtabmap, bufferKey.baseAddress, bufferValue.baseAddress)
+            }
+        }
+    }
+    func setGPS(location: CLLocation)
+    {
+        setGPSNative(native_rtabmap, location.timestamp.timeIntervalSince1970, location.coordinate.longitude, location.coordinate.latitude, location.altitude, location.horizontalAccuracy, location.course < 0.0 ? 0.0 : location.course)
+    }
+    func addEnvSensor(type: Int, value: Float)
+    {
+        addEnvSensorNative(native_rtabmap, Int32(type), value)
+    }
+    func setOrthoCropFactor(_ value: Float)
+    {
+        setOrthoCropFactorNative(native_rtabmap, value)
+    }
+    func setGridRotation(_ value: Float)
+    {
+        setGridRotationNative(native_rtabmap, value)
+    }
+}
+
+func getPreviewImage(databasePath: String) -> UIImage?
+{
+    let imageOut = databasePath.utf8CString.withUnsafeBufferPointer { buffer -> UIImage? in
+        var image = ImageNative()
+        image = getPreviewImageNative(buffer.baseAddress)
+        if let dataPtr = UnsafeRawPointer(image.data)
+        {
+            // copy data in swift
+            let data = Data(bytes: dataPtr, count: Int(image.width*image.height*image.channels))
+            // release memory
+            releasePreviewImageNative(image)
+            // Create bitmap image
+            let bitmap = CIImage(bitmapData: data, bytesPerRow: Int(image.width*image.channels), size: CGSize(width: Int(image.width), height: Int(image.height)), format: CIFormat.BGRA8, colorSpace: nil)
+            return UIImage(ciImage: bitmap)
+        }
+        return nil
+    }
+    return imageOut
+}
+
+protocol RTABMapObserver: class {
+    func progressUpdated(_ rtabmap: RTABMap, count: Int, max: Int)
+    func initEventReceived(_ rtabmap: RTABMap, status: Int, msg: String)
+    func statsUpdated(_ rtabmap: RTABMap,
+                      nodes: Int,
+                      words: Int,
+                      points: Int,
+                      polygons: Int,
+                      updateTime: Float,
+                      loopClosureId: Int,
+                      highestHypId: Int,
+                      databaseMemoryUsed: Int,
+                      inliers: Int,
+                      matches: Int,
+                      featuresExtracted: Int,
+                      hypothesis: Float,
+                      nodesDrawn: Int,
+                      fps: Float,
+                      rejected: Int,
+                      rehearsalValue: Float,
+                      optimizationMaxError: Float,
+                      optimizationMaxErrorRatio: Float,
+                      distanceTravelled: Float,
+                      fastMovement: Int,
+                      landmarkDetected: Int,
+                      x: Float,
+                      y: Float,
+                      z: Float,
+                      roll: Float,
+                      pitch: Float,
+                      yaw: Float)
+}
+
+extension String {
+
+  func toPointer() -> UnsafePointer<UInt8>? {
+    guard let data = self.data(using: String.Encoding.utf8) else { return nil }
+
+    let buffer = UnsafeMutablePointer<UInt8>.allocate(capacity: data.count)
+    let stream = OutputStream(toBuffer: buffer, capacity: data.count)
+
+    stream.open()
+    data.withUnsafeBytes({ (p: UnsafePointer<UInt8>) -> Void in
+      stream.write(p, maxLength: data.count)
+    })
+
+    stream.close()
+
+    return UnsafePointer<UInt8>(buffer)
+  }
+}
+

app/ios/RTABMapApp/RTABMapApp-Bridging-Header.h

@@ -0,0 +1,6 @@
+//
+//  Use this file to import your target's public headers that you would like to expose to Swift.
+//
+
+#include "NativeWrapper.hpp"
+#import <sqlite3.h>

app/ios/RTABMapApp/SceneDelegate.swift

@@ -0,0 +1,52 @@
+//
+//  SceneDelegate.swift
+//  GLKittutorial
+//
+//  Created by Mathieu Labbe on 2020-12-28.
+//
+
+import UIKit
+
+class SceneDelegate: UIResponder, UIWindowSceneDelegate {
+
+    var window: UIWindow?
+
+
+    func scene(_ scene: UIScene, willConnectTo session: UISceneSession, options connectionOptions: UIScene.ConnectionOptions) {
+        // Use this method to optionally configure and attach the UIWindow `window` to the provided UIWindowScene `scene`.
+        // If using a storyboard, the `window` property will automatically be initialized and attached to the scene.
+        // This delegate does not imply the connecting scene or session are new (see `application:configurationForConnectingSceneSession` instead).
+        guard let _ = (scene as? UIWindowScene) else { return }
+    }
+
+    func sceneDidDisconnect(_ scene: UIScene) {
+        // Called as the scene is being released by the system.
+        // This occurs shortly after the scene enters the background, or when its session is discarded.
+        // Release any resources associated with this scene that can be re-created the next time the scene connects.
+        // The scene may re-connect later, as its session was not necessarily discarded (see `application:didDiscardSceneSessions` instead).
+    }
+
+    func sceneDidBecomeActive(_ scene: UIScene) {
+        // Called when the scene has moved from an inactive state to an active state.
+        // Use this method to restart any tasks that were paused (or not yet started) when the scene was inactive.
+    }
+
+    func sceneWillResignActive(_ scene: UIScene) {
+        // Called when the scene will move from an active state to an inactive state.
+        // This may occur due to temporary interruptions (ex. an incoming phone call).
+    }
+
+    func sceneWillEnterForeground(_ scene: UIScene) {
+        // Called as the scene transitions from the background to the foreground.
+        // Use this method to undo the changes made on entering the background.
+    }
+
+    func sceneDidEnterBackground(_ scene: UIScene) {
+        // Called as the scene transitions from the foreground to the background.
+        // Use this method to save data, release shared resources, and store enough scene-specific state information
+        // to restore the scene back to its current state.
+    }
+
+
+}
+

app/ios/RTABMapApp/VerticalScrollerView.swift

@@ -0,0 +1,138 @@
+/*
+ * Copyright (c) 2017 Razeware LLC
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * Notwithstanding the foregoing, you may not use, copy, modify, merge, publish,
+ * distribute, sublicense, create a derivative work, and/or sell copies of the
+ * Software in any work that is designed, intended, or marketed for pedagogical or
+ * instructional purposes related to programming, coding, application development,
+ * or information technology.  Permission for such use, copying, modification,
+ * merger, publication, distribution, sublicensing, creation of derivative works,
+ * or sale is expressly withheld.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+import UIKit
+
+protocol VerticalViewDataSource: class {
+    // Ask the data source how many views it wants to present inside the horizontal scroller
+    func numberOfViews(in verticalScrollerView: VerticalScrollerView) -> Int
+    // Ask the data source to return the view that should appear at <index>
+    func getScrollerViewItem(_ verticalScrollerView: VerticalScrollerView, viewAt index: Int) -> UIView
+}
+
+protocol VerticalScrollerViewDelegate: class {
+    // inform the delegate that the view at <index> has been selected
+    func verticalScrollerView(_ verticalScrollerView: VerticalScrollerView, didSelectViewAt index: Int)
+}
+
+class VerticalScrollerView: UIView {
+    weak var dataSource: VerticalViewDataSource?
+    weak var delegate: VerticalScrollerViewDelegate?
+    
+    // 1
+    private enum ViewConstants {
+        static let Padding: CGFloat = 5
+        static let Dimensions: CGFloat = 185
+        static let Offset: CGFloat = 10
+    }
+    
+    // 2
+    private let scroller = UIScrollView()
+    
+    // 3
+    private var contentViews = [UIView]()
+    
+    override init(frame: CGRect) {
+        super.init(frame: frame)
+        initializeScrollView()
+    }
+    
+    required init?(coder aDecoder: NSCoder) {
+        super.init(coder: aDecoder)
+        initializeScrollView()
+    }
+    
+    func initializeScrollView() {
+        
+        addSubview(scroller)
+        
+        scroller.translatesAutoresizingMaskIntoConstraints = false
+        
+        NSLayoutConstraint.activate([
+            scroller.leadingAnchor.constraint(equalTo: self.leadingAnchor),
+            scroller.trailingAnchor.constraint(equalTo: self.trailingAnchor),
+            scroller.topAnchor.constraint(equalTo: self.topAnchor),
+            scroller.bottomAnchor.constraint(equalTo: self.bottomAnchor)
+        ])
+        
+        let tapRecognizer = UITapGestureRecognizer(target: self, action: #selector(scrollerTapped(gesture:)))
+        scroller.addGestureRecognizer(tapRecognizer)
+    }
+    
+    func scrollToView(at index: Int, animated: Bool = true) {
+      let centralView = contentViews[index]
+      let targetCenter = centralView.center
+      let targetOffsetY = targetCenter.y - (scroller.bounds.height / 2)
+      scroller.setContentOffset(CGPoint(x: 0, y: targetOffsetY), animated: animated)
+    }
+    
+    @objc func scrollerTapped(gesture: UITapGestureRecognizer) {
+        let location = gesture.location(in: scroller)
+        guard
+            let index = contentViews.index(where: { $0.frame.contains(location)})
+        else { return }
+        
+        delegate?.verticalScrollerView(self, didSelectViewAt: index)
+        scrollToView(at: index)
+    }
+    
+    func view(at index :Int) -> UIView {
+        return contentViews[index]
+    }
+    
+    func reload() {
+        // 1 - Check if there is a data source, if not there is nothing to load.
+        guard let dataSource = dataSource else {
+            return
+        }
+        
+        //2 - Remove the old content views
+        contentViews.forEach { $0.removeFromSuperview() }
+
+        // 3 - yValue is the starting point of each view inside the scroller
+        var yValue = ViewConstants.Offset
+        // 4 - Fetch and add the new views
+        contentViews = (0..<dataSource.numberOfViews(in: self)).map {
+            index in
+            // 5 - add a view at the right position
+            yValue += ViewConstants.Padding
+            let view = dataSource.getScrollerViewItem(self, viewAt: index)
+            view.frame = CGRect(x: ViewConstants.Padding, y: CGFloat(yValue), width: ViewConstants.Dimensions*2, height: ViewConstants.Dimensions)
+            scroller.addSubview(view)
+            yValue += ViewConstants.Dimensions + ViewConstants.Padding
+            // 6 - Store the view so we can reference it later
+            return view
+        }
+
+        // 7
+        scroller.contentSize = CGSize(width: frame.size.width, height: CGFloat(yValue + ViewConstants.Offset))
+    }
+}
+

app/ios/Settings.bundle/Assembling.plist

@@ -0,0 +1,351 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>StringsTable</key>
+	<string>Assembling</string>
+	<key>PreferenceSpecifiers</key>
+	<array>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>If you don&apos;t need a very precise point cloud, you can set this to reduce the output point cloud size. This is also used for optimized mesh.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Voxel Size</string>
+			<key>Key</key>
+			<string>VoxelSize</string>
+			<key>DefaultValue</key>
+			<real>0.01</real>
+			<key>Titles</key>
+			<array>
+				<string>20 cm</string>
+				<string>10 cm</string>
+				<string>5 cm</string>
+				<string>2 cm</string>
+				<string>1 cm</string>
+				<string>0.5 cm</string>
+				<string>Disabled</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<real>0.2</real>
+				<real>0.1</real>
+				<real>0.05</real>
+				<real>0.02</real>
+				<real>0.01</real>
+				<real>0.005</real>
+				<real>0</real>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>If the map is large, you may want to increase this to maximize the texture resolution.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Texture Size</string>
+			<key>Key</key>
+			<string>TextureSize</string>
+			<key>DefaultValue</key>
+			<integer>4096</integer>
+			<key>Titles</key>
+			<array>
+				<string>16384x16384</string>
+				<string>8192x8192</string>
+				<string>4096x4096</string>
+				<string>2048x2048</string>
+				<string>1024x1024</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<integer>16384</integer>
+				<integer>8192</integer>
+				<integer>4096</integer>
+				<integer>2048</integer>
+				<integer>1024</integer>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Note that all textures are still merged into one for visualization, but exported in multiple files.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Maximum Output Textures</string>
+			<key>Key</key>
+			<string>MaximumOutputTextures</string>
+			<key>DefaultValue</key>
+			<integer>1</integer>
+			<key>Titles</key>
+			<array>
+				<string>8</string>
+				<string>7</string>
+				<string>6</string>
+				<string>5</string>
+				<string>4</string>
+				<string>3</string>
+				<string>2</string>
+				<string>1</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<integer>8</integer>
+				<integer>7</integer>
+				<integer>6</integer>
+				<integer>5</integer>
+				<integer>4</integer>
+				<integer>3</integer>
+				<integer>2</integer>
+				<integer>1</integer>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>K-nearest neighbors used for normal computation when a mesh is created.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Normal K</string>
+			<key>Key</key>
+			<string>NormalK</string>
+			<key>DefaultValue</key>
+			<integer>18</integer>
+			<key>Titles</key>
+			<array>
+				<string>30</string>
+				<string>24</string>
+				<string>18</string>
+				<string>12</string>
+				<string>6</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<integer>30</integer>
+				<integer>24</integer>
+				<integer>18</integer>
+				<integer>12</integer>
+				<integer>6</integer>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Maximum distance from a camera for polygons to be textured by this camera.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Max Texture Distance</string>
+			<key>Key</key>
+			<string>MaxTextureDistance</string>
+			<key>DefaultValue</key>
+			<real>3</real>
+			<key>Titles</key>
+			<array>
+				<string>No Limit</string>
+				<string>5 m</string>
+				<string>4.5 m</string>
+				<string>4 m</string>
+				<string>3.5 m</string>
+				<string>3 m</string>
+				<string>2.5 m</string>
+				<string>2 m</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<real>0</real>
+				<real>5</real>
+				<real>4.5</real>
+				<real>4</real>
+				<real>3.5</real>
+				<real>3</real>
+				<real>2.5</real>
+				<real>2</real>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Minimum polygon cluster size to be textured by a camera. This helps to filter sparse textured polygons.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Min Texture Cluster Size</string>
+			<key>Key</key>
+			<string>MinTextureClusterSize</string>
+			<key>DefaultValue</key>
+			<integer>50</integer>
+			<key>Titles</key>
+			<array>
+				<string>1000</string>
+				<string>500</string>
+				<string>200</string>
+				<string>100</string>
+				<string>50</string>
+				<string>10</string>
+				<string>Disabled</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<integer>1000</integer>
+				<integer>500</integer>
+				<integer>200</integer>
+				<integer>100</integer>
+				<integer>50</integer>
+				<integer>10</integer>
+				<integer>0</integer>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>Title</key>
+			<string>Optimized</string>
+			<key>FooterText</key>
+			<string>Lowering this parameter decreases reconstruction time, but geometry precision is lower. Minimum polygon size: map length / 2^depth). &quot;Auto&quot; means that depth is chosen so that polygon size is just under 3 cm.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Reconstruction Depth</string>
+			<key>Key</key>
+			<string>ReconstructionDepth</string>
+			<key>DefaultValue</key>
+			<integer>0</integer>
+			<key>Titles</key>
+			<array>
+				<string>Auto</string>
+				<string>12</string>
+				<string>11</string>
+				<string>10</string>
+				<string>9</string>
+				<string>8</string>
+				<string>7</string>
+				<string>6</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<integer>0</integer>
+				<integer>12</integer>
+				<integer>11</integer>
+				<integer>10</integer>
+				<integer>9</integer>
+				<integer>8</integer>
+				<integer>7</integer>
+				<integer>6</integer>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Radius used to transfer nearest color from the point cloud to reconstructed mesh. When exporting with texture, if Clean Mesh is also enabled, this will limit the number of polygons textured in holes.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Color Radius</string>
+			<key>Key</key>
+			<string>ColorRadius</string>
+			<key>DefaultValue</key>
+			<real>0.05</real>
+			<key>Titles</key>
+			<array>
+				<string>Nearest</string>
+				<string>2 m</string>
+				<string>1 m</string>
+				<string>0.5 m</string>
+				<string>0.2 m</string>
+				<string>0.1 m</string>
+				<string>0.05 m</string>
+				<string>0.025 m</string>
+				<string>0.02 m</string>
+				<string>0.015 m</string>
+				<string>0.01 m</string>
+				<string>Disabled</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<real>0</real>
+				<real>2</real>
+				<real>1</real>
+				<real>0.5</real>
+				<real>0.2</real>
+				<real>0.1</real>
+				<real>0.05</real>
+				<real>0.025</real>
+				<real>0.02</real>
+				<real>0.015</real>
+				<real>0.01</real>
+				<real>-1</real>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Clean mesh from textureless or colorless reconstructed polygons.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSToggleSwitchSpecifier</string>
+			<key>Title</key>
+			<string>Clean Mesh</string>
+			<key>Key</key>
+			<string>CleanMesh</string>
+			<key>DefaultValue</key>
+			<true/>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>This can be used to filter polygons before texturing.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Polygon Filtering</string>
+			<key>Key</key>
+			<string>PolygonFiltering</string>
+			<key>DefaultValue</key>
+			<integer>0</integer>
+			<key>Titles</key>
+			<array>
+				<string>Only biggest cluster kept</string>
+				<string>Keep all polygons</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<integer>-1</integer>
+				<integer>0</integer>
+			</array>
+		</dict>
+	</array>
+</dict>
+</plist>

app/ios/Settings.bundle/License.plist

@@ -0,0 +1,173 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>StringsTable</key>
+	<string>License</string>
+	<key>PreferenceSpecifiers</key>
+	<array>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>
+======= RTAB-Map =======
+RTAB-Map - https://github.com/introlab/rtabmap
+Copyright (c) 2010-2021, Mathieu Labbe - IntRoLab - Universite de Sherbrooke, all rights reserved.
+Copyright (c) XXX, contributors, 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 copyright holders nor the names of the 
+  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.
+
+======= OpenCV =======
+Copyright (C) 2000-2021, Intel Corporation, all rights reserved.
+Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved.
+Copyright (C) 2009-2016, NVIDIA Corporation, all rights reserved.
+Copyright (C) 2010-2013, Advanced Micro Devices, Inc., all rights reserved.
+Copyright (C) 2015-2021, OpenCV Foundation, all rights reserved.
+Copyright (C) 2015-2016, Itseez Inc., all rights reserved.
+Copyright (C) 2019-2021, Xperience AI, all rights reserved.
+Third party copyrights are property of their respective owners.
+
+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 names of the copyright holders nor the names of the 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 copyright holders 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.
+
+======= Point Cloud Library =======
+Point Cloud Library (PCL) - www.pointclouds.org
+Copyright (c) 2009-2012, Willow Garage, Inc.
+Copyright (c) 2012-, Open Perception, Inc.
+Copyright (c) XXX, respective authors.
+
+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 copyright holder(s) 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 OWNER 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.
+
+======= g2o =======
+g2o - General Graph Optimization
+Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
+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.
+
+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.
+
+======= GTSAM =======
+Copyright (c) 2010, Georgia Tech Research Corporation
+Atlanta, Georgia 30332-0415
+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 copyright holders 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.
+
+
+			</string>
+		</dict>
+	</array>
+</dict>
+</plist>

app/ios/Settings.bundle/Mapping.plist

@@ -0,0 +1,765 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>StringsTable</key>
+	<string>Mapping</string>
+	<key>PreferenceSpecifiers</key>
+	<array>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>When resuming mapping, wait for a relocalization on the current map before starting a new map.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSToggleSwitchSpecifier</string>
+			<key>Title</key>
+			<string>Append Mode</string>
+			<key>Key</key>
+			<string>AppendMode</string>
+			<key>DefaultValue</key>
+			<true/>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Save HD images of the color camera if you want very detailed textures. More memory will be required.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSToggleSwitchSpecifier</string>
+			<key>Title</key>
+			<string>HD Mode</string>
+			<key>Key</key>
+			<string>HDMode</string>
+			<key>DefaultValue</key>
+			<false/>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>When this is disabled (or the phone doesn&apos;t have LiDAR), only tracked features from ARKit will be mapped into a point cloud.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSToggleSwitchSpecifier</string>
+			<key>Title</key>
+			<string>LiDAR Mode</string>
+			<key>Key</key>
+			<string>LidarMode</string>
+			<key>DefaultValue</key>
+			<true/>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Smooth the point clouds.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSToggleSwitchSpecifier</string>
+			<key>Title</key>
+			<string>Smoothing</string>
+			<key>Key</key>
+			<string>Smoothing</string>
+			<key>DefaultValue</key>
+			<false/>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>Title</key>
+			<string>Core</string>
+			<key>FooterText</key>
+			<string>Rate at which a new node is added to map.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Update Rate</string>
+			<key>Key</key>
+			<string>UpdateRate</string>
+			<key>DefaultValue</key>
+			<string>1</string>
+			<key>Titles</key>
+			<array>
+				<string>Max</string>
+				<string>5 Hz</string>
+				<string>4 Hz</string>
+				<string>3 Hz</string>
+				<string>2 Hz</string>
+				<string>1 Hz</string>
+				<string>0.5 Hz</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<string>0</string>
+				<string>5</string>
+				<string>4</string>
+				<string>3</string>
+				<string>2</string>
+				<string>1</string>
+				<string>0.5</string>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Images taken when the camera is moving too fast are ignored to avoid blurry textures.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Maximum Motion Speed</string>
+			<key>Key</key>
+			<string>MaximumMotionSpeed</string>
+			<key>DefaultValue</key>
+			<string>0</string>
+			<key>Titles</key>
+			<array>
+				<string>No Limit</string>
+				<string>High</string>
+				<string>Medium</string>
+				<string>Low</string>
+				<string>Very Low</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<string>0</string>
+				<string>0.4</string>
+				<string>0.3</string>
+				<string>0.2</string>
+				<string>0.1</string>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Maximum time allowed for map updates. If time to add a new node is above this theshold, some old parts of the map are temporarly forgotten to reduce time of next updates.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Time Limit</string>
+			<key>Key</key>
+			<string>TimeLimit</string>
+			<key>DefaultValue</key>
+			<string>0</string>
+			<key>Titles</key>
+			<array>
+				<string>No Limit</string>
+				<string>1500 ms</string>
+				<string>1400 ms</string>
+				<string>1300 ms</string>
+				<string>1200 ms</string>
+				<string>1100 ms</string>
+				<string>1000 ms</string>
+				<string>900 ms</string>
+				<string>800 ms</string>
+				<string>700 ms</string>
+				<string>600 ms</string>
+				<string>500 ms</string>
+				<string>400 ms</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<string>0</string>
+				<string>1500</string>
+				<string>1400</string>
+				<string>1300</string>
+				<string>1200</string>
+				<string>1100</string>
+				<string>1000</string>
+				<string>900</string>
+				<string>800</string>
+				<string>700</string>
+				<string>600</string>
+				<string>500</string>
+				<string>400</string>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Maximum nodes kept in working memory.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Memory Limit</string>
+			<key>Key</key>
+			<string>MemoryLimit</string>
+			<key>DefaultValue</key>
+			<string>0</string>
+			<key>Titles</key>
+			<array>
+				<string>No Limit</string>
+				<string>500 nodes</string>
+				<string>400 nodes</string>
+				<string>300 nodes</string>
+				<string>200 nodes</string>
+				<string>100 nodes</string>
+				<string>50 nodes</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<string>0</string>
+				<string>500</string>
+				<string>400</string>
+				<string>300</string>
+				<string>200</string>
+				<string>100</string>
+				<string>50</string>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Proximity detections are loop closures found by comparing current frame with frames inside a radius of the current pose. Unlike global loop closure detection, this approach is dependent of odometry.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSToggleSwitchSpecifier</string>
+			<key>Title</key>
+			<string>Proximity Detection</string>
+			<key>Key</key>
+			<string>ProximityDetection</string>
+			<key>DefaultValue</key>
+			<true/>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Threshold at which loop closure hypotheses are accepted. Higher means more robust to false loop closures while rejecting more good loop closures.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Loop Closure Threshold</string>
+			<key>Key</key>
+			<string>LoopClosureThreshold</string>
+			<key>DefaultValue</key>
+			<real>0.11</real>
+			<key>Titles</key>
+			<array>
+				<string>0.90</string>
+				<string>0.80</string>
+				<string>0.70</string>
+				<string>0.60</string>
+				<string>0.50</string>
+				<string>0.40</string>
+				<string>0.30</string>
+				<string>0.20</string>
+				<string>0.15</string>
+				<string>0.11</string>
+				<string>0.10</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<real>0.9</real>
+				<real>0.8</real>
+				<real>0.7</real>
+				<real>0.6</real>
+				<real>0.5</real>
+				<real>0.4</real>
+				<real>0.3</real>
+				<real>0.2</real>
+				<real>0.15</real>
+				<real>0.11</real>
+				<real>0.1</real>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Threshold at which consecutive images are considered the same, so the corresponding node&apos;s weight is increased. The background turns dark blue when this happens.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Similarity Threshold</string>
+			<key>Key</key>
+			<string>SimilarityThreshold</string>
+			<key>DefaultValue</key>
+			<real>0.3</real>
+			<key>Titles</key>
+			<array>
+				<string>Disabled</string>
+				<string>0.60</string>
+				<string>0.50</string>
+				<string>0.40</string>
+				<string>0.30</string>
+				<string>0.20</string>
+				<string>0.10</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<real>1</real>
+				<real>0.6</real>
+				<real>0.5</real>
+				<real>0.4</real>
+				<real>0.3</real>
+				<real>0.2</real>
+				<real>0.1</real>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Minimum visual inliers to accept a loop closure.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Min Inliers</string>
+			<key>Key</key>
+			<string>MinInliers</string>
+			<key>DefaultValue</key>
+			<string>25</string>
+			<key>Titles</key>
+			<array>
+				<string>35</string>
+				<string>30</string>
+				<string>25</string>
+				<string>20</string>
+				<string>15</string>
+				<string>10</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<string>35</string>
+				<string>30</string>
+				<string>25</string>
+				<string>20</string>
+				<string>15</string>
+				<string>10</string>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Reject any loop closures causing error corrections in the map higher than this factor of the link&apos;s variance.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Max Optimization Error</string>
+			<key>Key</key>
+			<string>MaxOptimizationError</string>
+			<key>DefaultValue</key>
+			<real>3</real>
+			<key>Titles</key>
+			<array>
+				<string>10x</string>
+				<string>9x</string>
+				<string>8x</string>
+				<string>7x</string>
+				<string>6x</string>
+				<string>5x</string>
+				<string>4x</string>
+				<string>3x</string>
+				<string>2x</string>
+				<string>1x</string>
+				<string>Disabled</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<real>10</real>
+				<real>9</real>
+				<real>8</real>
+				<real>7</real>
+				<real>6</real>
+				<real>5</real>
+				<real>4</real>
+				<real>3</real>
+				<real>2</real>
+				<real>1</real>
+				<real>0</real>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Extracting more features per image would result in better loop closure hypotheses but more processing time is required.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Max Features Extracted (Vocabulary)</string>
+			<key>Key</key>
+			<string>MaxFeaturesExtractedVocabulary</string>
+			<key>DefaultValue</key>
+			<string>200</string>
+			<key>Titles</key>
+			<array>
+				<string>No Limit</string>
+				<string>1000</string>
+				<string>900</string>
+				<string>800</string>
+				<string>700</string>
+				<string>600</string>
+				<string>500</string>
+				<string>400</string>
+				<string>300</string>
+				<string>200</string>
+				<string>100</string>
+				<string>Disabled</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<string>0</string>
+				<string>1000</string>
+				<string>900</string>
+				<string>800</string>
+				<string>700</string>
+				<string>600</string>
+				<string>500</string>
+				<string>400</string>
+				<string>300</string>
+				<string>200</string>
+				<string>100</string>
+				<string>-1</string>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Extracting more features per image would result in better loop closure transforms but more processing time is required.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Max Features Extracted (Loop Closure)</string>
+			<key>Key</key>
+			<string>MaxFeaturesExtractedLoopClosure</string>
+			<key>DefaultValue</key>
+			<string>400</string>
+			<key>Titles</key>
+			<array>
+				<string>No Limit</string>
+				<string>1000</string>
+				<string>900</string>
+				<string>800</string>
+				<string>700</string>
+				<string>600</string>
+				<string>500</string>
+				<string>400</string>
+				<string>300</string>
+				<string>200</string>
+				<string>100</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<string>0</string>
+				<string>1000</string>
+				<string>900</string>
+				<string>800</string>
+				<string>700</string>
+				<string>600</string>
+				<string>500</string>
+				<string>400</string>
+				<string>300</string>
+				<string>200</string>
+				<string>100</string>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>BRIEF features are fast to compute but are not rotation invariant like FREAK. Warning: Changing feature type will automatically reset the map!</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Feature Type</string>
+			<key>Key</key>
+			<string>FeatureType</string>
+			<key>DefaultValue</key>
+			<string>6</string>
+			<key>Titles</key>
+			<array>
+				<string>BRIEF</string>
+				<string>FREAK</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<string>6</string>
+				<string>5</string>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Graph optimization approach.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Graph Optimizer</string>
+			<key>Key</key>
+			<string>GraphOptimizer</string>
+			<key>DefaultValue</key>
+			<string>2</string>
+			<key>Titles</key>
+			<array>
+				<string>GTSAM</string>
+				<string>g2o</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<string>2</string>
+				<string>1</string>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>The map&apos;s graph is optimized from the last node. The map is moved when a loop closure happens instead of jumping the current pose back to localized area.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSToggleSwitchSpecifier</string>
+			<key>Title</key>
+			<string>Optimization from Graph End</string>
+			<key>Key</key>
+			<string>OptimizationfromGraphEnd</string>
+			<key>DefaultValue</key>
+			<true/>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>ArUco markers can be detected for localization and graph optimization.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>ArUco Marker Detection</string>
+			<key>Key</key>
+			<string>ArUcoMarkerDetection</string>
+			<key>DefaultValue</key>
+			<integer>-1</integer>
+			<key>Titles</key>
+			<array>
+				<string>Disabled</string>
+				<string>4X4_50</string>
+				<string>4X4_100</string>
+				<string>4X4_250</string>
+				<string>4X4_1000</string>
+				<string>5X5_50</string>
+				<string>5X5_100</string>
+				<string>5X5_250</string>
+				<string>5X5_1000</string>
+				<string>6X6_50</string>
+				<string>6X6_100</string>
+				<string>6X6_250</string>
+				<string>6X6_1000</string>
+				<string>7X7_50</string>
+				<string>7X7_100</string>
+				<string>7X7_250</string>
+				<string>7X7_1000</string>
+				<string>ARUCO_ORIGINAL</string>
+				<string>APRILTAG_16h5</string>
+				<string>APRILTAG_25h9</string>
+				<string>APRILTAG_36h10</string>
+				<string>APRILTAG_36h11</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<integer>-1</integer>
+				<integer>0</integer>
+				<integer>1</integer>
+				<integer>2</integer>
+				<integer>3</integer>
+				<integer>4</integer>
+				<integer>5</integer>
+				<integer>6</integer>
+				<integer>7</integer>
+				<integer>8</integer>
+				<integer>9</integer>
+				<integer>10</integer>
+				<integer>11</integer>
+				<integer>12</integer>
+				<integer>13</integer>
+				<integer>14</integer>
+				<integer>15</integer>
+				<integer>16</integer>
+				<integer>17</integer>
+				<integer>18</integer>
+				<integer>19</integer>
+				<integer>20</integer>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Size of markers are automatically initialized on the first marker seen. All markers should have the same size. This value is the maximum depth error to do the initialization to get accurate size of the tag. The lower it is, the more perpendicular the camera should be from the marker to do initialization, but size estimated would be more accurate.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Marker Depth Error Estimation</string>
+			<key>Key</key>
+			<string>MarkerDepthErrorEstimation</string>
+			<key>DefaultValue</key>
+			<real>0.04</real>
+			<key>Titles</key>
+			<array>
+				<string>1 cm</string>
+				<string>2 cm</string>
+				<string>3 cm</string>
+				<string>4 cm</string>
+				<string>5 cm</string>
+				<string>6 cm</string>
+				<string>7 cm</string>
+				<string>8 cm</string>
+				<string>9 cm</string>
+				<string>10 cm</string>
+				<string>15 cm</string>
+				<string>20 cm</string>
+				<string>30 cm</string>
+				<string>40 cm</string>
+				<string>50 cm</string>
+				<string>100 cm</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<real>0.01</real>
+				<real>0.02</real>
+				<real>0.03</real>
+				<real>0.04</real>
+				<real>0.05</real>
+				<real>0.06</real>
+				<real>0.07000000000000001</real>
+				<real>0.08</real>
+				<real>0.09</real>
+				<real>0.1</real>
+				<real>0.15</real>
+				<real>0.2</real>
+				<real>0.3</real>
+				<real>0.4</real>
+				<real>0.5</real>
+				<real>1</real>
+			</array>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>If marker size is 0, marker size is estimated using depth camera, it is then assumed that for next detections, all markers should have the same size (markers could then be detected farther from the camera). When the marker size is set &gt;0, all markers are estimated with this parameter (this can be useful on devices without depth camera). Finally, if marker size is &lt;0, the size of each marker is estimated the first time they are detected using the depth camera (thus markers can have different size). Note that if the marker is already in the database with a known size, the size contained in the database is used directly.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSTextFieldSpecifier</string>
+			<key>Title</key>
+			<string>Marker Size (cm)</string>
+			<key>Key</key>
+			<string>MarkerSize</string>
+			<key>DefaultValue</key>
+			<string>-1</string>
+			<key>KeyboardType</key>
+			<string>NumberPad</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>Title</key>
+			<string>Database</string>
+			<key>FooterText</key>
+			<string>Discarded frames while not moving are still saved in database. Useful to replay exactly the scanning on RTAB-Map Desktop.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSToggleSwitchSpecifier</string>
+			<key>Title</key>
+			<string>Save All Frames in Database</string>
+			<key>Key</key>
+			<string>SaveAllFramesInDatabase</string>
+			<key>DefaultValue</key>
+			<true/>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Save raw point clouds in database.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSToggleSwitchSpecifier</string>
+			<key>Title</key>
+			<string>Save Raw Scan</string>
+			<key>Key</key>
+			<string>SaveRawScan</string>
+			<key>DefaultValue</key>
+			<true/>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Save GPS to database.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSToggleSwitchSpecifier</string>
+			<key>Title</key>
+			<string>Save GPS</string>
+			<key>Key</key>
+			<string>SaveGPS</string>
+			<key>DefaultValue</key>
+			<false/>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>The database is kept in RAM for fast access. Set to false to reduce RAM used at the cost of slower access. This parameter is applied on reset or when a database is opened.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSToggleSwitchSpecifier</string>
+			<key>Title</key>
+			<string>Database in Memory</string>
+			<key>Key</key>
+			<string>DatabaseInMemory</string>
+			<key>DefaultValue</key>
+			<false/>
+		</dict>
+	</array>
+</dict>
+</plist>

app/ios/Settings.bundle/Root.plist

@@ -0,0 +1,487 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>PreferenceSpecifiers</key>
+	<array>
+		<dict>
+			<key>FooterText</key>
+			<string>Decrease density to reduce rendering time and memory. Tip: To apply a different density to current map: save the map, change density and re-open the same map to regenerate the point clouds at this density. Points over the maximum depth, under minimum depth or under the depth confidence are not rendered.</string>
+			<key>Title</key>
+			<string>Rendering</string>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+		</dict>
+		<dict>
+			<key>DefaultValue</key>
+			<integer>2</integer>
+			<key>Key</key>
+			<string>PointCloudDensity</string>
+			<key>Title</key>
+			<string>Point Cloud Density</string>
+			<key>Titles</key>
+			<array>
+				<string>Maximum</string>
+				<string>High</string>
+				<string>Low</string>
+				<string>Very Low</string>
+			</array>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Values</key>
+			<array>
+				<integer>0</integer>
+				<integer>1</integer>
+				<integer>2</integer>
+				<integer>3</integer>
+			</array>
+		</dict>
+		<dict>
+			<key>DefaultValue</key>
+			<integer>3</integer>
+			<key>Key</key>
+			<string>MaxDepth</string>
+			<key>Title</key>
+			<string>Max Depth</string>
+			<key>Titles</key>
+			<array>
+				<string>No Limit</string>
+				<string>5 m</string>
+				<string>4.5 m</string>
+				<string>4 m</string>
+				<string>3.5 m</string>
+				<string>3 m</string>
+				<string>2.5 m</string>
+				<string>2 m</string>
+				<string>1.5 m</string>
+				<string>1 m</string>
+			</array>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Values</key>
+			<array>
+				<real>0.0</real>
+				<real>5</real>
+				<real>4.5</real>
+				<real>4</real>
+				<real>3.5</real>
+				<real>3</real>
+				<real>2.5</real>
+				<real>2</real>
+				<real>1.5</real>
+				<real>1</real>
+			</array>
+		</dict>
+		<dict>
+			<key>DefaultValue</key>
+			<real>0.0</real>
+			<key>Key</key>
+			<string>MinDepth</string>
+			<key>Title</key>
+			<string>Min Depth</string>
+			<key>Titles</key>
+			<array>
+				<string>0 m</string>
+				<string>0.3 m</string>
+				<string>0.5 m</string>
+				<string>0.75 m</string>
+				<string>1 m</string>
+				<string>1.5 m</string>
+				<string>2 m</string>
+				<string>2.5 m</string>
+				<string>3 m</string>
+			</array>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Values</key>
+			<array>
+				<real>0.0</real>
+				<real>0.29999999999999999</real>
+				<real>0.5</real>
+				<real>0.75</real>
+				<real>1</real>
+				<real>1.5</real>
+				<real>2</real>
+				<real>2.5</real>
+				<real>3</real>
+			</array>
+		</dict>
+		<dict>
+			<key>DefaultValue</key>
+			<integer>2</integer>
+			<key>Key</key>
+			<string>DepthConfidence</string>
+			<key>Title</key>
+			<string>Depth Confidence</string>
+			<key>Titles</key>
+			<array>
+				<string>High</string>
+				<string>Medium</string>
+				<string>Low</string>
+			</array>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Values</key>
+			<array>
+				<integer>2</integer>
+				<integer>1</integer>
+				<integer>0</integer>
+			</array>
+		</dict>
+		<dict>
+			<key>FooterText</key>
+			<string>Increase minimum polygon angle to force scanning perpendicular to surfaces. Set a decimation factor to reduce the number of polygons. The higher the factor, the less polygons will remain. Note that the decimation factor is done after decreasing point cloud density. Decimation factor and texture resolution don't affect post-processing.</string>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+		</dict>
+		<dict>
+			<key>DefaultValue</key>
+			<integer>20</integer>
+			<key>Key</key>
+			<string>MeshAngleTolerance</string>
+			<key>Title</key>
+			<string>Mesh Angle Tolerance (deg)</string>
+			<key>Titles</key>
+			<array>
+				<string>60</string>
+				<string>45</string>
+				<string>35</string>
+				<string>30</string>
+				<string>25</string>
+				<string>20</string>
+				<string>15</string>
+				<string>10</string>
+				<string>5</string>
+			</array>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Values</key>
+			<array>
+				<integer>60</integer>
+				<integer>45</integer>
+				<integer>35</integer>
+				<integer>30</integer>
+				<integer>25</integer>
+				<integer>20</integer>
+				<integer>15</integer>
+				<integer>10</integer>
+				<integer>5</integer>
+			</array>
+		</dict>
+		<dict>
+			<key>DefaultValue</key>
+			<integer>2</integer>
+			<key>Key</key>
+			<string>MeshTriangleSize</string>
+			<key>Title</key>
+			<string>Mesh Triangle Size</string>
+			<key>Titles</key>
+			<array>
+				<string>6 pix</string>
+				<string>5 pix</string>
+				<string>4 pix</string>
+				<string>3 pix</string>
+				<string>2 pix</string>
+			</array>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Values</key>
+			<array>
+				<integer>6</integer>
+				<integer>5</integer>
+				<integer>4</integer>
+				<integer>3</integer>
+				<integer>2</integer>
+			</array>
+		</dict>
+		<dict>
+			<key>DefaultValue</key>
+			<real>0.0</real>
+			<key>Key</key>
+			<string>MeshDecimationFactor</string>
+			<key>Title</key>
+			<string>Mesh Decimation Factor</string>
+			<key>Titles</key>
+			<array>
+				<string>99%</string>
+				<string>95%</string>
+				<string>90%</string>
+				<string>80%</string>
+				<string>70%</string>
+				<string>60%</string>
+				<string>50%</string>
+				<string>40%</string>
+				<string>30%</string>
+				<string>20%</string>
+				<string>10%</string>
+				<string>Disabled</string>
+			</array>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Values</key>
+			<array>
+				<real>0.98999999999999999</real>
+				<real>0.94999999999999996</real>
+				<real>0.90000000000000002</real>
+				<real>0.80000000000000004</real>
+				<real>0.69999999999999996</real>
+				<real>0.59999999999999998</real>
+				<real>0.5</real>
+				<real>0.40000000000000002</real>
+				<real>0.29999999999999999</real>
+				<real>0.20000000000000001</real>
+				<real>0.10000000000000001</real>
+				<real>0.0</real>
+			</array>
+		</dict>
+		<dict>
+			<key>DefaultValue</key>
+			<integer>4</integer>
+			<key>Key</key>
+			<string>TextureResolution</string>
+			<key>Title</key>
+			<string>Texture Resolution</string>
+			<key>Titles</key>
+			<array>
+				<string>Maximum</string>
+				<string>High</string>
+				<string>Low</string>
+				<string>Very Low</string>
+			</array>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Values</key>
+			<array>
+				<integer>1</integer>
+				<integer>2</integer>
+				<integer>4</integer>
+				<integer>8</integer>
+			</array>
+		</dict>
+		<dict>
+			<key>FooterText</key>
+			<string>Enable Blending to get smoother colors on overlapping surfaces. When Nodes Filetring is enabled, only the newest point clouds of loop closures are rendered.</string>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+		</dict>
+		<dict>
+			<key>DefaultValue</key>
+			<real>0.20000000000000001</real>
+			<key>Key</key>
+			<string>BackgroundColor</string>
+			<key>Title</key>
+			<string>Background Color</string>
+			<key>Titles</key>
+			<array>
+				<string>0.9</string>
+				<string>Light Gray</string>
+				<string>0.7</string>
+				<string>0.6</string>
+				<string>Gray</string>
+				<string>0.4</string>
+				<string>0.3</string>
+				<string>Dark Gray</string>
+				<string>0.1</string>
+				<string>Black</string>
+			</array>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Values</key>
+			<array>
+				<real>0.90000000000000002</real>
+				<real>0.80000000000000004</real>
+				<real>0.69999999999999996</real>
+				<real>0.59999999999999998</real>
+				<real>0.5</real>
+				<real>0.40000000000000002</real>
+				<real>0.29999999999999999</real>
+				<real>0.20000000000000001</real>
+				<real>0.10000000000000001</real>
+				<real>0.0</real>
+			</array>
+		</dict>
+		<dict>
+			<key>DefaultValue</key>
+			<integer>10</integer>
+			<key>Key</key>
+			<string>PointSize</string>
+			<key>Title</key>
+			<string>Point Size</string>
+			<key>Titles</key>
+			<array>
+				<string>50</string>
+				<string>30</string>
+				<string>25</string>
+				<string>15</string>
+				<string>10</string>
+				<string>5</string>
+				<string>1</string>
+			</array>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Values</key>
+			<array>
+				<integer>50</integer>
+				<integer>30</integer>
+				<integer>25</integer>
+				<integer>15</integer>
+				<integer>10</integer>
+				<integer>5</integer>
+				<integer>1</integer>
+			</array>
+		</dict>
+		<dict>
+			<key>DefaultValue</key>
+			<true/>
+			<key>Key</key>
+			<string>Blending</string>
+			<key>Title</key>
+			<string>Blending</string>
+			<key>Type</key>
+			<string>PSToggleSwitchSpecifier</string>
+		</dict>
+		<dict>
+			<key>DefaultValue</key>
+			<false/>
+			<key>Key</key>
+			<string>NodesFiltering</string>
+			<key>Title</key>
+			<string>Nodes Filtering</string>
+			<key>Type</key>
+			<string>PSToggleSwitchSpecifier</string>
+		</dict>
+		<dict>
+			<key>Title</key>
+			<string>General</string>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+		</dict>
+		<dict>
+			<key>File</key>
+			<string>Mapping</string>
+			<key>Title</key>
+			<string>Mapping...</string>
+			<key>Type</key>
+			<string>PSChildPaneSpecifier</string>
+		</dict>
+		<dict>
+			<key>File</key>
+			<string>Assembling</string>
+			<key>Title</key>
+			<string>Assembling...</string>
+			<key>Type</key>
+			<string>PSChildPaneSpecifier</string>
+		</dict>
+		<dict>
+			<key>FooterText</key>
+			<string>Color CorrectionRadius is used to find pixel correspondences for Adjust Colors optimization. Noise Filtering Ratio is used to remove polygon clusters smaller than this ratio of the largest cluster during Noise Filtering optimization.</string>
+			<key>Title</key>
+			<string>Optimization</string>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+		</dict>
+		<dict>
+			<key>DefaultValue</key>
+			<real>0.02</real>
+			<key>Key</key>
+			<string>ColorCorrectionRadius</string>
+			<key>Title</key>
+			<string>Color Correction Radius</string>
+			<key>Titles</key>
+			<array>
+				<string>30 cm</string>
+				<string>20 cm</string>
+				<string>10 cm</string>
+				<string>5 cm</string>
+				<string>2.5 cm</string>
+				<string>2 cm</string>
+				<string>1.5 cm</string>
+				<string>1 cm</string>
+			</array>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Values</key>
+			<array>
+				<real>0.29999999999999999</real>
+				<real>0.20000000000000001</real>
+				<real>0.10000000000000001</real>
+				<real>0.050000000000000003</real>
+				<real>0.025000000000000001</real>
+				<real>0.02</real>
+				<real>0.014999999999999999</real>
+				<real>0.01</real>
+			</array>
+		</dict>
+		<dict>
+			<key>DefaultValue</key>
+			<real>0.050000000000000003</real>
+			<key>Key</key>
+			<string>NoiseFilteringRatio</string>
+			<key>Title</key>
+			<string>Noise Filtering Ratio</string>
+			<key>Titles</key>
+			<array>
+				<string>Keep Largest Only</string>
+				<string>0.9</string>
+				<string>0.8</string>
+				<string>0.7</string>
+				<string>0.6</string>
+				<string>0.5</string>
+				<string>0.4</string>
+				<string>0.3</string>
+				<string>0.2</string>
+				<string>0.1</string>
+				<string>0.05</string>
+				<string>0.01</string>
+			</array>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Values</key>
+			<array>
+				<real>1</real>
+				<real>0.90000000000000002</real>
+				<real>0.80000000000000004</real>
+				<real>0.69999999999999996</real>
+				<real>0.59999999999999998</real>
+				<real>0.5</real>
+				<real>0.40000000000000002</real>
+				<real>0.29999999999999999</real>
+				<real>0.20000000000000001</real>
+				<real>0.10000000000000001</real>
+				<real>0.050000000000000003</real>
+				<real>0.01</real>
+			</array>
+		</dict>
+		<dict>
+			<key>FooterText</key>
+			<string>Copyright (c) 2010-2021, Mathieu Labbe - IntRoLab - Université de Sherbrooke. All rights reserved.</string>
+			<key>Title</key>
+			<string>About</string>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+		</dict>
+		<dict>
+			<key>DefaultValue</key>
+			<string>0.20.11</string>
+			<key>Key</key>
+			<string>Version</string>
+			<key>Title</key>
+			<string>Version</string>
+			<key>Type</key>
+			<string>PSTitleValueSpecifier</string>
+		</dict>
+		<dict>
+			<key>File</key>
+			<string>License</string>
+			<key>Key</key>
+			<string></string>
+			<key>Title</key>
+			<string>License</string>
+			<key>Type</key>
+			<string>PSChildPaneSpecifier</string>
+		</dict>
+	</array>
+	<key>StringsTable</key>
+	<string>Root</string>
+</dict>
+</plist>