Disabled grid_map dep for humble (#1450

)

.appveyor.yml

@@ -0,0 +1,152 @@
+
+branches:
+  only:
+    - master
+    - devel
+
+os: Visual Studio 2015
+
+clone_folder: c:\projects\rtabmap
+
+platform: x64
+configuration: Release
+
+init:
+  - cmake --version
+  - call "C:\Program Files\Microsoft SDKs\Windows\v7.1\Bin\SetEnv.cmd" /x64
+  - call "C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" x86_amd64
+
+install:
+  # To download from google drive
+  - set PATH=C:\Python38-x64;C:\Python38-x64\Scripts;%PATH%
+  - ps: py -m pip --disable-pip-version-check install gdown>=5.1.0 
+  # Qt
+  - set QTDIR=C:\Qt\5.10.1\msvc2015_64
+  # make sure Qt bin path is before cmake bin path to avoid copying qt5 dlls from cmake before qt installation
+  - set PATH=%QTDIR%\bin;%PATH%
+  # Boost
+  - set PATH=%PATH%;C:\Libraries\boost_1_62_0\lib64-msvc-14.0
+  # Openni2
+  - ps: wget 'https://dl.dropboxusercontent.com/s/d98jv79l6oy9fxz/OpenNI2.exe?dl=0' -outfile OpenNI2.exe
+  - cmd: OpenNI2.exe -o"C:\Program Files" -y
+  - ECHO "Installed OpenNI2:"
+  - ps: "ls \"C:/Program Files/OpenNI2\""
+  - set PATH=%PATH%;C:\Program Files\OpenNI2\Redist
+  - set OPENNI2_INCLUDE64=C:\Program Files\OpenNI2\Include
+  - set OPENNI2_LIB64=C:\Program Files\OpenNI2\Lib
+  - set OPENNI2_REDIST64=C:\Program Files\OpenNI2\Redist
+  # OpenCV
+  #- appveyor-retry appveyor DownloadFile http://downloads.sourceforge.net/project/opencvlibrary/4.5.2/opencv-4.5.2-vc14_vc15.exe
+  #- cmd: opencv-4.5.2-vc14_vc15.exe -o"C:\Program Files" -y
+  #- ECHO "Installed OpenCV:"
+  #- ps: "ls \"C:/Program Files/opencv/build\""
+  #- set PATH=%PATH%;C:\Program Files\opencv\build\x64\vc14\bin
+  - ps: wget 'https://dl.dropboxusercontent.com/s/o6ofn491bc0jso1/opencv450_vc14.exe?dl=0' -outfile opencv.exe
+  - cmd: opencv.exe -o"C:\Program Files" -y
+  - ECHO "Installed OpenCV:"
+  - ps: "ls \"C:/Program Files/opencv\""
+  - set PATH=%PATH%;C:\Program Files\opencv\x64\vc14\bin
+  # VTK (including QVTK)
+  - ps: wget 'https://dl.dropboxusercontent.com/s/1l33b5l3f3y52gf/VTK-6_3-msvc140.exe?dl=0' -outfile VTK-6_3.exe
+  - cmd: VTK-6_3.exe -o"C:\Program Files" -y
+  - ECHO "Installed VTK:"
+  - ps: "ls \"C:/Program Files/VTK\""
+  - set PATH=%PATH%;C:\Program Files\VTK\bin
+  # QHull 
+  - ps: wget 'https://dl.dropboxusercontent.com/s/9widnk9msdsh2b8/Qhull-msvc140.exe?dl=0' -outfile Qhull.exe
+  - cmd: Qhull.exe -o"C:\Program Files" -y
+  - ECHO "Installed QHull:"
+  - ps: "ls \"C:/Program Files/Qhull\""
+  - set PATH=%PATH%;C:\Program Files\Qhull\bin
+  # FLANN 
+  - ps: wget 'https://dl.dropboxusercontent.com/s/7k58jbmqa51sxmh/FLANN-msvc140.exe?dl=0' -outfile FLANN.exe
+  - cmd: FLANN.exe -o"C:\Program Files" -y
+  - ECHO "Installed FLANN:"
+  - ps: "ls \"C:/Program Files/FLANN\""
+  - set PATH=%PATH%;C:\Program Files\FLANN\bin
+  # Eigen 
+  - ps: wget 'https://dl.dropboxusercontent.com/s/3v6i9i8dxj4o8ji/Eigen.exe?dl=0' -outfile Eigen.exe
+  - cmd: Eigen.exe -o"C:\Program Files" -y
+  - ECHO "Installed Eigen:"
+  - ps: "ls \"C:/Program Files/Eigen\""
+  # PCL
+  - ps: wget 'https://dl.dropboxusercontent.com/s/2iayr4lyqa50i9j/PCL_181_August2018_x64_vc14.exe?dl=0' -outfile PCL_1.8.1.exe
+  - cmd: PCL_1.8.1.exe -o"C:\Program Files" -y
+  - ECHO "Installed PCL:"
+  - ps: "ls \"C:/Program Files/PCL\""
+  - set PATH=%PATH%;C:\Program Files\PCL\bin
+  # zlib
+  - ps: gdown -q 0B46akLGdg-uaYm9MTTI4MUtUcmc
+  - ps: Expand-Archive zlib-1.2.8-vc2010-x64.zip -DestinationPath 'C:\Program Files'
+  - ECHO "Installed zlib:"
+  - ps: "ls \"C:/Program Files/zlib\""
+  - set PATH=%PATH%;C:\Program Files\zlib\bin
+  # g2o
+  - ps: wget 'https://dl.dropboxusercontent.com/s/ht74s5pa21wokzw/g2o.exe?dl=0' -outfile g2o.exe
+  - cmd: g2o.exe -o"C:\Program Files" -y
+  - ECHO "Installed g2o:"
+  - ps: "ls \"C:/Program Files/g2o\""
+  - set PATH=%PATH%;C:\Program Files\g2o\bin
+  # GTSAM
+  - ps: wget 'https://dl.dropboxusercontent.com/s/0fpr6r4cgsqmvhf/GTSAM-4_0_0_alpha2-msvc140.exe?dl=0' -outfile GTSAM.exe
+  - cmd: GTSAM.exe -o"C:\Program Files" -y
+  - ECHO "Installed GTSAM:"
+  - ps: "ls \"C:/Program Files/GTSAM\""
+  - set PATH=%PATH%;C:\Program Files\GTSAM\bin
+  # OctoMap
+  - ps: wget 'https://dl.dropboxusercontent.com/s/6jpxu0nm8ne6e54/octomap_x64_vc14.exe?dl=0' -outfile octomap.exe
+  - cmd: octomap.exe -o"C:\Program Files" -y
+  - ECHO "Installed OctoMap:"
+  - ps: "ls \"C:/Program Files/octomap-distribution\""
+  - set PATH=%PATH%;C:\Program Files\octomap-distribution\bin
+  # CPU-TSDF
+  - ps: wget 'https://dl.dropboxusercontent.com/s/mgges9va1uzxr0q/cpu_tsdf_sept2015_x64_vc14.exe?dl=0' -outfile cpu_tsdf.exe
+  - cmd: cpu_tsdf.exe -o"C:\Program Files" -y
+  - ECHO "Installed CPU-TSDF:"
+  - ps: "ls \"C:/Program Files/cpu_tsdf\""
+  - set PATH=%PATH%;C:\Program Files\cpu_tsdf\bin
+  # Open Chisel
+  - ps: wget 'https://dl.dropboxusercontent.com/s/0aaphcde4acrinm/open_chisel_x64_vc14.exe?dl=0' -outfile open_chisel.exe
+  - cmd: open_chisel.exe -o"C:\Program Files" -y
+  - ECHO "Installed Open Chisel:"
+  - ps: "ls \"C:/Program Files/open_chisel\""
+  - set PATH=%PATH%;C:\Program Files\open_chisel\bin
+  # yaml-cpp
+  - ps: wget 'https://dl.dropboxusercontent.com/s/22qfvftwj6zq8tj/yaml-cpp_x64_vc14.exe?dl=0' -outfile yaml-cpp.exe
+  - cmd: yaml-cpp.exe -o"C:\Program Files" -y
+  - ECHO "Installed yaml-cpp:"
+  - ps: "ls \"C:/Program Files/yaml-cpp\""
+  # RealSense2
+  - ps: wget 'https://github.com/IntelRealSense/librealsense/releases/download/v2.40.0/Intel.RealSense.SDK-WIN10-2.40.0.2482.exe' -outfile realsense2.exe
+  - cmd: realsense2.exe /VERYSILENT
+  - ECHO "Installed RealSense2:"
+  - ps: "ls \"C:/Program Files (x86)/Intel RealSense SDK 2.0\""
+  - set PATH=%PATH%;C:\Program Files (x86)\Intel RealSense SDK 2.0\bin\x64
+  - set RealSense2_ROOT_DIR=C:\Program Files (x86)\Intel RealSense SDK 2.0
+  # Kinect 4 Azure
+  - ps: wget 'https://download.microsoft.com/download/3/d/6/3d6d9e99-a251-4cf3-8c6a-8e108e960b4b/Azure%20Kinect%20SDK%201.4.1.exe' -outfile azure.exe
+  - cmd: azure.exe /quiet
+  - ECHO "Installed Kinect For Azure:"
+  - ps: "ls \"C:/Program Files/Azure Kinect SDK v1.4.1\""
+  - set PATH=%PATH%;C:\Program Files\Azure Kinect SDK v1.4.1\tools
+  - set K4A_ROOT_DIR=C:\Program Files\Azure Kinect SDK v1.4.1
+  
+before_build:
+  - cd c:\projects\rtabmap\build
+  - ECHO %PROGRAMFILES%
+  - ECHO %PATH%
+  - cmake -G "Visual Studio 14 2015 Win64" -DOpenCV_DIR="C:\Program Files\opencv\build" -DPCL_DIR="C:\Program Files\PCL\cmake" -DCPUTSDF_DIR="C:\Program Files\cpu_tsdf\share\cpu_tsdf" -Dyaml-cpp_DIR="C:\Program Files\yaml-cpp\CMake" -DBUILD_AS_BUNDLE=ON ..
+  
+after_build :
+  - cmake --build . --config Release --target package
+
+artifacts:
+  - path: build\RTABMap-*
+  
+notifications:
+  - provider: Email
+    to:
+      - matlabbe@gmail.com
+    on_build_success: false
+    on_build_failure: false
+    on_build_status_changed: true

.devcontainer/android/devcontainer.json

@@ -0,0 +1,9 @@
+{
+    "image": "introlab3it/rtabmap:android-deps",
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools", "vscjava.vscode-java-pack"]
+        }
+      },
+    "runArgs": ["--privileged", "--network=host"]
+}

.devcontainer/bionic/devcontainer.json

@@ -0,0 +1,8 @@
+{
+    "image": "introlab3it/rtabmap:18.04",
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
+        }
+      }
+}

.devcontainer/focal/devcontainer.json

@@ -0,0 +1,8 @@
+{
+    "image": "introlab3it/rtabmap:20.04",
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
+        }
+      }
+}

.devcontainer/jammy/devcontainer.json

@@ -0,0 +1,8 @@
+{
+    "image": "introlab3it/rtabmap:22.04",
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
+        }
+      }
+}

.devcontainer/noble/devcontainer.json

@@ -0,0 +1,8 @@
+{
+    "image": "introlab3it/rtabmap:24.04",
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
+        }
+      }
+}

.dockerignore

@@ -0,0 +1,2 @@
+build/*
+build_*

.github/workflows/cmake-ros.yml

@@ -0,0 +1,57 @@
+name: CMake-ROS
+
+on:
+  push:
+    branches: 
+      - humble-devel
+  pull_request:
+    branches: 
+      - '**'
+
+env:
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    # The CMake configure and build commands are platform agnostic and should work equally
+    # well on Windows or Mac.  You can convert this to a matrix build if you need
+    # cross-platform coverage.
+    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
+    name: Build on ros ${{ matrix.ros_distribution }} and ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distribution: [ humble ]
+        include:
+        - ros_distribution: 'humble'
+          os: ubuntu-22.04
+
+    steps:   
+    - uses: ros-tooling/setup-ros@v0.7
+      with:
+        required-ros-distributions: ${{ matrix.ros_distribution }}
+    
+    - uses: actions/checkout@v4
+
+    - name: Install dependencies
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        rosdep update
+        rosdep install --from-paths ${{github.workspace}} -y
+
+    - name: Configure CMake
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+
+    - name: Build
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Info
+      working-directory: ${{github.workspace}}/build/bin
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        ./rtabmap-console --version
+      

.github/workflows/cmake.yml

@@ -0,0 +1,49 @@
+name: CMake
+
+on:
+  push:
+    branches: 
+      - master
+  pull_request:
+    branches: 
+      - '**'
+
+env:
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    name: ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-24.04, ubuntu-22.04, ubuntu-20.04]
+
+    steps:    
+    - name: Install dependencies
+      run: |
+        DEBIAN_FRONTEND=noninteractive
+        sudo apt-get update
+        sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev
+
+    - uses: actions/checkout@v4
+
+    - name: Configure CMake
+      run: |
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+
+    - name: Build
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Info
+      working-directory: ${{github.workspace}}/build/bin
+      run: |
+        ./rtabmap-console --version
+
+#    - name: Test
+#      working-directory: ${{github.workspace}}/build
+#      # Execute tests defined by the CMake configuration.  
+#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+#      run: ctest -C ${{env.BUILD_TYPE}}
+      

.github/workflows/docker.yml

@@ -0,0 +1,200 @@
+name: docker
+
+on:
+  push:
+    branches:
+      - 'master'
+
+jobs:
+  docker_deps:
+    runs-on: ubuntu-latest
+    
+    strategy:
+      fail-fast: false
+      matrix:
+        docker_tag: [focal-deps, jammy-deps, jammy-iron-deps, noble-deps]
+        include:
+        - docker_tag: focal-deps
+          docker_tags: |
+            introlab3it/rtabmap:focal-deps
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+            linux/arm/v7
+          docker_path: 'focal/deps'
+        - docker_tag: jammy-deps
+          docker_tags: |
+            introlab3it/rtabmap:jammy-deps
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'jammy/deps'
+        - docker_tag: jammy-iron-deps
+          docker_tags: |
+            introlab3it/rtabmap:jammy-iron-deps
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'jammy-iron/deps'
+        - docker_tag: noble-deps
+          docker_tags: |
+            introlab3it/rtabmap:noble-deps
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'noble/deps'
+    
+    steps:
+      -
+        name: Checkout
+        uses: actions/checkout@v2
+      - 
+        name: Set up QEMU
+        uses: docker/setup-qemu-action@v1
+        with:
+          platforms: all
+      -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v1
+      -
+        name: Login to DockerHub
+        uses: docker/login-action@v1
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+      -
+        name: Build and push
+        uses: docker/build-push-action@v2
+        with:
+          context: .
+          push: true
+          platforms: ${{ matrix.docker_platforms }}
+          file: ./docker/${{ matrix.docker_path }}/Dockerfile
+          tags: ${{ matrix.docker_tags }}
+          cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_tag }}
+          cache-to: type=inline
+  
+  docker:
+    needs: docker_deps
+    runs-on: ubuntu-latest
+    
+    strategy:
+      fail-fast: false
+      matrix:
+        docker_tag: [bionic, focal, jammy, jammy-iron, noble, android23, android24, android26, android30]
+        include:
+        - docker_tag: bionic
+          docker_tags: |
+            introlab3it/rtabmap:bionic
+            introlab3it/rtabmap:18.04
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'bionic'
+        - docker_tag: focal
+          docker_tags: |
+            introlab3it/rtabmap:focal
+            introlab3it/rtabmap:20.04
+            introlab3it/rtabmap:latest
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+            linux/arm/v7
+          docker_path: 'focal'
+        - docker_tag: jammy
+          docker_tags: |
+            introlab3it/rtabmap:jammy
+            introlab3it/rtabmap:22.04
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'jammy'
+        - docker_tag: jammy-iron
+          docker_tags: |
+            introlab3it/rtabmap:jammy-iron
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'jammy-iron'
+        - docker_tag: noble
+          docker_tags: |
+            introlab3it/rtabmap:noble
+            introlab3it/rtabmap:24.04
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'noble'
+        - docker_tag: android23
+          docker_tags: |
+            introlab3it/rtabmap:android23
+            introlab3it/rtabmap:tango
+          docker_args: |
+            API_VERSION=23
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'bionic/android/rtabmap_apiXX'
+        - docker_tag: android24
+          docker_tags: |
+            introlab3it/rtabmap:android24
+          docker_args: |
+            API_VERSION=24
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'bionic/android/rtabmap_apiXX'
+        - docker_tag: android26
+          docker_tags: |
+            introlab3it/rtabmap:android26
+          docker_args: |
+            API_VERSION=26
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'bionic/android/rtabmap_apiXX'
+        - docker_tag: android30
+          docker_tags: |
+            introlab3it/rtabmap:android30
+          docker_args: |
+            API_VERSION=30
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'bionic/android/rtabmap_apiXX'
+    
+    steps:
+      -
+        name: Checkout
+        uses: actions/checkout@v2
+      - 
+        name: Set up QEMU
+        uses: docker/setup-qemu-action@v1
+        with:
+          platforms: all
+      -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v1
+      -
+        name: Login to DockerHub
+        uses: docker/login-action@v1
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+      -
+        name: Build and push
+        uses: docker/build-push-action@v2
+        with:
+          context: .
+          push: true
+          platforms: ${{ matrix.docker_platforms }}
+          file: ./docker/${{ matrix.docker_path }}/Dockerfile
+          build-args: |
+            ${{ matrix.docker_args }}
+          tags: ${{ matrix.docker_tags }}
+          cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_tag }}
+          cache-to: type=inline
+

.github/workflows/scheduled-stats.yml

@@ -0,0 +1,16 @@
+name: RTAB-Map Scheduled Stats Extraction From GitHub
+
+on:
+    workflow_dispatch:
+    schedule:
+        - cron: '0 5 * * *'
+jobs:
+    get_stats:
+        runs-on: ubuntu-latest
+        steps:
+            - name: Update Stats
+              uses: introlab/github-stats-action@v1
+              with:
+                  github-stats-token: ${{ secrets.STATS_TOKEN }}
+                  google-application-credentials: ${{ secrets.GOOGLE_APPLICATION_CREDENTIALS }}
+                  spreadsheet-id: ${{ secrets.SPREADSHEET_ID }}

.gitignore

@@ -0,0 +1,14 @@
+/lib
+.DS_Store
+.settings/language.settings.xml
+.idea/
+.vscode
+cmake-build-debug/
+app/android/.classpath
+app/android/.project
+app/android/AndroidManifest.xml
+app/android/res/raw/
+compile_flags.txt
+tags
+build_*
+*.bak

LICENSE

@@ -1,5 +1,6 @@
-Copyright (c) 2010-2015, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
-All rights reserved.
+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:
@@ -11,7 +12,7 @@ modification, are permitted provided that the following conditions are met:
   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.
 
-* Neither the name of the Universite de Sherbrooke nor the names of its
+* 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.
 
@@ -24,4 +25,4 @@ 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.
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Matlab/DumpMemorySign.txt

@@ -1,86 +0,0 @@
-SignatureID WordsID...
--1 4 5 21 22 24 31 32 33 35 46 48 49 58 60 63 72 73 78 83 84 103 105 114 120 124 133 136 141 162 179 182 188 189 202 204 211 217 218 227 232 241 247 249 260 268 271 287 289 301 304 318 320 324 338 340 345 346 349 358 366 368 370 371 381 395 407 408 414 415 416 424 439 442 447 502 504 508 509 527 539 540 550 553 558 568 572 583 588 598 606 617 624 625 638 652 653 667 674 693 694 699 702 738 755 770 782 784 793 816 818 819 832 836 842 846 847 858 867 868 923 939 954 955 965 987 1027 1030 1034 1083 1087 1097 1098 1177 1187 1199 1200 1214 1241 1258 1259 1270 1303 1339 1351 1388 1451 1501 1515 1526 1630 1679 1680 1771 1841 1868 2014 2243 2400 2494 2591 2957 3075 3079 3194 
-1 1 2 2 3 4 4 4 5 6 7 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 24 24 25 26 27 28 29 30 31 31 32 33 34 34 35 35 36 37 38 39 40 41 42 43 44 44 45 46 47 48 49 49 50 51 52 53 53 54 55 56 57 58 59 59 60 60 60 61 62 63 64 65 66 67 68 69 70 70 71 72 73 74 75 76 77 78 79 80 81 82 83 83 83 84 85 86 86 87 88 89 90 91 92 93 94 95 96 97 98 99 99 100 101 102 103 104 
-2 4 4 4 4 4 4 5 7 7 7 12 14 18 19 21 22 26 28 29 29 31 32 33 35 37 48 49 49 51 51 53 54 55 56 56 57 58 58 59 60 60 60 63 65 66 67 70 73 75 77 77 77 78 78 82 84 84 84 84 92 94 94 96 96 99 103 105 105 106 107 108 109 110 111 112 113 114 115 116 116 117 118 118 119 120 120 121 122 123 124 125 126 127 128 129 130 131 132 133 133 133 134 135 136 137 138 139 140 141 141 142 143 144 145 146 147 148 149 150 151 151 152 152 153 154 155 156 156 157 158 159 160 161 161 162 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 189 189 190 191 192 193 194 195 196 197 198 199 200 201 202 202 203 204 204 205 
-3 4 4 5 12 12 19 21 22 23 28 28 29 32 32 33 33 44 46 48 48 49 52 53 55 56 58 59 60 60 65 65 67 71 72 72 73 78 84 96 96 97 103 105 105 123 124 124 133 136 136 136 139 139 141 141 141 142 143 144 148 162 167 167 182 188 189 189 202 206 207 208 209 210 210 211 212 213 214 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 247 248 249 249 250 251 252 253 254 255 255 256 257 258 259 260 261 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 287 288 289 290 291 292 293 294 295 296 296 297 298 298 299 300 301 302 303 303 304 305 306 306 307 307 308 309 310 311 
-4 4 5 18 21 21 22 24 24 32 33 35 42 44 46 46 46 46 49 65 67 68 68 70 70 72 72 72 83 84 95 96 96 103 120 130 135 136 136 136 136 139 142 143 143 153 156 162 177 179 179 182 189 189 189 189 189 189 202 202 204 217 217 218 218 227 227 228 228 230 230 232 246 247 249 249 255 268 271 271 275 276 276 284 287 290 312 313 314 315 316 317 318 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 338 339 340 341 342 343 344 345 346 347 348 349 349 350 351 352 352 353 354 354 355 356 357 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 408 409 410 411 412 413 
-5 4 5 24 25 31 32 33 42 45 45 48 48 67 70 84 105 114 120 120 120 130 133 179 189 202 202 217 217 217 217 217 217 217 217 232 268 270 271 318 324 338 345 346 349 349 354 355 356 362 366 366 407 414 414 415 416 417 418 418 419 420 421 422 423 423 424 424 425 425 426 427 428 429 429 430 431 432 433 433 434 435 436 436 437 438 439 439 440 441 442 443 444 445 446 447 448 449 450 451 451 452 453 454 455 456 457 458 459 460 
-6 4 4 4 4 21 22 24 24 25 31 31 31 31 31 31 32 33 45 48 64 64 72 72 72 84 95 105 114 114 114 120 122 130 136 156 189 189 189 189 189 189 202 202 208 213 217 217 217 227 232 243 271 280 287 312 320 320 320 324 324 340 345 345 358 366 366 366 366 407 414 416 416 416 416 421 423 424 426 436 439 439 439 439 439 439 442 447 457 457 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 497 498 498 499 499 500 501 501 502 502 503 504 504 505 505 506 507 508 509 510 511 512 513 514 515 516 517 518 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 536 537 537 538 539 540 541 542 543 544 545 546 547 548 549 550 550 551 552 553 554 555 556 557 558 559 
-7 30 31 31 31 31 32 32 32 33 33 39 46 48 53 58 58 58 78 78 182 188 218 228 236 249 304 318 318 318 318 346 358 366 368 368 408 410 414 429 431 447 447 453 453 473 499 508 527 539 550 550 553 560 561 562 563 564 565 565 566 567 568 569 570 571 572 572 573 574 575 576 577 578 578 579 580 581 582 582 583 584 585 586 587 588 588 589 590 590 591 592 593 594 595 596 597 598 599 600 601 602 603 603 604 605 606 607 607 608 609 610 611 612 613 614 614 615 616 617 617 618 619 620 621 621 622 623 624 625 625 626 627 628 629 630 631 632 632 633 634 635 636 637 638 638 639 640 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 654 655 656 657 658 658 659 660 661 661 662 663 664 665 666 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 
-8 24 31 31 32 33 33 33 58 78 84 217 217 237 312 312 338 338 338 340 366 366 366 442 453 453 508 519 519 527 539 565 565 566 567 568 568 568 573 575 578 581 583 588 588 590 592 597 597 598 599 603 606 611 612 613 624 626 634 638 638 647 649 652 652 652 660 663 664 684 685 686 687 688 689 690 691 692 693 694 695 696 697 697 698 699 699 700 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 729 730 731 732 733 734 735 736 737 
-9 4 4 4 30 31 31 33 64 72 78 84 84 84 207 217 217 217 217 217 217 217 217 217 217 217 217 237 253 257 260 271 271 271 304 318 346 366 417 442 480 503 508 519 539 550 553 553 566 578 581 583 588 590 590 594 606 607 610 612 617 621 625 634 634 638 638 638 652 653 654 657 660 664 664 688 690 691 696 697 702 702 706 706 706 708 708 711 715 723 730 732 738 739 740 741 742 743 744 745 746 747 748 749 750 751 752 753 754 755 756 757 758 759 760 761 762 762 763 764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789 790 791 792 793 793 794 795 796 797 798 799 800 801 802 803 804 804 805 806 806 807 808 809 810 811 
-10 4 4 4 4 4 5 21 31 31 31 32 32 32 32 53 58 58 72 72 72 72 84 178 178 189 189 202 202 207 207 217 217 217 217 218 249 249 289 320 320 368 370 384 395 407 499 502 502 504 508 522 522 523 527 536 539 548 550 550 553 553 558 558 558 563 574 583 583 588 590 602 602 608 608 624 626 638 644 646 654 664 684 693 704 706 710 711 715 750 754 755 770 770 770 774 780 780 782 782 801 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 887 888 889 890 891 891 892 893 893 894 895 896 897 898 898 899 900 901 902 903 904 
-11 4 4 4 32 58 58 58 63 78 114 114 120 120 189 189 189 207 217 223 223 236 243 249 249 318 338 345 345 345 346 349 431 442 502 502 504 504 509 522 527 558 568 568 573 585 588 588 590 590 591 592 594 598 598 598 602 619 619 625 644 652 664 669 678 691 697 697 702 770 770 786 794 812 812 817 817 818 818 819 824 826 832 834 839 843 846 851 853 856 856 859 860 862 865 866 872 880 905 906 907 908 909 910 911 912 912 913 914 915 916 917 918 919 920 921 922 923 924 925 926 927 928 929 930 931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 951 952 
-12 4 5 24 24 24 31 32 32 32 32 32 33 33 33 46 63 72 78 120 120 120 124 136 136 162 182 189 189 217 217 217 237 237 249 249 249 249 253 271 370 370 370 395 415 416 502 502 502 502 502 514 531 536 540 540 540 540 553 553 558 568 580 585 588 606 625 638 653 664 684 693 693 699 702 714 726 731 755 755 755 755 755 770 786 793 793 794 794 810 810 818 824 832 834 836 842 846 846 851 883 883 883 883 893 898 898 901 916 916 922 923 929 931 932 935 939 941 943 953 954 955 956 957 958 958 958 959 959 960 961 962 963 964 965 966 967 968 969 970 971 972 973 974 975 976 977 978 979 980 981 982 983 984 985 986 987 988 989 990 991 992 993 994 995 996 997 998 999 1000 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1013 1014 1015 
-13 4 4 4 4 4 4 4 4 24 32 32 35 63 78 83 83 84 84 105 105 114 120 165 188 188 189 204 210 211 223 227 237 247 247 249 249 249 249 249 260 260 289 289 317 325 338 384 405 414 432 439 439 447 463 502 502 502 502 502 502 502 504 509 540 544 544 550 558 568 568 588 593 604 606 606 606 607 617 625 634 653 653 693 712 750 754 755 782 786 794 804 805 810 812 818 836 836 845 846 846 846 847 849 852 868 893 896 915 918 939 943 955 958 965 965 965 974 974 979 986 989 989 997 1000 1002 1016 1017 1018 1019 1019 1020 1021 1022 1023 1024 1025 1026 1027 1028 1029 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1054 1054 1055 1056 1057 1058 1059 1060 1061 1062 1063 1064 1065 1065 1066 1067 1068 1069 1070 1071 1072 1073 1074 1075 1076 1077 1078 1079 1080 1081 1082 1083 1084 1085 1086 
-14 4 4 11 31 31 32 32 32 32 32 33 33 46 46 48 72 72 72 72 72 78 83 95 105 120 120 120 120 120 133 193 210 210 211 211 213 217 217 217 217 218 221 237 249 270 304 320 320 324 325 326 346 349 349 356 405 405 407 424 431 431 439 442 502 502 502 502 527 537 543 544 553 553 558 572 574 579 585 588 588 598 617 625 644 662 674 693 699 742 749 751 755 755 782 836 836 842 842 842 846 851 856 858 867 916 925 943 958 961 1001 1001 1001 1032 1035 1035 1052 1060 1082 1085 1087 1088 1089 1090 1091 1092 1093 1093 1094 1095 1096 1097 1098 1098 1098 1099 1100 1101 1102 1103 1104 1105 1106 1107 1107 1107 1108 1109 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119 1120 1121 1122 1123 1124 1125 1126 1127 1128 1129 1130 1130 1131 1132 1133 1134 1135 1136 1137 1138 1139 1140 1140 1141 1142 1143 1144 1145 1146 
-15 4 4 7 32 32 32 72 72 72 83 83 84 114 114 120 120 120 120 124 147 162 202 202 218 218 218 228 249 289 298 304 320 320 320 320 324 345 366 366 370 407 412 415 424 439 500 500 502 514 522 546 546 583 585 588 644 644 653 662 668 674 684 702 706 706 782 782 793 793 794 824 836 836 847 867 883 883 901 916 955 959 965 989 1003 1022 1027 1028 1030 1034 1034 1039 1060 1087 1087 1097 1099 1099 1103 1109 1114 1114 1120 1133 1140 1147 1148 1149 1150 1151 1152 1153 1154 1155 1156 1157 1158 1159 1160 1161 1162 1163 1164 1164 1165 1166 1167 1168 1169 1170 1171 1171 1172 1173 1174 1175 1175 1176 1177 1177 1177 1178 1179 1180 1181 1182 1183 1184 1185 1186 1187 1188 1189 1190 1191 1192 1193 1194 1195 1196 1197 1198 1199 1200 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 1212 1213 
-16 4 4 32 33 114 120 370 370 381 439 506 522 527 527 568 588 598 606 606 606 622 653 693 702 706 836 867 901 916 959 964 1019 1025 1097 1097 1177 1177 1177 1192 1193 1193 1202 1213 1214 1215 1216 1217 1218 1219 1220 1221 1222 1223 1224 1225 1226 1227 1228 1229 1230 1231 1232 1233 1234 
-17 2 2 4 4 4 4 4 4 4 4 4 24 24 31 31 31 31 31 45 45 68 72 72 72 73 84 182 189 189 189 202 211 211 217 217 217 217 217 217 218 218 218 218 218 271 271 271 276 346 370 370 370 370 370 370 403 415 416 527 539 539 539 550 550 550 553 553 553 553 553 553 553 558 558 558 558 558 558 558 568 568 568 606 606 607 674 674 702 738 755 769 782 782 782 787 847 858 858 858 858 867 954 955 965 1087 1087 1087 1087 1087 1087 1087 1087 1087 1087 1087 1098 1149 1219 1223 1226 1233 1235 1236 1236 1236 1237 1238 1239 1240 1241 1241 1242 1243 1244 1245 1246 1247 1248 1249 1250 1251 1252 1253 1254 1255 1256 1257 1258 1259 1260 1261 1262 1263 1264 1265 1266 1267 1268 1269 1270 1271 1272 1273 1274 1275 
-18 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 22 22 24 24 31 31 33 45 46 46 68 72 72 84 133 133 133 136 179 189 189 189 189 189 189 189 189 202 202 202 207 207 211 211 217 218 218 218 227 268 271 271 289 370 370 370 370 370 370 370 370 370 415 416 416 429 463 504 504 504 510 539 539 550 550 550 553 553 553 553 553 553 553 553 558 558 558 558 558 558 558 558 559 568 568 568 568 588 588 607 607 755 755 755 755 755 782 782 782 908 919 919 954 954 954 954 954 954 954 954 954 954 954 954 955 1087 1087 1087 1087 1087 1087 1087 1087 1087 1149 1149 1155 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1250 1258 1258 1259 1267 1276 1277 1278 1279 1280 1281 1282 1283 1284 1285 1286 1287 1288 1289 1290 1291 1292 1293 1294 1295 1296 1297 1298 1299 1300 1301 1302 1303 
-19 
-20 35 46 58 58 72 73 98 105 117 120 120 133 133 133 136 141 141 156 162 182 202 204 204 209 213 260 270 289 318 337 340 358 372 373 405 496 508 540 553 553 568 583 592 653 684 699 713 738 784 786 845 858 858 867 874 885 893 1029 1034 1061 1098 1098 1098 1111 1133 1155 1187 1187 1214 1219 1228 1283 1304 1305 1306 1306 1307 1308 1309 1310 1311 1312 1313 1314 1315 1316 1317 1318 1319 1319 1320 1321 1322 1323 1323 1324 1324 1325 1326 1327 1328 1329 1330 1331 1332 1333 1334 1335 1335 1336 1337 1338 1339 1340 1341 1342 1343 1344 1345 1346 1347 1348 1349 1350 1351 1352 1353 1354 1355 1356 1357 1358 1359 1360 1361 1362 1363 1364 1365 1366 1366 1367 1368 1369 1369 1370 1371 1372 1373 1374 1375 1376 1377 1378 1379 1380 1381 1382 1383 1384 1385 1386 1387 1388 1388 1389 1390 1391 1391 1392 1393 1394 1395 1396 1397 1398 1399 1400 1401 1402 1403 1404 1405 1406 1407 1408 1409 1410 1411 1412 1413 1414 1415 1416 1417 1418 1419 1420 1421 1422 
-21 33 45 48 48 56 133 162 165 204 270 325 338 340 340 366 370 370 371 433 434 553 558 572 572 572 583 583 784 806 842 845 847 852 925 979 1083 1177 1181 1187 1219 1256 1256 1290 1307 1331 1333 1339 1342 1342 1345 1352 1358 1367 1369 1378 1379 1381 1392 1392 1410 1423 1424 1425 1426 1427 1428 1429 1430 1431 1432 1433 1434 1435 1436 1437 1438 1439 1440 1440 1441 1441 1442 1443 1444 1445 1446 1447 1448 1449 1450 1451 1452 1453 1454 1455 1456 1457 1458 1459 1460 1461 1462 1463 1464 1465 1466 1467 1468 1469 1470 1471 1472 1473 1474 1475 1475 1476 
-22 4 4 4 4 4 4 4 4 21 22 32 53 67 73 95 133 133 133 133 179 182 211 217 217 218 218 219 287 310 366 414 496 502 502 502 504 527 527 539 544 550 553 572 572 622 699 706 784 793 836 842 845 845 852 867 867 867 958 965 974 980 1030 1049 1087 1087 1088 1098 1153 1181 1187 1214 1214 1219 1219 1222 1256 1271 1283 1305 1310 1315 1339 1340 1342 1342 1350 1351 1369 1370 1370 1385 1388 1395 1450 1451 1451 1451 1463 1467 1477 1477 1478 1479 1480 1481 1482 1483 1484 1485 1486 1487 1488 1489 1490 1491 1492 1493 1494 1495 1495 1496 1497 1498 1499 1500 1501 1502 1503 1504 1505 1506 1507 1508 1509 1510 1511 1512 1513 1514 1515 1515 1516 1517 1518 1519 1520 1521 1522 1523 1524 1525 1526 1527 1528 1529 1530 1531 1532 1533 1534 1535 1536 1537 1538 1539 1540 1541 1542 1543 1544 1545 1546 1547 1548 1549 1550 1551 1552 1553 1554 1554 1555 1556 1557 1558 1559 1560 1561 1562 1563 1564 1565 1566 1567 
-23 4 4 4 24 72 72 84 120 120 120 133 136 189 189 210 217 217 217 217 218 236 289 304 320 320 320 320 340 346 347 349 349 508 527 539 550 553 558 563 568 592 618 693 739 782 782 782 816 835 847 867 867 867 867 867 901 923 924 1018 1024 1047 1102 1153 1177 1181 1181 1199 1235 1241 1241 1246 1256 1257 1258 1270 1303 1304 1310 1326 1340 1340 1343 1350 1351 1351 1351 1371 1395 1432 1463 1487 1488 1490 1503 1511 1512 1515 1515 1526 1544 1568 1569 1570 1571 1572 1573 1574 1575 1576 1576 1577 1578 1579 1580 1581 1582 1583 1584 1585 1586 1587 1588 1589 1590 1591 1592 1593 1594 1595 1596 1597 1598 1599 1600 1601 1602 1603 1604 1605 1606 1607 1608 1609 1610 1611 1612 1613 1614 1615 1616 1617 1618 1619 1620 1621 1622 1623 1624 1625 1626 1627 1628 1629 1630 1631 
-24 4 21 31 32 33 72 72 73 133 189 217 218 227 243 285 320 327 338 340 346 346 366 368 368 370 370 370 370 376 416 417 424 424 430 438 504 504 537 550 550 553 558 568 572 606 606 655 684 786 842 867 867 903 903 954 965 1030 1087 1087 1098 1170 1200 1200 1214 1218 1223 1223 1228 1246 1246 1258 1258 1270 1310 1322 1336 1343 1351 1370 1370 1463 1463 1488 1492 1513 1515 1518 1533 1545 1586 1589 1594 1597 1615 1621 1623 1632 1633 1634 1635 1636 1637 1638 1639 1640 1641 1642 1643 1643 1644 1645 1646 1646 1646 1647 1648 1649 1650 1650 1651 1652 1653 1654 1655 1656 1657 1658 1659 1659 1660 1661 1662 1663 1664 1665 1666 1667 1668 1669 1670 1671 1672 1673 1674 1675 1676 1677 1678 1679 1680 1681 1682 1683 1684 1685 1686 1687 1688 1689 1690 
-25 4 4 31 32 72 72 73 73 133 217 217 217 218 271 320 403 539 550 558 702 755 858 858 867 867 903 965 1073 1237 1241 1241 1241 1256 1336 1340 1351 1351 1370 1391 1426 1462 1463 1487 1533 1558 1560 1594 1671 1680 1691 1692 1693 1694 1695 1696 1697 1698 1699 1700 1701 1702 1703 1704 1705 1706 1707 1707 1708 1709 1710 1711 1712 
-26 22 31 32 39 56 58 78 84 105 133 136 141 142 162 182 182 210 219 241 247 249 256 260 318 324 345 358 366 403 416 506 506 509 568 572 572 598 626 642 653 674 674 691 751 793 819 847 868 918 923 923 978 980 987 1039 1082 1119 1155 1182 1199 1203 1206 1303 1345 1368 1368 1388 1388 1392 1398 1406 1415 1441 1477 1521 1521 1557 1575 1630 1646 1651 1704 1713 1714 1715 1716 1717 1718 1719 1719 1720 1721 1722 1723 1724 1725 1726 1726 1727 1728 1729 1730 1731 1732 1733 1734 1735 1736 1737 1738 1739 1740 1741 1742 1743 1744 1745 1746 1747 1748 1748 1749 1750 1751 1752 1753 1754 1755 1756 1756 1757 1758 1759 1760 1761 1762 1763 1764 1765 1765 1766 1767 1767 1768 1769 1770 1771 1771 1771 1772 1773 1774 1775 1776 1777 1778 1779 1780 1781 1782 1783 1784 1785 1786 1787 1788 1789 1790 1791 1792 1793 1794 1795 1796 1797 1798 1799 1800 1801 1802 1803 1804 1805 1806 1807 1808 1809 1810 1810 1811 1812 1813 1814 1815 1816 1817 1818 1819 1820 1821 
-27 32 32 33 35 35 38 58 58 78 78 81 84 89 114 124 124 162 168 182 182 182 202 204 211 211 223 241 249 249 249 259 296 320 320 325 345 346 366 366 366 366 370 395 417 428 433 500 510 527 553 572 598 598 619 626 653 654 675 699 702 702 704 755 805 818 832 842 864 923 955 987 987 987 990 1001 1088 1200 1200 1352 1368 1388 1388 1415 1415 1515 1515 1529 1672 1680 1692 1713 1720 1722 1733 1738 1743 1747 1748 1750 1755 1759 1763 1763 1764 1765 1766 1766 1766 1768 1771 1771 1771 1771 1771 1771 1775 1776 1777 1778 1779 1779 1785 1789 1790 1793 1794 1809 1815 1822 1823 1824 1825 1826 1827 1828 1829 1830 1831 1832 1833 1834 1835 1836 1837 1838 1839 1840 1841 1842 1843 1844 1845 1846 1847 1848 1849 1850 1851 1852 1853 1854 1855 1856 1857 1858 1859 1860 1861 1862 1863 1863 1864 1865 1866 1867 1868 1869 1870 1871 1872 1873 1874 1875 1876 1877 1878 1879 1880 1881 1882 1883 1884 1885 1886 1887 1888 1889 1890 1891 1892 1893 1893 1894 1895 1896 1897 1898 1899 1900 1901 
-28 22 35 58 78 78 133 168 182 204 241 243 249 249 260 324 346 354 366 366 371 372 414 429 447 504 536 538 553 553 558 572 572 594 622 625 637 653 653 654 679 694 699 702 702 704 704 706 706 713 738 818 819 819 832 848 922 923 923 923 925 954 954 965 987 987 1034 1059 1059 1087 1087 1127 1129 1155 1165 1183 1187 1226 1241 1301 1303 1342 1374 1406 1415 1444 1509 1518 1518 1538 1630 1696 1713 1718 1722 1728 1729 1738 1753 1763 1765 1771 1771 1771 1771 1771 1774 1789 1832 1833 1836 1841 1844 1862 1873 1883 1902 1903 1904 1905 1905 1905 1906 1907 1908 1909 1910 1911 1912 1913 1914 1915 1916 1917 1918 1919 1920 1921 1922 1923 1924 1925 1926 1927 1928 1929 1930 1931 1932 1933 1934 1934 1935 1936 1937 1938 1939 1939 1940 1941 1942 1943 1944 1945 1946 1947 1948 1949 1949 1950 1951 1952 1953 1954 1955 1956 1957 1958 1959 1960 1961 1962 1963 1964 1965 1966 1967 1968 1968 1969 1970 1971 1972 1973 1974 1975 1976 1977 1978 1979 1980 
-29 4 31 31 31 33 33 58 58 78 133 133 162 179 241 249 260 346 349 370 408 429 527 568 592 621 622 624 625 652 662 699 699 704 753 816 819 819 832 832 868 923 1083 1087 1155 1174 1303 1543 1543 1680 1714 1718 1718 1738 1743 1771 1771 1800 1800 1829 1830 1833 1835 1836 1841 1844 1868 1873 1877 1884 1889 1904 1916 1936 1957 1961 1971 1976 1981 1982 1983 1984 1985 1986 1987 1988 1989 1990 1991 1992 1993 1993 1994 1995 1996 1997 1998 1999 2000 2001 2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 2020 2021 2022 2023 2024 2025 2026 2027 2028 2029 2030 2031 2032 2033 2034 2035 2036 2037 2038 2039 2040 2041 2042 2043 
-30 31 32 33 33 58 76 83 144 162 204 210 219 221 230 320 340 345 345 347 366 395 403 429 527 540 540 543 548 553 553 583 594 622 652 652 653 662 694 699 709 709 744 753 782 832 858 923 923 923 923 934 954 1003 1026 1083 1083 1088 1111 1174 1290 1303 1303 1360 1521 1630 1651 1725 1738 1763 1771 1779 1787 1788 1799 1838 1852 1856 1871 1873 1874 1883 1902 1902 1903 1915 1916 1930 1931 1941 1961 1975 1997 1998 2014 2014 2015 2015 2015 2029 2044 2045 2046 2047 2048 2049 2050 2051 2052 2053 2054 2055 2056 2057 2058 2059 2060 2061 2062 2063 2064 2065 2066 2067 2068 2069 2070 2071 2072 2073 2074 2075 2076 2077 2078 2079 2080 2081 2082 2083 2084 2085 2086 2087 2088 2089 2090 2091 2092 2093 2094 2094 2095 2096 2097 2098 2099 2100 2101 2102 2103 2104 2105 2106 2107 2108 2109 2110 2111 2112 2113 2114 2115 2116 2117 2118 2119 2120 2121 2122 2123 2124 2125 2126 2127 2128 2129 2130 2131 2132 2133 2134 2135 2136 2137 2138 2139 2140 2141 2142 2143 2144 2145 2146 2147 2148 2149 2150 
-31 4 7 7 31 31 32 33 33 48 78 78 89 114 133 147 162 182 208 211 241 260 296 315 345 381 395 403 439 494 498 543 553 563 619 623 624 699 704 707 895 923 923 978 978 990 1052 1174 1195 1199 1303 1518 1519 1566 1630 1630 1680 1721 1723 1731 1738 1743 1750 1848 1856 1868 1900 1902 1953 1957 1962 1963 1973 1987 1987 1993 2010 2033 2051 2052 2058 2061 2067 2069 2106 2147 2151 2152 2153 2154 2155 2156 2156 2157 2158 2159 2160 2161 2162 2163 2164 2165 2166 2167 2168 2169 2170 2171 2172 2173 2173 2174 2175 2176 2177 2178 2179 2180 2181 2182 2183 2184 2185 2186 2187 2188 2189 2190 2191 2192 2193 2194 2195 2196 2197 2198 2199 2200 2201 2202 2203 2204 2205 2206 2207 2208 2209 2209 2210 2211 2212 2213 2213 2214 2215 2216 2217 2218 2219 2220 2221 2222 2223 2224 2225 2226 2227 2228 2229 2230 2231 2232 2233 2234 2235 2236 2237 2238 2239 2240 2241 2242 2243 2244 2245 2246 2247 2248 2249 2249 2250 2251 2252 2253 2254 2255 2256 2257 2258 2259 2260 
-32 32 32 33 33 48 58 63 78 95 133 253 275 301 354 371 395 405 495 597 662 699 699 707 707 738 778 784 793 805 818 867 899 923 1027 1027 1034 1103 1103 1144 1200 1237 1529 1692 1714 1743 1743 1749 1750 1753 1768 1817 1841 1843 1878 1993 2047 2054 2054 2061 2067 2067 2067 2067 2101 2113 2116 2139 2152 2156 2159 2165 2167 2168 2171 2190 2190 2201 2208 2221 2233 2248 2261 2262 2263 2264 2264 2265 2265 2266 2267 2268 2269 2269 2270 2271 2272 2273 2274 2275 2276 2277 2277 2278 2279 2280 2281 2282 2283 2284 2285 2286 2287 2288 2288 2289 2290 2291 2292 2293 2294 2295 2296 2297 2298 2299 2299 2300 2301 2302 2302 2303 2304 2305 2306 2307 2308 2309 2310 2311 2312 2313 2314 2315 2316 2316 2317 2318 2319 2319 2320 2321 2322 2323 2324 2325 2326 2327 2328 2329 2330 2331 2332 2333 2334 2335 2336 2337 2338 2339 2340 2341 2342 2343 2344 2345 2346 2347 2348 2349 2350 2351 2352 2353 2354 2355 2355 2356 2357 2358 2359 2360 2361 2362 2363 2364 2365 2366 2367 2368 2369 
-33 33 48 58 78 78 114 118 162 167 182 182 193 202 202 204 221 226 249 249 257 261 274 287 287 345 346 368 408 412 457 504 506 576 592 624 653 697 699 699 771 818 832 847 923 923 1003 1103 1175 1199 1200 1202 1223 1370 1519 1696 1723 1723 1750 1771 1777 1848 1903 1929 1935 2014 2030 2053 2061 2072 2151 2152 2152 2153 2168 2168 2221 2243 2247 2262 2263 2264 2288 2291 2293 2293 2303 2323 2333 2335 2340 2352 2370 2371 2372 2373 2374 2374 2375 2376 2377 2378 2379 2380 2381 2382 2383 2384 2385 2386 2387 2388 2389 2390 2391 2392 2393 2394 2395 2396 2397 2398 2399 2400 2401 2402 2403 2404 2405 2406 2407 2408 2409 2410 2411 2412 2413 2414 2415 2416 2417 2418 2419 2420 2421 2422 2423 2424 2425 2426 2427 2428 2429 2430 2430 2431 2432 2433 2434 2435 2436 2437 2438 2439 2440 2441 2442 2443 2444 2445 2446 2447 2448 2449 2450 2451 2451 2452 2453 2454 2455 2456 2457 2458 2459 2459 2460 2461 2462 2463 2464 2465 2466 2467 2468 2469 2470 2471 2472 2473 2474 
-34 31 32 32 33 35 35 44 58 58 67 67 70 78 78 83 96 115 136 136 162 182 182 202 202 202 202 217 230 237 249 320 324 340 345 346 366 397 405 414 504 519 540 572 576 593 597 622 625 669 694 694 699 790 815 815 832 835 920 923 923 954 1042 1098 1102 1110 1129 1199 1200 1218 1477 1501 1509 1515 1529 1557 1625 1692 1722 1723 1742 1844 1868 1877 1904 1904 1972 2152 2165 2168 2171 2173 2198 2243 2267 2293 2293 2294 2308 2317 2323 2323 2387 2389 2390 2400 2400 2422 2423 2423 2440 2442 2447 2459 2461 2475 2475 2476 2477 2478 2479 2480 2481 2481 2482 2483 2484 2485 2486 2487 2488 2488 2489 2490 2491 2492 2493 2494 2495 2496 2497 2498 2499 2500 2501 2502 2503 2504 2505 2506 2507 2508 2509 2510 2511 2512 2513 2514 2515 2516 2517 2518 2519 2520 2521 2522 2523 2524 2525 2526 2527 2527 2528 2529 2530 2531 2532 2532 2533 2534 2535 2536 2537 2538 2539 2540 2541 2542 2543 2544 2545 2546 2547 2548 2549 2550 2551 2552 2553 2554 2555 2556 2557 2558 2559 2560 2561 2562 2563 2564 2565 2566 2567 2568 2569 
-35 30 32 33 35 58 60 64 76 78 78 84 89 120 133 202 204 204 241 249 249 301 304 340 366 384 416 428 496 508 624 699 700 700 778 815 832 906 923 923 943 987 997 1001 1200 1203 1226 1303 1360 1424 1432 1441 1749 1802 1868 1914 1933 1936 1962 2171 2188 2243 2327 2342 2352 2360 2427 2490 2494 2494 2502 2504 2530 2532 2533 2546 2546 2547 2548 2558 2560 2570 2571 2572 2573 2574 2575 2576 2577 2578 2579 2580 2581 2582 2583 2584 2585 2586 2587 2588 2588 2589 2590 2591 2592 2593 2594 2595 2596 2597 2598 2599 2600 2601 2602 2603 2604 2605 2606 2607 2608 2609 2610 2611 2612 
-36 32 32 32 58 58 63 89 98 133 133 133 162 162 188 204 213 217 304 345 358 366 366 366 366 381 395 395 395 539 553 623 624 624 640 667 667 667 694 694 699 722 782 815 816 858 922 923 979 1012 1026 1040 1063 1079 1079 1088 1091 1149 1222 1453 1461 1526 1565 1662 1692 1692 1731 1750 1796 1829 1889 1931 1997 2000 2014 2014 2038 2111 2164 2188 2427 2445 2501 2505 2546 2578 2580 2591 2594 2613 2614 2615 2616 2617 2618 2619 2620 2621 2622 2622 2623 2624 2625 2626 2627 2628 2629 2630 2631 2632 2633 2633 2634 2635 2636 2637 2638 2639 2640 2641 2642 2643 2644 2645 2646 2646 2647 2648 2649 2650 2651 2652 2653 2654 2655 2656 
-37 9 32 32 33 46 58 63 79 84 133 133 162 188 237 247 259 260 273 301 301 304 304 326 340 358 366 424 447 480 504 508 546 580 591 606 617 617 637 640 653 667 667 699 782 793 793 794 895 923 955 1001 1026 1034 1034 1061 1087 1088 1088 1127 1147 1148 1155 1166 1177 1177 1228 1249 1303 1323 1339 1343 1368 1388 1441 1441 1444 1515 1630 1645 1800 1809 1972 2000 2054 2117 2151 2157 2164 2292 2360 2580 2591 2591 2617 2624 2625 2626 2631 2632 2632 2633 2634 2635 2638 2642 2643 2657 2658 2659 2660 2661 2662 2663 2664 2665 2666 2667 2668 2669 2670 2671 2672 2673 2674 2675 2676 2677 2678 2679 2680 2681 2682 2683 2684 2685 2686 2687 2688 2689 2690 2691 2692 2693 2694 2695 2696 2697 2698 2699 2700 2701 2702 2703 2704 2705 
-38 4 32 32 33 46 58 63 78 88 179 182 204 204 211 241 249 249 259 301 345 346 346 366 412 415 416 416 438 439 447 447 447 504 527 527 539 540 553 553 558 661 667 667 667 674 699 722 725 725 782 794 797 812 842 842 842 923 954 954 1129 1137 1144 1181 1202 1259 1339 1339 1444 1543 1617 1680 1705 1713 1874 1874 1878 2030 2054 2153 2224 2256 2307 2360 2413 2461 2481 2546 2580 2617 2619 2633 2635 2660 2661 2662 2663 2664 2665 2666 2669 2679 2680 2681 2689 2694 2695 2706 2707 2708 2709 2710 2711 2712 2713 2714 2715 2716 2717 2718 2719 2720 2721 2722 2723 2724 2725 2726 2727 2728 2729 2730 2731 2732 2733 2734 2735 2736 2737 2738 2739 2740 2741 2742 2743 2744 2745 2746 2747 2748 2749 2750 2751 2752 
-39 4 4 32 32 55 58 58 70 95 124 133 141 177 186 211 211 217 247 249 249 259 260 301 304 312 312 326 329 338 340 345 366 366 408 447 447 502 509 509 510 522 527 553 558 566 598 612 619 621 622 625 625 625 640 653 653 653 667 667 667 674 699 715 741 753 868 954 955 958 1027 1034 1063 1102 1120 1147 1193 1241 1241 1303 1483 1672 1719 1803 1868 1868 1973 2003 2014 2138 2138 2211 2248 2450 2494 2580 2615 2617 2617 2624 2625 2625 2625 2633 2635 2661 2662 2666 2669 2679 2682 2689 2711 2713 2725 2725 2728 2729 2732 2734 2737 2740 2746 2748 2753 2754 2755 2756 2757 2758 2759 2760 2761 2762 2763 2764 2765 2766 2767 2767 2768 2769 2770 2771 2772 2773 2774 2775 2776 2777 2778 2779 2780 2780 2781 2782 2783 2784 2785 
-40 35 44 120 131 202 207 304 304 336 381 434 537 553 566 572 867 1039 1170 1222 1235 1259 1270 1357 1501 1575 1575 1617 1749 1795 1868 1889 2434 2627 2716 2756 2786 2787 2788 2789 2790 2791 2792 2793 2794 2795 2796 2797 2798 2799 2799 2800 2801 2802 2803 2804 2804 2805 2806 2807 2808 2809 2810 2811 2812 2812 2813 2814 2815 2816 2817 2818 2819 2820 2821 2822 2823 2824 2825 2826 2827 2828 2829 2830 2831 2832 2833 
-41 8 21 26 28 28 31 32 33 33 33 38 42 46 46 48 49 49 53 55 57 58 58 59 60 61 61 63 65 66 67 68 72 73 73 78 82 84 84 84 85 85 88 92 94 96 96 103 103 111 113 115 122 124 133 138 142 143 148 151 153 154 160 162 165 166 167 167 172 174 178 178 179 180 182 183 186 188 189 189 189 189 196 199 201 202 202 202 202 202 204 205 213 218 218 239 255 256 268 268 271 277 277 278 289 289 290 290 291 299 340 366 368 371 371 376 407 414 415 553 598 623 625 816 816 835 965 965 965 1082 1086 1129 1129 1172 1222 1241 1574 1575 1630 1673 1707 1825 1884 1928 2158 2293 2494 2619 2722 2834 2835 2836 2837 2838 2839 2840 2841 2842 2843 2844 2845 2846 2847 2848 2849 2850 2851 2852 2853 2853 2854 2855 2856 2857 2857 2858 2859 2860 2861 2862 2863 2864 2865 2866 2867 2868 2869 2870 2871 2872 2873 2874 2875 2876 2877 2878 2879 2880 2881 2882 2883 
-42 4 5 24 28 32 32 33 44 44 48 49 51 52 55 56 56 56 59 65 70 72 72 73 78 96 97 103 111 111 113 117 123 124 135 136 136 136 141 143 148 152 153 167 178 179 182 185 186 188 190 217 218 226 230 232 235 236 241 244 246 247 249 255 259 260 260 260 261 268 268 268 273 274 276 277 278 279 282 287 289 290 291 291 293 294 295 304 305 308 310 326 340 340 349 368 376 381 384 403 406 407 407 414 417 450 454 510 535 540 553 554 702 710 738 789 889 964 1087 1087 1155 1200 1241 1241 1388 1432 1681 1696 1822 1962 1974 2014 2371 2372 2400 2409 2450 2619 2624 2781 2877 2878 2883 2884 2885 2886 2887 2888 2889 2890 2891 2892 2893 2894 2895 2896 2897 2898 2899 2900 2901 2902 2903 2904 2904 2905 2906 2907 2908 2909 2910 2911 2912 2913 2914 2915 2916 2917 2918 2919 2920 2921 2922 2923 2924 2925 2926 
-43 5 24 31 32 32 32 35 46 47 49 56 67 68 68 72 73 73 120 123 124 130 135 141 143 165 167 177 179 189 189 190 213 213 217 220 223 228 232 241 246 255 256 268 271 276 282 284 287 287 290 305 306 306 324 325 326 326 340 347 358 362 368 371 372 376 376 377 381 388 389 390 394 395 397 398 399 403 404 405 407 411 415 415 415 442 447 450 539 550 553 593 691 699 741 816 856 868 954 1097 1097 1102 1191 1195 1214 1214 1259 1351 1368 1390 1417 1477 1545 1545 1680 1841 1868 1868 1962 2223 2248 2293 2360 2475 2475 2506 2508 2510 2514 2625 2673 2678 2779 2877 2888 2915 2927 2928 2929 2930 2931 2932 2933 2934 2935 2936 2937 2938 2939 2940 2941 2942 2943 2944 2945 2946 2947 2948 2949 2950 2951 2952 2953 2954 2955 2955 2956 2957 2958 2959 2960 2961 2962 2963 2964 2965 2966 2967 2968 2969 2970 2971 2972 2973 
-44 4 21 24 31 41 46 48 49 72 73 83 103 105 120 120 120 124 124 130 136 136 136 165 179 189 189 193 202 217 218 218 219 222 227 227 227 228 232 243 249 268 271 275 289 320 324 325 327 329 334 349 354 356 363 376 388 395 404 405 407 421 431 431 439 439 442 447 450 454 457 473 489 504 504 504 504 504 510 550 550 553 553 568 593 709 753 883 959 964 964 965 987 1047 1052 1086 1087 1097 1097 1241 1259 1432 1501 1696 1829 1865 2240 2469 2484 2726 2727 2847 2914 2933 2946 2947 2947 2948 2974 2974 2975 2976 2977 2978 2979 2980 2981 2982 2983 2984 2985 2986 2987 2988 2989 2989 2990 2991 2992 2992 2993 2994 2995 2996 2997 2998 2999 3000 3001 3002 3003 3004 3005 3006 3007 
-45 4 21 22 105 114 114 120 120 124 124 130 156 162 188 189 202 217 217 217 232 241 249 289 289 325 340 408 414 415 419 423 428 429 429 432 437 439 462 474 474 478 480 485 496 497 497 498 500 502 504 508 509 509 509 527 527 528 530 532 532 533 533 535 539 543 543 547 554 554 559 864 868 912 930 930 954 965 971 1002 1019 1087 1129 1149 1163 1183 1200 1214 1214 1237 1241 1259 1259 1318 1350 1390 1424 1501 1526 1538 1678 1714 1829 1829 1886 1973 2014 2086 2198 2198 2243 2371 2421 2678 2753 2758 2766 2851 2877 2995 2995 3003 3008 3009 3010 3011 3012 3013 3014 3015 3016 3017 3018 3019 3020 3020 3021 3022 3023 3024 3024 3024 3025 3026 3027 3028 3029 3030 3031 3032 3033 3034 3034 3035 3036 3037 3038 3038 3039 3040 3041 3042 3043 3044 3045 3046 3047 3048 3049 3050 3051 3052 3053 3054 3055 3056 3057 3058 3059 3060 3061 3062 3063 3064 3065 3066 3067 3068 3069 3070 3071 3072 3073 3074 3075 3076 3077 3078 3079 3080 3081 
-46 
-47 21 31 32 33 33 58 58 64 78 204 207 217 217 260 260 318 366 366 408 504 508 508 539 550 553 567 568 568 568 568 568 570 573 574 576 577 580 588 590 590 591 594 597 597 598 599 601 603 604 606 608 608 609 610 612 613 614 623 624 625 626 634 635 638 641 642 643 646 646 649 652 652 653 659 662 663 664 672 678 690 693 699 703 708 712 713 715 717 725 726 727 733 751 763 782 790 792 819 823 841 849 867 868 887 919 934 939 939 939 954 1052 1087 1130 1270 1276 1303 1451 1673 1679 2400 2591 2591 2627 2706 2856 2926 3042 3075 3075 3082 3083 3083 3084 3085 3086 3087 3088 3089 3090 3091 3092 3093 3094 3095 3096 3097 3098 3099 3100 3101 3102 3103 3104 3105 3106 3107 3108 3109 3110 3110 3111 3112 3113 3114 3115 3116 3117 3118 3119 3120 
-48 21 31 31 58 67 181 181 217 217 217 217 340 346 346 356 366 366 499 527 527 527 539 553 568 588 588 588 590 590 606 606 612 623 626 630 637 638 638 638 641 650 652 652 653 664 687 691 700 706 711 711 714 715 716 721 723 725 729 738 741 745 753 762 763 764 765 765 767 769 774 780 782 783 785 786 787 787 791 796 802 803 810 810 811 838 849 858 894 895 942 951 954 954 979 1019 1027 1039 1044 1057 1170 1174 1203 1222 1222 1572 1691 1829 1953 1953 1987 1987 2014 2014 2135 2241 2736 2793 2912 2962 3100 3121 3121 3122 3123 3124 3125 3126 3127 3128 3129 3130 3131 3132 3133 3134 3135 3136 3137 3138 3139 3140 3141 3142 3143 3144 3145 3146 3147 3148 3149 3150 3151 3152 3153 3154 3155 3156 3157 3158 3159 3160 3161 3162 3163 3164 
-49 4 4 4 4 32 32 33 33 58 58 72 72 83 84 105 157 162 162 162 162 179 179 179 213 217 217 217 217 217 243 318 320 321 336 346 366 368 384 388 416 424 504 539 550 550 550 553 553 553 553 558 570 573 583 588 590 635 638 644 654 664 691 691 697 702 704 711 750 753 753 754 755 755 756 757 759 760 762 763 765 770 774 775 799 807 817 818 819 823 837 838 842 842 844 845 846 846 849 851 854 858 858 858 858 860 865 866 868 874 875 878 880 880 885 885 887 889 889 891 891 892 895 897 922 925 942 951 954 970 1019 1030 1034 1047 1049 1060 1097 1170 1187 1195 1199 1214 1241 1241 1241 1241 1241 1259 1405 1465 1501 1529 1575 1622 1679 1768 1889 2276 2494 2576 2627 2678 2678 2847 2973 3006 3043 3063 3073 3147 3155 3165 3166 3167 3168 3169 3169 3170 3171 3172 3173 3174 3175 3176 3177 3178 3179 3180 3181 3182 3183 3184 3185 3186 3187 3188 3189 3190 3191 3192 3193 3194 3195 3196 3197 3198 3199 3200 3201 3202 3203 3204 3205 3206 3207 3208 3209 3210 3211 3212 
-50 31 32 32 58 63 114 219 247 320 345 345 358 366 366 366 395 416 424 502 504 504 509 539 544 550 550 554 558 558 558 569 580 580 583 583 588 590 598 604 612 617 617 624 636 638 664 693 693 710 715 750 770 770 770 780 786 790 813 817 818 818 819 824 825 826 832 834 836 836 839 839 843 846 846 851 853 853 854 856 858 858 859 860 867 868 869 872 874 875 875 878 880 885 885 887 887 889 902 909 915 920 923 924 925 928 931 932 933 939 939 940 941 943 951 951 954 954 1002 1007 1083 1107 1111 1235 1235 1241 1303 1679 1742 1841 1841 1862 1872 2135 2165 2276 2276 2390 2627 2729 2745 2748 3105 3117 3182 3184 3194 3197 3197 3204 3208 3213 3214 3215 3216 3217 3218 3219 3220 3221 3222 3223 3224 3225 3226 3227 3228 3229 3230 3231 3232 3233 3234 3235 3236 3237 3238 3239 3240 3241 
-51 22 32 32 32 32 32 33 33 46 58 58 63 72 114 182 217 217 217 218 247 247 260 260 345 358 366 424 439 539 539 553 553 558 558 591 604 608 623 623 693 698 702 731 738 750 770 770 782 786 794 815 817 818 819 824 825 832 834 843 846 856 862 862 862 868 880 895 896 902 909 913 916 919 922 924 926 927 928 929 931 932 933 939 939 941 943 943 944 946 948 948 954 954 954 954 955 957 959 968 970 971 973 974 975 978 983 986 987 1000 1004 1007 1010 1014 1034 1061 1077 1079 1083 1087 1121 1149 1149 1153 1153 1187 1259 1707 1742 1742 1750 1829 1841 1841 1946 2047 2168 2188 2276 2306 2683 3004 3047 3075 3077 3104 3171 3194 3225 3235 3237 3242 3243 3244 3245 3246 3247 3248 3249 3250 3251 3252 3253 3254 3255 3256 3257 3258 3259 3260 3261 3262 3263 3263 3264 3265 3266 3267 3268 3269 3270 3271 3272 3273 3274 
-52 4 22 31 32 33 58 72 72 105 124 204 218 218 218 218 218 227 227 247 249 287 326 439 480 489 502 502 502 502 502 502 504 504 539 540 553 553 558 568 572 574 583 585 588 606 606 606 606 684 693 699 709 751 755 765 793 804 829 836 846 846 849 851 868 881 898 911 915 916 916 939 943 949 954 954 955 956 957 958 961 962 965 969 972 974 974 978 978 987 989 996 1000 1001 1002 1003 1005 1016 1017 1021 1023 1029 1030 1030 1034 1034 1034 1035 1043 1050 1052 1055 1055 1058 1060 1060 1063 1064 1068 1071 1083 1106 1109 1111 1114 1127 1127 1152 1170 1174 1183 1204 1235 1259 1471 1506 1545 1660 1679 1696 1841 1841 1869 1874 1874 1974 2014 2014 2151 2152 2168 2188 2243 2307 2532 2532 2678 2736 2758 2764 3065 3152 3171 3192 3255 3275 3276 3277 3278 3279 3280 3281 3282 3283 3284 3285 3286 3287 3288 3289 3290 3291 3291 3292 3293 3294 3295 3296 3297 3298 3299 3300 3301 3302 3303 3304 3305 3306 3307 3308 3309 
-53 32 33 48 69 105 120 120 188 188 189 189 204 204 204 217 217 218 247 247 249 249 260 271 320 320 320 349 370 405 408 408 416 438 500 500 502 502 502 502 502 509 543 544 546 552 553 553 566 588 588 607 617 652 654 654 662 693 699 812 819 842 842 847 851 858 868 868 868 916 955 959 964 965 983 1001 1003 1009 1019 1021 1022 1023 1024 1030 1033 1034 1041 1047 1057 1060 1061 1063 1064 1064 1076 1083 1085 1097 1097 1099 1107 1109 1109 1111 1114 1120 1120 1120 1121 1129 1129 1129 1129 1129 1129 1129 1132 1138 1145 1153 1155 1174 1182 1187 1199 1200 1214 1228 1258 1259 1270 1276 1386 1451 1506 1528 1553 1622 1696 1718 1809 2048 2138 2138 2248 2326 2532 2619 2758 2758 3034 3047 3071 3079 3085 3096 3096 3264 3275 3277 3278 3310 3311 3312 3313 3314 3315 3316 3317 3318 3319 3320 3321 3322 3323 3324 3325 3326 3327 3328 3329 3330 3331 3332 3333 3334 3335 3336 3337 3338 3338 3339 3340 3341 3342 3343 3344 3345 3346 3347 3348 
-54 32 48 78 105 114 120 120 120 120 182 204 204 211 241 249 303 303 304 324 324 346 349 366 366 366 366 405 502 502 502 502 502 522 544 544 546 585 588 588 588 597 617 644 653 699 725 782 836 836 868 875 959 961 980 1001 1001 1027 1034 1052 1059 1083 1087 1087 1093 1099 1102 1102 1103 1109 1109 1110 1111 1114 1119 1120 1120 1127 1129 1130 1131 1133 1138 1140 1141 1141 1144 1153 1165 1169 1189 1192 1214 1241 1258 1258 1270 1392 1505 1509 1526 1526 1575 1678 1684 1684 1915 2014 2138 2269 2678 2761 2761 2874 2997 3003 3049 3054 3075 3138 3138 3316 3319 3325 3330 3349 3350 3351 3352 3353 3354 3355 3356 3357 3358 3359 3360 3361 3362 3363 3364 3365 3366 3367 3368 3369 3370 3371 
-55 4 4 4 30 31 31 32 32 32 32 33 202 228 247 249 276 320 320 338 345 346 366 366 366 366 366 366 366 366 366 381 439 442 462 509 546 568 588 588 653 653 653 653 653 674 674 751 782 842 842 842 847 847 847 989 1025 1027 1030 1030 1034 1041 1060 1097 1097 1097 1098 1114 1140 1148 1150 1151 1155 1168 1169 1169 1170 1170 1177 1183 1183 1187 1189 1192 1193 1196 1200 1205 1206 1210 1213 1226 1227 1229 1233 1234 1234 1241 1256 1258 1258 1258 1270 1270 1303 1392 1415 1451 1501 1550 1662 1673 1679 1680 1742 1794 1822 2014 2014 2461 2493 2713 2764 3079 3098 3121 3147 3152 3194 3254 3316 3360 3361 3365 3372 3372 3373 3374 3375 3376 3377 3378 3379 3380 3381 3382 3383 3383 3384 3385 3386 3387 3388 3389 3390 3391 3392 3393 3394 3395 3396 3397 3398 3399 3400 3401 3402 
-56 4 4 4 32 114 120 217 218 218 358 366 366 370 370 381 426 506 506 540 543 553 558 558 568 588 588 638 810 810 867 939 964 1019 1060 1087 1087 1098 1153 1177 1214 1218 1219 1234 1241 1241 1242 1258 1258 1270 1276 1286 1371 1424 1451 1501 1678 1679 1679 1679 1745 2242 2706 2791 2941 3194 3284 3360 3392 3403 3404 3405 3406 3407 3408 3409 3410 3411 3412 3413 3414 
-57 4 4 4 24 24 24 25 31 31 45 46 68 72 72 72 72 72 72 73 73 133 182 189 189 189 189 202 217 217 217 217 218 218 218 218 218 218 218 218 218 271 345 345 345 345 346 346 346 366 366 370 370 370 370 370 407 434 489 527 539 539 539 539 550 550 550 550 550 550 553 553 553 553 558 558 568 568 588 607 618 653 716 782 816 867 867 867 954 954 954 954 1041 1087 1087 1087 1087 1177 1187 1218 1223 1223 1235 1236 1236 1236 1238 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1246 1253 1254 1258 1258 1259 1265 1265 1266 1266 1270 1273 1278 1286 1290 1303 1451 1526 1550 1588 1679 1679 1679 1680 1692 1822 2014 2047 2242 2369 2501 2823 2941 3075 3075 3075 3079 3079 3079 3372 3372 3372 3415 3416 3417 3418 3419 3420 3421 3422 3423 3424 3425 3426 3427 3428 3429 3430 3431 3432 3433 3433 3434 3435 3436 3437 3438 3439 3440 3441 3442 3443 3444 3445 3446 3447 3448 3449 
-58 4 4 4 4 4 4 4 4 4 4 4 21 24 24 24 24 24 24 31 31 31 32 32 33 46 46 72 72 72 84 133 133 189 189 189 189 189 202 202 202 213 217 217 217 217 217 218 218 234 271 312 370 370 370 370 370 370 434 527 527 527 539 539 550 553 553 568 568 607 755 755 782 858 908 919 954 954 954 954 954 1087 1087 1087 1087 1087 1087 1087 1087 1087 1087 1149 1223 1238 1238 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1242 1258 1258 1258 1258 1259 1259 1281 1283 1286 1287 1290 1424 1673 1679 1679 1679 1692 1704 2014 2591 2753 2941 2957 2957 2957 2957 3079 3194 3194 3194 3194 3194 3194 3416 3429 3438 3450 3451 3452 3453 3454 3455 3456 3457 3458 3459 3460 3461 3462 3463 3464 
-59 4 4 24 31 32 33 46 46 72 120 120 133 179 189 189 189 189 189 189 202 217 218 218 218 268 370 370 539 550 550 553 553 558 558 558 558 558 568 568 568 755 755 782 782 843 858 954 954 955 965 965 965 1039 1087 1087 1087 1214 1235 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1283 1286 1538 1538 1675 1679 1679 1679 1679 2014 2238 2761 2941 2957 3075 3079 3194 3465 3466 3467 3468 3469 3470 3471 3472 3473 3474 3475 3476 3477 3478 3479 3480 3481 3482 3483 3484 3485 3485 3486 
-60 4 4 4 24 24 31 31 32 33 56 72 105 136 189 189 207 209 209 209 217 217 217 217 217 218 247 260 271 301 306 312 317 320 354 408 548 550 553 553 558 568 568 568 568 568 568 568 613 619 619 623 635 637 652 653 684 706 738 784 847 853 858 894 939 954 965 985 1087 1151 1187 1193 1223 1226 1237 1334 1338 1339 1342 1343 1355 1375 1375 1378 1411 1422 1428 1441 1460 1468 1471 1515 1617 1673 1809 1829 1841 1905 2326 2494 2510 2532 2706 2707 2729 2745 3075 3194 3264 3487 3488 3489 3490 3491 3492 3493 3494 3495 3496 3497 3498 3499 3500 3501 3502 3503 3504 3505 3506 3507 3508 3509 3510 3511 3512 3513 3514 3515 3516 3517 3518 3519 3520 3521 3522 3523 3524 3525 3526 3527 3528 3528 3529 3530 3531 3532 3533 3534 3535 3536 3537 3538 3539 3540 3541 3542 3543 3544 3545 3546 3547 3547 3548 3549 3550 3551 3552 3553 3554 3555 3556 3557 3558 3559 3560 3561 3562 3563 3564 3565 3566 3567 3568 3569 3570 3571 3572 3573 3574 3575 3576 
-61 4 4 33 33 45 48 58 73 83 105 120 120 120 133 133 202 204 204 217 218 285 289 312 320 320 320 324 327 340 370 432 438 485 502 504 508 509 509 527 540 544 550 558 563 699 739 770 845 867 867 867 922 965 1022 1030 1047 1082 1083 1086 1097 1098 1109 1177 1206 1214 1241 1270 1271 1303 1305 1307 1310 1312 1315 1337 1339 1339 1340 1342 1345 1353 1365 1367 1367 1369 1370 1378 1379 1379 1379 1381 1381 1382 1383 1388 1388 1392 1392 1415 1424 1443 1450 1451 1451 1457 1458 1459 1460 1467 1475 1515 1515 1523 1526 1544 1560 1621 1623 1679 1681 1696 1705 1779 1796 1805 1972 2014 2018 2138 2240 2341 2400 2706 2736 2753 2753 2765 2877 2903 2957 2957 2957 3079 3171 3252 3293 3311 3325 3455 3577 3578 3579 3580 3581 3582 3583 3584 3585 3586 3587 3588 3589 3590 3591 3592 3593 3594 3595 3596 3597 3598 3599 3600 3601 3601 3602 3603 3604 3605 3606 3607 3608 3609 3610 3611 3612 3613 3614 3615 3616 3617 3618 3619 3620 3621 3622 3623 3624 3625 3626 
-62 4 21 21 24 45 53 72 72 73 120 133 133 146 156 179 204 204 217 312 320 320 338 340 349 366 407 429 502 502 502 502 502 553 553 558 637 699 699 725 739 784 784 816 845 852 867 867 884 949 965 979 1087 1097 1097 1097 1098 1098 1109 1182 1187 1218 1246 1256 1310 1315 1339 1340 1342 1342 1342 1345 1350 1351 1351 1351 1365 1371 1379 1381 1388 1395 1407 1450 1450 1451 1451 1451 1463 1467 1482 1483 1486 1487 1489 1490 1493 1494 1497 1498 1500 1501 1502 1504 1504 1505 1507 1508 1508 1511 1513 1514 1515 1518 1519 1520 1522 1523 1523 1525 1526 1526 1527 1529 1530 1531 1532 1538 1538 1540 1541 1543 1552 1553 1553 1557 1560 1561 1562 1563 1629 1630 1678 1679 1680 1690 1796 1839 1962 1965 2134 2161 2400 2483 2867 2925 3047 3194 3248 3360 3583 3627 3628 3629 3630 3631 3632 3633 3634 3635 3635 3636 3637 3638 3639 3640 3641 3642 3643 3644 3645 3646 3647 3648 3649 3650 3651 3652 3653 3654 3655 3656 3657 3658 3659 3660 3661 3662 3663 3664 3665 
-63 4 4 21 22 72 73 120 120 133 133 133 136 165 232 320 320 327 340 439 508 527 537 539 539 550 696 702 702 782 784 784 835 841 847 867 1072 1098 1098 1098 1098 1102 1170 1177 1181 1214 1214 1219 1241 1241 1246 1256 1256 1271 1310 1339 1342 1342 1395 1451 1451 1467 1501 1512 1515 1515 1515 1517 1526 1544 1550 1560 1568 1572 1575 1576 1580 1581 1589 1591 1593 1598 1605 1609 1616 1617 1618 1619 1621 1623 1630 1704 1711 1712 1723 1780 1868 2014 2135 2619 2812 2847 2979 3047 3047 3075 3075 3139 3251 3426 3537 3587 3591 3612 3612 3651 3666 3667 3668 3669 3670 3671 3672 3673 3674 3675 3676 3677 3678 3679 3680 3681 3682 3683 3684 3685 3686 3687 3688 3689 3690 3691 3692 3693 3694 3695 
-64 4 4 4 4 19 32 33 35 48 118 120 133 133 217 217 227 289 340 368 441 443 550 558 782 813 842 842 842 852 867 867 867 901 954 1241 1310 1336 1340 1350 1351 1351 1370 1370 1371 1501 1513 1538 1587 1589 1594 1597 1615 1615 1621 1632 1636 1637 1637 1638 1640 1642 1646 1646 1647 1650 1651 1652 1656 1661 1662 1663 1663 1671 1672 1681 1684 1689 1694 1702 1707 2014 2753 2812 3121 3499 3687 3694 3696 3697 3698 3699 3700 3701 3702 3703 3704 3705 3706 3707 3708 3709 3710 3711 3712 3713 3714 
-65 4 4 4 4 4 4 4 22 31 31 32 32 72 73 84 162 217 318 321 346 370 370 508 550 558 755 784 842 954 965 1087 1226 1241 1276 1336 1351 1557 1594 1623 1671 1680 1689 1697 1702 1703 2014 2014 2014 2117 2135 2792 2941 2941 3056 3152 3177 3326 3703 3715 3716 3717 3718 3719 3720 3721 3722 3723 3724 3725 3726 3727 
-66 32 39 58 204 275 318 318 320 371 407 408 408 414 417 432 473 626 649 653 653 653 653 655 667 668 668 674 674 793 797 939 1030 1113 1115 1203 1210 1319 1352 1388 1529 1557 1566 1714 1716 1720 1722 1725 1726 1729 1738 1742 1742 1745 1745 1747 1748 1748 1750 1751 1755 1756 1758 1759 1763 1764 1766 1766 1766 1768 1771 1771 1777 1779 1779 1781 1784 1785 1785 1791 1794 1796 1798 1799 1800 1802 1803 1807 1808 1809 1810 1811 1812 1813 1815 1820 1821 1836 1841 1842 1864 1868 1870 1871 1875 1889 1895 1901 1902 1929 1936 1961 1980 2014 2017 2018 2060 2106 2186 2202 2237 2301 2360 2360 2389 2450 2491 2494 2494 2521 2546 2591 2617 2745 2745 2748 2748 2781 3038 3075 3293 3311 3378 3728 3729 3730 3731 3732 3733 3734 3735 3736 3737 3738 3739 3740 3741 3742 3743 3744 3745 3746 3747 3748 3749 3750 3751 3752 3753 3754 3755 3756 3757 3758 3759 3760 3761 3762 3763 3764 3765 3766 3767 3768 3769 3770 3770 3770 3771 3772 3773 3774 3775 3776 3777 3778 3779 3780 3781 3782 3783 
-67 14 32 32 32 48 58 84 133 133 168 183 211 259 260 366 395 395 408 433 439 547 558 563 566 572 572 580 583 591 598 622 625 642 653 654 662 662 684 694 699 704 731 755 797 816 818 818 819 832 832 858 910 922 923 925 954 987 1034 1200 1352 1415 1477 1501 1521 1543 1543 1630 1692 1726 1738 1747 1748 1750 1763 1763 1765 1766 1771 1771 1771 1771 1776 1777 1785 1809 1819 1822 1824 1826 1832 1837 1840 1841 1841 1843 1844 1845 1852 1862 1863 1868 1871 1879 1882 1882 1885 1886 1888 1889 1891 1892 1896 1897 1899 1901 1903 1908 1909 1936 1953 1961 1963 1968 1972 1973 2000 2000 2030 2053 2099 2107 2138 2151 2242 2243 2361 2372 2400 2442 2470 2494 2501 2506 2563 2729 2741 2939 3047 3075 3079 3181 3219 3311 3369 3707 3707 3758 3784 3785 3786 3787 3788 3789 3790 3791 3792 3793 3794 3795 3796 3797 3798 3799 3800 3800 3801 3802 3803 3804 3805 3806 3807 3808 3809 3810 3811 3812 3813 3814 3814 3815 3816 3817 3818 3819 3820 3821 3822 3823 3824 
-68 33 58 72 78 98 133 133 168 193 204 217 217 217 241 241 249 354 366 366 366 366 414 439 447 463 494 537 592 607 619 625 632 635 637 653 654 668 675 675 679 699 794 819 842 923 925 958 1048 1079 1174 1374 1386 1388 1521 1543 1575 1753 1761 1771 1771 1829 1832 1856 1856 1862 1868 1868 1874 1874 1877 1899 1914 1916 1928 1928 1928 1929 1930 1931 1933 1933 1933 1937 1941 1943 1945 1946 1953 1953 1958 1959 1962 1963 1965 1965 1965 1968 1969 1971 1973 1980 2005 2014 2014 2016 2018 2028 2039 2042 2106 2111 2136 2147 2151 2151 2185 2237 2292 2360 2400 2440 2459 2470 2494 2578 2587 2653 2741 2881 2918 3075 3079 3079 3096 3464 3748 3789 3795 3800 3800 3801 3825 3826 3827 3828 3829 3830 3831 3832 3833 3834 3835 3836 3837 3838 3839 3840 3841 3842 3843 3844 3845 3846 3847 3848 3849 3850 3851 3852 3853 3854 3854 3855 3856 3857 3858 3859 3860 3861 3862 3863 3864 3865 3866 3867 3867 3867 3868 3869 3870 3871 3872 3873 3874 3875 3876 3877 3878 3879 3880 
-69 32 33 33 33 58 63 188 228 239 247 249 260 296 325 340 345 366 371 395 432 540 550 568 624 652 662 684 694 699 736 782 816 863 868 922 923 923 923 1027 1034 1061 1165 1170 1199 1241 1301 1303 1395 1680 1717 1721 1768 1810 1824 1833 1836 1856 1874 1884 1903 1916 1930 1957 2014 2030 2040 2048 2051 2052 2053 2058 2060 2061 2065 2084 2091 2094 2102 2103 2117 2117 2122 2128 2137 2141 2147 2152 2218 2243 2288 2361 2440 2481 2494 2546 2546 2572 2600 2614 2625 2655 2748 2751 2764 2874 2957 2957 3075 3075 3075 3312 3764 3784 3833 3835 3844 3854 3881 3882 3883 3884 3885 3886 3887 3888 3889 3890 3891 3892 3893 3894 3894 3895 3896 3897 3898 3899 3900 3901 3902 3903 3904 3904 3905 3906 3907 3908 3909 3910 3911 3912 3913 3913 3914 3915 3916 3917 3918 3919 3920 3921 3922 3923 3924 3925 3926 3927 3928 
-70 32 32 38 48 58 58 78 112 204 210 211 226 226 231 236 287 366 366 371 550 644 653 694 699 744 782 784 845 923 955 1009 1024 1027 1034 1036 1042 1052 1083 1220 1226 1303 1380 1441 1518 1538 1543 1630 1630 1738 1753 1777 1788 1836 1841 1856 1871 1916 1936 1936 1957 2000 2014 2015 2027 2033 2033 2046 2047 2052 2058 2061 2063 2067 2074 2083 2083 2099 2106 2113 2116 2122 2125 2132 2138 2145 2147 2152 2153 2156 2157 2161 2162 2165 2168 2170 2183 2186 2187 2188 2191 2193 2204 2205 2206 2207 2209 2224 2228 2230 2253 2258 2301 2302 2440 2440 2442 2459 2482 2494 2613 2624 2625 2668 2736 2851 2979 3004 3006 3059 3150 3281 3464 3464 3667 3801 3854 3862 3863 3880 3890 3891 3922 3929 3930 3931 3932 3933 3934 3935 3936 3937 3938 3939 3940 3941 3942 3943 3944 3945 3946 3947 3948 3949 3950 3951 3952 3953 3954 3955 3956 3957 3958 3959 3960 3961 3962 3963 3964 3965 3966 3967 3968 3969 3970 3971 3972 3973 3974 3975 3976 3977 3978 3979 3980 3981 3982 3983 3984 3985 3986 3987 3988 3989 3990 3991 3992 3993 3994 3995 3996 3997 3998 3999 4000 4001 4002 4003 4004 4005 
-71 33 63 105 143 162 217 260 321 371 372 390 408 429 432 540 572 613 621 642 694 699 707 784 789 793 842 842 895 918 923 923 923 1027 1034 1072 1157 1160 1199 1303 1357 1432 1543 1731 1743 1746 1750 1836 1836 1852 1870 1872 1875 1987 1995 2010 2061 2067 2125 2141 2147 2147 2151 2152 2156 2158 2186 2203 2207 2208 2224 2233 2258 2261 2263 2266 2268 2269 2272 2276 2280 2293 2301 2306 2323 2329 2336 2344 2352 2361 2440 2442 2459 2459 2494 2542 2576 2591 2726 2728 2979 2979 3047 3205 3205 3292 3321 3507 3587 3743 3790 3863 3870 3979 4006 4007 4008 4009 4010 4011 4012 4013 4014 4014 4015 4016 4017 4018 4019 4020 4021 4022 4023 4024 4025 4026 4027 4028 4029 4030 4031 4032 4033 4034 4035 4035 4036 4037 4038 4039 4040 4041 4042 4043 4044 4045 4046 4047 4048 4049 4050 4051 4052 4053 4054 4055 4056 4057 4058 4059 4060 4061 4062 4063 4064 4065 4066 4067 4068 4069 4070 4071 4072 4073 4074 4075 4076 4077 4078 4079 4080 4080 4081 4082 4083 4084 4085 4086 4087 4088 4089 
-72 4 5 24 31 33 48 58 88 98 162 217 231 268 366 372 429 486 527 566 592 694 738 923 985 1019 1019 1200 1352 1432 1630 1675 1690 1692 1726 1753 1870 1871 1878 1946 1954 2082 2158 2202 2221 2234 2263 2276 2288 2293 2301 2303 2333 2371 2372 2373 2386 2390 2400 2413 2417 2423 2426 2433 2437 2440 2442 2443 2447 2450 2455 2458 2460 2462 2465 2470 2471 2494 2494 2494 2527 2558 2560 2568 2625 2741 2799 2851 2898 2914 2984 3063 3100 3150 3201 3309 3311 3318 3348 3348 3356 3356 3612 3784 3801 3844 3906 3913 3918 3979 4011 4052 4090 4091 4092 4093 4094 4095 4096 4097 4098 4099 4100 4101 4102 4103 4104 4105 4106 4107 4108 4109 4110 4111 4112 4113 4114 4115 4116 4117 4118 4119 4120 4121 4122 4123 4124 4125 4126 4127 4128 4129 4130 4131 4132 4132 4133 4134 4135 4136 4137 4138 4139 4140 4141 4142 4143 4144 4145 4146 4147 4148 4149 4150 4151 4152 4153 4154 4155 4156 4157 4158 4159 4160 4161 4162 4163 4164 4165 4166 4167 4168 4169 4170 4171 4172 4173 4174 4175 4176 4177 4178 4179 4180 4181 4182 4183 4184 4185 4186 
-73 32 33 33 33 35 35 44 58 58 78 104 217 237 257 320 351 397 405 408 416 502 508 528 583 625 686 738 753 918 920 987 987 1009 1019 1052 1144 1175 1175 1199 1223 1377 1483 1515 1615 1622 1722 1726 1742 1877 1896 1915 1915 1946 1974 2061 2171 2221 2301 2323 2325 2327 2340 2385 2386 2387 2420 2423 2442 2445 2459 2494 2521 2528 2528 2537 2544 2558 2560 2561 2561 2563 2591 2594 2666 2805 2928 2972 3004 3042 3147 3177 3251 3311 3588 3641 3741 3742 3784 3785 3851 3898 3908 4109 4172 4179 4187 4188 4189 4190 4190 4191 4192 4193 4194 4195 4196 4196 4197 4198 4199 4200 4200 4201 4202 4203 4204 4205 4206 4207 4208 4209 4210 4211 4212 4213 4214 4215 4216 4217 4218 4219 4220 4221 4222 4223 4224 4225 4226 4227 4228 4229 4229 4230 4231 4232 4233 4234 4235 4236 4237 4238 4239 4240 4241 4242 4243 4244 4245 4246 4246 4247 4248 4249 4250 4251 4252 4253 4254 4255 4256 4257 4258 4258 4259 4260 4261 4262 4263 4264 4265 4266 4267 4268 4269 4270 4271 4272 4273 4274 4275 
-74 32 32 32 58 58 124 193 202 204 204 213 217 260 340 366 366 395 415 485 527 553 589 591 625 625 642 668 684 694 699 812 818 923 1003 1034 1034 1042 1199 1200 1200 1203 1471 1526 1675 1868 1884 1904 1914 1931 1950 2062 2111 2165 2165 2168 2243 2292 2292 2356 2360 2387 2389 2400 2423 2427 2440 2445 2491 2491 2494 2527 2532 2533 2542 2542 2546 2547 2555 2558 2558 2560 2563 2567 2583 2585 2591 2592 2593 2598 2600 2603 2609 2610 2617 2636 2638 2639 2666 2691 2736 2741 2755 2851 2874 3228 3264 3348 3356 3503 3725 3725 3835 3912 4036 4048 4115 4149 4210 4232 4276 4277 4278 4279 4280 4281 4282 4283 4284 4285 4286 4287 4288 4289 4290 4291 4291 4292 4293 4294 4295 4296 4297 4298 4299 4300 4301 4302 4303 4304 4305 4306 4307 4308 4309 4310 4311 4312 4313 4314 4315 4316 4317 4318 4319 4319 4320 4320 4321 4322 4323 4324 4325 4326 4327 4328 4329 4330 4331 4332 4333 4334 
-75 7 32 32 33 72 76 98 210 217 228 301 301 304 320 346 366 366 395 432 508 566 572 572 617 624 640 699 770 815 860 906 916 923 923 1061 1063 1219 1222 1229 1253 1263 1270 1303 1421 1692 1742 1822 1841 1868 1868 1870 1874 1941 2015 2117 2138 2138 2165 2214 2237 2241 2243 2292 2459 2475 2494 2494 2505 2546 2547 2560 2589 2598 2604 2617 2622 2625 2626 2627 2631 2638 2645 2652 2655 2680 2686 2696 2730 2801 3075 3417 3425 3503 3707 3750 3826 4291 4320 4321 4335 4335 4336 4337 4338 4339 4340 4340 4341 4342 4343 4344 4345 4346 4347 4348 4349 4350 4351 4352 4353 4354 4355 4356 4357 4358 4359 4360 4361 4362 4363 4364 
-76 32 33 33 33 60 63 68 89 133 156 188 237 260 301 304 368 395 432 617 617 619 624 640 652 667 694 699 713 772 815 860 923 1026 1069 1079 1222 1398 1444 1505 1681 1787 1800 1822 1953 2000 2014 2151 2164 2188 2243 2243 2292 2400 2494 2494 2580 2591 2592 2617 2623 2626 2628 2632 2638 2645 2654 2664 2669 2696 2701 2735 2746 2801 2851 2997 3075 3079 3588 3676 3682 4036 4048 4189 4343 4344 4365 4366 4367 4368 4369 4370 4371 4372 4373 4374 4375 4376 4377 4378 4379 4380 4381 4382 
-77 8 32 32 32 33 33 33 58 58 105 120 124 133 133 156 162 228 287 301 304 349 366 366 395 414 442 447 447 527 553 568 625 640 640 653 653 667 667 699 702 738 797 835 847 954 963 1034 1069 1083 1121 1214 1271 1339 1543 1679 1720 1742 1829 1844 2111 2153 2188 2241 2248 2248 2413 2413 2427 2494 2497 2560 2576 2580 2613 2633 2635 2661 2662 2663 2669 2676 2680 2684 2687 2689 2695 2713 2721 2723 2726 2730 2732 2736 2740 2741 2743 2744 2745 2746 2747 2748 2748 2749 2751 2753 2775 2855 2874 2947 2957 3082 3205 3284 3294 3952 4115 4115 4383 4384 4385 4386 4387 4388 4389 4390 4391 4392 4393 4394 4395 4396 4397 4398 4399 4400 4401 4402 4403 4404 4405 4406 4407 4408 4409 
-78 32 46 58 60 60 78 124 133 144 162 182 182 186 210 211 211 211 287 304 312 324 345 358 366 381 414 415 416 447 447 487 504 527 565 621 622 623 625 652 653 667 699 725 739 782 858 898 965 974 1027 1034 1052 1058 1061 1087 1169 1196 1241 1451 1477 1633 1719 1787 2138 2224 2243 2269 2360 2413 2580 2616 2624 2625 2635 2635 2665 2679 2682 2713 2725 2729 2729 2732 2734 2736 2740 2741 2743 2748 2753 2757 2760 2766 2767 2768 2770 2775 2776 2777 2780 2780 2780 2781 2782 2783 2784 2785 2925 2957 3007 3053 3075 3075 3082 3127 3152 3299 3464 3510 3510 3536 3536 3746 4115 4182 4387 4402 4410 4411 4412 4413 4414 4415 4416 4417 4417 4418 4418 4419 4420 4421 4422 4423 4424 4425 4426 4427 4428 4429 4430 4431 4432 4433 4434 4435 4436 4437 
-79 4 4 31 32 33 46 48 55 58 58 59 114 120 133 144 162 182 182 217 228 235 247 249 249 287 304 345 366 366 370 381 395 408 424 426 439 442 502 504 558 568 625 637 653 653 667 668 755 755 784 810 858 858 901 954 954 954 964 974 989 1027 1049 1063 1087 1087 1120 1214 1241 1241 1303 1406 1451 1462 1501 1501 1501 1678 1678 1718 1809 1880 1888 1889 1901 1972 2014 2070 2293 2360 2372 2494 2501 2578 2591 2615 2615 2617 2617 2617 2633 2661 2665 2678 2679 2691 2711 2713 2734 2757 2758 2759 2759 2760 2762 2767 2768 2770 2771 2775 2780 2784 2941 3018 3063 3071 3075 3075 3079 3313 3426 3464 3676 3731 3835 4287 4383 4396 4402 4420 4423 4428 4434 4434 4438 4439 4440 4441 4442 4443 4444 4445 4446 4447 4448 4449 4450 4451 4452 4453 4454 4455 4456 4457 4458 4459 4460 4461 4462 4463 4464 4465 4466 4467 4468 4469 4470 4471 4472 4473 4474 4475 
-80 32 33 58 72 79 179 202 207 217 304 304 338 366 381 395 498 553 553 553 576 591 623 674 694 782 810 845 857 918 1087 1120 1120 1157 1229 1241 1241 1339 1511 1660 1704 1829 2117 2269 2533 2617 2661 2665 2665 2711 2759 2767 2768 2780 2784 2816 2847 2941 3005 3251 3464 4290 4387 4390 4390 4395 4418 4422 4427 4427 4457 4462 4462 4463 4464 4466 4470 4476 4477 4478 4479 4480 4481 4482 4483 4484 4485 4486 4487 4488 4489 4490 4491 4492 4493 4494 4495 4496 4496 4497 4498 4499 4500 4501 4502 4503 4504 4505 4506 4507 4508 4509 4510 4511 4512 4513 4514 4515 4516 4517 4518 4519 4520 4521 
-81 3 4 4 5 7 9 11 12 19 23 29 32 33 35 35 36 39 43 45 48 48 49 51 52 55 56 57 58 58 59 60 61 63 64 65 67 68 70 72 72 72 72 72 73 73 76 77 80 82 83 84 84 84 84 85 85 88 92 94 96 97 98 98 99 101 103 133 141 141 153 156 157 157 157 165 167 169 178 179 183 186 188 189 189 198 199 204 205 217 217 217 218 218 227 239 249 256 277 278 289 290 301 354 358 366 368 370 370 371 371 376 395 407 415 424 430 536 553 614 623 625 636 784 965 1030 1195 1241 1465 1526 1575 1617 1673 1673 1679 1953 2030 2223 2480 2812 2836 2841 2853 2853 2856 2879 2918 2957 3006 3146 3205 3326 3676 3676 3676 3707 4391 4489 4522 4523 4524 4525 4526 4527 4528 4529 4530 4531 4532 4533 4534 4535 4536 4537 4538 4539 4540 4541 4542 4543 4544 4545 4546 4547 4547 4548 4549 4550 4551 4552 4553 4554 4555 4556 4557 4558 4559 4560 4561 4561 4562 
-82 5 7 12 21 24 29 32 44 49 49 52 52 55 56 58 58 58 60 65 68 73 73 97 99 103 113 115 126 126 131 136 136 136 136 141 142 143 147 147 148 150 151 154 158 165 165 167 179 179 182 182 186 188 189 192 197 199 231 232 235 240 249 255 260 268 268 268 270 271 274 275 276 278 280 287 289 289 290 291 295 301 304 305 307 320 320 320 320 370 372 403 404 407 415 454 502 784 786 842 959 964 964 964 965 965 1030 1088 1200 1219 1223 1352 1390 1501 1868 2113 2159 2409 2447 2480 2483 2552 2624 2624 2690 2845 2846 2848 2869 2878 2903 2907 2914 2917 2918 2924 2948 2957 2957 2957 2968 2973 2990 3030 3045 3047 3194 3197 3667 3835 3890 3921 4115 4429 4489 4524 4529 4529 4535 4538 4541 4544 4563 4564 4565 4566 4567 4568 4569 4570 4571 4572 4573 4574 4575 4576 4577 4578 4579 4580 4581 4582 4583 4584 4585 4586 4587 4588 4589 4590 4591 4592 4593 4594 4595 4596 4597 4598 4599 4600 4601 
-83 5 19 23 28 31 32 32 42 48 49 52 73 73 96 97 103 105 135 141 142 143 162 167 179 207 218 227 232 235 244 246 250 255 257 261 262 268 273 274 275 276 277 280 282 283 284 289 290 292 295 297 304 331 340 354 358 371 371 376 388 390 395 395 398 403 404 407 407 414 417 450 553 699 702 816 816 829 868 955 1102 1102 1241 1323 1388 1528 1874 1874 2243 2430 2619 2756 2758 2848 2848 2856 2893 2898 2901 2903 2911 2914 2915 2917 2918 2941 2946 2962 2965 2997 3002 3030 3045 3282 3284 3356 3968 4280 4345 4529 4546 4582 4582 4602 4603 4604 4605 4606 4607 4608 4609 4610 4611 4612 4612 4613 4614 4615 4616 4617 4618 4619 4620 4621 4622 4623 4624 4625 4626 
-84 4 4 4 21 22 22 24 71 73 103 103 124 124 130 136 143 162 165 178 202 217 218 232 243 246 247 249 255 271 271 276 276 286 289 290 296 311 315 320 328 328 335 337 338 340 340 342 354 358 381 381 389 390 395 399 399 403 404 407 409 414 417 434 439 442 451 453 454 457 504 553 568 607 653 842 959 1097 1155 1219 1223 1241 1342 1351 1395 1406 1675 1681 1742 1792 2215 2341 2469 2806 2848 2903 2903 2914 2931 2934 2965 2991 2991 3045 3047 3186 3194 3290 3890 3928 4411 4569 4601 4605 4615 4627 4628 4629 4630 4631 4632 4633 4634 4635 4636 4637 4638 4639 4640 4641 4642 4643 4644 4645 4646 4647 4648 

Matlab/ParticleFilter/pf_filter.m~

@@ -1,18 +0,0 @@
-
-function filtered = pf_filter(x, nParticles, noise, lambda)
-
-particles = zeros(nParticles,1) ;
-weights = zeros(nParticles,1);
-filtered=zeros(1,length(x));
-for i = 1:length(x);
-    for j = 1:nParticles 
-        rn = sqrt(-2.0*log(rand))*cos(2*pi*rand); % randn c++
-        bruit= noise*rn;
-        particles(j) = particles(j) + bruit ;
-        dist = abs(particles(j) - x(i));
-        weights(j) = exp(-lambda*dist);
-    end
-    weights = weights ./(sum(weights(:)));
-    filtered(i) = weights'*particles;
-    particles = Rresample2(particles,weights);
-end

Matlab/README.txt

@@ -1,4 +0,0 @@
-This directory contains some basic concepts on Bayes filtering.
-Main scripts :
- RecursivesBayes.m
- RecursivesBayesAvpd.m

README.md

@@ -1,10 +1,82 @@
 rtabmap
 =======
 
+[![RTAB-Map Logo](https://raw.githubusercontent.com/introlab/rtabmap/master/guilib/src/images/RTAB-Map100.png)](http://introlab.github.io/rtabmap)
+
+[![Release][release-image]][releases]
+[![Downloads][downloads-image]][downloads]
+[![License][license-image]][license]
+
+[release-image]: https://img.shields.io/badge/release-0.21.4-green.svg?style=flat
+[releases]: https://github.com/introlab/rtabmap/releases
+
+[downloads-image]: https://img.shields.io/github/downloads/introlab/rtabmap/total?label=downloads
+[downloads]: https://github.com/introlab/rtabmap/releases
+
+[license-image]: https://img.shields.io/badge/license-BSD-green.svg?style=flat
+[license]: https://github.com/introlab/rtabmap/blob/master/LICENSE
+
 RTAB-Map library and standalone application.
 
-For more information, visit the [RTAB-Map's home page](http://introlab.github.io/rtabmap) or the [RTAB-Map's wiki](https://github.com/introlab/rtabmap/wiki).
+ * For more information (e.g., papers, major updates), visit [RTAB-Map's home page](http://introlab.github.io/rtabmap).
+ * For installation instructions and examples, visit [RTAB-Map's wiki](https://github.com/introlab/rtabmap/wiki).
 
 To use RTAB-Map under ROS, visit the [rtabmap](http://wiki.ros.org/rtabmap) page on the ROS wiki.
 
+### Acknowledgements
+This project is supported by [IntRoLab - Intelligent / Interactive / Integrated / Interdisciplinary Robot Lab](https://introlab.3it.usherbrooke.ca/), Sherbrooke, Québec, Canada.
 
+<a href="https://introlab.3it.usherbrooke.ca/">
+<img src="https://github.com/introlab/16SoundsUSB/blob/master/images/IntRoLab.png" alt="IntRoLab" height="100">
+</a>
+
+#### CI Latest
+
+  <table>
+    <tbody>
+        <tr>
+           <td>Linux</td>
+           <td><a href="https://github.com/introlab/rtabmap/actions/workflows/cmake.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/rtabmap/actions/workflows/docker.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/docker.yml/badge.svg" alt="Build Status"/>
+           </td>
+        </tr>
+        <tr>
+           <td>Windows</td>
+           <td><a href="https://ci.appveyor.com/project/matlabbe/rtabmap/branch/master"><img src="https://ci.appveyor.com/api/projects/status/hr73xspix9oqa26h/branch/master?svg=true" alt="Build Status"/>
+           </td>
+        </tr>
+     </tbody>
+  </table>
+ 
+ #### ROS Binaries
+ 
+ `ros-$ROS_DISTRO-rtabmap`
+ 
+ <table>
+    <tbody>
+        <tr>
+           <td rowspan="1">ROS 1</td>
+            <td>Noetic</td>
+            <td><a href="http://build.ros.org/job/Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary/"><img src="http://build.ros.org/buildStatus/icon?job=Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary" alt="Build Status"/></td>
+        </tr>
+        <tr>
+            <td rowspan="3">ROS 2</td>
+            <td>Humble</td>
+            <td><a href="http://build.ros2.org/job/Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
+        </tr>
+        <tr>
+            <td>Iron</td>
+            <td><a href="http://build.ros2.org/job/Ibin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
+        </tr>
+        <tr>
+            <td>Rolling</td>
+            <td><a href="http://build.ros2.org/job/Rbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
+        </tr>
+        <tr>
+           <td>Docker</td>
+           <td>
+             <a href="https://hub.docker.com/r/introlab3it/rtabmap">rtabmap</a>
+           </td>
+           <td><img src="https://img.shields.io/docker/pulls/introlab3it/rtabmap.svg?label=pulls" alt="Docker Pulls"/></td>
+        </tr>
+    </tbody>
+</table>

RTABMapConfig.cmake.in

@@ -1,73 +1,102 @@
-# - Config file for the RTABMap package
-# It defines the following variables
-#  RTABMap_INCLUDE_DIRS - include directories for RTABMap
-#  RTABMap_LIBRARIES    - libraries to link against
-#  RTABMap_CORE         - core library
-#  RTABMap_UTILITE      - utilite library
-#  RTABMap_GUI          - gui library (set if RTABMap is built with Qt)
+include(CMakeFindDependencyMacro)
 
-# Compute paths
-get_filename_component(RTABMap_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-set(RTABMap_INCLUDE_DIRS "@CONF_INCLUDE_DIRS@")
+# Mandatory dependencies
+find_dependency(OpenCV COMPONENTS core calib3d imgproc highgui stitching photo video OPTIONAL_COMPONENTS aruco objdetect xfeatures2d nonfree gpu cudafeatures2d)
 
-#core lib
-find_library(RTABMap_CORE_RELEASE NAMES rtabmap_core NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
-find_library(RTABMap_CORE_DEBUG NAMES rtabmap_cored NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
+if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/RTABMap_guiTargets.cmake")
+    find_dependency(PCL 1.7 COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)
+    
+    if(@CONF_QT_VERSION@ EQUAL 6)
+        find_dependency(Qt6 COMPONENTS Widgets Core Gui OpenGL)
+    elseif(@CONF_QT_VERSION@ EQUAL 5)
+        find_dependency(Qt5 COMPONENTS Widgets Core Gui OpenGL)
+    else() # Qt4
+        find_dependency(Qt4 COMPONENTS QtCore QtGui)
+    endif()
+    set(RTABMap_QT_VERSION @CONF_QT_VERSION@)
+ELSE()
+    find_dependency(PCL 1.7 COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation)
+ENDIF()
+set(RTABMap_DEFINITIONS ${PCL_DEFINITIONS})
+add_definitions(${RTABMap_DEFINITIONS}) # To include -march=native if set
 
-IF(RTABMap_CORE_DEBUG AND RTABMap_CORE_RELEASE)
-   SET(RTABMap_CORE
-      debug ${RTABMap_CORE_DEBUG}
-      optimized ${RTABMap_CORE_RELEASE}
-   )
-ELSEIF(RTABMap_CORE_RELEASE)
-   SET(RTABMap_CORE ${RTABMap_CORE_RELEASE})
-ELSEIF(RTABMap_CORE_DEBUG)
-   SET(RTABMap_CORE ${RTABMap_CORE_DEBUG})
+# Optional dependencies
+IF(EXISTS "${CMAKE_CURRENT_LIST_DIR}/@CONF_MODULES_DIR@")
+    list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/@CONF_MODULES_DIR@")
 ENDIF()
 
-#utilite lib
-find_library(RTABMap_UTILITE_RELEASE NAMES rtabmap_utilite NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
-find_library(RTABMap_UTILITE_DEBUG NAMES rtabmap_utilited NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
-
-IF(RTABMap_UTILITE_DEBUG AND RTABMap_UTILITE_RELEASE)
-   SET(RTABMap_UTILITE
-      debug ${RTABMap_UTILITE_DEBUG}
-      optimized ${RTABMap_UTILITE_RELEASE}
-   )
-ELSEIF(RTABMap_UTILITE_RELEASE)
-   SET(RTABMap_UTILITE ${RTABMap_UTILITE_RELEASE})
-ELSEIF(RTABMap_UTILITE_DEBUG)
-   SET(RTABMap_UTILITE ${RTABMap_UTILITE_DEBUG})
+IF(@CONF_WITH_REALSENSE2@)
+    IF(WIN32)
+        find_dependency(RealSense2)
+    ELSE()
+        find_dependency(realsense2)
+    ENDIF()
 ENDIF()
 
-set(RTABMap_LIBRARIES ${RTABMap_CORE} ${RTABMap_UTILITE})
+IF(@CONF_WITH_K4A@)
+    IF(WIN32)
+        find_dependency(K4A)
+    ELSE()
+        find_dependency(k4a)
+        find_dependency(k4arecord)
+    ENDIF()
+ENDIF()
 
-#gui lib (OFF if RTAB-Map is not built with Qt)
-if(@CONF_WITH_GUI@)
-   find_library(RTABMap_GUI_RELEASE NAMES rtabmap_gui NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
-   find_library(RTABMap_GUI_DEBUG NAMES rtabmap_guid NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
-   
-   IF(RTABMap_GUI_DEBUG AND RTABMap_GUI_RELEASE)
-      SET(RTABMap_GUI
-         debug ${RTABMap_GUI_DEBUG}
-         optimized ${RTABMap_GUI_RELEASE}
-      )
-   ELSEIF(RTABMap_GUI_RELEASE)
-      SET(RTABMap_GUI ${RTABMap_GUI_RELEASE})
-   ELSEIF(RTABMap_GUI_DEBUG)
-      SET(RTABMap_GUI ${RTABMap_GUI_DEBUG})
-   ENDIF()
-   
-   set(RTABMap_LIBRARIES ${RTABMap_LIBRARIES} ${RTABMap_GUI})
-endif(@CONF_WITH_GUI@)
+IF(@CONF_WITH_DEPTH_AI@)
+  find_dependency(depthai 2.24)
+ENDIF()
 
-#backward compatibilities
-if(RTABMap_CORE)
-   set(RTABMAP_CORE ${RTABMap_CORE})
-endif(RTABMap_CORE)
-if(RTABMap_UTILITE)
-   set(RTABMAP_UTILITE ${RTABMap_UTILITE})
-endif(RTABMap_UTILITE)
-if(RTABMap_GUI)
-   set(RTABMAP_GUI ${RTABMap_GUI})
-endif(RTABMap_GUI)
+IF(@CONF_WITH_XVSDK@)
+  find_dependency(xvsdk)
+ENDIF()
+
+IF(@CONF_WITH_OCTOMAP@)
+  find_dependency(octomap)
+ENDIF()
+
+IF(@CONF_WITH_PYTHON@)
+  find_dependency(Python3 COMPONENTS Interpreter Development NumPy)
+ENDIF()
+
+# Provide those for backward compatibilities (e.g., catkin requires them to propagate dependencies)
+set(RTABMap_INCLUDE_DIRS "")
+set(RTABMap_LIBRARIES "")
+set(RTABMap_TARGETS "")
+
+set(_RTABMap_supported_components utilite core gui)
+
+foreach(_comp ${_RTABMap_supported_components})
+  if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/RTABMap_${_comp}Targets.cmake")
+    include("${CMAKE_CURRENT_LIST_DIR}/RTABMap_${_comp}Targets.cmake")
+    set(RTABMap_${_comp}_FOUND True)
+    set(RTABMap_TARGETS
+      ${RTABMap_TARGETS}
+      rtabmap::${_comp})
+    get_target_property(RTABMap_${_comp}_INCLUDE_DIRS rtabmap::${_comp} INTERFACE_INCLUDE_DIRECTORIES)
+    get_target_property(RTABMap_${_comp}_LIBRARIES rtabmap::${_comp} INTERFACE_LINK_LIBRARIES)
+    set(RTABMap_INCLUDE_DIRS 
+      ${RTABMap_INCLUDE_DIRS}
+      ${RTABMap_${_comp}_INCLUDE_DIRS})
+    set(RTABMap_LIBRARIES 
+      ${RTABMap_LIBRARIES}
+      rtabmap::${_comp})
+    if(RTABMap_${_comp}_LIBRARIES)
+      set(RTABMap_LIBRARIES 
+        ${RTABMap_LIBRARIES}
+        ${RTABMap_${_comp}_LIBRARIES})
+    endif()
+  else()
+    set(RTABMap_${_comp}_FOUND False)
+  endif()
+endforeach()
+
+include("${CMAKE_CURRENT_LIST_DIR}/RTABMapTargets.cmake")
+
+foreach(_comp ${RTABMap_FIND_COMPONENTS})
+  if (NOT RTABMap_${_comp}_FOUND)
+    if(${RTABMap_FIND_REQUIRED_${_comp}})
+      set(RTABMap_FOUND False)
+      set(RTABMap_NOT_FOUND_MESSAGE "Unsupported or not found required component: ${_comp}")
+    endif()
+  endif()
+endforeach()

RTABMapConfigVersion.cmake.in

@@ -1,11 +0,0 @@
-set(PACKAGE_VERSION "@RTABMAP_VERSION@")
-
-# Check whether the requested PACKAGE_FIND_VERSION is compatible
-if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
-  set(PACKAGE_VERSION_COMPATIBLE FALSE)
-else()
-  set(PACKAGE_VERSION_COMPATIBLE TRUE)
-  if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")
-    set(PACKAGE_VERSION_EXACT TRUE)
-  endif()
-endif()

Version.h.in

@@ -37,7 +37,70 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #define RTABMAP_VERSION_COMPARE(major, minor, patch)  (major>=@PROJECT_VERSION_MAJOR@ || (major==@PROJECT_VERSION_MAJOR@ && minor>=@PROJECT_VERSION_MINOR@) || (major==@PROJECT_VERSION_MAJOR@ && minor==@PROJECT_VERSION_MINOR@ && patch >=@PROJECT_VERSION_PATCH@))
 
-#define RTABMAP_NONFREE @NONFREE@
+@NONFREE@#define RTABMAP_NONFREE
+@TORO@#define RTABMAP_TORO
+@G2O@#define RTABMAP_G2O
+@G2O_CPP_CONF@#define RTABMAP_G2O_CPP11 @G2O_CPP11@
+@GTSAM@#define RTABMAP_GTSAM
+@CERES@#define RTABMAP_CERES
+@MRPT@#define RTABMAP_MRPT
+@VERTIGO@#define RTABMAP_VERTIGO
+@OPENNI@#define RTABMAP_OPENNI
+@OPENNI2@#define RTABMAP_OPENNI2
+@FREENECT@#define RTABMAP_FREENECT
+@FREENECT2@#define RTABMAP_FREENECT2
+@K4W2@#define RTABMAP_K4W2
+@K4A@#define RTABMAP_K4A
+@CVSBA@#define RTABMAP_CVSBA
+@POINTMATCHER@#define RTABMAP_POINTMATCHER
+@CCCORELIB@#define RTABMAP_CCCORELIB
+@OPEN3D@#define RTABMAP_OPEN3D
+@FASTCV@#define RTABMAP_FASTCV
+@OPENGV@#define RTABMAP_OPENGV
+@PDAL@#define RTABMAP_PDAL
+@LIBLAS@#define RTABMAP_LIBLAS
+@CUDASIFT@#define RTABMAP_CUDASIFT
+@LOAM@#define RTABMAP_LOAM
+@FLOAM@#define RTABMAP_FLOAM
+@DC1394@#define RTABMAP_DC1394
+@FLYCAPTURE2@#define RTABMAP_FLYCAPTURE2
+@ZED@#define RTABMAP_ZED
+@ZEDOC@#define RTABMAP_ZEDOC
+@REALSENSE@#define RTABMAP_REALSENSE
+@REALSENSESLAM@#define RTABMAP_REALSENSE_SLAM
+@REALSENSE2@#define RTABMAP_REALSENSE2
+@MYNTEYE@#define RTABMAP_MYNTEYE
+@DEPTHAI@#define RTABMAP_DEPTHAI
+@XVSDK@#define RTABMAP_XVSDK
+@OCTOMAP@#define RTABMAP_OCTOMAP
+@GRIDMAP@#define RTABMAP_GRIDMAP
+@CPUTSDF@#define RTABMAP_CPUTSDF
+@ALICE_VISION@#define RTABMAP_ALICE_VISION
+@OPENCHISEL@#define RTABMAP_OPENCHISEL
+@FOVIS@#define RTABMAP_FOVIS
+@VISO2@#define RTABMAP_VISO2
+@DVO@#define RTABMAP_DVO
+@OKVIS@#define RTABMAP_OKVIS
+@MSCKF_VIO@#define RTABMAP_MSCKF_VIO
+@VINS@#define RTABMAP_VINS
+@OPENVINS@#define RTABMAP_OPENVINS
+@ORB_SLAM@#define RTABMAP_ORB_SLAM @ORB_SLAM_VERSION@
+@ORB_OCTREE@#define RTABMAP_ORB_OCTREE
+@TORCH@#define RTABMAP_TORCH
+@PYTHON@#define RTABMAP_PYTHON
+@MADGWICK@#define RTABMAP_MADGWICK
+
+#include <pcl/pcl_config.h>
+
+#if PCL_VERSION_COMPARE(>, 1, 11, 1)
+#include <pcl/types.h>
+#define RTABMAP_PCL_INDEX pcl::index_t
+#elif PCL_VERSION_COMPARE(>=, 1, 10, 0)
+#define RTABMAP_PCL_INDEX std::uint32_t
+#else
+#include <pcl/pcl_macros.h>
+#define RTABMAP_PCL_INDEX pcl::uint32_t
+#endif
 
 #endif /* VERSION_H_ */
 

app/CMakeLists.txt

@@ -1 +1,6 @@
-ADD_SUBDIRECTORY( src )
+
+IF(ANDROID)
+   ADD_SUBDIRECTORY( android )
+ELSE()
+   ADD_SUBDIRECTORY( src )
+ENDIF()

app/android/.gitignore

@@ -0,0 +1,2 @@
+/bin/
+/gen/

app/android/.settings/org.eclipse.jdt.core.prefs

@@ -0,0 +1,11 @@
+eclipse.preferences.version=1
+org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.6
+org.eclipse.jdt.core.compiler.codegen.unusedLocal=preserve
+org.eclipse.jdt.core.compiler.compliance=1.6
+org.eclipse.jdt.core.compiler.debug.lineNumber=generate
+org.eclipse.jdt.core.compiler.debug.localVariable=generate
+org.eclipse.jdt.core.compiler.debug.sourceFile=generate
+org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
+org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
+org.eclipse.jdt.core.compiler.source=1.6

app/android/AndroidManifest.xml.in

@@ -0,0 +1,88 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- BEGIN_INCLUDE(manifest) -->
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+        package="com.introlab.rtabmap"
+        android:versionCode="72"
+        android:versionName="@RTABMAP_VERSION@">
+
+    <uses-permission android:name="android.permission.CAMERA" />
+    <uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE" />
+    <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
+    <uses-permission android:name="android.permission.INTERNET" />
+    <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
+    <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
+    <uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
+    <uses-feature android:name="android.hardware.location.gps" />
+    <uses-feature android:glEsVersion="0x00020000" />
+
+    <!-- This is the platform API where depth16 support in android was introduced. -->
+    <uses-sdk android:minSdkVersion="@ANDROID_NATIVE_API_LEVEL@" />
+    
+    <queries>
+        <package android:name="com.google.ar.core" />
+        <package android:name="com.huawei.ar.engine" /> 
+    </queries>
+
+    <!-- This .apk has no Java code itself, so set hasCode to false. -->
+    <application 
+        android:label="@string/app_name" 
+        android:icon="@drawable/ic_launcher"
+        android:debuggable="@ANDROID_DEBUGGABLE@">
+        
+        <uses-library android:name="com.projecttango.libtango_device2" android:required="false" />
+        <meta-data android:name="com.google.ar.core" android:value="optional" />
+        <meta-data android:name="com.huawei.ar.engine" android:value="optional" />
+
+        <!-- Our activity is the built-in NativeActivity framework class.
+             This will take care of integrating with our NDK code. -->
+        <activity android:name="RTABMapActivity"
+                android:label="@string/app_name"
+                android:launchMode="singleTask"
+		android:screenOrientation="fullSensor"
+		android:configChanges="orientation|screenSize|keyboardHidden"
+		android:theme="@style/ThemeApp">
+            <!-- Tell NativeActivity the name of our .so -->
+            <meta-data android:name="android.app.lib_name"
+                    android:value="NativeRTABMap" />
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN" />
+                <category android:name="android.intent.category.LAUNCHER" />
+		    </intent-filter>
+		    <intent-filter>
+		        <action android:name="android.intent.action.SEND" />
+		        <action android:name="android.intent.action.SEND_MULTIPLE" />
+		        <action android:name="android.intent.action.OPEN_DOCUMENT" />
+		        <category android:name="android.intent.category.DEFAULT" />
+		        <data android:mimeType="application/octet-stream" />
+		        <data android:pathPattern=".*\.db" />
+		    </intent-filter>
+		    
+        </activity>
+
+        <activity android:name="SettingsActivity" android:label="@string/settings" android:screenOrientation="fullSensor"/>
+        <activity android:name="SketchfabActivity" android:label="@string/sketchfab" android:screenOrientation="fullSensor"/>
+    
+        <meta-data
+            android:name="com.google.ar.core.min_apk_version"
+            android:value="191106000" /> <!-- This activity is critical for installing ARCore when it is not already present. -->
+        <activity
+            android:name="com.google.ar.core.InstallActivity"
+            android:configChanges="keyboardHidden|orientation|screenSize"
+            android:excludeFromRecents="true"
+            android:exported="false"
+            android:launchMode="singleTop"
+            android:theme="@android:style/Theme.Material.Light.Dialog.Alert" />
+            
+        <provider
+            android:name="android.support.v4.content.FileProvider"
+            android:authorities="com.introlab.rtabmap.provider"
+            android:exported="false"
+            android:grantUriPermissions="true">
+            <meta-data
+                android:name="android.support.FILE_PROVIDER_PATHS"
+                android:resource="@xml/provider_paths"/>
+        </provider>
+    </application>
+
+</manifest>
+<!-- END_INCLUDE(manifest) -->

app/android/CMakeLists.txt

@@ -0,0 +1,191 @@
+
+option(WITH_TANGO         "Include Tango support"                ON)
+option(WITH_ARCORE        "Include ARCore support"               ON)
+option(WITH_ARENGINE      "Include AREngine support"             ON)
+option(DISABLE_LOG        "Disable Android logging (should be true in release)"    ON)
+option(DEPTH_TEST         "Enable depth test on ARCore"    OFF)
+
+# Google Tango needs access to system shared 
+# libraries (e.g. libbinder.so) that are not accessible 
+# with android >=24
+IF(WITH_TANGO AND ${ANDROID_NATIVE_API_LEVEL} LESS 24)
+    FIND_PACKAGE(Tango QUIET)
+    IF(Tango_FOUND)
+       MESSAGE(STATUS "Found Tango: ${Tango_INCLUDE_DIRS}")
+    ENDIF(Tango_FOUND)
+ENDIF(WITH_TANGO AND ${ANDROID_NATIVE_API_LEVEL} LESS 24)
+
+IF(WITH_ARCORE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 22)
+    FIND_PACKAGE(ARCore QUIET)
+    IF(ARCore_FOUND)
+       MESSAGE(STATUS "Found ARCore: ${ARCore_INCLUDE_DIRS}")
+    ENDIF(ARCore_FOUND)
+ENDIF(WITH_ARCORE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 22)
+
+IF(WITH_ARENGINE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 23)
+    FIND_PACKAGE(AREngine QUIET)
+    IF(AREngine_FOUND)
+       MESSAGE(STATUS "Found AREngine: ${AREngine_INCLUDE_DIRS}")
+    ENDIF(AREngine_FOUND)
+ENDIF(WITH_ARENGINE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 23)
+
+IF(NOT Tango_FOUND)
+   SET(TANGO "//")
+ENDIF(NOT Tango_FOUND)
+IF(NOT ARCore_FOUND)
+   SET(ARCORE "//")
+ENDIF(NOT ARCore_FOUND)
+IF(NOT AREngine_FOUND)
+   SET(ARENGINE "//")
+ENDIF(NOT AREngine_FOUND)
+
+CONFIGURE_FILE(CameraAvailability.h.in ${CMAKE_CURRENT_SOURCE_DIR}/jni/CameraAvailability.h)
+
+
+IF(DISABLE_LOG)
+  ADD_DEFINITIONS(-DDISABLE_LOG)
+ENDIF(DISABLE_LOG)
+IF(DEPTH_TEST)
+  ADD_DEFINITIONS(-DDEPTH_TEST)
+ENDIF(DEPTH_TEST)
+
+MESSAGE(STATUS "--------------------------------------------")
+MESSAGE(STATUS "Android build info:")
+MESSAGE(STATUS "  DISABLE_LOG    = ${DISABLE_LOG}")
+MESSAGE(STATUS "  DEPTH_TEST     = ${DEPTH_TEST}")
+IF(Tango_FOUND)
+  MESSAGE(STATUS "  With Tango     = YES")
+ELSEIF(NOT WITH_TANGO)
+  MESSAGE(STATUS "  With Tango     = NO (WITH_TANGO=OFF)")
+ELSE()
+  IF(${ANDROID_NATIVE_API_LEVEL} GREATER 23)
+    MESSAGE(STATUS "  With Tango     = NO (ANDROID_NATIVE_API_LEVEL should be <= 23)")
+  ELSE()
+    MESSAGE(STATUS "  With Tango     = NO (tango not found)")
+  ENDIF()
+ENDIF()
+IF(ARCore_FOUND)
+  MESSAGE(STATUS "  With ARCore    = YES")
+ELSEIF(NOT WITH_ARCORE)
+  MESSAGE(STATUS "  With ARCore    = NO (WITH_ARCORE=OFF)")
+ELSE()
+  IF(${ANDROID_NATIVE_API_LEVEL} LESS 23)
+    MESSAGE(STATUS "  With ARCore    = NO (ANDROID_NATIVE_API_LEVEL should be >= 23)")
+  ELSE()
+    MESSAGE(STATUS "  With ARCore    = NO (ARCore not found)")
+  ENDIF()
+ENDIF()
+IF(AREngine_FOUND)
+  MESSAGE(STATUS "  With AREngine  = YES")
+ELSEIF(NOT WITH_ARENGINE)
+  MESSAGE(STATUS "  With AREngine  = NO (WITH_ARENGINE=OFF)")
+ELSE()
+  IF(${ANDROID_NATIVE_API_LEVEL} LESS 24)
+    MESSAGE(STATUS "  With AREngine  = NO (ANDROID_NATIVE_API_LEVEL should be >= 24)")
+  ELSE()
+    MESSAGE(STATUS "  With AREngine  = NO (AREngine not found)")
+  ENDIF()
+ENDIF()
+MESSAGE(STATUS "  ANDROID_NATIVE_API_LEVEL       = ${ANDROID_NATIVE_API_LEVEL}")
+MESSAGE(STATUS "  ANDROID_COMPILER_FLAGS_RELEASE = ${ANDROID_COMPILER_FLAGS_RELEASE}")
+MESSAGE(STATUS "  ANDROID_TOOLCHAIN_PREFIX       = ${ANDROID_TOOLCHAIN_PREFIX}")
+
+
+IF(DISABLE_LOG)
+   SET(ANDROID_DEBUGGABLE false)
+ELSE()
+   SET(ANDROID_DEBUGGABLE true)
+ENDIF()
+
+add_subdirectory(jni)
+
+
+######
+# Packaging
+######
+
+# find android
+find_host_program(ANDROID_EXECUTABLE
+  NAMES android
+  DOC   "The android command-line tool")
+if(NOT ANDROID_EXECUTABLE)
+  message(FATAL_ERROR "Can not find android command line tool: android")
+endif()
+
+configure_file(
+  "${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml.in"
+  "${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml"
+  @ONLY)
+  
+configure_file(
+  "${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml"
+  "${CMAKE_CURRENT_BINARY_DIR}/AndroidManifest.xml"
+  COPYONLY)
+  
+configure_file(
+  "${CMAKE_CURRENT_SOURCE_DIR}/info.txt.in"
+  "${CMAKE_CURRENT_SOURCE_DIR}/res/raw/info.txt")
+  
+
+configure_file(
+  "${CMAKE_CURRENT_SOURCE_DIR}/ant.properties.in"
+  "${CMAKE_CURRENT_BINARY_DIR}/ant.properties"
+  @ONLY)
+  
+configure_file(
+  "${CMAKE_CURRENT_SOURCE_DIR}/custom_rules.xml"
+  "${CMAKE_CURRENT_BINARY_DIR}/custom_rules.xml"
+  COPYONLY)
+
+add_custom_target(NativeRTABMap-ant-configure ALL
+  COMMAND "${ANDROID_EXECUTABLE}"
+          update project
+          --name RTABMap
+          --path "${CMAKE_CURRENT_SOURCE_DIR}"
+          --target "android-${ANDROID_NATIVE_API_LEVEL}"
+  COMMAND "${CMAKE_COMMAND}" -E copy_if_different
+          "${CMAKE_CURRENT_SOURCE_DIR}/build.xml"
+          "${CMAKE_CURRENT_BINARY_DIR}/build.xml"
+  COMMAND "${CMAKE_COMMAND}" -E copy_if_different
+          "${CMAKE_CURRENT_SOURCE_DIR}/local.properties"
+          "${CMAKE_CURRENT_BINARY_DIR}/local.properties"
+  COMMAND "${CMAKE_COMMAND}" -E copy_if_different
+          "${CMAKE_CURRENT_SOURCE_DIR}/project.properties"
+          "${CMAKE_CURRENT_BINARY_DIR}/project.properties"
+  COMMAND "${CMAKE_COMMAND}" -E copy_if_different
+          "${CMAKE_CURRENT_SOURCE_DIR}/proguard-project.txt"
+          "${CMAKE_CURRENT_BINARY_DIR}/proguard-project.txt"
+  COMMAND "${CMAKE_COMMAND}" -E remove
+          "${CMAKE_CURRENT_SOURCE_DIR}/build.xml"
+          "${CMAKE_CURRENT_SOURCE_DIR}/local.properties"
+          "${CMAKE_CURRENT_SOURCE_DIR}/project.properties"
+          "${CMAKE_CURRENT_SOURCE_DIR}/proguard-project.txt"
+  WORKING_DIRECTORY
+          "${CMAKE_CURRENT_BINARY_DIR}")
+
+add_dependencies(NativeRTABMap-ant-configure NativeRTABMap)
+
+#find ant
+find_host_program(ANT_EXECUTABLE
+  NAMES ant
+  DOC   "The ant build tool")
+if(NOT ANT_EXECUTABLE)
+  message(FATAL_ERROR "Can not find ant build tool: ant")
+endif()
+
+add_custom_target(NativeRTABMap-apk-release ALL
+  COMMAND ${ANT_EXECUTABLE}
+          -file "${CMAKE_CURRENT_BINARY_DIR}/build.xml"
+          release)
+add_dependencies(NativeRTABMap-apk-release
+  NativeRTABMap-ant-configure
+  NativeRTABMap)
+
+add_custom_target(NativeRTABMap-apk-debug ALL
+  COMMAND ${ANT_EXECUTABLE}
+          -file "${CMAKE_CURRENT_BINARY_DIR}/build.xml"
+          debug)
+add_dependencies(NativeRTABMap-apk-debug
+#  NativeRTABMap-apk-release
+  NativeRTABMap-ant-configure
+  NativeRTABMap)

app/android/CameraAvailability.h.in

@@ -0,0 +1,39 @@
+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL UNIVERTY DE SHERBROOKE BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+ 
+#ifndef CAMERAAVAILABILITY_H_
+#define CAMERAAVAILABILITY_H_
+
+// This is auto-generated!
+
+@TANGO@#define RTABMAP_TANGO
+@ARCORE@#define RTABMAP_ARCORE
+@ARENGINE@#define RTABMAP_ARENGINE
+
+
+#endif /* CAMERAAVAILABILITY_H_ */
+

app/android/ant.properties.in

@@ -0,0 +1,13 @@
+builddir=@CMAKE_CURRENT_BINARY_DIR@
+srcdir=@CMAKE_CURRENT_SOURCE_DIR@
+android.abi=@ANDROID_ABI@
+
+source.dir=${srcdir}/src
+gen.dir=${builddir}/gen
+out.dir=${builddir}/bin
+asset.dir=${builddir}/assets
+resource.absolute.dir=${srcdir}/res
+
+jar.libs.dir=${builddir}/libs
+external.libs.dir=${builddir}/libs
+native.libs.dir=${builddir}/libs

app/android/custom_rules.xml

@@ -0,0 +1,13 @@
+<project>
+    <target name="-pre-build">
+		<copy todir="${jar.libs.dir}">
+			<fileset dir="${srcdir}/libs" includes="**/*.jar" excludes="**/*sources.jar, **/*javadoc.jar" />
+		</copy>
+		<copy todir="${native.libs.dir}/${android.abi}">
+			<fileset dir="${srcdir}/jni/third-party/lib" includes="*.so"/>
+		</copy>
+		<copy todir="${native.libs.dir}">
+			<fileset dir="${srcdir}/jni/third-party/lib" includes="${android.abi}/*.so"/>
+		</copy>
+	</target>
+</project>

app/android/info.txt.in

@@ -0,0 +1,7 @@
+<h3>Real-Time Appearance-Based Mapping</h3>
+Version @RTABMAP_VERSION@<br>
+Author: Mathieu Labb&eacute;<br>
+Copyright 2016-2020<br>
+IntRoLab - Universit&eacute; de Sherbrooke<br>
+<b>http://introlab.github.io/rtabmap</b><br><br>
+

app/android/jni/.gitignore

@@ -0,0 +1 @@
+CameraAvailability.h

app/android/jni/CMakeLists.txt

@@ -0,0 +1,137 @@
+
+SET(INCLUDE_DIRS
+    ${CMAKE_CURRENT_SOURCE_DIR}
+    ${CMAKE_CURRENT_SOURCE_DIR}/tango-gl/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/third-party/include
+	${PROJECT_BINARY_DIR}/corelib/include
+	${PROJECT_SOURCE_DIR}/corelib/include
+	${PROJECT_SOURCE_DIR}/utilite/include
+    ${OpenCV_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+    "${ANDROID_NDK}/platforms/android-${ANDROID_NATIVE_API_LEVEL}/arch-${ANDROID_ARCH_NAME}/usr/include"
+)
+
+SET(LIBRARIES
+	${OpenCV_LIBRARIES} 
+	${PCL_LIBRARIES}
+)
+
+set(sources
+  jni_interface.cpp
+  CameraMobile.cpp
+  RTABMapApp.cpp
+  scene.cpp
+  point_cloud_drawable.cpp
+  graph_drawable.cpp
+  background_renderer.cc
+  tango-gl/axis.cpp 
+  tango-gl/camera.cpp 
+  tango-gl/conversions.cpp 
+  tango-gl/drawable_object.cpp 
+  tango-gl/frustum.cpp 
+  tango-gl/gesture_camera.cpp 
+  tango-gl/grid.cpp 
+  tango-gl/line.cpp 
+  tango-gl/shaders.cpp 
+  tango-gl/trace.cpp 
+  tango-gl/transform.cpp 
+  tango-gl/util.cpp
+)
+
+IF(OPENMP_FOUND)
+file(COPY ${OpenMP_CXX_LIBRARIES}
+       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
+ENDIF(OPENMP_FOUND)
+
+IF(Tango_FOUND)
+
+  SET(sources
+    ${sources}
+    CameraTango.cpp
+  )
+  SET(INCLUDE_DIRS
+    ${INCLUDE_DIRS}
+    ${Tango_INCLUDE_DIRS}
+  )
+  SET(LIBRARIES
+    ${LIBRARIES}
+    ${Tango_LIBRARIES}
+  )
+  
+  file(COPY ${Tango_support_LIBRARY} 
+       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}) 
+ENDIF(Tango_FOUND)
+
+IF(ARCore_FOUND)
+
+  SET(sources
+    ${sources}
+    CameraARCore.cpp
+  )
+  SET(INCLUDE_DIRS
+    ${INCLUDE_DIRS}
+    ${ARCore_INCLUDE_DIRS}
+  )
+  SET(LIBRARIES
+    ${LIBRARIES}
+    ${ARCore_LIBRARIES}
+  )
+ 
+  file(COPY ${ARCore_c_LIBRARY} 
+       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
+  file(COPY ${ARCore_jni_LIBRARY} 
+       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
+    
+ENDIF(ARCore_FOUND)
+
+IF(AREngine_FOUND)
+
+  SET(sources
+    ${sources}
+    CameraAREngine.cpp
+  )
+  SET(INCLUDE_DIRS
+    ${INCLUDE_DIRS}
+    ${AREngine_INCLUDE_DIRS}
+  )
+  SET(LIBRARIES
+    ${LIBRARIES}
+    ${AREngine_LIBRARIES}
+    camera2ndk
+    mediandk
+  )
+ 
+  file(COPY ${AREngine_impl_LIBRARY} 
+       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
+  file(COPY ${AREngine_jni_LIBRARY} 
+       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
+  file(COPY ${AREngine_ndk_LIBRARY} 
+       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
+    
+ENDIF(AREngine_FOUND)
+
+add_definitions(${PCL_DEFINITIONS})
+
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+add_library(NativeRTABMap SHARED ${sources})        
+target_link_libraries(NativeRTABMap ${LIBRARIES}
+  android
+  log
+  GLESv2
+  rtabmap_core
+  rtabmap_utilite
+)
+
+# see ant.properties.in
+set_target_properties(NativeRTABMap PROPERTIES
+         LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}"
+         LIBRARY_OUTPUT_DIRECTORY_DEBUG "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}"
+         LIBRARY_OUTPUT_DIRECTORY_RELEASE "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}")
+         
+IF(ANDROID_NATIVE_API_LEVEL GREATER 22)
+add_custom_command(TARGET NativeRTABMap POST_BUILD
+    COMMAND "${ANDROID_TOOLCHAIN_PREFIX}strip" -g -S -d --strip-debug --verbose
+    "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}/libNativeRTABMap.so"
+    COMMENT "Strip debug symbols done on final binary.")
+ENDIF(ANDROID_NATIVE_API_LEVEL GREATER 22)

app/android/jni/CameraARCore.cpp

@@ -0,0 +1,523 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "CameraARCore.h"
+#include "util.h"
+#include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/core/util3d_transforms.h"
+#include "rtabmap/core/OdometryEvent.h"
+#include "rtabmap/core/util2d.h"
+
+namespace rtabmap {
+
+//////////////////////////////
+// CameraARCore
+//////////////////////////////
+CameraARCore::CameraARCore(void* env, void* context, void* activity, bool depthFromMotion, bool smoothing, float upstreamRelocalizationAccThr):
+	CameraMobile(smoothing, upstreamRelocalizationAccThr),
+	env_(env),
+	context_(context),
+	activity_(activity),
+	arInstallRequested_(false),
+	depthFromMotion_(depthFromMotion)
+{
+}
+
+CameraARCore::~CameraARCore() {
+	// Disconnect ARCore service
+	close();
+}
+
+
+struct CameraConfig {
+  int32_t width = 0;
+  int32_t height = 0;
+  std::string config_label;
+  ArCameraConfig* config = nullptr;
+};
+
+void getCameraConfigLowestAndHighestResolutions(
+		std::vector<CameraConfig> & camera_configs,
+    CameraConfig** lowest_resolution_config,
+    CameraConfig** highest_resolution_config) {
+  if (camera_configs.empty()) {
+    return;
+  }
+
+  int low_resolution_config_idx = 0;
+  int high_resolution_config_idx = 0;
+  int32_t smallest_height = camera_configs[0].height;
+  int32_t largest_height = camera_configs[0].height;
+
+  for (int i = 1; i < camera_configs.size(); ++i) {
+    int32_t image_height = camera_configs[i].height;
+    if (image_height < smallest_height) {
+      smallest_height = image_height;
+      low_resolution_config_idx = i;
+    } else if (image_height > largest_height) {
+      largest_height = image_height;
+      high_resolution_config_idx = i;
+    }
+  }
+
+  if (low_resolution_config_idx == high_resolution_config_idx) {
+    *lowest_resolution_config = &camera_configs[low_resolution_config_idx];
+  } else {
+    *lowest_resolution_config = &camera_configs[low_resolution_config_idx];
+    *highest_resolution_config = &camera_configs[high_resolution_config_idx];
+  }
+}
+
+void copyCameraConfig(
+    const ArSession* ar_session, const ArCameraConfigList* all_configs,
+    int index, int num_configs, CameraConfig* camera_config) {
+  if (camera_config != nullptr && index >= 0 && index < num_configs) {
+    ArCameraConfig_create(ar_session, &camera_config->config);
+    ArCameraConfigList_getItem(ar_session, all_configs, index,
+                               camera_config->config);
+    ArCameraConfig_getImageDimensions(ar_session, camera_config->config,
+                                      &camera_config->width,
+                                      &camera_config->height);
+    camera_config->config_label = "(" + std::to_string(camera_config->width) +
+                                  "x" + std::to_string(camera_config->height) +
+                                  ")";
+  }
+}
+
+void destroyCameraConfigs(std::vector<CameraConfig> & camera_configs) {
+  for (int i = 0; i < camera_configs.size(); ++i) {
+    if (camera_configs[i].config != nullptr) {
+      ArCameraConfig_destroy(camera_configs[i].config);
+    }
+  }
+}
+
+std::string CameraARCore::getSerial() const
+{
+	return "ARCore";
+}
+
+bool CameraARCore::init(const std::string & calibrationFolder, const std::string & cameraName)
+{
+	close();
+
+	CameraMobile::init(calibrationFolder, cameraName);
+
+	UScopeMutex lock(arSessionMutex_);
+
+	ArInstallStatus install_status;
+	// If install was not yet requested, that means that we are resuming the
+	// activity first time because of explicit user interaction (such as
+	// launching the application)
+	bool user_requested_install = !arInstallRequested_;
+
+	// === ATTENTION!  ATTENTION!  ATTENTION! ===
+	// This method can and will fail in user-facing situations.  Your
+	// application must handle these cases at least somewhat gracefully.  See
+	// HelloAR Java sample code for reasonable behavior.
+	ArCoreApk_requestInstall(env_, activity_, user_requested_install, &install_status);
+
+	switch (install_status)
+	{
+		case AR_INSTALL_STATUS_INSTALLED:
+			break;
+		case AR_INSTALL_STATUS_INSTALL_REQUESTED:
+			arInstallRequested_ = true;
+			return false;
+	}
+
+	// === ATTENTION!  ATTENTION!  ATTENTION! ===
+	// This method can and will fail in user-facing situations.  Your
+	// application must handle these cases at least somewhat gracefully.  See
+	// HelloAR Java sample code for reasonable behavior.
+	UASSERT(ArSession_create(env_, context_, &arSession_) == AR_SUCCESS);
+	UASSERT(arSession_);
+
+	int32_t is_depth_supported = 0;
+	ArSession_isDepthModeSupported(arSession_, AR_DEPTH_MODE_AUTOMATIC, &is_depth_supported);
+
+	ArConfig_create(arSession_, &arConfig_);
+	UASSERT(arConfig_);
+
+	if (is_depth_supported!=0) {
+	  ArConfig_setDepthMode(arSession_, arConfig_, AR_DEPTH_MODE_AUTOMATIC);
+	} else {
+	  ArConfig_setDepthMode(arSession_, arConfig_, AR_DEPTH_MODE_DISABLED);
+	}
+
+	ArConfig_setFocusMode(arSession_, arConfig_, AR_FOCUS_MODE_FIXED);
+	UASSERT(ArSession_configure(arSession_, arConfig_) == AR_SUCCESS);
+
+	ArFrame_create(arSession_, &arFrame_);
+	UASSERT(arFrame_);
+
+	ArCameraIntrinsics_create(arSession_, &arCameraIntrinsics_);
+	UASSERT(arCameraIntrinsics_);
+
+	ArPose_create(arSession_, nullptr, &arPose_);
+	UASSERT(arPose_);
+
+	ArCameraConfigList* all_camera_configs = nullptr;
+	int32_t num_configs = 0;
+	ArCameraConfigList_create(arSession_, &all_camera_configs);
+	// Create filter first to get both 30 and 60 fps.
+	ArCameraConfigFilter* camera_config_filter = nullptr;
+	ArCameraConfigFilter_create(arSession_, &camera_config_filter);
+	ArCameraConfigFilter_setTargetFps(arSession_, camera_config_filter, AR_CAMERA_CONFIG_TARGET_FPS_30 | AR_CAMERA_CONFIG_TARGET_FPS_60);
+	ArSession_getSupportedCameraConfigsWithFilter(arSession_, camera_config_filter, all_camera_configs);
+	ArCameraConfigList_getSize(arSession_, all_camera_configs, &num_configs);
+
+	if (num_configs < 1) {
+		UERROR("No camera config found");
+		close();
+		return false;
+	}
+
+	std::vector<CameraConfig> camera_configs;
+	CameraConfig* cpu_low_resolution_camera_config_ptr = nullptr;
+	CameraConfig* cpu_high_resolution_camera_config_ptr = nullptr;
+	camera_configs.resize(num_configs);
+	for (int i = 0; i < num_configs; ++i) {
+		copyCameraConfig(arSession_, all_camera_configs, i, num_configs,
+						 &camera_configs[i]);
+	}
+	// Determine the highest and lowest CPU resolutions.
+	cpu_low_resolution_camera_config_ptr = nullptr;
+	cpu_high_resolution_camera_config_ptr = nullptr;
+	getCameraConfigLowestAndHighestResolutions(
+			camera_configs,
+			&cpu_low_resolution_camera_config_ptr,
+			&cpu_high_resolution_camera_config_ptr);
+
+	// Cleanup the list obtained as it is safe to destroy the list as camera
+	// config instances were explicitly created and copied. Refer to the
+	// previous comment.
+	ArCameraConfigList_destroy(all_camera_configs);
+	ArSession_setCameraConfig(arSession_, cpu_low_resolution_camera_config_ptr->config);
+
+	/// Sets the behavior of @ref ArSession_update(). See
+	/// ::ArUpdateMode for available options.
+	ArConfig_setUpdateMode(arSession_, arConfig_, AR_UPDATE_MODE_BLOCKING);
+
+	deviceTColorCamera_ = opticalRotation;
+
+	if (ArSession_resume(arSession_) != ArStatus::AR_SUCCESS)
+	{
+		UERROR("Cannot resume camera!");
+		// In a rare case (such as another camera app launching) the camera may be
+		// given to a different app and so may not be available to this app. Handle
+		// this properly and recreate the session at the next iteration.
+		close();
+		return false;
+	}
+
+	return true;
+}
+
+void CameraARCore::close()
+{
+	UScopeMutex lock(arSessionMutex_);
+	if(arSession_!= nullptr)
+	{
+		ArSession_destroy(arSession_);
+	}
+	arSession_ = nullptr;
+
+	if(arConfig_!= nullptr)
+	{
+		ArConfig_destroy(arConfig_);
+	}
+	arConfig_ = nullptr;
+
+	if (arFrame_ != nullptr)
+	{
+		ArFrame_destroy(arFrame_);
+	}
+	arFrame_ = nullptr;
+
+	if (arCameraIntrinsics_ != nullptr)
+	{
+		ArCameraIntrinsics_destroy(arCameraIntrinsics_);
+	}
+	arCameraIntrinsics_ = nullptr;
+
+	if (arPose_ != nullptr)
+	{
+		ArPose_destroy(arPose_);
+	}
+	arPose_ = nullptr;
+
+	CameraMobile::close();
+}
+
+void CameraARCore::setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height)
+{
+	CameraMobile::setScreenRotationAndSize(colorCameraToDisplayRotation, width, height);
+	if(arSession_)
+	{
+		int ret = static_cast<int>(colorCameraToDisplayRotation) + 1; // remove 90deg camera rotation
+		  if (ret > 3) {
+		    ret -= 4;
+		  }
+
+		ArSession_setDisplayGeometry(arSession_, ret, width, height);
+	}
+}
+
+SensorData CameraARCore::updateDataOnRender(Transform & pose)
+{
+	UScopeMutex lock(arSessionMutex_);
+	//LOGI("Capturing image...");
+
+	pose.setNull();
+	SensorData data;
+	if(!arSession_)
+	{
+		return data;
+	}
+
+	if(textureId_ == 0)
+	{
+		glGenTextures(1, &textureId_);
+		glBindTexture(GL_TEXTURE_EXTERNAL_OES, textureId_);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+	}
+	if(textureId_!=0)
+		ArSession_setCameraTextureName(arSession_, textureId_);
+
+	// Update session to get current frame and render camera background.
+	if (ArSession_update(arSession_, arFrame_) != AR_SUCCESS) {
+		LOGE("CameraARCore::captureImage() ArSession_update error");
+		return data;
+	}
+
+	// If display rotation changed (also includes view size change), we need to
+	// re-query the uv coordinates for the on-screen portion of the camera image.
+	int32_t geometry_changed = 0;
+	ArFrame_getDisplayGeometryChanged(arSession_, arFrame_, &geometry_changed);
+	if (geometry_changed != 0 || !uvs_initialized_) {
+		ArFrame_transformCoordinates2d(
+				arSession_, arFrame_, AR_COORDINATES_2D_OPENGL_NORMALIZED_DEVICE_COORDINATES,
+				BackgroundRenderer::kNumVertices, BackgroundRenderer_kVerticesDevice, AR_COORDINATES_2D_TEXTURE_NORMALIZED,
+				transformed_uvs_);
+		UASSERT(transformed_uvs_);
+		uvs_initialized_ = true;
+	}
+
+	ArCamera* ar_camera;
+	ArFrame_acquireCamera(arSession_, arFrame_, &ar_camera);
+
+	ArCamera_getViewMatrix(arSession_, ar_camera, glm::value_ptr(viewMatrix_));
+	ArCamera_getProjectionMatrix(arSession_, ar_camera,
+							   /*near=*/0.1f, /*far=*/100.f,
+							   glm::value_ptr(projectionMatrix_));
+
+	ArTrackingState camera_tracking_state;
+	ArCamera_getTrackingState(arSession_, ar_camera, &camera_tracking_state);
+
+	CameraModel model;
+	if(camera_tracking_state == AR_TRACKING_STATE_TRACKING)
+	{
+		// pose in OpenGL coordinates
+		float pose_raw[7];
+		ArCamera_getPose(arSession_, ar_camera, arPose_);
+		ArPose_getPoseRaw(arSession_, arPose_, pose_raw);
+		Transform poseArCore = Transform(pose_raw[4], pose_raw[5], pose_raw[6], pose_raw[0], pose_raw[1], pose_raw[2], pose_raw[3]);
+		pose = rtabmap::rtabmap_world_T_opengl_world * poseArCore * rtabmap::opengl_world_T_rtabmap_world;
+
+		if(pose.isNull())
+		{
+			LOGE("CameraARCore: Pose is null");
+			return data;
+		}
+
+		// Get calibration parameters
+		float fx,fy, cx, cy;
+		int32_t width, height;
+		ArCamera_getImageIntrinsics(arSession_, ar_camera, arCameraIntrinsics_);
+		ArCameraIntrinsics_getFocalLength(arSession_, arCameraIntrinsics_, &fx, &fy);
+		ArCameraIntrinsics_getPrincipalPoint(arSession_, arCameraIntrinsics_, &cx, &cy);
+		ArCameraIntrinsics_getImageDimensions(arSession_, arCameraIntrinsics_, &width, &height);
+#ifndef DISABLE_LOG
+		LOGI("%f %f %f %f %d %d", fx, fy, cx, cy, width, height);
+#endif
+
+		if(fx > 0 && fy > 0 && width > 0 && height > 0 && cx > 0 && cy > 0)
+		{
+			model = CameraModel(fx, fy, cx, cy, deviceTColorCamera_, 0, cv::Size(width, height));
+
+			ArPointCloud * pointCloud = nullptr;
+			ArFrame_acquirePointCloud(arSession_, arFrame_, &pointCloud);
+
+			int32_t is_depth_supported = 0;
+			ArSession_isDepthModeSupported(arSession_, AR_DEPTH_MODE_AUTOMATIC, &is_depth_supported);
+
+			ArImage * image = nullptr;
+			ArStatus status = ArFrame_acquireCameraImage(arSession_, arFrame_, &image);
+			if(status == AR_SUCCESS)
+			{
+				if(is_depth_supported)
+				{
+					LOGD("Acquire depth image!");
+					ArImage * depthImage = nullptr;
+					ArFrame_acquireDepthImage(arSession_, arFrame_, &depthImage);
+
+					ArImageFormat format;
+					ArImage_getFormat(arSession_, depthImage, &format);
+					if(format == AR_IMAGE_FORMAT_DEPTH16)
+					{
+						LOGD("Depth format detected!");
+						int planeCount;
+						ArImage_getNumberOfPlanes(arSession_, depthImage, &planeCount);
+						LOGD("planeCount=%d", planeCount);
+						UASSERT_MSG(planeCount == 1, uFormat("Error: getNumberOfPlanes() planceCount = %d", planeCount).c_str());
+						const uint8_t *data = nullptr;
+						int len = 0;
+						int stride;
+						int depth_width;
+						int depth_height;
+						ArImage_getWidth(arSession_, depthImage, &depth_width);
+						ArImage_getHeight(arSession_, depthImage, &depth_height);
+						ArImage_getPlaneRowStride(arSession_, depthImage, 0, &stride);
+						ArImage_getPlaneData(arSession_, depthImage, 0, &data, &len);
+
+						LOGD("width=%d, height=%d, bytes=%d stride=%d", depth_width, depth_height, len, stride);
+
+						cv::Mat occlusionImage = cv::Mat(depth_height, depth_width, CV_16UC1, (void*)data).clone();
+
+						float scaleX = (float)depth_width / (float)width;
+						float scaleY = (float)depth_height / (float)height;
+						CameraModel occlusionModel(fx*scaleX, fy*scaleY, cx*scaleX, cy*scaleY, pose*deviceTColorCamera_, 0, cv::Size(depth_width, depth_height));
+						this->setOcclusionImage(occlusionImage, occlusionModel);
+					}
+					ArImage_release(depthImage);
+				}
+
+				int64_t timestamp_ns;
+				ArImageFormat format;
+				ArImage_getTimestamp(arSession_, image, &timestamp_ns);
+				ArImage_getFormat(arSession_, image, &format);
+				if(format == AR_IMAGE_FORMAT_YUV_420_888)
+				{
+#ifndef DISABLE_LOG
+					int32_t num_planes;
+					ArImage_getNumberOfPlanes(arSession_, image, &num_planes);
+					for(int i=0;i<num_planes; ++i)
+					{
+						int32_t pixel_stride;
+						int32_t row_stride;
+						ArImage_getPlanePixelStride(arSession_, image, i, &pixel_stride);
+						ArImage_getPlaneRowStride(arSession_, image, i, &row_stride);
+						LOGI("Plane %d/%d: pixel stride=%d, row stride=%d", i+1, num_planes, pixel_stride, row_stride);
+					}
+#endif
+					const uint8_t * plane_data;
+					const uint8_t * plane_uv_data;
+					int32_t data_length;
+					ArImage_getPlaneData(arSession_, image, 0, &plane_data, &data_length);
+					int32_t uv_data_length;
+					ArImage_getPlaneData(arSession_, image, 2, &plane_uv_data, &uv_data_length);
+
+					if(plane_data != nullptr && data_length == height*width)
+					{
+						double stamp = double(timestamp_ns)/10e8;
+#ifndef DISABLE_LOG
+						LOGI("data_length=%d stamp=%f", data_length, stamp);
+#endif
+						cv::Mat rgb;
+						if((long)plane_uv_data-(long)plane_data != data_length)
+						{
+							// The uv-plane is not concatenated to y plane in memory, so concatenate them
+							cv::Mat yuv(height+height/2, width, CV_8UC1);
+							memcpy(yuv.data, plane_data, data_length);
+							memcpy(yuv.data+data_length, plane_uv_data, height/2*width);
+							cv::cvtColor(yuv, rgb, cv::COLOR_YUV2BGR_NV21);
+						}
+						else
+						{
+							cv::cvtColor(cv::Mat(height+height/2, width, CV_8UC1, (void*)plane_data), rgb, cv::COLOR_YUV2BGR_NV21);
+						}
+
+						std::vector<cv::KeyPoint> kpts;
+						std::vector<cv::Point3f> kpts3;
+						LaserScan scan;
+						if(pointCloud)
+						{
+							int32_t points = 0;
+							ArPointCloud_getNumberOfPoints(arSession_, pointCloud, &points);
+							const float * pointCloudData = 0;
+							ArPointCloud_getData(arSession_, pointCloud, &pointCloudData);
+#ifndef DISABLE_LOG
+							LOGI("pointCloudData=%d size=%d", pointCloudData?1:0, points);
+#endif
+							if(pointCloudData && points>0)
+							{
+								cv::Mat pointCloudDataMat(1, points, CV_32FC4, (void *)pointCloudData);
+								scan = scanFromPointCloudData(pointCloudDataMat, pose, model, rgb, &kpts, &kpts3);
+#ifndef DISABLE_LOG
+								LOGI("valid scan points = %d", scan.size());
+#endif
+							}
+						}
+						else
+						{
+							LOGI("pointCloud empty");
+						}
+
+						data = SensorData(scan, rgb, depthFromMotion_?getOcclusionImage():cv::Mat(), model, 0, stamp);
+						data.setFeatures(kpts,  kpts3, cv::Mat());
+
+						if(!pose.isNull())
+						{
+							this->poseReceived(pose, stamp);
+						}
+					}
+				}
+				else
+				{
+					LOGE("CameraARCore: cannot convert image format %d", format);
+				}
+			}
+			else
+			{
+				LOGE("CameraARCore: failed to get rgb image (status=%d)", (int)status);
+			}
+
+			ArImage_release(image);
+			ArPointCloud_release(pointCloud);
+		}
+	}
+
+	ArCamera_release(ar_camera);
+
+	return data;
+}
+
+} /* namespace rtabmap */

app/android/jni/CameraARCore.h

@@ -0,0 +1,84 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef CAMERAARCORE_H_
+#define CAMERAARCORE_H_
+
+#include "CameraMobile.h"
+#include <rtabmap/core/Camera.h>
+#include <rtabmap/core/GeodeticCoords.h>
+#include <rtabmap/utilite/UMutex.h>
+#include <rtabmap/utilite/USemaphore.h>
+#include <rtabmap/utilite/UEventsSender.h>
+#include <rtabmap/utilite/UThread.h>
+#include <rtabmap/utilite/UEvent.h>
+#include <rtabmap/utilite/UTimer.h>
+#include <boost/thread/mutex.hpp>
+#include <background_renderer.h>
+
+#include <arcore_c_api.h>
+#include <camera/NdkCameraDevice.h>
+#include <camera/NdkCameraManager.h>
+#include <media/NdkImageReader.h>
+#include <android/native_window.h>
+
+namespace rtabmap {
+
+class CameraARCore : public CameraMobile {
+public:
+	CameraARCore(void* env, void* context, void* activity, bool depthFromMotion = false, bool smoothing = false, float upstreamRelocalizationAccThr = 0.0f);
+	virtual ~CameraARCore();
+
+	virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height);
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	virtual void close(); // close ARCore connection
+	virtual std::string getSerial() const;
+
+protected:
+	virtual SensorData updateDataOnRender(Transform & pose); // should be called in opengl thread
+
+private:
+	rtabmap::Transform getPoseAtTimestamp(double timestamp);
+
+private:
+	void * env_;
+	void * context_;
+	void * activity_;
+	ArSession* arSession_ = nullptr;
+	ArConfig* arConfig_ = nullptr;
+	ArFrame* arFrame_ = nullptr;
+	ArCameraIntrinsics *arCameraIntrinsics_ = nullptr;
+	ArPose * arPose_ = nullptr;
+	bool arInstallRequested_;
+	UMutex arSessionMutex_;
+
+	bool depthFromMotion_;
+};
+
+} /* namespace rtabmap */
+#endif /* CAMERAARCORE_H_ */

app/android/jni/CameraAREngine.cpp

@@ -0,0 +1,355 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "CameraAREngine.h"
+#include "util.h"
+#include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/core/util3d_transforms.h"
+#include "rtabmap/core/OdometryEvent.h"
+#include "rtabmap/core/util2d.h"
+
+#include <media/NdkImage.h>
+
+namespace rtabmap {
+
+
+//////////////////////////////
+// CameraAREngine
+//////////////////////////////
+CameraAREngine::CameraAREngine(void* env, void* context, void* activity, bool smoothing, float upstreamRelocalizationAccThr):
+	CameraMobile(smoothing, upstreamRelocalizationAccThr),
+	env_(env),
+	context_(context),
+	activity_(activity),
+	arInstallRequested_(false)
+{
+	glGenTextures(1, &textureId_);
+}
+
+CameraAREngine::~CameraAREngine() {
+	// Disconnect ARCore service
+	close();
+
+	glDeleteTextures(1, &textureId_);
+}
+
+std::string CameraAREngine::getSerial() const
+{
+	return "AREngine";
+}
+
+bool CameraAREngine::init(const std::string & calibrationFolder, const std::string & cameraName)
+{
+	close();
+
+	CameraMobile::init(calibrationFolder, cameraName);
+
+	UScopeMutex lock(arSessionMutex_);
+
+	HwArInstallStatus install_status;
+	// If install was not yet requested, that means that we are resuming the
+	// activity first time because of explicit user interaction (such as
+	// launching the application)
+	bool user_requested_install = !arInstallRequested_;
+
+	// === ATTENTION!  ATTENTION!  ATTENTION! ===
+	// This method can and will fail in user-facing situations.  Your
+	// application must handle these cases at least somewhat gracefully.  See
+	// HelloAR Java sample code for reasonable behavior.
+	HwArEnginesApk_requestInstall(env_, activity_, user_requested_install, &install_status);
+
+	switch (install_status)
+	{
+		case HWAR_INSTALL_STATUS_INSTALLED:
+			break;
+		case HWAR_INSTALL_STATUS_INSTALL_REQUESTED:
+			arInstallRequested_ = true;
+			return false;
+	}
+
+	// === ATTENTION!  ATTENTION!  ATTENTION! ===
+	// This method can and will fail in user-facing situations.  Your
+	// application must handle these cases at least somewhat gracefully.  See
+	// HelloAR Java sample code for reasonable behavior.
+	UASSERT(HwArSession_create(env_, context_, &arSession_) == HWAR_SUCCESS);
+	UASSERT(arSession_);
+
+	HwArConfig_create(arSession_, &arConfig_);
+	UASSERT(arConfig_);
+
+	HwArConfig_setFocusMode(arSession_, arConfig_, HWAR_FOCUS_MODE_FIXED);
+	UASSERT(HwArSession_configure(arSession_, arConfig_) == HWAR_SUCCESS);
+
+	HwArFrame_create(arSession_, &arFrame_);
+	UASSERT(arFrame_);
+
+	HwArCameraIntrinsics_create(arSession_, &arCameraIntrinsics_); // May fail?!
+	//UASSERT(arCameraIntrinsics_);
+
+	HwArPose_create(arSession_, nullptr, &arPose_);
+	UASSERT(arPose_);
+
+	/// Sets the behavior of @ref ArSession_update(). See
+	/// ::ArUpdateMode for available options.
+	HwArConfig_setUpdateMode(arSession_, arConfig_, HWAR_UPDATE_MODE_BLOCKING);
+
+	deviceTColorCamera_ = opticalRotation;
+
+	if (HwArSession_resume(arSession_) != HWAR_SUCCESS)
+	{
+		UERROR("Cannot resume camera!");
+		// In a rare case (such as another camera app launching) the camera may be
+		// given to a different app and so may not be available to this app. Handle
+		// this properly and recreate the session at the next iteration.
+		close();
+		return false;
+	}
+
+	return true;
+}
+
+void CameraAREngine::close()
+{
+	UScopeMutex lock(arSessionMutex_);
+	if (arCameraIntrinsics_ != nullptr)
+	{
+		HwArCameraIntrinsics_destroy(arSession_, arCameraIntrinsics_);
+	}
+	arCameraIntrinsics_ = nullptr;
+
+	if(arSession_!= nullptr)
+	{
+		HwArSession_destroy(arSession_);
+	}
+	arSession_ = nullptr;
+
+	if(arConfig_!= nullptr)
+	{
+		HwArConfig_destroy(arConfig_);
+	}
+	arConfig_ = nullptr;
+
+	if (arFrame_ != nullptr)
+	{
+		HwArFrame_destroy(arFrame_);
+	}
+	arFrame_ = nullptr;
+
+	if (arPose_ != nullptr)
+	{
+		HwArPose_destroy(arPose_);
+	}
+	arPose_ = nullptr;
+
+	CameraMobile::close();
+}
+
+void CameraAREngine::setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height)
+{
+	CameraMobile::setScreenRotationAndSize(colorCameraToDisplayRotation, width, height);
+	if(arSession_)
+	{
+		int ret = static_cast<int>(colorCameraToDisplayRotation) + 1; // remove 90deg camera rotation
+		  if (ret > 3) {
+		    ret -= 4;
+		  }
+
+		HwArSession_setDisplayGeometry(arSession_, ret, width, height);
+	}
+}
+
+SensorData CameraAREngine::updateDataOnRender(Transform & pose)
+{
+	UScopeMutex lock(arSessionMutex_);
+	//LOGI("Capturing image...");
+
+	pose.setNull();
+	SensorData data;
+	if(!arSession_)
+	{
+		return data;
+	}
+
+	if(textureId_ == 0)
+	{
+		glGenTextures(1, &textureId_);
+		glBindTexture(GL_TEXTURE_EXTERNAL_OES, textureId_);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+	}
+	if(textureId_!=0)
+		HwArSession_setCameraTextureName(arSession_, textureId_);
+
+	// Update session to get current frame and render camera background.
+	if (HwArSession_update(arSession_, arFrame_) != HWAR_SUCCESS) {
+		LOGE("CameraAREngine::captureImage() ArSession_update error");
+		return data;
+	}
+
+	// If display rotation changed (also includes view size change), we need to
+	// re-query the uv coordinates for the on-screen portion of the camera image.
+	int32_t geometry_changed = 0;
+	HwArFrame_getDisplayGeometryChanged(arSession_, arFrame_, &geometry_changed);
+	if (geometry_changed != 0 || !uvs_initialized_) {
+		HwArFrame_transformDisplayUvCoords(
+				arSession_, arFrame_,
+				BackgroundRenderer::kNumVertices*2, BackgroundRenderer_kVerticesView,
+				transformed_uvs_);
+		UERROR("uv: (%f,%f) (%f,%f) (%f,%f) (%f,%f)", 
+			transformed_uvs_[0], transformed_uvs_[1],
+			transformed_uvs_[2], transformed_uvs_[3],
+			transformed_uvs_[4], transformed_uvs_[5],
+			transformed_uvs_[6], transformed_uvs_[7]);
+		UASSERT(transformed_uvs_);
+		uvs_initialized_ = true;
+	}
+
+	HwArCamera* ar_camera;
+	HwArFrame_acquireCamera(arSession_, arFrame_, &ar_camera);
+
+	HwArCamera_getViewMatrix(arSession_, ar_camera, glm::value_ptr(viewMatrix_));
+	HwArCamera_getProjectionMatrix(arSession_, ar_camera,
+							   /*near=*/0.1f, /*far=*/100.f,
+							   glm::value_ptr(projectionMatrix_));
+
+	HwArTrackingState camera_tracking_state;
+	HwArCamera_getTrackingState(arSession_, ar_camera, &camera_tracking_state);
+
+	if(camera_tracking_state == HWAR_TRACKING_STATE_TRACKING)
+	{
+		// Get calibration parameters
+		// FIXME: Hard-coded as getting intrinsics with the api fails
+		float fx=492.689667,fy=492.606201, cx=323.594849, cy=234.659744;
+		int32_t camWidth=640, camHeight=480;
+		//HwArCamera_getImageIntrinsics(arSession_, ar_camera, arCameraIntrinsics_);
+		//HwArCameraIntrinsics_getFocalLength(arSession_, arCameraIntrinsics_, &fx, &fy);
+		//HwArCameraIntrinsics_getPrincipalPoint(arSession_, arCameraIntrinsics_, &cx, &cy);
+		//HwArCameraIntrinsics_getImageDimensions(arSession_, arCameraIntrinsics_, &camWidth, &camHeight);
+		LOGI("%f %f %f %f %d %d", fx, fy, cx, cy, camWidth, camHeight);
+
+		if(fx > 0 && fy > 0 && camWidth > 0 && camHeight > 0 && cx > 0 && cy > 0)
+		{
+			//ArPointCloud * point_cloud;
+			//ArFrame_acquirePointCloud(ar_session_, ar_frame_, &point_cloud);
+
+			HwArImage * image = nullptr;
+			HwArImage * depthImage = nullptr;
+			HwArStatus statusRgb = HwArFrame_acquireCameraImage(arSession_, arFrame_, &image);
+			HwArStatus statusDepth = HwArFrame_acquireDepthImage(arSession_, arFrame_, &depthImage);
+			if(statusRgb == HWAR_SUCCESS && statusDepth == HWAR_SUCCESS)
+			{
+				int64_t timestamp_ns;
+				HwArFrame_getTimestamp(arSession_, arFrame_, &timestamp_ns);
+
+				int planeCount;
+				uint8_t *imageData = nullptr;
+				int len = 0;
+				int stride;
+				int width;
+				int height;
+				const AImage* ndkImageRGB;
+				HwArImage_getNdkImage(image, &ndkImageRGB);
+
+				AImage_getNumberOfPlanes(ndkImageRGB, &planeCount);
+				AImage_getWidth(ndkImageRGB, &width);
+				AImage_getHeight(ndkImageRGB, &height);
+				AImage_getPlaneRowStride(ndkImageRGB, 0, &stride);
+				AImage_getPlaneData(ndkImageRGB, 0, &imageData, &len);
+				LOGI("RGB: width=%d, height=%d, bytes=%d stride=%d planeCount=%d", width, height, len, stride, planeCount);
+
+				cv::Mat outputRGB;
+				if(imageData != nullptr && len>0)
+				{
+					cv::cvtColor(cv::Mat(height+height/2, width, CV_8UC1, (void*)imageData), outputRGB, cv::COLOR_YUV2BGR_NV21);
+				}
+
+				//Depth
+				const AImage* ndkImageDepth;
+				HwArImage_getNdkImage(depthImage, &ndkImageDepth);
+				AImage_getNumberOfPlanes(ndkImageDepth, &planeCount);
+				AImage_getWidth(ndkImageDepth, &width);
+				AImage_getHeight(ndkImageDepth, &height);
+				AImage_getPlaneRowStride(ndkImageDepth, 0, &stride);
+				AImage_getPlaneData(ndkImageDepth, 0, &imageData, &len);
+				LOGI("Depth: width=%d, height=%d, bytes=%d stride=%d planeCount=%d", width, height, len, stride, planeCount);
+
+				cv::Mat outputDepth(height, width, CV_16UC1);
+				uint16_t *dataShort = (uint16_t *)imageData;
+				for (int y = 0; y < outputDepth.rows; ++y)
+				{
+					for (int x = 0; x < outputDepth.cols; ++x)
+					{
+						uint16_t depthSample = dataShort[y*outputDepth.cols + x];
+						uint16_t depthRange = (depthSample & 0x1FFF); // first 3 bits are confidence
+						outputDepth.at<uint16_t>(y,x) = depthRange;
+					}
+				}
+
+				if(!outputRGB.empty() && !outputDepth.empty())
+				{
+					double stamp = double(timestamp_ns)/10e8;
+					CameraModel model = CameraModel(fx, fy, cx, cy, deviceTColorCamera_, 0, cv::Size(camWidth, camHeight));
+					data = SensorData(outputRGB, outputDepth, model, 0, stamp);
+
+					// pose in OpenGL coordinates
+					float pose_raw[7];
+					HwArCamera_getPose(arSession_, ar_camera, arPose_);
+					HwArPose_getPoseRaw(arSession_, arPose_, pose_raw);
+					pose = Transform(pose_raw[4], pose_raw[5], pose_raw[6], pose_raw[0], pose_raw[1], pose_raw[2], pose_raw[3]);
+					if(pose.isNull())
+					{
+						LOGE("CameraAREngine: Pose is null");
+					}
+					else
+					{
+						pose = rtabmap::rtabmap_world_T_opengl_world * pose * rtabmap::opengl_world_T_rtabmap_world;
+						this->poseReceived(pose, stamp);
+					}
+				}
+			}
+			else
+			{
+				LOGE("CameraAREngine: failed to get rgb image (status=%d %d)", (int)statusRgb, (int)statusDepth);
+			}
+
+			HwArImage_release(image);
+			HwArImage_release(depthImage);
+		}
+		else
+		{
+			LOGE("Invalid intrinsics!");
+		}
+	}
+
+	HwArCamera_release(ar_camera);
+	return data;
+
+}
+
+} /* namespace rtabmap */

app/android/jni/CameraAREngine.h

@@ -0,0 +1,79 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef CAMERAARENGINE_H_
+#define CAMERAARENGINE_H_
+
+#include "CameraMobile.h"
+#include <rtabmap/core/Camera.h>
+#include <rtabmap/core/GeodeticCoords.h>
+#include <rtabmap/utilite/UMutex.h>
+#include <rtabmap/utilite/USemaphore.h>
+#include <rtabmap/utilite/UEventsSender.h>
+#include <rtabmap/utilite/UThread.h>
+#include <rtabmap/utilite/UEvent.h>
+#include <rtabmap/utilite/UTimer.h>
+#include <boost/thread/mutex.hpp>
+#include <background_renderer.h>
+
+#include <huawei_arengine_interface.h>
+
+namespace rtabmap {
+
+class CameraAREngine : public CameraMobile {
+public:
+	CameraAREngine(void* env, void* context, void* activity, bool smoothing = false, float upstreamRelocalizationAccThr = 0.0f);
+	virtual ~CameraAREngine();
+
+	virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height);
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	virtual void close(); // close AREngine connection
+	virtual std::string getSerial() const;
+
+protected:
+	virtual SensorData updateDataOnRender(Transform & pose);
+
+private:
+	rtabmap::Transform getPoseAtTimestamp(double timestamp);
+
+private:
+	void * env_;
+	void * context_;
+	void * activity_;
+	HwArSession* arSession_ = nullptr;
+	HwArConfig* arConfig_ = nullptr;
+	HwArFrame* arFrame_ = nullptr;
+	HwArCameraIntrinsics *arCameraIntrinsics_ = nullptr;
+	HwArPose * arPose_ = nullptr;
+	bool arInstallRequested_;
+	UMutex arSessionMutex_;
+
+};
+
+} /* namespace rtabmap */
+#endif /* CAMERAARENGINE_H_ */

app/android/jni/CameraMobile.cpp

@@ -0,0 +1,628 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+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.
+*/
+
+#include "CameraMobile.h"
+#include "util.h"
+#include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/core/util3d_transforms.h"
+#include "rtabmap/core/OdometryEvent.h"
+#include "rtabmap/core/util2d.h"
+#include <glm/gtx/transform.hpp>
+
+namespace rtabmap {
+
+#define nullptr 0
+
+//////////////////////////////
+// CameraMobile
+//////////////////////////////
+const float CameraMobile::bilateralFilteringSigmaS = 2.0f;
+const float CameraMobile::bilateralFilteringSigmaR = 0.075f;
+
+const rtabmap::Transform CameraMobile::opticalRotation = Transform(
+		0.0f,  0.0f,  1.0f, 0.0f,
+	   -1.0f,  0.0f,  0.0f, 0.0f,
+		0.0f, -1.0f,  0.0f, 0.0f);
+const rtabmap::Transform CameraMobile::opticalRotationInv = Transform(
+		0.0f, -1.0f,  0.0f, 0.0f,
+	    0.0f,  0.0f, -1.0f, 0.0f,
+		1.0f,  0.0f,  0.0f, 0.0f);
+
+CameraMobile::CameraMobile(bool smoothing, float upstreamRelocalizationAccThr) :
+		Camera(10),
+		deviceTColorCamera_(Transform::getIdentity()),
+		textureId_(0),
+		uvs_initialized_(false),
+		stampEpochOffset_(0.0),
+		smoothing_(smoothing),
+		colorCameraToDisplayRotation_(ROTATION_0),
+		originUpdate_(true),
+		upstreamRelocalizationAccThr_(upstreamRelocalizationAccThr),
+		previousAnchorStamp_(0.0),
+		dataGoodTracking_(true)
+{
+}
+
+CameraMobile::~CameraMobile() {
+	// Disconnect camera service
+	close();
+}
+
+bool CameraMobile::init(const std::string &, const std::string &)
+{
+	deviceTColorCamera_ = opticalRotation;
+	// clear semaphore
+	if(dataReady_.value() > 0) {
+		dataReady_.acquire(dataReady_.value());
+	}
+	return true;
+}
+
+void CameraMobile::close()
+{
+	UScopeMutex lock(dataMutex_);
+
+	firstFrame_ = true;
+	lastKnownGPS_ = GPS();
+	lastEnvSensors_.clear();
+	originOffset_ = Transform();
+	originUpdate_ = true;
+	dataPose_ = Transform();
+	data_ = SensorData();
+    dataGoodTracking_ = true;
+    previousAnchorPose_.setNull();
+    previousAnchorLinearVelocity_.clear();
+    previousAnchorStamp_ = 0.0;
+
+    if(textureId_ != 0)
+    {
+        glDeleteTextures(1, &textureId_);
+        textureId_ = 0;
+    }
+    // in case someone is waiting on captureImage()
+    dataReady_.release();
+}
+
+void CameraMobile::resetOrigin()
+{
+	originUpdate_ = true;
+}
+
+bool CameraMobile::getPose(double epochStamp, Transform & pose, cv::Mat & covariance, double maxWaitTime)
+{
+	pose.setNull();
+
+	int maxWaitTimeMs = maxWaitTime * 1000;
+
+	// Interpolate pose
+	if(!poseBuffer_.empty())
+	{
+		poseMutex_.lock();
+		int waitTry = 0;
+		while(maxWaitTimeMs>0 && poseBuffer_.rbegin()->first < epochStamp && waitTry < maxWaitTimeMs)
+		{
+			poseMutex_.unlock();
+			++waitTry;
+			uSleep(1);
+			poseMutex_.lock();
+		}
+		if(poseBuffer_.rbegin()->first < epochStamp)
+		{
+			if(maxWaitTimeMs > 0)
+			{
+				UWARN("Could not find poses to interpolate at time %f after waiting %d ms (latest is %f)...", epochStamp, maxWaitTimeMs, poseBuffer_.rbegin()->first);
+			}
+			else
+			{
+				UWARN("Could not find poses to interpolate at time %f (latest is %f)...", epochStamp, poseBuffer_.rbegin()->first);
+			}
+		}
+		else
+		{
+			std::map<double, Transform>::const_iterator iterB = poseBuffer_.lower_bound(epochStamp);
+			std::map<double, Transform>::const_iterator iterA = iterB;
+			if(iterA != poseBuffer_.begin())
+			{
+				iterA = --iterA;
+			}
+			if(iterB == poseBuffer_.end())
+			{
+				iterB = --iterB;
+			}
+			if(iterA == iterB && epochStamp == iterA->first)
+			{
+				pose = iterA->second;
+			}
+			else if(epochStamp >= iterA->first && epochStamp <= iterB->first)
+			{
+				pose = iterA->second.interpolate((epochStamp-iterA->first) / (iterB->first-iterA->first), iterB->second);
+			}
+			else // stamp < iterA->first
+			{
+				UWARN("Could not find pose data to interpolate at time %f (earliest is %f). Are sensors synchronized?", epochStamp, iterA->first);
+			}
+		}
+		poseMutex_.unlock();
+	}
+	return !pose.isNull();
+}
+
+void CameraMobile::poseReceived(const Transform & pose, double deviceStamp)
+{
+	// Pose reveived is the pose of the device in rtabmap coordinate
+	if(!pose.isNull())
+	{
+		Transform p = pose;
+		
+		if(stampEpochOffset_ == 0.0)
+		{
+			stampEpochOffset_ = UTimer::now() - deviceStamp;
+		}
+
+		if(originUpdate_)
+		{
+			firstFrame_ = true;
+			lastKnownGPS_ = GPS();
+			lastEnvSensors_.clear();
+			dataGoodTracking_ = true;
+			previousAnchorPose_.setNull();
+			previousAnchorLinearVelocity_.clear();
+			previousAnchorStamp_ = 0.0;
+			originOffset_ = pose.translation().inverse();
+			originUpdate_ = false;
+		}
+        
+		double epochStamp = stampEpochOffset_ + deviceStamp;
+		if(!originOffset_.isNull())
+		{
+			// Filter re-localizations from poses received
+			rtabmap::Transform rawPose = originOffset_ * pose.translation(); // remove rotation to keep position in fixed frame
+			// Remove upstream localization corrections by integrating pose from previous frame anchor
+            bool showLog = false;
+            if(upstreamRelocalizationAccThr_>0.0f && !previousAnchorPose_.isNull())
+			{
+				float dt = epochStamp - previousAnchorStamp_;
+                std::vector<float> currentLinearVelocity(3);
+                float dx = rawPose.x()-previousAnchorPose_.x();
+                float dy = rawPose.y()-previousAnchorPose_.y();
+                float dz = rawPose.z()-previousAnchorPose_.z();
+                currentLinearVelocity[0] = dx / dt;
+                currentLinearVelocity[1] = dy / dt;
+                currentLinearVelocity[2] = dz / dt;
+				if(!previousAnchorLinearVelocity_.empty() && uNorm(dx, dy, dz)>0.02)
+				{
+                    float ax = (currentLinearVelocity[0] - previousAnchorLinearVelocity_[0]) / dt;
+                    float ay = (currentLinearVelocity[1] - previousAnchorLinearVelocity_[1]) / dt;
+                    float az = (currentLinearVelocity[2] - previousAnchorLinearVelocity_[2]) / dt;
+					float acceleration = sqrt(ax*ax + ay*ay + az*az);
+					if(acceleration>=upstreamRelocalizationAccThr_)
+					{
+						// Only correct the translation to not lose rotation aligned
+						// with gravity.
+                        
+                        // Use constant motion model to update current pose.
+						rtabmap::Transform offset(previousAnchorLinearVelocity_[0] * dt,
+                                                  previousAnchorLinearVelocity_[1] * dt,
+                                                  previousAnchorLinearVelocity_[2] * dt,
+                                                  0, 0, 0, 1);
+						rtabmap::Transform newRawPose = offset * previousAnchorPose_;
+						currentLinearVelocity = previousAnchorLinearVelocity_;
+						originOffset_.x() += newRawPose.x() - rawPose.x();
+                        originOffset_.y() += newRawPose.y() - rawPose.y();
+                        originOffset_.z() += newRawPose.z() - rawPose.z();
+                        UERROR("Upstream re-localization has been suppressed because of "
+						     "high acceleration detected (%f m/s^2) causing a jump!",
+								acceleration);
+						dataGoodTracking_ = false;
+                        post(new CameraInfoEvent(0, "UpstreamRelocationFiltered", uFormat("%.1f m/s^2", acceleration).c_str()));
+                        showLog = true;
+					}
+				}
+				previousAnchorLinearVelocity_ = currentLinearVelocity;
+			}
+
+            p = originOffset_*pose;
+            previousAnchorPose_ = p;
+            previousAnchorStamp_ = epochStamp;
+            
+            if(upstreamRelocalizationAccThr_>0.0f) {
+                relocalizationDebugBuffer_.insert(std::make_pair(epochStamp, std::make_pair(pose, p)));
+                if(relocalizationDebugBuffer_.size() > 60)
+                {
+                    relocalizationDebugBuffer_.erase(relocalizationDebugBuffer_.begin());
+                }
+                if(showLog) {
+                    std::stringstream stream;
+                    for(auto iter=relocalizationDebugBuffer_.begin(); iter!=relocalizationDebugBuffer_.end(); ++iter)
+                    {
+                        stream << iter->first - relocalizationDebugBuffer_.begin()->first
+                        << " " << iter->second.first.x()
+                        << " " << iter->second.first.y()
+                        << " " << iter->second.first.z()
+                        << " " << iter->second.second.x()
+                        << " " << iter->second.second.y()
+                        << " " << iter->second.second.z() << std::endl;
+                    }
+                    UERROR("timestamp original_xyz corrected_xyz:\n%s", stream.str().c_str());
+                }
+            }
+		}
+
+		{
+			UScopeMutex lock(poseMutex_);
+			poseBuffer_.insert(poseBuffer_.end(), std::make_pair(epochStamp, p));
+			if(poseBuffer_.size() > 1000)
+			{
+				poseBuffer_.erase(poseBuffer_.begin());
+			}
+		}
+
+		// send pose of the camera (with optical rotation)
+		this->post(new PoseEvent(p * deviceTColorCamera_));
+	}
+}
+
+bool CameraMobile::isCalibrated() const
+{
+	return model_.isValidForProjection();
+}
+
+void CameraMobile::setGPS(const GPS & gps)
+{
+	lastKnownGPS_ = gps;
+}
+
+void CameraMobile::addEnvSensor(int type, float value)
+{
+	lastEnvSensors_.insert(std::make_pair((EnvSensor::Type)type, EnvSensor((EnvSensor::Type)type, value)));
+}
+
+void CameraMobile::update(const SensorData & data, const Transform & pose, const glm::mat4 & viewMatrix, const glm::mat4 & projectionMatrix, const float * texCoord)
+{
+	UScopeMutex lock(dataMutex_);
+
+    LOGD("CameraMobile::update pose=%s stamp=%f", pose.prettyPrint().c_str(), data.stamp());
+
+	bool notify = !data_.isValid();
+    
+	data_ = data;
+    dataPose_ = pose;
+
+    viewMatrix_ = viewMatrix;
+    projectionMatrix_ = projectionMatrix;
+        
+    if(textureId_ == 0)
+    {
+    	glGenTextures(1, &textureId_);
+    }
+
+    if(texCoord)
+    {
+        memcpy(transformed_uvs_, texCoord, 8*sizeof(float));
+        uvs_initialized_ = true;
+    }
+    
+    LOGD("CameraMobile::update textureId_=%d", (int)textureId_);
+
+    if(textureId_ != 0 && texCoord != 0)
+    {
+        cv::Mat rgbImage;
+        cv::cvtColor(data.imageRaw(), rgbImage, cv::COLOR_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;
+        }
+    }
+
+    if(data_.isValid())
+    {
+        postUpdate();
+
+        if(notify)
+        {
+            dataReady_.release();
+        }
+    }
+}
+
+void CameraMobile::updateOnRender()
+{
+	UScopeMutex lock(dataMutex_);
+	bool notify = !data_.isValid();
+
+	data_ = updateDataOnRender(dataPose_);
+	if(data_.isValid())
+	{
+		postUpdate();
+
+		if(notify)
+		{
+			dataReady_.release();
+		}
+	}
+}
+
+SensorData CameraMobile::updateDataOnRender(Transform & pose)
+{
+	LOGE("To use CameraMobile::updateOnRender(), CameraMobile::updateDataOnRender() "
+	     "should be overridden by inherited classes. Returning empty data!\n");
+	return SensorData();
+}
+
+void CameraMobile::postUpdate()
+{
+	if(data_.isValid())
+	{
+		// adjust origin
+		if(!originOffset_.isNull())
+		{
+			dataPose_ = originOffset_ * dataPose_;
+			viewMatrix_ = glm::inverse(rtabmap::glmFromTransform(rtabmap::opengl_world_T_rtabmap_world * originOffset_ *rtabmap::rtabmap_world_T_opengl_world)*glm::inverse(viewMatrix_));
+			occlusionModel_.setLocalTransform(originOffset_ * occlusionModel_.localTransform());
+		}
+
+		if(lastKnownGPS_.stamp() > 0.0 && data_.stamp()-lastKnownGPS_.stamp()<1.0)
+		{
+			data_.setGPS(lastKnownGPS_);
+		}
+		else if(lastKnownGPS_.stamp()>0.0)
+		{
+			LOGD("GPS too old (current time=%f, gps time = %f)", data_.stamp(), lastKnownGPS_.stamp());
+		}
+
+		if(lastEnvSensors_.size())
+		{
+			data_.setEnvSensors(lastEnvSensors_);
+			lastEnvSensors_.clear();
+		}
+
+		if(smoothing_ && !data_.depthRaw().empty())
+		{
+			//UTimer t;
+			data_.setDepthOrRightRaw(rtabmap::util2d::fastBilateralFiltering(data_.depthRaw(), bilateralFilteringSigmaS, bilateralFilteringSigmaR));
+			//LOGD("Bilateral filtering, time=%fs", t.ticks());
+		}
+
+		// Rotate image depending on the camera orientation
+		if(colorCameraToDisplayRotation_ == ROTATION_90)
+		{
+			UDEBUG("ROTATION_90");
+			cv::Mat rgb, depth;
+			cv::Mat rgbt(data_.imageRaw().cols, data_.imageRaw().rows, data_.imageRaw().type());
+			cv::flip(data_.imageRaw(),rgb,1);
+			cv::transpose(rgb,rgbt);
+			rgb = rgbt;
+			cv::Mat deptht(data_.depthRaw().cols, data_.depthRaw().rows, data_.depthRaw().type());
+			cv::flip(data_.depthRaw(),depth,1);
+			cv::transpose(depth,deptht);
+			depth = deptht;
+			CameraModel model = data_.cameraModels()[0];
+			cv::Size sizet(model.imageHeight(), model.imageWidth());
+			model = CameraModel(
+					model.fy(),
+					model.fx(),
+					model.cy(),
+					model.cx()>0?model.imageWidth()-model.cx():0,
+					model.localTransform()*rtabmap::Transform(0,-1,0,0, 1,0,0,0, 0,0,1,0));
+			model.setImageSize(sizet);
+			data_.setRGBDImage(rgb, depth, model);
+
+			std::vector<cv::KeyPoint> keypoints = data_.keypoints();
+			for(size_t i=0; i<keypoints.size(); ++i)
+			{
+				keypoints[i].pt.x = data_.keypoints()[i].pt.y;
+				keypoints[i].pt.y = rgb.rows - data_.keypoints()[i].pt.x;
+			}
+			data_.setFeatures(keypoints, data_.keypoints3D(), cv::Mat());
+		}
+		else if(colorCameraToDisplayRotation_ == ROTATION_180)
+		{
+			UDEBUG("ROTATION_180");
+			cv::Mat rgb, depth;
+			cv::flip(data_.imageRaw(),rgb,1);
+			cv::flip(rgb,rgb,0);
+			cv::flip(data_.depthOrRightRaw(),depth,1);
+			cv::flip(depth,depth,0);
+			CameraModel model = data_.cameraModels()[0];
+			cv::Size sizet(model.imageWidth(), model.imageHeight());
+			model = CameraModel(
+					model.fx(),
+					model.fy(),
+					model.cx()>0?model.imageWidth()-model.cx():0,
+					model.cy()>0?model.imageHeight()-model.cy():0,
+					model.localTransform()*rtabmap::Transform(0,0,0,0,0,1,0));
+			model.setImageSize(sizet);
+			data_.setRGBDImage(rgb, depth, model);
+
+			std::vector<cv::KeyPoint> keypoints = data_.keypoints();
+			for(size_t i=0; i<keypoints.size(); ++i)
+			{
+				keypoints[i].pt.x = rgb.cols - data_.keypoints()[i].pt.x;
+				keypoints[i].pt.y = rgb.rows - data_.keypoints()[i].pt.y;
+			}
+			data_.setFeatures(keypoints, data_.keypoints3D(), cv::Mat());
+		}
+		else if(colorCameraToDisplayRotation_ == ROTATION_270)
+		{
+			UDEBUG("ROTATION_270");
+			cv::Mat rgb(data_.imageRaw().cols, data_.imageRaw().rows, data_.imageRaw().type());
+			cv::transpose(data_.imageRaw(),rgb);
+			cv::flip(rgb,rgb,1);
+			cv::Mat depth(data_.depthOrRightRaw().cols, data_.depthOrRightRaw().rows, data_.depthOrRightRaw().type());
+			cv::transpose(data_.depthOrRightRaw(),depth);
+			cv::flip(depth,depth,1);
+			CameraModel model = data_.cameraModels()[0];
+			cv::Size sizet(model.imageHeight(), model.imageWidth());
+			model = CameraModel(
+					model.fy(),
+					model.fx(),
+					model.cy()>0?model.imageHeight()-model.cy():0,
+					model.cx(),
+					model.localTransform()*rtabmap::Transform(0,1,0,0, -1,0,0,0, 0,0,1,0));
+			model.setImageSize(sizet);
+			data_.setRGBDImage(rgb, depth, model);
+
+			std::vector<cv::KeyPoint> keypoints = data_.keypoints();
+			for(size_t i=0; i<keypoints.size(); ++i)
+			{
+				keypoints[i].pt.x = rgb.cols - data_.keypoints()[i].pt.y;
+				keypoints[i].pt.y = data_.keypoints()[i].pt.x;
+			}
+			data_.setFeatures(keypoints, data_.keypoints3D(), cv::Mat());
+		}
+	}
+}
+
+SensorData CameraMobile::captureImage(SensorCaptureInfo * info)
+{
+	SensorData data;
+    bool firstFrame = true;
+    bool dataGoodTracking = true;
+    rtabmap::Transform dataPose;
+	if(dataReady_.acquire(1, 15000))
+	{
+		UScopeMutex lock(dataMutex_);
+		data = data_;
+        dataPose = dataPose_;
+        firstFrame = firstFrame_;
+        dataGoodTracking = dataGoodTracking_;
+        firstFrame_ = false;
+        dataGoodTracking_ = true;
+		data_ = SensorData();
+        dataPose_.setNull();
+	}
+	if(data.isValid())
+	{
+		data.setGroundTruth(Transform());
+		data.setStamp(stampEpochOffset_ + data.stamp());
+
+		if(info)
+		{
+			// linear cov = 0.0001
+			info->odomCovariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.00001);
+			if(!firstFrame)
+			{
+				// angular cov = 0.000001
+                // roll/pitch should be fairly accurate with VIO input
+				info->odomCovariance.at<double>(3,3) *= 0.01; // roll
+				info->odomCovariance.at<double>(4,4) *= 0.01; // pitch
+                if(!dataGoodTracking)
+                {
+                    UERROR("not good tracking!");
+                    // add slightly more error on translation
+                    // 0.001
+                    info->odomCovariance.at<double>(0,0) *= 10; // x
+                    info->odomCovariance.at<double>(1,1) *= 10; // y
+                    info->odomCovariance.at<double>(2,2) *= 10; // z
+                    info->odomCovariance.at<double>(5,5) *= 10; // yaw
+                }
+			}
+			info->odomPose = dataPose;
+		}
+	}
+	else
+	{
+		UWARN("CameraMobile::captureImage() invalid data!");
+	}
+	return data;
+}
+
+LaserScan CameraMobile::scanFromPointCloudData(
+        const cv::Mat & pointCloudData,
+        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<pointCloudData.cols; ++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);
+            if(pt.z > 0)
+            {
+                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

@@ -0,0 +1,173 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef CAMERAMOBILE_H_
+#define CAMERAMOBILE_H_
+
+#include <rtabmap/core/Camera.h>
+#include <rtabmap/core/GeodeticCoords.h>
+#include <rtabmap/utilite/UMutex.h>
+#include <rtabmap/utilite/USemaphore.h>
+#include <rtabmap/utilite/UEventsSender.h>
+#include <rtabmap/utilite/UThread.h>
+#include <rtabmap/utilite/UEvent.h>
+#include <rtabmap/utilite/UTimer.h>
+#include <boost/thread/mutex.hpp>
+#include "util.h"
+
+namespace rtabmap {
+
+class CameraInfoEvent: public UEvent
+{
+public:
+	CameraInfoEvent(int type, const std::string & key, const std::string & value) : type_(type), key_(key), value_(value) {}
+	virtual std::string getClassName() const {return "CameraInfoEvent";}
+	int type() const {return type_;}
+	const std::string & key() const {return key_;}
+	const std::string & value() const {return value_;}
+
+private:
+	int type_;
+	std::string key_;
+	std::string value_;
+
+};
+
+class PoseEvent: public UEvent
+{
+public:
+	PoseEvent(const Transform & pose) : pose_(pose) {}
+	virtual std::string getClassName() const {return "PoseEvent";}
+	const Transform & pose() const {return pose_;}
+
+private:
+	Transform pose_;
+};
+
+class CameraMobile : public Camera, public UEventsSender {
+public:
+	static const float bilateralFilteringSigmaS;
+	static const float bilateralFilteringSigmaR;
+
+	static const rtabmap::Transform opticalRotation;
+	static const rtabmap::Transform opticalRotationInv;
+    
+public:
+    static LaserScan scanFromPointCloudData(
+            const cv::Mat & pointCloudData,
+            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, float upstreamRelocalizationAccThr = 0.0f);
+	virtual ~CameraMobile();
+
+	// abstract functions
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	virtual void close(); // inherited classes should call its parent at the end of their close().
+	virtual std::string getSerial() const {return "CameraMobile";}
+
+	// original pose of device in rtabmap frame (without origin offset), stamp of the device (may be not epoch), viewMatrix in opengl frame (without origin offset)
+	void update(const SensorData & data, const Transform & pose, const glm::mat4 & viewMatrix, const glm::mat4 & projectionMatrix, const float * texCoord);
+	void updateOnRender();
+
+	void resetOrigin();
+	virtual bool isCalibrated() const;
+
+	virtual bool odomProvided() const { return true; }
+	virtual bool getPose(double epochStamp, Transform & pose, cv::Mat & covariance, double maxWaitTime = 0.06); // Return pose of device in rtabmap frame (with origin offset), stamp should be epoch time
+	// original pose of device in rtabmap frame (without origin offset), stamp of the device (may be not epoch)
+	void poseReceived(const Transform & pose, double deviceStamp);
+	double getStampEpochOffset() const {return stampEpochOffset_;}
+
+	const CameraModel & getCameraModel() const {return model_;}
+	const Transform & getDeviceTColorCamera() const {return deviceTColorCamera_;}
+	void setSmoothing(bool enabled) {smoothing_ = enabled;}
+	virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height) {colorCameraToDisplayRotation_ = colorCameraToDisplayRotation;}
+	void setGPS(const GPS & gps);
+	void addEnvSensor(int type, float value);
+
+    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_;}
+    ScreenRotation getScreenRotation() const {return colorCameraToDisplayRotation_;}
+    
+    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 updateDataOnRender(Transform & pose);
+
+private:
+	virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+	void postUpdate(); // Should be called while being protected by dataMutex_
+
+protected:
+	CameraModel model_; // local transform is the device to camera optical rotation in rtabmap frame
+	Transform deviceTColorCamera_; // device to camera optical rotation in rtabmap frame
+    
+    GLuint textureId_;
+    glm::mat4 viewMatrix_;
+    glm::mat4 projectionMatrix_;
+    float transformed_uvs_[8];
+    bool uvs_initialized_ = false;
+
+private:
+	bool firstFrame_;
+	double stampEpochOffset_;
+	bool smoothing_;
+	ScreenRotation colorCameraToDisplayRotation_;
+	GPS lastKnownGPS_;
+	EnvSensors lastEnvSensors_;
+	Transform originOffset_;
+	bool originUpdate_;
+	float upstreamRelocalizationAccThr_;
+	rtabmap::Transform previousAnchorPose_;
+	std::vector<float> previousAnchorLinearVelocity_;
+	double previousAnchorStamp_;
+    std::map<double, std::pair<rtabmap::Transform, rtabmap::Transform> > relocalizationDebugBuffer_;
+
+	USemaphore dataReady_;
+	UMutex dataMutex_;
+	SensorData data_;
+	Transform dataPose_;
+    bool dataGoodTracking_;
+
+	UMutex poseMutex_;
+	std::map<double, Transform> poseBuffer_; // <stamp, Pose>
+    
+    cv::Mat occlusionImage_;
+    CameraModel occlusionModel_;
+};
+
+} /* namespace rtabmap */
+#endif /* CAMERATANGO_H_ */

app/android/jni/CameraTango.cpp

@@ -0,0 +1,881 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "CameraTango.h"
+#include "util.h"
+#include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/core/util3d_transforms.h"
+#include "rtabmap/core/OdometryEvent.h"
+#include "rtabmap/core/util2d.h"
+#include <tango_client_api.h>
+#include <tango_support_api.h>
+#include "tango-gl/camera.h"
+
+namespace rtabmap {
+
+#define nullptr 0
+const int kVersionStringLength = 128;
+const int holeSize = 5;
+const float maxDepthError = 0.10;
+const int scanDownsampling = 1;
+
+//android phone
+//11 10 01 00 // portrait
+//01 11 00 10 // left
+//10 00 11 01 // right
+//00 01 10 11 // down
+
+const float kTextureCoords0[] = {1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0};
+const float kTextureCoords90[] = {0.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0};
+const float kTextureCoords180[] = {0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0};
+const float kTextureCoords270[] = {1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0};
+
+// Callbacks
+void onPointCloudAvailableRouter(void* context, const TangoPointCloud* point_cloud)
+{
+	CameraTango* app = static_cast<CameraTango*>(context);
+	if(point_cloud->num_points>0)
+	{
+		app->cloudReceived(cv::Mat(1, point_cloud->num_points, CV_32FC4, point_cloud->points[0]), point_cloud->timestamp);
+	}
+}
+
+void onFrameAvailableRouter(void* context, TangoCameraId id, const TangoImageBuffer* color)
+{
+	CameraTango* app = static_cast<CameraTango*>(context);
+
+	cv::Mat tangoImage;
+	if(color->format == TANGO_HAL_PIXEL_FORMAT_RGBA_8888)
+	{
+		tangoImage = cv::Mat(color->height, color->width, CV_8UC4, color->data);
+	}
+	else if(color->format == TANGO_HAL_PIXEL_FORMAT_YV12)
+	{
+		tangoImage = cv::Mat(color->height+color->height/2, color->width, CV_8UC1, color->data);
+	}
+	else if(color->format == TANGO_HAL_PIXEL_FORMAT_YCrCb_420_SP)
+	{
+		tangoImage = cv::Mat(color->height+color->height/2, color->width, CV_8UC1, color->data);
+	}
+	else if(color->format == 35)
+	{
+		tangoImage = cv::Mat(color->height+color->height/2, color->width, CV_8UC1, color->data);
+	}
+	else
+	{
+		LOGE("Not supported color format : %d.", color->format);
+	}
+
+	if(!tangoImage.empty())
+	{
+		app->rgbReceived(tangoImage, (unsigned int)color->format, color->timestamp);
+	}
+}
+
+void onPoseAvailableRouter(void* context, const TangoPoseData* pose)
+{
+	if(pose->status_code == TANGO_POSE_VALID)
+	{
+		CameraTango* app = static_cast<CameraTango*>(context);
+		app->poseReceived(rtabmap_world_T_tango_world * app->tangoPoseToTransform(pose) * tango_device_T_rtabmap_world, pose->timestamp);
+	}
+}
+
+void onTangoEventAvailableRouter(void* context, const TangoEvent* event)
+{
+	CameraTango* app = static_cast<CameraTango*>(context);
+	app->tangoEventReceived(event->type, event->event_key, event->event_value);
+}
+
+//////////////////////////////
+// CameraTango
+//////////////////////////////
+CameraTango::CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing) :
+		CameraMobile(smoothing),
+		tango_config_(0),
+		colorCamera_(colorCamera),
+		decimation_(decimation),
+		rawScanPublished_(publishRawScan),
+		tangoColorType_(0),
+		tangoColorStamp_(0)
+{
+	UASSERT(decimation >= 1);
+}
+
+CameraTango::~CameraTango() {
+	// Disconnect Tango service
+	close();
+}
+
+// Compute fisheye distorted coordinates from undistorted coordinates.
+// The distortion model used by the Tango fisheye camera is called FOV and is
+// described in 'Straight lines have to be straight' by Frederic Devernay and
+// Olivier Faugeras. See https://hal.inria.fr/inria-00267247/document.
+// Tango ROS Streamer: https://github.com/Intermodalics/tango_ros/blob/master/tango_ros_common/tango_ros_native/src/tango_ros_node.cpp
+void applyFovModel(
+    double xu, double yu, double w, double w_inverse, double two_tan_w_div_two,
+    double* xd, double* yd) {
+  double ru = sqrt(xu * xu + yu * yu);
+  constexpr double epsilon = 1e-7;
+  if (w < epsilon || ru < epsilon) {
+    *xd = xu;
+    *yd = yu ;
+  } else {
+    double rd_div_ru = std::atan(ru * two_tan_w_div_two) * w_inverse / ru;
+    *xd = xu * rd_div_ru;
+    *yd = yu * rd_div_ru;
+  }
+}
+// Compute the warp maps to undistort the Tango fisheye image using the FOV
+// model. See OpenCV documentation for more information on warp maps:
+// http://docs.opencv.org/2.4/modules/imgproc/doc/geometric_transformations.html
+// Tango ROS Streamer: https://github.com/Intermodalics/tango_ros/blob/master/tango_ros_common/tango_ros_native/src/tango_ros_node.cpp
+// @param fisheyeModel the fisheye camera intrinsics.
+// @param mapX the output map for the x direction.
+// @param mapY the output map for the y direction.
+void initFisheyeRectificationMap(
+    const CameraModel& fisheyeModel,
+    cv::Mat & mapX, cv::Mat & mapY) {
+  const double & fx = fisheyeModel.K().at<double>(0,0);
+  const double & fy = fisheyeModel.K().at<double>(1,1);
+  const double & cx = fisheyeModel.K().at<double>(0,2);
+  const double & cy = fisheyeModel.K().at<double>(1,2);
+  const double & w = fisheyeModel.D().at<double>(0,0);
+  mapX.create(fisheyeModel.imageSize(), CV_32FC1);
+  mapY.create(fisheyeModel.imageSize(), CV_32FC1);
+  LOGD("initFisheyeRectificationMap: fx=%f fy=%f, cx=%f, cy=%f, w=%f", fx, fy, cx, cy, w);
+  // Pre-computed variables for more efficiency.
+  const double fy_inverse = 1.0 / fy;
+  const double fx_inverse = 1.0 / fx;
+  const double w_inverse = 1 / w;
+  const double two_tan_w_div_two = 2.0 * std::tan(w * 0.5);
+  // Compute warp maps in x and y directions.
+  // OpenCV expects maps from dest to src, i.e. from undistorted to distorted
+  // pixel coordinates.
+  for(int iu = 0; iu < fisheyeModel.imageHeight(); ++iu) {
+    for (int ju = 0; ju < fisheyeModel.imageWidth(); ++ju) {
+      double xu = (ju - cx) * fx_inverse;
+      double yu = (iu - cy) * fy_inverse;
+      double xd, yd;
+      applyFovModel(xu, yu, w, w_inverse, two_tan_w_div_two, &xd, &yd);
+      double jd = cx + xd * fx;
+      double id = cy + yd * fy;
+      mapX.at<float>(iu, ju) = jd;
+      mapY.at<float>(iu, ju) = id;
+    }
+  }
+}
+
+bool CameraTango::init(const std::string & calibrationFolder, const std::string & cameraName)
+{
+	close();
+
+	CameraMobile::init(calibrationFolder, cameraName);
+
+	TangoSupport_initialize(TangoService_getPoseAtTime, TangoService_getCameraIntrinsics);
+
+	// Connect to Tango
+	LOGI("NativeRTABMap: Setup tango config");
+	tango_config_ = TangoService_getConfig(TANGO_CONFIG_DEFAULT);
+	if (tango_config_ == nullptr)
+	{
+		LOGE("NativeRTABMap: Failed to get default config form");
+		return false;
+	}
+
+	// Set auto-recovery for motion tracking as requested by the user.
+	bool is_atuo_recovery = true;
+	int ret = TangoConfig_setBool(tango_config_, "config_enable_auto_recovery", is_atuo_recovery);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: config_enable_auto_recovery() failed with error code: %d", ret);
+		return false;
+	}
+
+	if(colorCamera_)
+	{
+		// Enable color.
+		ret = TangoConfig_setBool(tango_config_, "config_enable_color_camera", true);
+		if (ret != TANGO_SUCCESS)
+		{
+			LOGE("NativeRTABMap: config_enable_color_camera() failed with error code: %d", ret);
+			return false;
+		}
+	}
+
+	// Enable depth.
+	ret = TangoConfig_setBool(tango_config_, "config_enable_depth", true);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: config_enable_depth() failed with error code: %d", ret);
+		return false;
+	}
+
+	// Need to specify the depth_mode as XYZC.
+	ret = TangoConfig_setInt32(tango_config_, "config_depth_mode", TANGO_POINTCLOUD_XYZC);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("Failed to set 'depth_mode' configuration flag with error code: %d", ret);
+		return false;
+	}
+
+	// Note that it's super important for AR applications that we enable low
+	// latency imu integration so that we have pose information available as
+	// quickly as possible. Without setting this flag, you'll often receive
+	// invalid poses when calling GetPoseAtTime for an image.
+	ret = TangoConfig_setBool(tango_config_, "config_enable_low_latency_imu_integration", true);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: Failed to enable low latency imu integration.");
+		return false;
+	}
+
+	// Drift correction allows motion tracking to recover after it loses tracking.
+	//
+	// The drift corrected pose is is available through the frame pair with
+	// base frame AREA_DESCRIPTION and target frame DEVICE.
+	/*ret = TangoConfig_setBool(tango_config_, "config_enable_drift_correction", true);
+	if (ret != TANGO_SUCCESS) {
+		LOGE(
+			"NativeRTABMap: enabling config_enable_drift_correction "
+			"failed with error code: %d",
+			ret);
+		return false;
+	}*/
+
+	// Get TangoCore version string from service.
+	char tango_core_version[kVersionStringLength];
+	ret = TangoConfig_getString(tango_config_, "tango_service_library_version", tango_core_version, kVersionStringLength);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: get tango core version failed with error code: %d", ret);
+		return false;
+	}
+	LOGI("NativeRTABMap: Tango version : %s", tango_core_version);
+
+
+	// Callbacks
+	LOGI("NativeRTABMap: Setup callbacks");
+	// Attach the OnXYZijAvailable callback.
+	// The callback will be called after the service is connected.
+	ret = TangoService_connectOnPointCloudAvailable(onPointCloudAvailableRouter);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: Failed to connect to point cloud callback with error code: %d", ret);
+		return false;
+	}
+
+	ret = TangoService_connectOnFrameAvailable(colorCamera_?TANGO_CAMERA_COLOR:TANGO_CAMERA_FISHEYE, this, onFrameAvailableRouter);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: Failed to connect to color callback with error code: %d", ret);
+		return false;
+	}
+
+	// Attach the onPoseAvailable callback.
+	// The callback will be called after the service is connected.
+	TangoCoordinateFramePair pair;
+	//pair.base = TANGO_COORDINATE_FRAME_AREA_DESCRIPTION; // drift correction is enabled
+	pair.base = TANGO_COORDINATE_FRAME_START_OF_SERVICE;
+	pair.target = TANGO_COORDINATE_FRAME_DEVICE;
+	ret = TangoService_connectOnPoseAvailable(1, &pair, onPoseAvailableRouter);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: Failed to connect to pose callback with error code: %d", ret);
+		return false;
+	}
+
+	// Attach the onEventAvailable callback.
+	// The callback will be called after the service is connected.
+	ret = TangoService_connectOnTangoEvent(onTangoEventAvailableRouter);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("PointCloudApp: Failed to connect to event callback with error code: %d", ret);
+		return false;
+	}
+
+	// Now connect service so the callbacks above will be called
+	LOGI("NativeRTABMap: Connect to tango service");
+	ret = TangoService_connect(this, tango_config_);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: Failed to connect to the Tango service with error code: %d", ret);
+		return false;
+	}
+
+	// update extrinsics
+	LOGI("NativeRTABMap: Update extrinsics");
+	TangoPoseData pose_data;
+	TangoCoordinateFramePair frame_pair;
+
+	// TangoService_getPoseAtTime function is used for query device extrinsics
+	// as well. We use timestamp 0.0 and the target frame pair to get the
+	// extrinsics from the sensors.
+	//
+	// Get color camera with respect to device transformation matrix.
+	frame_pair.base = TANGO_COORDINATE_FRAME_DEVICE;
+	frame_pair.target = colorCamera_?TANGO_COORDINATE_FRAME_CAMERA_COLOR:TANGO_COORDINATE_FRAME_CAMERA_FISHEYE;
+	ret = TangoService_getPoseAtTime(0.0, frame_pair, &pose_data);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: Failed to get transform between the color camera frame and device frames");
+		return false;
+	}
+	deviceTColorCamera_ = rtabmap::Transform(
+			pose_data.translation[0],
+			pose_data.translation[1],
+			pose_data.translation[2],
+			pose_data.orientation[0],
+			pose_data.orientation[1],
+			pose_data.orientation[2],
+			pose_data.orientation[3]);
+	deviceTColorCamera_ = rtabmap_world_T_opengl_world * deviceTColorCamera_;
+
+	// camera intrinsic
+	TangoCameraIntrinsics color_camera_intrinsics;
+	ret = TangoService_getCameraIntrinsics(colorCamera_?TANGO_CAMERA_COLOR:TANGO_CAMERA_FISHEYE, &color_camera_intrinsics);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: Failed to get the intrinsics for the color camera with error code: %d.", ret);
+		return false;
+	}
+
+	LOGD("Calibration: fx=%f fy=%f cx=%f cy=%f width=%d height=%d",
+			color_camera_intrinsics.fx,
+			color_camera_intrinsics.fy,
+			color_camera_intrinsics.cx,
+			color_camera_intrinsics.cy,
+			color_camera_intrinsics.width,
+			color_camera_intrinsics.height);
+
+	cv::Mat K = cv::Mat::eye(3, 3, CV_64FC1);
+	K.at<double>(0,0) = color_camera_intrinsics.fx;
+	K.at<double>(1,1) = color_camera_intrinsics.fy;
+	K.at<double>(0,2) = color_camera_intrinsics.cx;
+	K.at<double>(1,2) = color_camera_intrinsics.cy;
+	cv::Mat D = cv::Mat::zeros(1, 5, CV_64FC1);
+	LOGD("Calibration type = %d", color_camera_intrinsics.calibration_type);
+	if(color_camera_intrinsics.calibration_type == TANGO_CALIBRATION_POLYNOMIAL_5_PARAMETERS ||
+			color_camera_intrinsics.calibration_type == TANGO_CALIBRATION_EQUIDISTANT)
+	{
+		D.at<double>(0,0) = color_camera_intrinsics.distortion[0];
+		D.at<double>(0,1) = color_camera_intrinsics.distortion[1];
+		D.at<double>(0,2) = color_camera_intrinsics.distortion[2];
+		D.at<double>(0,3) = color_camera_intrinsics.distortion[3];
+		D.at<double>(0,4) = color_camera_intrinsics.distortion[4];
+	}
+	else if(color_camera_intrinsics.calibration_type == TANGO_CALIBRATION_POLYNOMIAL_3_PARAMETERS)
+	{
+		D.at<double>(0,0) = color_camera_intrinsics.distortion[0];
+		D.at<double>(0,1) = color_camera_intrinsics.distortion[1];
+		D.at<double>(0,2) = 0.;
+		D.at<double>(0,3) = 0.;
+		D.at<double>(0,4) = color_camera_intrinsics.distortion[2];
+	}
+	else if(color_camera_intrinsics.calibration_type == TANGO_CALIBRATION_POLYNOMIAL_2_PARAMETERS)
+	{
+		D.at<double>(0,0) = color_camera_intrinsics.distortion[0];
+		D.at<double>(0,1) = color_camera_intrinsics.distortion[1];
+		D.at<double>(0,2) = 0.;
+		D.at<double>(0,3) = 0.;
+		D.at<double>(0,4) = 0.;
+	}
+
+	cv::Mat R = cv::Mat::eye(3, 3, CV_64FC1);
+	cv::Mat P;
+
+	LOGD("Distortion params: %f, %f, %f, %f, %f", D.at<double>(0,0), D.at<double>(0,1), D.at<double>(0,2), D.at<double>(0,3), D.at<double>(0,4));
+	model_ = CameraModel(colorCamera_?"color":"fisheye",
+			cv::Size(color_camera_intrinsics.width, color_camera_intrinsics.height),
+			K, D, R, P,
+			deviceTColorCamera_);
+
+	if(!colorCamera_)
+	{
+		initFisheyeRectificationMap(model_, fisheyeRectifyMapX_, fisheyeRectifyMapY_);
+	}
+
+	LOGI("deviceTColorCameraRtabmap  =%s", deviceTColorCamera_.prettyPrint().c_str());
+	return true;
+}
+
+void CameraTango::close()
+{
+	if(tango_config_)
+	{
+		TangoConfig_free(tango_config_);
+		tango_config_ = nullptr;
+		LOGI("TangoService_disconnect()");
+		TangoService_disconnect();
+		LOGI("TangoService_disconnect() done.");
+	}
+	fisheyeRectifyMapX_ = cv::Mat();
+	fisheyeRectifyMapY_ = cv::Mat();
+
+	CameraMobile::close();
+}
+
+void CameraTango::cloudReceived(const cv::Mat & cloud, double timestamp)
+{
+	if(!cloud.empty())
+	{
+		//LOGD("Depth received! %fs (%d points)", timestamp, cloud.cols);
+
+		UASSERT(cloud.type() == CV_32FC4);
+		boost::mutex::scoped_lock  lock(tangoDataMutex_);
+
+		// From post: http://stackoverflow.com/questions/29236110/timing-issues-with-tango-image-frames
+		// "In the current version of Project Tango Tablet RGB IR camera
+		//  is used for both depth and color images and it can only do one
+		//  or the other for each frame. So in the stream we get 4 RGB frames
+		//  followed by 1 Depth frame resulting in the pattern you observed. This
+		//  is more of a hardware limitation."
+		//
+		//  So, synchronize with the last RGB frame before the Depth is acquired
+		if(!tangoColor_.empty())
+		{
+			UTimer timer;
+			double dt = fabs(timestamp - tangoColorStamp_);
+
+			//LOGD("Depth: %f vs %f = %f", tangoColorStamp_, timestamp, dt);
+
+			if(dt >= 0.0 && dt < 0.5)
+			{
+				bool notify = !tangoData_.isValid();
+
+				cv::Mat tangoImage = tangoColor_;
+				cv::Mat rgb;
+				double cloudStamp = timestamp;
+				double rgbStamp = tangoColorStamp_;
+				int tangoColorType = tangoColorType_;
+
+				tangoColor_ = cv::Mat();
+				tangoColorStamp_ = 0.0;
+				tangoColorType_ = 0;
+
+				LOGD("tangoColorType=%d", tangoColorType);
+				if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_RGBA_8888)
+				{
+					cv::cvtColor(tangoImage, rgb, cv::COLOR_RGBA2BGR);
+				}
+				else if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_YV12)
+				{
+					cv::cvtColor(tangoImage, rgb, cv::COLOR_YUV2BGR_YV12);
+				}
+				else if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_YCrCb_420_SP)
+				{
+					cv::cvtColor(tangoImage, rgb, cv::COLOR_YUV2BGR_NV21);
+				}
+				else if(tangoColorType == 35)
+				{
+					cv::cvtColor(tangoImage, rgb, cv::COLOR_YUV420sp2GRAY);
+				}
+				else
+				{
+					LOGE("Not supported color format : %d.", tangoColorType);
+					tangoData_ = SensorData();
+					return;
+				}
+
+				//for(int i=0; i<rgb.cols; ++i)
+				//{
+				//	UERROR("%d,%d,%d", (int)rgb.at<cv::Vec3b>(i)[0], (int)rgb.at<cv::Vec3b>(i)[1], (int)rgb.at<cv::Vec3b>(i)[2]);
+				//}
+
+				CameraModel model = model_;
+
+				if(colorCamera_)
+				{
+					if(decimation_ > 1)
+					{
+						rgb = util2d::decimate(rgb, decimation_);
+						model = model.scaled(1.0/double(decimation_));
+					}
+				}
+				else
+				{
+					//UTimer t;
+					cv::Mat rgbRect;
+					cv::remap(rgb, rgbRect, fisheyeRectifyMapX_, fisheyeRectifyMapY_, cv::INTER_LINEAR, cv::BORDER_CONSTANT, 0);
+					rgb = rgbRect;
+					//LOGD("Rectification time=%fs", t.ticks());
+				}
+
+				// Querying the depth image's frame transformation based on the depth image's
+				// timestamp.
+				cv::Mat depth;
+
+				// Calculate the relative pose from color camera frame at timestamp
+				// color_timestamp t1 and depth
+				// camera frame at depth_timestamp t0.
+				Transform colorToDepth;
+				TangoPoseData pose_color_image_t1_T_depth_image_t0;
+				if (TangoSupport_calculateRelativePose(
+						rgbStamp, colorCamera_?TANGO_COORDINATE_FRAME_CAMERA_COLOR:TANGO_COORDINATE_FRAME_CAMERA_FISHEYE, cloudStamp,
+					  TANGO_COORDINATE_FRAME_CAMERA_DEPTH,
+					  &pose_color_image_t1_T_depth_image_t0) == TANGO_SUCCESS)
+				{
+					colorToDepth = tangoPoseToTransform(&pose_color_image_t1_T_depth_image_t0);
+				}
+				else
+				{
+					LOGE(
+						"SynchronizationApplication: Could not find a valid relative pose at "
+						"time for color and "
+						" depth cameras.");
+				}
+
+				if(colorToDepth.getNormSquared() > 100000)
+				{
+					LOGE("Very large color to depth error detected (%s)! Ignoring this frame!", colorToDepth.prettyPrint().c_str());
+					colorToDepth.setNull();
+				}
+				cv::Mat scan;
+				if(!colorToDepth.isNull())
+				{
+					// The Color Camera frame at timestamp t0 with respect to Depth
+					// Camera frame at timestamp t1.
+					//LOGD("colorToDepth=%s", colorToDepth.prettyPrint().c_str());
+					LOGD("rgb=%dx%d cloud size=%d", rgb.cols, rgb.rows, (int)cloud.total());
+
+					int pixelsSet = 0;
+					int depthSizeDec = colorCamera_?8:1;
+					depth = cv::Mat::zeros(model_.imageHeight()/depthSizeDec, model_.imageWidth()/depthSizeDec, CV_16UC1); // mm
+					CameraModel depthModel = model_.scaled(1.0f/float(depthSizeDec));
+					std::vector<cv::Point3f> scanData(rawScanPublished_?cloud.total():0);
+					int oi=0;
+					int closePoints = 0;
+					float closeROI[4];
+					closeROI[0] = depth.cols/4;
+					closeROI[1] = 3*(depth.cols/4);
+					closeROI[2] = depth.rows/4;
+					closeROI[3] = 3*(depth.rows/4);
+					unsigned short minDepthValue=10000;
+					for(unsigned int i=0; i<cloud.total(); ++i)
+					{
+						const float * p = cloud.ptr<float>(0,i);
+						cv::Point3f pt = util3d::transformPoint(cv::Point3f(p[0], p[1], p[2]), colorToDepth);
+
+						if(pt.z > 0.0f && i%scanDownsampling == 0 && rawScanPublished_)
+						{
+							scanData.at(oi++) = pt;
+						}
+
+						int pixel_x_l, pixel_y_l, pixel_x_h, pixel_y_h;
+						// get the coordinate on image plane.
+						pixel_x_l = static_cast<int>((depthModel.fx()) * (pt.x / pt.z) + depthModel.cx());
+						pixel_y_l = static_cast<int>((depthModel.fy()) * (pt.y / pt.z) + depthModel.cy());
+						pixel_x_h = static_cast<int>((depthModel.fx()) * (pt.x / pt.z) + depthModel.cx() + 0.5f);
+						pixel_y_h = static_cast<int>((depthModel.fy()) * (pt.y / pt.z) + depthModel.cy() + 0.5f);
+						unsigned short depth_value(pt.z * 1000.0f);
+
+						if(pixel_x_l>=closeROI[0] && pixel_x_l<closeROI[1] &&
+						   pixel_y_l>closeROI[2] && pixel_y_l<closeROI[3] &&
+						   depth_value < 600)
+						{
+							++closePoints;
+							if(depth_value < minDepthValue)
+							{
+								minDepthValue = depth_value;
+							}
+						}
+
+						bool pixelSet = false;
+						if(pixel_x_l>=0 && pixel_x_l<depth.cols &&
+						   pixel_y_l>0 && pixel_y_l<depth.rows && // ignore first line
+						   depth_value)
+						{
+							unsigned short & depthPixel = depth.at<unsigned short>(pixel_y_l, pixel_x_l);
+							if(depthPixel == 0 || depthPixel > depth_value)
+							{
+								depthPixel = depth_value;
+								pixelSet = true;
+							}
+						}
+						if(pixel_x_h>=0 && pixel_x_h<depth.cols &&
+						   pixel_y_h>0 && pixel_y_h<depth.rows && // ignore first line
+						   depth_value)
+						{
+							unsigned short & depthPixel = depth.at<unsigned short>(pixel_y_h, pixel_x_h);
+							if(depthPixel == 0 || depthPixel > depth_value)
+							{
+								depthPixel = depth_value;
+								pixelSet = true;
+							}
+						}
+						if(pixelSet)
+						{
+							pixelsSet += 1;
+						}
+					}
+
+					if(closePoints > 100)
+					{
+						this->post(new CameraInfoEvent(0, "TooClose", ""));
+					}
+
+					if(oi)
+					{
+						scan = cv::Mat(1, oi, CV_32FC3, scanData.data()).clone();
+					}
+					//LOGD("pixels depth set= %d", pixelsSet);
+				}
+				else
+				{
+					LOGE("color to depth pose is null?!? (rgb stamp=%f) (depth stamp=%f)", rgbStamp, cloudStamp);
+				}
+
+				if(!rgb.empty() && !depth.empty())
+				{
+					depth = rtabmap::util2d::fillDepthHoles(depth, holeSize, maxDepthError);
+
+					Transform odom = getPoseAtTimestamp(rgbStamp);
+
+					//LOGD("Local    = %s", model.localTransform().prettyPrint().c_str());
+					//LOGD("tango    = %s", poseDevice.prettyPrint().c_str());
+					//LOGD("opengl(t)= %s", (opengl_world_T_tango_world * poseDevice).prettyPrint().c_str());
+
+					// occlusion depth
+					if(!depth.empty())
+					{
+						rtabmap::CameraModel depthModel = model.scaled(float(depth.cols) / float(model.imageWidth()));
+						depthModel.setLocalTransform(odom*model.localTransform());
+						this->setOcclusionImage(depth, depthModel);
+					}
+
+					//LOGD("rtabmap  = %s", odom.prettyPrint().c_str());
+					//LOGD("opengl(r)= %s", (opengl_world_T_rtabmap_world * odom * rtabmap_device_T_opengl_device).prettyPrint().c_str());
+
+					Transform scanLocalTransform = model.localTransform();
+
+					if(rawScanPublished_)
+					{
+						tangoData_ = SensorData(LaserScan::backwardCompatibility(scan, cloud.total()/scanDownsampling, 0, scanLocalTransform), rgb, depth, model, this->getNextSeqID(), rgbStamp);
+					}
+					else
+					{
+						tangoData_ = SensorData(rgb, depth, model, this->getNextSeqID(), rgbStamp);
+					}
+					tangoData_.setGroundTruth(odom);
+				}
+				else
+				{
+					LOGE("Could not get depth and rgb images!?!");
+					tangoData_ = SensorData();
+					return;
+				}
+
+				if(notify)
+				{
+					tangoDataReady_.release();
+				}
+				LOGD("process cloud received %fs", timer.ticks());
+			}
+		}
+	}
+}
+
+void CameraTango::rgbReceived(const cv::Mat & tangoImage, int type, double timestamp)
+{
+	if(!tangoImage.empty())
+	{
+		//LOGD("RGB received! %fs", timestamp);
+
+		boost::mutex::scoped_lock  lock(tangoDataMutex_);
+
+		tangoColor_ = tangoImage.clone();
+		tangoColorStamp_ = timestamp;
+		tangoColorType_ = type;
+	}
+}
+
+void CameraTango::tangoEventReceived(int type, const char * key, const char * value)
+{
+	this->post(new CameraInfoEvent(type, key, value));
+}
+
+std::string CameraTango::getSerial() const
+{
+	return "Tango";
+}
+
+rtabmap::Transform CameraTango::tangoPoseToTransform(const TangoPoseData * tangoPose) const
+{
+	UASSERT(tangoPose);
+	rtabmap::Transform pose;
+
+	pose = rtabmap::Transform(
+			tangoPose->translation[0],
+			tangoPose->translation[1],
+			tangoPose->translation[2],
+			tangoPose->orientation[0],
+			tangoPose->orientation[1],
+			tangoPose->orientation[2],
+			tangoPose->orientation[3]);
+
+	return pose;
+}
+
+rtabmap::Transform CameraTango::getPoseAtTimestamp(double timestamp)
+{
+	rtabmap::Transform pose;
+
+	TangoPoseData pose_start_service_T_device;
+	TangoCoordinateFramePair frame_pair;
+	frame_pair.base = TANGO_COORDINATE_FRAME_START_OF_SERVICE;
+	frame_pair.target = TANGO_COORDINATE_FRAME_DEVICE;
+	TangoErrorType status = TangoService_getPoseAtTime(timestamp, frame_pair, &pose_start_service_T_device);
+	if (status != TANGO_SUCCESS)
+	{
+		LOGE(
+			"PoseData: Failed to get transform between the Start of service and "
+			"device frames at timestamp %lf",
+			timestamp);
+	}
+	if (pose_start_service_T_device.status_code != TANGO_POSE_VALID)
+	{
+		LOGW(
+			"PoseData: Failed to get transform between the Start of service and "
+			"device frames at timestamp %lf",
+			timestamp);
+	}
+	else
+	{
+		pose = rtabmap_world_T_tango_world * tangoPoseToTransform(&pose_start_service_T_device) * tango_device_T_rtabmap_world;
+	}
+
+	return pose;
+}
+
+SensorData CameraTango::updateDataOnRender(Transform & pose)
+{
+	//LOGI("Capturing image...");
+
+	pose.setNull();
+	if(textureId_ == 0)
+	{
+		glGenTextures(1, &textureId_);
+		glBindTexture(GL_TEXTURE_EXTERNAL_OES, textureId_);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+	}
+
+	// Update Texture (optional, just for first-view rendering)
+	if(colorCamera_ && textureId_)
+	{
+		double video_overlay_timestamp;
+		TangoErrorType status = TangoService_updateTextureExternalOes(TANGO_CAMERA_COLOR, textureId_, &video_overlay_timestamp);
+
+		if (status == TANGO_SUCCESS)
+		{
+			pose = getPoseAtTimestamp(video_overlay_timestamp);
+
+			int rotation = static_cast<int>(getScreenRotation()) + 1; // remove 90deg camera rotation
+			  if (rotation > 3) {
+				  rotation -= 4;
+			  }
+
+			TangoDoubleMatrixTransformData matrix_transform;
+			status = TangoSupport_getDoubleMatrixTransformAtTime(
+					video_overlay_timestamp,
+					TANGO_COORDINATE_FRAME_CAMERA_COLOR,
+					TANGO_COORDINATE_FRAME_START_OF_SERVICE,
+					TANGO_SUPPORT_ENGINE_OPENGL,
+					TANGO_SUPPORT_ENGINE_OPENGL,
+					static_cast<TangoSupportRotation>(rotation),
+					&matrix_transform);
+			if (matrix_transform.status_code == TANGO_POSE_VALID)
+			{
+				// Get projection matrix
+				TangoCameraIntrinsics color_camera_intrinsics;
+				int ret = TangoSupport_getCameraIntrinsicsBasedOnDisplayRotation(
+						TANGO_CAMERA_COLOR,
+						static_cast<TangoSupportRotation>(rotation),
+						&color_camera_intrinsics);
+
+				if (ret == TANGO_SUCCESS) {
+					float image_width = static_cast<float>(color_camera_intrinsics.width);
+					float image_height = static_cast<float>(color_camera_intrinsics.height);
+					float fx = static_cast<float>(color_camera_intrinsics.fx);
+					float fy = static_cast<float>(color_camera_intrinsics.fy);
+					float cx = static_cast<float>(color_camera_intrinsics.cx);
+					float cy = static_cast<float>(color_camera_intrinsics.cy);
+
+					viewMatrix_ = glm::make_mat4(matrix_transform.matrix);
+
+					projectionMatrix_ = tango_gl::Camera::ProjectionMatrixForCameraIntrinsics(
+							image_width, image_height, fx, fy, cx, cy, 0.3, 50);
+
+					switch(rotation)
+					{
+					case ROTATION_90:
+						memcpy(transformed_uvs_, kTextureCoords90, 8*sizeof(float));
+						break;
+					case ROTATION_180:
+						memcpy(transformed_uvs_, kTextureCoords180, 8*sizeof(float));
+						break;
+					case ROTATION_270:
+						memcpy(transformed_uvs_, kTextureCoords270, 8*sizeof(float));
+						break;
+					case ROTATION_0:
+					default:
+						memcpy(transformed_uvs_, kTextureCoords0, 8*sizeof(float));
+					}
+					uvs_initialized_ = true;
+				}
+				else
+				{
+					UERROR("TangoSupport_getCameraIntrinsicsBasedOnDisplayRotation failed!");
+				}
+			}
+			else
+			{
+				UERROR("TangoSupport_getDoubleMatrixTransformAtTime failed!");
+			}
+		}
+		else
+		{
+			UERROR("TangoService_updateTextureExternalOes failed!");
+		}
+	}
+
+	SensorData data;
+	if(tangoDataReady_.acquireTry(1))
+	{
+		boost::mutex::scoped_lock  lock(tangoDataMutex_);
+		data = tangoData_;
+		tangoData_ = SensorData();
+		pose = data.groundTruth();
+		data.setGroundTruth(Transform());
+	}
+	return data;
+
+}
+
+} /* namespace rtabmap */

app/android/jni/CameraTango.h

@@ -0,0 +1,84 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef CAMERATANGO_H_
+#define CAMERATANGO_H_
+
+#include "CameraMobile.h"
+#include <rtabmap/core/Camera.h>
+#include <rtabmap/core/GeodeticCoords.h>
+#include <rtabmap/utilite/UMutex.h>
+#include <rtabmap/utilite/USemaphore.h>
+#include <rtabmap/utilite/UEventsSender.h>
+#include <rtabmap/utilite/UThread.h>
+#include <rtabmap/utilite/UEvent.h>
+#include <rtabmap/utilite/UTimer.h>
+#include <boost/thread/mutex.hpp>
+#include <tango_client_api.h>
+#include <tango_support_api.h>
+
+namespace rtabmap {
+
+class CameraTango : public CameraMobile {
+public:
+	CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing);
+	virtual ~CameraTango();
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	virtual void close(); // close Tango connection
+	virtual std::string getSerial() const;
+	rtabmap::Transform tangoPoseToTransform(const TangoPoseData * tangoPose) const;
+	void setDecimation(int value) {decimation_ = value;}
+	void setRawScanPublished(bool enabled) {rawScanPublished_ = enabled;}
+
+	void cloudReceived(const cv::Mat & cloud, double timestamp);
+	void rgbReceived(const cv::Mat & tangoImage, int type, double timestamp);
+	void tangoEventReceived(int type, const char * key, const char * value);
+
+protected:
+	virtual SensorData updateDataOnRender(Transform & pose);
+
+private:
+	rtabmap::Transform getPoseAtTimestamp(double timestamp);
+
+private:
+	void * tango_config_;
+	bool colorCamera_;
+	int decimation_;
+	bool rawScanPublished_;
+	SensorData tangoData_;
+	cv::Mat tangoColor_;
+	int tangoColorType_;
+	double tangoColorStamp_;
+	boost::mutex tangoDataMutex_;
+	USemaphore tangoDataReady_;
+	cv::Mat fisheyeRectifyMapX_;
+	cv::Mat fisheyeRectifyMapY_;
+};
+
+} /* namespace rtabmap */
+#endif /* CAMERATANGO_H_ */

app/android/jni/ProgressionStatus.h

@@ -0,0 +1,155 @@
+/*
+ * ProgressionStatus.h
+ *
+ *  Created on: Feb 28, 2017
+ *      Author: mathieu
+ */
+
+#ifndef APP_ANDROID_JNI_PROGRESSIONSTATUS_H_
+#define APP_ANDROID_JNI_PROGRESSIONSTATUS_H_
+
+#include <rtabmap/core/ProgressState.h>
+#include <rtabmap/utilite/ULogger.h>
+#include <rtabmap/utilite/UEventsManager.h>
+#ifdef __ANDROID__
+#include <jni.h>
+#endif
+
+namespace rtabmap {
+
+class ProgressEvent : public UEvent
+{
+public:
+	ProgressEvent(int count = 1) : count_(count){}
+	virtual std::string getClassName() const {return "ProgressEvent";}
+
+	int count_;
+};
+
+class ProgressionStatus: public ProgressState, public UEventsHandler
+{
+public:
+	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)
+	{
+		count_=-1;
+		max_ = max;
+		setCanceled(false);
+
+		increment();
+	}
+
+	void setMax(int max)
+	{
+		max_ = max;
+	}
+	int getMax() const {return max_;}
+
+	void increment(int count = 1) const
+	{
+		UEventsManager::post(new ProgressEvent(count));
+	}
+
+	void finish()
+	{
+
+	}
+
+	virtual bool callback(const std::string & msg) const
+	{
+		if(!isCanceled())
+		{
+			increment();
+		}
+
+		return ProgressState::callback(msg);
+	}
+	virtual ~ProgressionStatus(){}
+
+protected:
+	virtual bool handleEvent(UEvent * event)
+	{
+		if(event->getClassName().compare("ProgressEvent") == 0)
+		{
+			count_ += ((ProgressEvent*)event)->count_;
+			// Call JAVA callback
+			bool success = false;
+#ifdef __ANDROID__
+			if(jvm_ && rtabmap_)
+			{
+				JNIEnv *env = 0;
+				jint rs = jvm_->AttachCurrentThread(&env, NULL);
+				if(rs == JNI_OK && env)
+				{
+					jclass clazz = env->GetObjectClass(rtabmap_);
+					if(clazz)
+					{
+						jmethodID methodID = env->GetMethodID(clazz, "updateProgressionCallback", "(II)V" );
+						if(methodID)
+						{
+							env->CallVoidMethod(rtabmap_, methodID,
+									count_,
+									max_);
+							success = true;
+						}
+					}
+				}
+				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");
+			}
+		}
+		return false;
+	}
+
+private:
+	int count_;
+	int max_;
+#ifdef __ANDROID__
+	JavaVM *jvm_;
+	jobject rtabmap_;
+#else
+    void * swiftClassPtr_;
+    void(*swiftCallback)(void *, int, int);
+#endif
+};
+
+}
+
+
+#endif /* APP_ANDROID_JNI_PROGRESSIONSTATUS_H_ */

app/android/jni/RTABMapApp.h

@@ -0,0 +1,319 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef RTABMAP_APP_H_
+#define RTABMAP_APP_H_
+
+#ifdef __ANDROID__
+#include <jni.h>
+#endif
+#include <memory>
+
+#include <tango-gl/util.h>
+
+#include "scene.h"
+#include "CameraMobile.h"
+#include "util.h"
+#include "ProgressionStatus.h"
+
+#include <rtabmap/core/SensorCaptureThread.h>
+#include <rtabmap/core/RtabmapThread.h>
+#include <rtabmap/core/SensorEvent.h>
+#include <rtabmap/utilite/UEventsHandler.h>
+#include <boost/thread/mutex.hpp>
+#include <pcl/pcl_base.h>
+#include <pcl/TextureMesh.h>
+
+
+// RTABMapApp handles the application lifecycle and resources.
+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),
+                           void(*cameraInfoCallback)(void *, int, const char*, const char*));
+    
+#endif
+  ~RTABMapApp();
+
+  void setScreenRotation(int displayRotation, int cameraRotation);
+
+  int openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, bool clearDatabase);
+
+  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();
+
+  // Setup the view port width and height.
+  void SetViewPort(int width, int height);
+
+  // Main render loop.
+  int Render();
+
+  void stopCamera();
+
+  // Set render camera's viewing angle, first person, third person or top down.
+  //
+  // @param: camera_type, camera type includes first person, third person and
+  //         top down
+  void SetCameraType(tango_gl::GestureCamera::CameraType camera_type);
+
+  // Touch event passed from android activity. This function only supports two
+  // touches.
+  //
+  // @param: touch_count, total count for touches.
+  // @param: event, touch event of current touch.
+  // @param: x0, normalized touch location for touch 0 on x axis.
+  // @param: y0, normalized touch location for touch 0 on y axis.
+  // @param: x1, normalized touch location for touch 1 on x axis.
+  // @param: y1, normalized touch location for touch 1 on y axis.
+  void OnTouchEvent(int touch_count, tango_gl::GestureCamera::TouchEvent event,
+                    float x0, float y0, float x1, float y1);
+
+  void setPausedMapping(bool paused);
+  void setOnlineBlending(bool enabled);
+  void setMapCloudShown(bool shown);
+  void setOdomCloudShown(bool shown);
+  void setMeshRendering(bool enabled, bool withTexture);
+  void setPointSize(float value);
+  void setFOV(float angle);
+  void setOrthoCropFactor(float value);
+  void setGridRotation(float value);
+  void setLighting(bool enabled);
+  void setBackfaceCulling(bool enabled);
+  void setWireframe(bool enabled);
+  void setLocalizationMode(bool enabled);
+  void setTrajectoryMode(bool enabled);
+  void setGraphOptimization(bool enabled);
+  void setNodesFiltering(bool enabled);
+  void setGraphVisible(bool visible);
+  void setGridVisible(bool visible);
+  void setRawScanSaved(bool enabled);
+  void setCameraColor(bool enabled);
+  void setFullResolution(bool enabled);
+  void setSmoothing(bool enabled);
+  void setDepthFromMotion(bool enabled);
+  void setAppendMode(bool enabled);
+  void setUpstreamRelocalizationAccThr(float value);
+  void setDataRecorderMode(bool enabled);
+  void setMaxCloudDepth(float value);
+  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);
+  void setExportPointCloudFormat(const std::string & format);
+  int setMappingParameter(const std::string & key, const std::string & value);
+  void setGPS(const rtabmap::GPS & gps);
+  void addEnvSensor(int type, float value);
+
+  void save(const std::string & databasePath);
+  bool recover(const std::string & from, const std::string & to);
+  void cancelProcessing();
+  bool exportMesh(
+		  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 postExportation(bool visualize);
+  bool writeExportedMesh(const std::string & directory, const std::string & name);
+  int postProcessing(int approach);
+
+  void postOdometryEvent(
+		rtabmap::Transform pose,
+		float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
+		float depth_fx, float depth_fy, float depth_cx, float depth_cy,
+		const rtabmap::Transform & rgbFrame,
+		const rtabmap::Transform & depthFrame,
+		double stamp,
+		double depthStamp,
+        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,
+		rtabmap::Transform viewMatrix, //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);
+  std::vector<pcl::Vertices> filterOrganizedPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
+  std::vector<pcl::Vertices> filterPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
+
+ private:
+  int cameraDriver_;
+  rtabmap::CameraMobile * camera_;
+  rtabmap::SensorCaptureThread * sensorCaptureThread_;
+  rtabmap::RtabmapThread * rtabmapThread_;
+  rtabmap::Rtabmap * rtabmap_;
+  rtabmap::LogHandler * logHandler_;
+
+  bool odomCloudShown_;
+  bool graphOptimization_;
+  bool nodesFiltering_;
+  bool localizationMode_;
+  bool trajectoryMode_;
+  bool rawScanSaved_;
+  bool smoothing_;
+  bool depthFromMotion_;
+  bool cameraColor_;
+  bool fullResolution_;
+  bool appendMode_;
+  bool useExternalLidar_;
+  float maxCloudDepth_;
+  float minCloudDepth_;
+  int cloudDensityLevel_;
+  int meshTrianglePix_;
+  float meshAngleToleranceDeg_;
+  float meshDecimationFactor_;
+  float clusterRatio_;
+  float maxGainRadius_;
+  int renderingTextureDecimation_;
+  float backgroundColor_;
+  int depthConfidence_;
+  float upstreamRelocalizationMaxAcc_;
+  std::string exportPointCloudFormat_;
+
+  rtabmap::ParametersMap mappingParameters_;
+
+  bool dataRecorderMode_;
+  bool clearSceneOnNextRender_;
+  bool openingDatabase_;
+  bool exporting_;
+  bool postProcessing_;
+  bool filterPolygonsOnNextRender_;
+  int gainCompensationOnNextRender_;
+  bool bilateralFilteringOnNextRender_;
+  bool takeScreenshotOnNextRender_;
+  bool cameraJustInitialized_;
+  int totalPoints_;
+  int totalPolygons_;
+  int lastDrawnCloudsCount_;
+  float renderingTime_;
+  double lastPostRenderEventTime_;
+  double lastPoseEventTime_;
+  std::map<std::string, float> bufferedStatsData_;
+
+  bool visualizingMesh_;
+  bool exportedMeshUpdated_;
+  pcl::TextureMesh::Ptr optMesh_;
+  cv::Mat optTexture_;
+  int optRefId_;
+  rtabmap::Transform * optRefPose_; // App crashes when loading native library if not dynamic
+
+  // main_scene_ includes all drawable object for visualizing Tango device's
+  // movement and point cloud.
+  Scene main_scene_;
+    
+    UTimer fpsTime_;
+
+	std::list<rtabmap::RtabmapEvent*> rtabmapEvents_;
+	std::list<rtabmap::SensorEvent> sensorEvents_;
+	std::list<rtabmap::Transform> poseEvents_;
+
+	rtabmap::Transform mapToOdom_;
+
+	boost::mutex cameraMutex_;
+	boost::mutex rtabmapMutex_;
+	boost::mutex meshesMutex_;
+	boost::mutex sensorMutex_;
+	boost::mutex poseMutex_;
+	boost::mutex renderingMutex_;
+
+	USemaphore screenshotReady_;
+
+	std::map<int, rtabmap::Mesh> createdMeshes_;
+	std::map<int, rtabmap::Transform> rawPoses_;
+
+	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);
+    void(*swiftCameraInfoEventCallback)(void *, int, const char *, const char *);
+    
+#endif
+};
+
+#endif  // TANGO_POINT_CLOUD_POINT_CLOUD_APP_H_

app/android/jni/background_renderer.cc

@@ -0,0 +1,210 @@
+/*
+ * Copyright 2018 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+// This modules handles drawing the passthrough camera image into the OpenGL
+// scene.
+
+#include "background_renderer.h"
+
+#include <type_traits>
+
+namespace {
+
+const std::string kVertexShader =
+		"attribute vec4 a_Position;\n"
+		"attribute vec2 a_TexCoord;\n"
+
+		"varying vec2 v_TexCoord;\n"
+
+		"void main() {\n"
+		"   gl_Position = a_Position;\n"
+		"   v_TexCoord = a_TexCoord;\n"
+		"}\n";
+
+const std::string kFragmentShaderOES =
+	"#extension GL_OES_EGL_image_external : require\n"
+	"precision mediump float;\n"
+	"varying vec2 v_TexCoord;\n"
+	"uniform samplerExternalOES sTexture;\n"
+    "uniform bool uRedUnknown;\n"
+	"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, uRedUnknown?0.0:grey, uRedUnknown?0.0:grey, 0.5);\n"
+	"}\n";
+
+const std::string kFragmentShaderBlendingOES =
+    "#extension GL_OES_EGL_image_external : require\n"
+    "precision mediump float;\n"
+    "varying vec2 v_TexCoord;\n"
+    "uniform samplerExternalOES sTexture;\n"
+	"uniform sampler2D uDepthTexture;\n"
+	"uniform vec2 uScreenScale;\n"
+    "uniform bool uRedUnknown;\n"
+    "void main() {\n"
+    "    vec4 sample = texture2D(sTexture, v_TexCoord);\n"
+    "    vec2 coord = uScreenScale * gl_FragCoord.xy;\n;"
+    "    vec4 depthPacked = texture2D(uDepthTexture, coord);\n"
+    "    float depth = dot(depthPacked, 1./vec4(1.,255.,65025.,16581375.));\n"
+    "    if(depth > 0.0)\n"
+    "        gl_FragColor = vec4(sample.r, sample.g, sample.b, 0.5);\n"
+    "    else {\n"
+    "        float grey = 0.21 * sample.r + 0.71 * sample.g + 0.07 * sample.b;\n"
+    "        gl_FragColor = vec4(grey, uRedUnknown?0.0:grey, uRedUnknown?0.0:grey, 0.5);\n"
+    "    }\n"
+    "}\n";
+
+const std::string kFragmentShader =
+	"precision mediump float;\n"
+	"varying vec2 v_TexCoord;\n"
+    "uniform sampler2D sTexture;\n"
+    "uniform bool uRedUnknown;\n"
+	"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, uRedUnknown?0.0:grey, uRedUnknown?0.0:grey, 0.5);\n"
+	"}\n";
+
+const std::string kFragmentShaderBlending =
+    "precision mediump float;\n"
+    "varying vec2 v_TexCoord;\n"
+    "uniform sampler2D sTexture;\n"
+    "uniform sampler2D uDepthTexture;\n"
+    "uniform vec2 uScreenScale;\n"
+    "uniform bool uRedUnknown;\n"
+    "void main() {\n"
+    "    vec4 sample = texture2D(sTexture, v_TexCoord);\n"
+    "    vec2 coord = uScreenScale * gl_FragCoord.xy;\n;"
+    "    vec4 depthPacked = texture2D(uDepthTexture, coord);\n"
+    "    float depth = dot(depthPacked, 1./vec4(1.,255.,65025.,16581375.));\n"
+    "    if(depth > 0.0)\n"
+    "        gl_FragColor = vec4(sample.r, sample.g, sample.b, 0.5);\n"
+    "    else {\n"
+    "        float grey = 0.21 * sample.r + 0.71 * sample.g + 0.07 * sample.b;\n"
+    "        gl_FragColor = vec4(grey, uRedUnknown?0.0:grey, uRedUnknown?0.0:grey, 0.5);\n"
+    "    }\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
+
+std::vector<GLuint> BackgroundRenderer::shaderPrograms_;
+
+BackgroundRenderer::~BackgroundRenderer()
+{
+	for(unsigned int i=0; i<shaderPrograms_.size(); ++i)
+	{
+		glDeleteShader(shaderPrograms_[i]);
+	}
+	shaderPrograms_.clear();
+}
+
+void BackgroundRenderer::InitializeGlContent(GLuint textureId, bool oes)
+{
+	LOGI("textureId=%d", textureId);
+
+  texture_id_ = textureId;
+#ifdef __ANDROID__
+  oes_ = oes;
+#endif
+
+    if(shaderPrograms_.empty())
+    {
+        shaderPrograms_.resize(2,0);
+        shaderPrograms_[0] = tango_gl::util::CreateProgram(
+              kVertexShader.c_str(),
+              oes_?kFragmentShaderOES.c_str():kFragmentShader.c_str());
+        UASSERT(shaderPrograms_[0]!=0);
+        shaderPrograms_[1] = tango_gl::util::CreateProgram(
+              kVertexShader.c_str(),
+              oes_?kFragmentShaderBlendingOES.c_str():kFragmentShaderBlending.c_str());
+        UASSERT(shaderPrograms_[1]!=0);
+    }
+}
+
+void BackgroundRenderer::Draw(const float * transformed_uvs, const GLuint & depthTexture, int screenWidth, int screenHeight, bool redUnknown) {
+  static_assert(std::extent<decltype(BackgroundRenderer_kVerticesDevice)>::value == kNumVertices * 2, "Incorrect kVertices length");
+
+  GLuint program = shaderPrograms_[depthTexture>0?1:0];
+    
+  glUseProgram(program);
+  glDepthMask(GL_FALSE);
+  glEnable (GL_BLEND);
+
+  glActiveTexture(GL_TEXTURE0);
+#ifdef __ANDROID__
+  if(oes_)
+    glBindTexture(GL_TEXTURE_EXTERNAL_OES, texture_id_);
+  else
+#endif
+    glBindTexture(GL_TEXTURE_2D, texture_id_);
+
+  if(depthTexture>0)
+  {
+    // Texture activate unit 1
+    glActiveTexture(GL_TEXTURE1);
+    // Bind the texture to this unit.
+    glBindTexture(GL_TEXTURE_2D, depthTexture);
+    // Tell the texture uniform sampler to use this texture in the shader by binding to texture unit 1.
+    GLuint depth_texture_handle = glGetUniformLocation(program, "uDepthTexture");
+    glUniform1i(depth_texture_handle, 1);
+      
+    GLuint screenScale_handle = glGetUniformLocation(program, "uScreenScale");
+    glUniform2f(screenScale_handle, 1.0f/(float)screenWidth, 1.0f/(float)screenHeight);
+  }
+    
+  GLuint screenScale_handle = glGetUniformLocation(program, "uRedUnknown");
+  glUniform1i(screenScale_handle, redUnknown);
+
+  GLuint attributeVertices = glGetAttribLocation(program, "a_Position");
+  GLuint attributeUvs = glGetAttribLocation(program, "a_TexCoord");
+
+  glVertexAttribPointer(attributeVertices, 2, GL_FLOAT, GL_FALSE, 0, BackgroundRenderer_kVerticesDevice);
+  glVertexAttribPointer(attributeUvs, 2, GL_FLOAT, GL_FALSE, 0, transformed_uvs?transformed_uvs:BackgroundRenderer_kTexCoord);
+
+  glEnableVertexAttribArray(attributeVertices);
+  glEnableVertexAttribArray(attributeUvs);
+
+  glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
+
+  glDisableVertexAttribArray(attributeVertices);
+  glDisableVertexAttribArray(attributeUvs);
+
+  glUseProgram(0);
+  glDepthMask(GL_TRUE);
+  glDisable (GL_BLEND);
+  tango_gl::util::CheckGlError("BackgroundRenderer::Draw() error");
+}
+

app/android/jni/background_renderer.h

@@ -0,0 +1,76 @@
+/*
+ * Copyright 2018 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef 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"
+
+static const GLfloat BackgroundRenderer_kVerticesDevice[] = {
+	-1.0f, -1.0f, +1.0f, -1.0f, -1.0f, +1.0f, +1.0f, +1.0f,
+};
+//static const GLfloat BackgroundRenderer_kVerticesView[] = {
+//	0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 1.0f,
+//};
+static const GLfloat BackgroundRenderer_kVerticesView[] = {
+	0.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f,
+};
+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 {
+public:
+	// Positions of the quad vertices in clip space (X, Y).
+
+	static constexpr int kNumVertices = 4;
+
+ public:
+  BackgroundRenderer() = default;
+  ~BackgroundRenderer();
+
+  // Sets up OpenGL state.  Must be called on the OpenGL thread and before any
+  // other methods below.
+  void InitializeGlContent(GLuint textureId, bool oes);
+
+  // Draws the background image.  This methods must be called for every ArFrame
+  // returned by ArSession_update() to catch display geometry change events.
+  void Draw(const float * transformed_uvs, const GLuint & depthTexture, int screenWidth, int screenHeight, bool redUnknown);
+
+private:
+  static std::vector<GLuint> shaderPrograms_;
+  GLuint texture_id_;
+  bool oes_ = false;
+};
+
+#endif  // C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_

app/android/jni/bounding_box_drawable.h

@@ -0,0 +1,131 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+ * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef BOUNDING_BOX_DRAWABLE_H_
+#define BOUNDING_BOX_DRAWABLE_H_
+
+#include "tango-gl/line.h"
+
+class BoundingBoxDrawable : public tango_gl::Line
+{
+public:
+	BoundingBoxDrawable() :
+		Line(3.0f, GL_LINES)
+	{
+		vec_vertices_.resize(24);
+	}
+
+	void updateVertices(const pcl::PointXYZ & min, const pcl::PointXYZ & max)
+	{
+		int index = 0;
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = min.z;
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = min.z;
+
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = min.z;
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = min.z;
+
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = min.z;
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = max.z;
+
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = max.z;
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = max.z;
+
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = max.z;
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = max.z;
+
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = max.z;
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = min.z;
+
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = min.z;
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = max.z;
+
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = min.z;
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = min.z;
+
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = min.z;
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = min.z;
+
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = min.z;
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = max.z;
+
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = max.z;
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = max.z;
+
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = max.z;
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = max.z;
+	}
+
+};
+#endif  // TANGO_GL_LINE_H_

app/android/jni/graph_drawable.cpp

@@ -0,0 +1,164 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include <sstream>
+
+#include "graph_drawable.h"
+#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,
+		const std::map<int, rtabmap::Transform> & poses,
+		const std::multimap<int, rtabmap::Link> & links) :
+		vertex_buffers_(0),
+		pose_(1.0f),
+		visible_(true),
+		lineWidth_(3.0f),
+		shader_program_(shaderProgram)
+{
+	UASSERT(!poses.empty());
+
+	glGenBuffers(1, &vertex_buffers_);
+
+	if(vertex_buffers_)
+	{
+		LOGI("Creating vertex buffer %d", vertex_buffers_);
+		std::vector<float> vertices = std::vector<float>(poses.size()*3);
+		int i=0;
+		std::map<int, int> idsToIndices;
+		for(std::map<int, rtabmap::Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
+		{
+			vertices[i*3] = iter->second.x();
+			vertices[i*3+1] = iter->second.y();
+			vertices[i*3+2] = iter->second.z();
+			idsToIndices.insert(std::make_pair(iter->first, i));
+			++i;
+		}
+
+		glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_);
+		glBufferData(GL_ARRAY_BUFFER, sizeof(GLfloat) * (int)vertices.size(), (const void *)vertices.data(), GL_STATIC_DRAW);
+		glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+		GLint error = glGetError();
+		if(error != GL_NO_ERROR)
+		{
+			LOGI("OpenGL: Could not allocate point cloud (0x%x)\n", error);
+			vertex_buffers_ = 0;
+		}
+		else if(links.size())
+		{
+			neighborIndices_.resize(links.size() * 2);
+			loopClosureIndices_.resize(links.size() * 2);
+			int oiNeighbors = 0;
+			int oiLoopClosures = 0;
+			for(std::multimap<int, rtabmap::Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
+			{
+				std::map<int, int>::const_iterator jterFrom = idsToIndices.find(iter->second.from());
+				std::map<int, int>::const_iterator jterTo = idsToIndices.find(iter->second.to());
+				if(jterFrom != idsToIndices.end() && jterTo != idsToIndices.end())
+				{
+					if(iter->second.type() == rtabmap::Link::kNeighbor)
+					{
+						neighborIndices_[oiNeighbors++] = (unsigned short)jterFrom->second;
+						neighborIndices_[oiNeighbors++] = (unsigned short)jterTo->second;
+					}
+					else
+					{
+						loopClosureIndices_[oiLoopClosures++] = (unsigned short)jterFrom->second;
+						loopClosureIndices_[oiLoopClosures++] = (unsigned short)jterTo->second;
+					}
+				}
+			}
+			neighborIndices_.resize(oiNeighbors);
+			loopClosureIndices_.resize(oiLoopClosures);
+		}
+	}
+}
+
+GraphDrawable::~GraphDrawable()
+{
+	LOGI("Freeing cloud buffer %d", vertex_buffers_);
+	if (vertex_buffers_)
+	{
+		glDeleteBuffers(1, &vertex_buffers_);
+		tango_gl::util::CheckGlError("GraphDrawable::~GraphDrawable()");
+		vertex_buffers_ = 0;
+	}
+}
+
+void GraphDrawable::setPose(const rtabmap::Transform & pose)
+{
+	UASSERT(!pose.isNull());
+
+	pose_ = glmFromTransform(pose);
+}
+
+void GraphDrawable::Render(const glm::mat4 & projectionMatrix, const glm::mat4 & viewMatrix) {
+
+	if(vertex_buffers_ && (neighborIndices_.size() || loopClosureIndices_.size()) && visible_)
+	{
+		glUseProgram(shader_program_);
+		glLineWidth(lineWidth_);
+
+		GLuint mvp_handle_ = glGetUniformLocation(shader_program_, "mvp");
+		glm::mat4 mvp_mat = projectionMatrix * viewMatrix * pose_;
+		glUniformMatrix4fv(mvp_handle_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+
+		GLuint color_handle = glGetUniformLocation(shader_program_, "color");
+
+		GLint attribute_vertex = glGetAttribLocation(shader_program_, "vertex");
+
+		glEnableVertexAttribArray(attribute_vertex);
+		glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_);
+		glVertexAttribPointer(attribute_vertex, 3, GL_FLOAT, GL_FALSE, 3*sizeof(GLfloat), 0);
+
+		if(neighborIndices_.size())
+		{
+			glUniform3f(color_handle, 1.0f, 0.0f, 0.0f); // blue for neighbors
+			glDrawElements(GL_LINES, neighborIndices_.size(), GL_UNSIGNED_SHORT, neighborIndices_.data());
+		}
+		if(loopClosureIndices_.size())
+		{
+			glUniform3f(color_handle, 0.0f, 0.0f, 1.0f); // red for loop closures
+			glDrawElements(GL_LINES, loopClosureIndices_.size(), GL_UNSIGNED_SHORT, loopClosureIndices_.data());
+		}
+
+		glDisableVertexAttribArray(0);
+		glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+		glUseProgram(0);
+		tango_gl::util::CheckGlError("GraphDrawable::Render()");
+	}
+}
+

app/android/jni/graph_drawable.h

@@ -0,0 +1,68 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef 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>
+#include <pcl/point_types.h>
+#include <rtabmap/core/Transform.h>
+#include <rtabmap/core/Link.h>
+#include <pcl/Vertices.h>
+#include "util.h"
+
+class GraphDrawable {
+ public:
+	GraphDrawable(
+		  GLuint shaderProgram,
+		  const std::map<int, rtabmap::Transform> & poses,
+		  const std::multimap<int, rtabmap::Link> & links);
+  virtual ~GraphDrawable();
+
+  void setPose(const rtabmap::Transform & mapToOdom);
+  void setVisible(bool visible) {visible_=visible;}
+
+  void Render(const glm::mat4 & projectionMatrix, const glm::mat4 & viewMatrix);
+
+ private:
+  // Vertex buffer of the point cloud geometry.
+  GLuint vertex_buffers_;
+  std::vector<GLushort> neighborIndices_;
+  std::vector<GLushort> loopClosureIndices_;
+  glm::mat4 pose_;
+  bool visible_;
+  float lineWidth_;
+
+  GLuint shader_program_;
+};
+
+#endif  // GRAPH_DRAWABLE_H_

app/android/jni/jni_interface.cpp

@@ -0,0 +1,967 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#define GLM_FORCE_RADIANS
+
+#include <jni.h>
+#include <RTABMapApp.h>
+#include <scene.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void GetJStringContent(JNIEnv *AEnv, jstring AStr, std::string &ARes) {
+  if (!AStr) {
+    ARes.clear();
+    return;
+  }
+
+  const char *s = AEnv->GetStringUTFChars(AStr,NULL);
+  ARes=s;
+  AEnv->ReleaseStringUTFChars(AStr,s);
+}
+
+inline jlong jptr(RTABMapApp *native_computer_vision_application) {
+  return reinterpret_cast<intptr_t>(native_computer_vision_application);
+}
+
+inline RTABMapApp *native(jlong ptr) {
+  return reinterpret_cast<RTABMapApp *>(ptr);
+}
+
+JNIEXPORT jlong JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_createNativeApplication(
+    JNIEnv* env, jclass, jobject activity)
+{
+	return jptr(new RTABMapApp(env, activity));
+}
+
+JNIEXPORT void Java_com_introlab_rtabmap_RTABMapLib_destroyNativeApplication(
+	JNIEnv *, jclass, jlong native_application) {
+	if(native_application)
+	{
+		delete native(native_application);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setScreenRotation(
+    JNIEnv* env, jclass, jlong native_application, int displayRotation, int cameraRotation)
+{
+	if(native_application)
+	{
+		return native(native_application)->setScreenRotation(displayRotation, cameraRotation);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+
+JNIEXPORT int JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_openDatabase(
+    JNIEnv* env, jclass, jlong native_application, jstring databasePath, bool databaseInMemory, bool optimize, bool clearDatabase)
+{
+	std::string databasePathC;
+	GetJStringContent(env,databasePath,databasePathC);
+	if(native_application)
+	{
+		return native(native_application)->openDatabase(databasePathC, databaseInMemory, optimize, clearDatabase);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+		return -1;
+	}
+}
+
+JNIEXPORT bool JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_recover(
+    JNIEnv* env, jclass, jlong native_application, jstring from, jstring to)
+{
+	if(native_application)
+	{
+		std::string toC;
+		GetJStringContent(env,to,toC);
+		std::string fromC;
+		GetJStringContent(env,from,fromC);
+		return native(native_application)->recover(fromC, toC);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+		return -1;
+	}
+}
+
+JNIEXPORT bool JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_isBuiltWith(
+		JNIEnv* env, jclass, jlong native_application, int cameraDriver) {
+	if(native_application)
+	{
+		return native(native_application)->isBuiltWith(cameraDriver);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+		return false;
+	}
+}
+
+JNIEXPORT bool JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_startCamera(
+		JNIEnv* env, jclass, jlong native_application, jobject iBinder, jobject context, jobject activity, int driver) {
+	if(native_application)
+	{
+		return native(native_application)->startCamera(env, iBinder, context, activity, driver);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+		return false;
+	}
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_initGlContent(
+    JNIEnv*, jclass, jlong native_application) {
+	if(native_application)
+	{
+		native(native_application)->InitializeGLContent();
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setupGraphic(
+    JNIEnv*, jclass, jlong native_application, jint width, jint height) {
+	if(native_application)
+	{
+		native(native_application)->SetViewPort(width, height);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+
+JNIEXPORT int JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_render(
+    JNIEnv*, jclass, jlong native_application) {
+	if(native_application)
+	{
+		return native(native_application)->Render();
+	}
+	else
+	{
+		UERROR("native_application is null!");
+		return -1;
+	}
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_stopCamera(
+    JNIEnv*, jclass, jlong native_application) {
+	if(native_application)
+	{
+		native(native_application)->stopCamera();
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setCamera(
+    JNIEnv*, jclass, jlong native_application, int camera_index) {
+	if(native_application)
+	{
+		using namespace tango_gl;
+		GestureCamera::CameraType cam_type =
+		  static_cast<GestureCamera::CameraType>(camera_index);
+		native(native_application)->SetCameraType(cam_type);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_onTouchEvent(
+    JNIEnv*, jclass, jlong native_application, int touch_count, int event, float x0, float y0, float x1,
+    float y1) {
+	if(native_application)
+	{
+		using namespace tango_gl;
+		GestureCamera::TouchEvent touch_event =
+		  static_cast<GestureCamera::TouchEvent>(event);
+		native(native_application)->OnTouchEvent(touch_count, touch_event, x0, y0, x1, y1);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setPausedMapping(
+		JNIEnv*, jclass, jlong native_application, bool paused)
+{
+	if(native_application)
+	{
+		return native(native_application)->setPausedMapping(paused);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setOnlineBlending(
+		JNIEnv*, jclass, jlong native_application, bool enabled)
+{
+	if(native_application)
+	{
+		return native(native_application)->setOnlineBlending(enabled);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMapCloudShown(
+		JNIEnv*, jclass, jlong native_application, bool shown)
+{
+	if(native_application)
+	{
+		return native(native_application)->setMapCloudShown(shown);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setOdomCloudShown(
+		JNIEnv*, jclass, jlong native_application, bool shown)
+{
+	if(native_application)
+	{
+		return native(native_application)->setOdomCloudShown(shown);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMeshRendering(
+		JNIEnv*, jclass, jlong native_application, bool enabled, bool withTexture)
+{
+	if(native_application)
+	{
+		return native(native_application)->setMeshRendering(enabled, withTexture);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setPointSize(
+		JNIEnv*, jclass, jlong native_application, float value)
+{
+	if(native_application)
+	{
+		return native(native_application)->setPointSize(value);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setFOV(
+		JNIEnv*, jclass, jlong native_application, float fov)
+{
+	if(native_application)
+	{
+		return native(native_application)->setFOV(fov);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setOrthoCropFactor(
+		JNIEnv*, jclass, jlong native_application, float value)
+{
+	if(native_application)
+	{
+		return native(native_application)->setOrthoCropFactor(value);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setGridRotation(
+		JNIEnv*, jclass, jlong native_application, float value)
+{
+	if(native_application)
+	{
+		return native(native_application)->setGridRotation(value);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setLighting(
+		JNIEnv*, jclass, jlong native_application, bool enabled)
+{
+	if(native_application)
+	{
+		return native(native_application)->setLighting(enabled);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setBackfaceCulling(
+		JNIEnv*, jclass, jlong native_application, bool enabled)
+{
+	if(native_application)
+	{
+		return native(native_application)->setBackfaceCulling(enabled);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setWireframe(
+		JNIEnv*, jclass, jlong native_application, bool enabled)
+{
+	if(native_application)
+	{
+		return native(native_application)->setWireframe(enabled);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setLocalizationMode(
+		JNIEnv*, jclass, jlong native_application, bool enabled)
+{
+	if(native_application)
+	{
+		return native(native_application)->setLocalizationMode(enabled);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setTrajectoryMode(
+		JNIEnv*, jclass, jlong native_application, bool enabled)
+{
+	if(native_application)
+	{
+		return native(native_application)->setTrajectoryMode(enabled);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setGraphOptimization(
+		JNIEnv*, jclass, jlong native_application, bool enabled)
+{
+	if(native_application)
+	{
+		return native(native_application)->setGraphOptimization(enabled);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setNodesFiltering(
+		JNIEnv*, jclass, jlong native_application, bool enabled)
+{
+	if(native_application)
+	{
+		return native(native_application)->setNodesFiltering(enabled);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setGraphVisible(
+		JNIEnv*, jclass, jlong native_application, bool visible)
+{
+	if(native_application)
+	{
+		return native(native_application)->setGraphVisible(visible);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setGridVisible(
+		JNIEnv*, jclass, jlong native_application, bool visible)
+{
+	if(native_application)
+	{
+		return native(native_application)->setGridVisible(visible);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setRawScanSaved(
+		JNIEnv*, jclass, jlong native_application, bool enabled)
+{
+	if(native_application)
+	{
+		return native(native_application)->setRawScanSaved(enabled);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setFullResolution(
+		JNIEnv*, jclass, jlong native_application, bool enabled)
+{
+	if(native_application)
+	{
+		return native(native_application)->setFullResolution(enabled);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setSmoothing(
+		JNIEnv*, jclass, jlong native_application, bool enabled)
+{
+	if(native_application)
+	{
+		return native(native_application)->setSmoothing(enabled);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setDepthFromMotion(
+		JNIEnv*, jclass, jlong native_application, bool enabled)
+{
+	if(native_application)
+	{
+		return native(native_application)->setDepthFromMotion(enabled);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setCameraColor(
+		JNIEnv*, jclass, jlong native_application, bool enabled)
+{
+	if(native_application)
+	{
+		return native(native_application)->setCameraColor(enabled);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setAppendMode(
+		JNIEnv*, jclass, jlong native_application, bool enabled)
+{
+	if(native_application)
+	{
+		return native(native_application)->setAppendMode(enabled);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setUpstreamRelocalizationAccThr(
+		JNIEnv*, jclass, jlong native_application, float value)
+{
+	if(native_application)
+	{
+		return native(native_application)->setUpstreamRelocalizationAccThr(value);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setDataRecorderMode(
+		JNIEnv*, jclass, jlong native_application, bool enabled)
+{
+	if(native_application)
+	{
+		return native(native_application)->setDataRecorderMode(enabled);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMaxCloudDepth(
+		JNIEnv*, jclass, jlong native_application, float value)
+{
+	if(native_application)
+	{
+		return native(native_application)->setMaxCloudDepth(value);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMinCloudDepth(
+		JNIEnv*, jclass, jlong native_application, float value)
+{
+	if(native_application)
+	{
+		return native(native_application)->setMinCloudDepth(value);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setCloudDensityLevel(
+		JNIEnv*, jclass, jlong native_application, int value)
+{
+	if(native_application)
+	{
+		return native(native_application)->setCloudDensityLevel(value);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMeshAngleTolerance(
+		JNIEnv*, jclass, jlong native_application, float value)
+{
+	if(native_application)
+	{
+		return native(native_application)->setMeshAngleTolerance(value);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMeshTriangleSize(
+		JNIEnv*, jclass, jlong native_application, int value)
+{
+	if(native_application)
+	{
+		return native(native_application)->setMeshTriangleSize(value);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setClusterRatio(
+		JNIEnv*, jclass, jlong native_application, float value)
+{
+	if(native_application)
+	{
+		return native(native_application)->setClusterRatio(value);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMaxGainRadius(
+		JNIEnv*, jclass, jlong native_application, float value)
+{
+	if(native_application)
+	{
+		return native(native_application)->setMaxGainRadius(value);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setRenderingTextureDecimation(
+		JNIEnv*, jclass, jlong native_application, int value)
+{
+	if(native_application)
+	{
+		return native(native_application)->setRenderingTextureDecimation(value);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setBackgroundColor(
+		JNIEnv*, jclass, jlong native_application, float value)
+{
+	if(native_application)
+	{
+		return native(native_application)->setBackgroundColor(value);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT jint JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMappingParameter(
+    JNIEnv* env, jclass, jlong native_application, jstring key, jstring value)
+{
+	if(native_application)
+	{
+		std::string keyC, valueC;
+		GetJStringContent(env,key,keyC);
+		GetJStringContent(env,value,valueC);
+		return native(native_application)->setMappingParameter(keyC, valueC);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+		return -1;
+	}
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setGPS(
+		JNIEnv*, jclass, jlong native_application,
+		double stamp,
+		double longitude,
+		double latitude,
+		double altitude,
+		double accuracy,
+		double bearing)
+{
+	if(native_application)
+	{
+		return native(native_application)->setGPS(rtabmap::GPS(stamp,
+					longitude,
+					latitude,
+					altitude,
+					accuracy,
+					bearing));
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_addEnvSensor(
+		JNIEnv*, jclass, jlong native_application,
+		int type,
+		float value)
+{
+	if(native_application)
+	{
+		return native(native_application)->addEnvSensor(type, value);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_save(
+		JNIEnv* env, jclass, jlong native_application, jstring databasePath)
+{
+	if(native_application)
+	{
+		std::string databasePathC;
+		GetJStringContent(env,databasePath,databasePathC);
+		return native(native_application)->save(databasePathC);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_cancelProcessing(
+		JNIEnv* env, jclass, jlong native_application)
+{
+	if(native_application)
+	{
+		return native(native_application)->cancelProcessing();
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+
+JNIEXPORT bool JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
+		JNIEnv* env, jclass, jlong native_application,
+		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(native_application)
+	{
+		return native(native_application)->exportMesh(
+					cloudVoxelSize,
+					regenerateCloud,
+					meshing,
+					textureSize,
+					textureCount,
+					normalK,
+					optimized,
+					optimizedVoxelSize,
+					optimizedDepth,
+					optimizedMaxPolygons,
+					optimizedColorRadius,
+					optimizedCleanWhitePolygons,
+					optimizedMinClusterSize,
+					optimizedMaxTextureDistance,
+					optimizedMinTextureClusterSize,
+					blockRendering);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+		return false;
+	}
+}
+
+JNIEXPORT bool JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_postExportation(
+		JNIEnv* env, jclass, jlong native_application, bool visualize)
+{
+	if(native_application)
+	{
+		return native(native_application)->postExportation(visualize);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+		return false;
+	}
+}
+
+JNIEXPORT bool JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_writeExportedMesh(
+		JNIEnv* env, jclass, jlong native_application, jstring directory, jstring name)
+{
+	if(native_application)
+	{
+		std::string directoryC;
+		GetJStringContent(env,directory,directoryC);
+		std::string nameC;
+		GetJStringContent(env,name,nameC);
+		return native(native_application)->writeExportedMesh(directoryC, nameC);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+		return false;
+	}
+}
+
+
+JNIEXPORT int JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_postProcessing(
+		JNIEnv* env, jclass, jlong native_application, int approach)
+{
+	if(native_application)
+	{
+		return native(native_application)->postProcessing(approach);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+		return -1;
+	}
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_postOdometryEvent(
+		JNIEnv* env, jclass, jlong native_application,
+		float x, float y, float z, float qx, float qy, float qz, float qw,
+		float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
+		float rgbFrameX, float rgbFrameY, float rgbFrameZ, float rgbFrameQX, float rgbFrameQY, float rgbFrameQZ, float rgbFrameQW,
+		double stamp,
+		jobject yPlane, jobject uPlane, jobject vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
+		jobject points, int pointsLen,
+		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
+{
+	if(native_application)
+	{
+		void *yPtr = env->GetDirectBufferAddress(yPlane);
+		void *uPtr = env->GetDirectBufferAddress(uPlane);
+		void *vPtr = env->GetDirectBufferAddress(vPlane);
+		float *pointsPtr = (float *)env->GetDirectBufferAddress(points);
+		native(native_application)->postOdometryEvent(
+				rtabmap::Transform(x,y,z,qx,qy,qz,qw),
+				rgb_fx,rgb_fy,rgb_cx,rgb_cy,
+				0,0,0,0,
+				rtabmap::Transform(rgbFrameX, rgbFrameY, rgbFrameZ, rgbFrameQX, rgbFrameQY, rgbFrameQZ, rgbFrameQW),
+				rtabmap::Transform(),
+				stamp,
+				0,
+				yPtr, uPtr, vPtr, yPlaneLen, rgbWidth, rgbHeight, rgbFormat,
+				0,0,0,0,0, //depth
+				0,0,0,0,0, //conf
+				pointsPtr, pointsLen, 4,
+				rtabmap::Transform(vx, vy, vz, vqx, vqy, vqz, vqw),
+				p00, p11, p02, p12, p22, p32, p23,
+				t0, t1, t2, t3, t4, t5, t6, t7);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+		return;
+	}
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_postOdometryEventDepth(
+		JNIEnv* env, jclass, jlong native_application,
+		float x, float y, float z, float qx, float qy, float qz, float qw,
+		float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
+		float depth_fx, float depth_fy, float depth_cx, float depth_cy,
+		float rgbFrameX, float rgbFrameY, float rgbFrameZ, float rgbFrameQX, float rgbFrameQY, float rgbFrameQZ, float rgbFrameQW,
+		float depthFrameX, float depthFrameY, float depthFrameZ, float depthFrameQX, float depthFrameQY, float depthFrameQZ, float depthFrameQW,
+		double rgbStamp,
+		double depthStamp,
+		jobject yPlane, jobject uPlane, jobject vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
+ 		jobject depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
+ 		jobject points, int pointsLen,
+		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)
+ {
+		void *yPtr = env->GetDirectBufferAddress(yPlane);
+		void *uPtr = env->GetDirectBufferAddress(uPlane);
+		void *vPtr = env->GetDirectBufferAddress(vPlane);
+ 		void *depthPtr = env->GetDirectBufferAddress(depth);
+ 		float *pointsPtr = (float *)env->GetDirectBufferAddress(points);
+ 		native(native_application)->postOdometryEvent(
+				rtabmap::Transform(x,y,z,qx,qy,qz,qw),
+				rgb_fx,rgb_fy,rgb_cx,rgb_cy,
+				depth_fx,depth_fy,depth_cx,depth_cy,
+				rtabmap::Transform(rgbFrameX, rgbFrameY, rgbFrameZ, rgbFrameQX, rgbFrameQY, rgbFrameQZ, rgbFrameQW),
+				rtabmap::Transform(depthFrameX, depthFrameY, depthFrameZ, depthFrameQX, depthFrameQY, depthFrameQZ, depthFrameQW),
+				rgbStamp,
+				depthStamp,
+ 				yPtr, uPtr, vPtr, yPlaneLen, rgbWidth, rgbHeight, rgbFormat,
+ 				depthPtr, depthLen, depthWidth, depthHeight, depthFormat,
+				0,0,0,0,0, // conf
+ 				pointsPtr, pointsLen, 4,
+				rtabmap::Transform(vx, vy, vz, vqx, vqy, vqz, vqw),
+				p00, p11, p02, p12, p22, p32, p23,
+				t0, t1, t2, t3, t4, t5, t6, t7);
+ }
+
+
+#ifdef __cplusplus
+}
+#endif

app/android/jni/point_cloud_drawable.h

@@ -0,0 +1,140 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef TANGO_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>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <rtabmap/core/Transform.h>
+#include <pcl/Vertices.h>
+#include "util.h"
+
+// PointCloudDrawable is responsible for the point cloud rendering.
+class PointCloudDrawable {
+public:
+	static void createShaderPrograms();
+	static void releaseShaderPrograms();
+
+private:
+	static std::vector<GLuint> shaderPrograms_;
+
+ public:
+  PointCloudDrawable(
+  		  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
+		  const pcl::IndicesPtr & indices,
+		  float gainR = 1.0f,
+		  float gainG = 1.0f,
+		  float gainB = 1.0f);
+  PointCloudDrawable(
+    	  const rtabmap::Mesh & mesh,
+		  bool createWireframe = false);
+  virtual ~PointCloudDrawable();
+
+  void updatePolygons(const std::vector<pcl::Vertices> & polygons, const std::vector<pcl::Vertices> & polygonsLowRes = std::vector<pcl::Vertices>(), bool createWireframe = false);
+  void updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const pcl::IndicesPtr & indices);
+  void updateMesh(const rtabmap::Mesh & mesh, bool createWireframe = false);
+  void setPose(const rtabmap::Transform & pose);
+  void setVisible(bool visible) {visible_=visible;}
+  void setGains(float gainR, float gainG, float gainB) {gainR_ = gainR; gainG_ = gainG; gainB_ = gainB;}
+  rtabmap::Transform getPose() const {return pose_;}
+  const glm::mat4 & getPoseGl() const {return poseGl_;}
+  bool isVisible() const {return visible_;}
+  bool hasMesh() const {return index_buffers_[0] != 0;}
+  bool hasTexture() const {return texture_ != 0;}
+  float getMinHeight() const {return minHeight_;}
+  const pcl::PointXYZ & aabbMinModel() const {return aabbMinModel_;}
+  const pcl::PointXYZ & aabbMaxModel() const {return aabbMaxModel_;}
+  const pcl::PointXYZ & aabbMinWorld() const {return aabbMinWorld_;}
+  const pcl::PointXYZ & aabbMaxWorld() const {return aabbMaxWorld_;}
+
+  // Update current point cloud data.
+  //
+  // @param projection_mat: projection matrix from current render camera.
+  // @param view_mat: view matrix from current render camera.
+  // @param model_mat: model matrix for this point cloud frame.
+  // @param vertices: all vertices in this point cloud frame.
+  void Render(
+		  const glm::mat4 & projectionMatrix,
+		  const glm::mat4 & viewMatrix,
+		  bool meshRendering = true,
+		  float pointSize = 3.0f,
+		  bool textureRendering = false,
+		  bool lighting = true,
+		  float distanceToCamSqr = 0.0f,
+		  const GLuint & depthTexture = 0,
+		  int screenWidth = 0,     // nonnull if depthTexture>0
+		  int screenHeight = 0,    // nonnull if depthTexture>0
+		  float nearClipPlane = 0, // nonnull if depthTexture>0
+		  float farClipPlane = 0,  // nonnull if depthTexture>0
+		  bool packDepthToColorChannel = false,
+		  bool wireFrame = false) const;
+
+ private:
+  template<class PointT>
+  void updateAABBMinMax(const PointT & pt, pcl::PointXYZ & min, pcl::PointXYZ & max)
+  {
+	  if(pt.x<min.x) min.x = pt.x;
+	  if(pt.y<min.y) min.y = pt.y;
+	  if(pt.z<min.z) min.z = pt.z;
+	  if(pt.x>max.x) max.x = pt.x;
+	  if(pt.y>max.y) max.y = pt.y;
+	  if(pt.z>max.z) max.z = pt.z;
+  }
+  void updateAABBWorld(const rtabmap::Transform & pose);
+
+ private:
+  // Vertex buffer of the point cloud geometry.
+  GLuint vertex_buffer_;
+  GLuint texture_;
+  std::vector<GLuint> index_buffers_;
+  std::vector<int> index_buffers_count_;
+  int nPoints_;
+  rtabmap::Transform pose_;
+  glm::mat4 poseGl_;
+  bool visible_;
+  bool hasNormals_;
+  std::vector<unsigned int> organizedToDenseIndices_;
+  float minHeight_; // odom frame
+
+  float gainR_;
+  float gainG_;
+  float gainB_;
+
+  pcl::PointXYZ aabbMinModel_;
+  pcl::PointXYZ aabbMaxModel_;
+  pcl::PointXYZ aabbMinWorld_;
+  pcl::PointXYZ aabbMaxWorld_;
+};
+
+#endif  // TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_

app/android/jni/scene.cpp

@@ -0,0 +1,961 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <tango-gl/conversions.h>
+#include <tango-gl/gesture_camera.h>
+#include <tango-gl/util.h>
+
+#include <rtabmap/utilite/ULogger.h>
+#include <rtabmap/utilite/UStl.h>
+#include <rtabmap/utilite/UTimer.h>
+#include <rtabmap/core/util3d_filtering.h>
+#include <rtabmap/core/util3d_transforms.h>
+#include <rtabmap/core/util3d_surface.h>
+#include <pcl/common/transforms.h>
+#include <pcl/common/common.h>
+
+#include <glm/gtx/transform.hpp>
+
+#include "scene.h"
+#include "util.h"
+
+// We want to represent the device properly with respect to the ground so we'll
+// add an offset in z to our origin. We'll set this offset to 1.3 meters based
+// on the average height of a human standing with a Tango device. This allows us
+// to place a grid roughly on the ground for most users.
+const glm::vec3 kHeightOffset = glm::vec3(0.0f, -1.3f, 0.0f);
+
+// Color of the motion tracking trajectory.
+const tango_gl::Color kTraceColor(0.66f, 0.66f, 0.66f);
+
+// Color of the ground grid.
+const tango_gl::Color kGridColor(0.85f, 0.85f, 0.85f);
+
+// Frustum scale.
+const glm::vec3 kFrustumScale = glm::vec3(0.4f, 0.3f, 0.5f);
+
+const std::string kGraphVertexShader =
+    "precision mediump float;\n"
+    "precision mediump int;\n"
+    "attribute vec3 vertex;\n"
+    "uniform vec3 color;\n"
+    "uniform mat4 mvp;\n"
+    "varying vec3 v_color;\n"
+    "void main() {\n"
+    "  gl_Position = mvp*vec4(vertex.x, vertex.y, vertex.z, 1.0);\n"
+    "  v_color = color;\n"
+    "}\n";
+const std::string kGraphFragmentShader =
+    "precision mediump float;\n"
+    "precision mediump int;\n"
+    "varying vec3 v_color;\n"
+    "void main() {\n"
+    "  gl_FragColor = vec4(v_color.z, v_color.y, v_color.x, 1.0);\n"
+    "}\n";
+
+
+
+Scene::Scene() :
+		background_renderer_(0),
+		gesture_camera_(0),
+		axis_(0),
+		frustum_(0),
+		grid_(0),
+		box_(0),
+		trace_(0),
+		graph_(0),
+		graphVisible_(true),
+		gridVisible_(true),
+		traceVisible_(true),
+		frustumVisible_(true),
+		color_camera_to_display_rotation_(rtabmap::ROTATION_0),
+		currentPose_(0),
+		graph_shader_program_(0),
+		blending_(true),
+		mapRendering_(true),
+		meshRendering_(true),
+		meshRenderingTexture_(true),
+		pointSize_(10.0f),
+		boundingBoxRendering_(false),
+		lighting_(false),
+		backfaceCulling_(true),
+		wireFrame_(false),
+		r_(0.0f),
+		g_(0.0f),
+		b_(0.0f),
+		fboId_(0),
+		rboId_(0),
+		screenWidth_(0),
+		screenHeight_(0),
+		doubleTapOn_(false)
+{
+    depthTexture_ = 0;
+	gesture_camera_ = new tango_gl::GestureCamera();
+	gesture_camera_->SetCameraType(
+	      tango_gl::GestureCamera::kThirdPersonFollow);
+}
+
+Scene::~Scene() {
+	DeleteResources();
+	delete gesture_camera_;
+	delete currentPose_;
+}
+
+//Should only be called in OpenGL thread!
+void Scene::InitGLContent()
+{
+	if(axis_ != 0)
+	{
+		DeleteResources();
+	}
+
+	UASSERT(axis_ == 0);
+
+
+	axis_ = new tango_gl::Axis();
+	frustum_ = new tango_gl::Frustum();
+	trace_ = new tango_gl::Trace();
+	grid_ = new tango_gl::Grid();
+	box_ = new BoundingBoxDrawable();
+
+
+	axis_->SetScale(glm::vec3(0.5f,0.5f,0.5f));
+	frustum_->SetColor(kTraceColor);
+	trace_->ClearVertexArray();
+	trace_->SetColor(kTraceColor);
+	grid_->SetColor(kGridColor);
+	grid_->SetPosition(kHeightOffset);
+	box_->SetShader();
+	box_->SetColor(1,0,0);
+
+	PointCloudDrawable::createShaderPrograms();
+
+	if(graph_shader_program_ == 0)
+	{
+		graph_shader_program_ = tango_gl::util::CreateProgram(kGraphVertexShader.c_str(), kGraphFragmentShader.c_str());
+		UASSERT(graph_shader_program_ != 0);
+	}
+}
+
+//Should only be called in OpenGL thread!
+void Scene::DeleteResources() {
+
+	LOGI("Scene::DeleteResources()");
+	if(axis_)
+	{
+		delete axis_;
+		axis_ = 0;
+		delete frustum_;
+		delete trace_;
+		delete grid_;
+		delete box_;
+		delete background_renderer_;
+		background_renderer_ = 0;
+	}
+
+	PointCloudDrawable::releaseShaderPrograms();
+
+	if (graph_shader_program_) {
+		glDeleteShader(graph_shader_program_);
+		graph_shader_program_ = 0;
+	}
+
+	if(fboId_>0)
+	{
+		glDeleteFramebuffers(1, &fboId_);
+		fboId_ = 0;
+		glDeleteRenderbuffers(1, &rboId_);
+		rboId_ = 0;
+        glDeleteTextures(1, &depthTexture_);
+        depthTexture_ = 0;
+	}
+
+	clear();
+}
+
+//Should only be called in OpenGL thread!
+void Scene::clear()
+{
+	LOGI("Scene::clear()");
+	for(std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.begin(); iter!=pointClouds_.end(); ++iter)
+	{
+		delete iter->second;
+	}
+	for(std::map<int, tango_gl::Axis*>::iterator iter=markers_.begin(); iter!=markers_.end(); ++iter)
+	{
+		delete iter->second;
+	}
+	if(trace_)
+	{
+		trace_->ClearVertexArray();
+	}
+	if(graph_)
+	{
+		delete graph_;
+		graph_ = 0;
+	}
+	pointClouds_.clear();
+	markers_.clear();
+	if(grid_)
+	{
+		grid_->SetPosition(kHeightOffset);
+	}
+}
+
+//Should only be called in OpenGL thread!
+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_);
+			fboId_ = 0;
+			glDeleteRenderbuffers(1, &rboId_);
+			rboId_ = 0;
+			glDeleteTextures(1, &depthTexture_);
+            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_);
+		glBindFramebuffer(GL_FRAMEBUFFER, fboId_);
+
+		// Create depth texture
+		glGenTextures(1, &depthTexture_);
+		glBindTexture(GL_TEXTURE_2D, depthTexture_);
+		glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+		glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+		glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+		glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+		glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, w, h, 0, GL_RGBA, GL_UNSIGNED_BYTE, NULL);
+		glBindTexture(GL_TEXTURE_2D, 0);
+        
+		glGenRenderbuffers(1, &rboId_);
+		glBindRenderbuffer(GL_RENDERBUFFER, rboId_);
+		glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH_COMPONENT16, w, h);
+		glBindRenderbuffer(GL_RENDERBUFFER, 0);
+
+		// Set the texture to be at the color attachment point of the FBO (we pack depth 32 bits in color)
+		glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, depthTexture_, 0);
+		glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, rboId_);
+
+		GLuint status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
+        UASSERT ( status == GL_FRAMEBUFFER_COMPLETE);
+		glBindFramebuffer(GL_FRAMEBUFFER, originid);
+    }
+	screenWidth_ = w;
+	screenHeight_ = h;
+}
+
+std::vector<glm::vec4> computeFrustumPlanes(const glm::mat4 & mat, bool normalize = true)
+{
+	// http://www.txutxi.com/?p=444
+	std::vector<glm::vec4> planes(6);
+
+	// Left Plane
+	// col4 + col1
+	planes[0].x = mat[0][3] + mat[0][0];
+	planes[0].y = mat[1][3] + mat[1][0];
+	planes[0].z = mat[2][3] + mat[2][0];
+	planes[0].w = mat[3][3] + mat[3][0];
+
+	// Right Plane
+	// col4 - col1
+	planes[1].x = mat[0][3] - mat[0][0];
+	planes[1].y = mat[1][3] - mat[1][0];
+	planes[1].z = mat[2][3] - mat[2][0];
+	planes[1].w = mat[3][3] - mat[3][0];
+
+	// Bottom Plane
+	// col4 + col2
+	planes[2].x = mat[0][3] + mat[0][1];
+	planes[2].y = mat[1][3] + mat[1][1];
+	planes[2].z = mat[2][3] + mat[2][1];
+	planes[2].w = mat[3][3] + mat[3][1];
+
+	// Top Plane
+	// col4 - col2
+	planes[3].x = mat[0][3] - mat[0][1];
+	planes[3].y = mat[1][3] - mat[1][1];
+	planes[3].z = mat[2][3] - mat[2][1];
+	planes[3].w = mat[3][3] - mat[3][1];
+
+	// Near Plane
+	// col4 + col3
+	planes[4].x = mat[0][3] + mat[0][2];
+	planes[4].y = mat[1][3] + mat[1][2];
+	planes[4].z = mat[2][3] + mat[2][2];
+	planes[4].w = mat[3][3] + mat[3][2];
+
+	// Far Plane
+	// col4 - col3
+	planes[5].x = mat[0][3] - mat[0][2];
+	planes[5].y = mat[1][3] - mat[1][2];
+	planes[5].z = mat[2][3] - mat[2][2];
+	planes[5].w = mat[3][3] - mat[3][2];
+
+	//if(normalize)
+	{
+		for(unsigned int i=0;i<planes.size(); ++i)
+		{
+			if(normalize)
+			{
+				float d = std::sqrt(planes[i].x * planes[i].x + planes[i].y * planes[i].y + planes[i].z * planes[i].z); // for normalizing the coordinates
+				planes[i].x/=d;
+				planes[i].y/=d;
+				planes[i].z/=d;
+				planes[i].w/=d;
+			}
+		}
+	}
+
+	return planes;
+}
+
+/**
+ * Tells whether or not b is intersecting f.
+ * http://www.txutxi.com/?p=584
+ * @param planes Viewing frustum.
+ * @param boxMin The axis aligned bounding box min.
+ * @param boxMax The axis aligned bounding box max.
+ * @return True if b intersects f, false otherwise.
+ */
+bool intersectFrustumAABB(
+        const std::vector<glm::vec4> &planes,
+        const pcl::PointXYZ &boxMin,
+		const pcl::PointXYZ &boxMax)
+{
+  // Indexed for the 'index trick' later
+	const pcl::PointXYZ * box[] = {&boxMin, &boxMax};
+
+  // We only need to do 6 point-plane tests
+  for (unsigned int i = 0; i < planes.size(); ++i)
+  {
+    // This is the current plane
+    const glm::vec4 &p = planes[i];
+
+    // p-vertex selection (with the index trick)
+    // According to the plane normal we can know the
+    // indices of the positive vertex
+    const int px = p.x > 0.0f?1:0;
+    const int py = p.y > 0.0f?1:0;
+    const int pz = p.z > 0.0f?1:0;
+
+    // Dot product
+    // project p-vertex on plane normal
+    // (How far is p-vertex from the origin)
+    const float dp =
+        (p.x*box[px]->x) +
+        (p.y*box[py]->y) +
+        (p.z*box[pz]->z) + p.w;
+
+    // Doesn't intersect if it is behind the plane
+    if (dp < 0) {return false; }
+  }
+  return true;
+}
+
+//Should only be called in OpenGL thread!
+int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat4 arProjectionMatrix, const rtabmap::Mesh & occlusionMesh, bool mapping)
+{
+	UASSERT(gesture_camera_ != 0);
+
+	if(currentPose_ == 0)
+	{
+		currentPose_ = new rtabmap::Transform(0,0,0,0,0,-M_PI/2.0f);
+	}
+	glm::vec3 position(currentPose_->x(), currentPose_->y(), currentPose_->z());
+	Eigen::Quaternionf quat = currentPose_->getQuaternionf();
+	glm::quat rotation(quat.w(), quat.x(), quat.y(), quat.z());
+	glm::mat4 rotateM;
+	if(!currentPose_->isNull())
+	{
+		rotateM = glm::rotate<float>(float(color_camera_to_display_rotation_)*-1.57079632679489661923132169163975144, glm::vec3(0.0f, 0.0f, 1.0f));
+
+		if (gesture_camera_->GetCameraType() == tango_gl::GestureCamera::kFirstPerson)
+		{
+			// In first person mode, we directly control camera's motion.
+			gesture_camera_->SetPosition(position);
+			gesture_camera_->SetRotation(rotation*glm::quat(rotateM));
+		}
+		else
+		{
+			// In third person or top down mode, we follow the camera movement.
+			gesture_camera_->SetAnchorPosition(position, rotation*glm::quat(rotateM));
+		}
+	}
+
+	glm::mat4 projectionMatrix = gesture_camera_->GetProjectionMatrix();
+	glm::mat4 viewMatrix = gesture_camera_->GetViewMatrix();
+
+	bool renderBackgroundCamera =
+			background_renderer_ &&
+            gesture_camera_->GetCameraType() == tango_gl::GestureCamera::kFirstPerson &&
+            !rtabmap::glmToTransform(arProjectionMatrix).isNull() &&
+            uvsTransformed;
+
+	if(renderBackgroundCamera)
+	{
+        if(projectionMatrix[0][0] > arProjectionMatrix[0][0]-0.3)
+        {
+            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);
+	// transform in same coordinate as frustum filtering
+	openglCamera *= rtabmap::Transform(
+		 0.0f,  0.0f,  1.0f, 0.0f,
+		 0.0f,  1.0f,  0.0f, 0.0f,
+		-1.0f,  0.0f,  0.0f, 0.0f);
+
+	//Culling
+	std::vector<glm::vec4> planes = computeFrustumPlanes(projectionMatrix*viewMatrix, true);
+	std::vector<PointCloudDrawable*> cloudsToDraw(pointClouds_.size());
+	int oi=0;
+	for(std::map<int, PointCloudDrawable*>::const_iterator iter=pointClouds_.begin(); iter!=pointClouds_.end(); ++iter)
+	{
+		if(!mapRendering_ && iter->first > 0)
+		{
+			break;
+		}
+
+		if(iter->second->isVisible())
+		{
+			if(intersectFrustumAABB(planes,
+					iter->second->aabbMinWorld(),
+					iter->second->aabbMaxWorld()))
+			{
+				cloudsToDraw[oi++] = iter->second;
+			}
+		}
+	}
+	cloudsToDraw.resize(oi);
+
+	// First rendering to get depth texture
+	glEnable(GL_DEPTH_TEST);
+	glDepthFunc(GL_LESS);
+	glDepthMask(GL_TRUE);
+	glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
+	glDisable (GL_BLEND);
+	glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+	if(backfaceCulling_)
+	{
+		glEnable(GL_CULL_FACE);
+	}
+	else
+	{
+		glDisable(GL_CULL_FACE);
+	}
+
+	bool onlineBlending =
+        (!meshRendering_ &&
+         occlusionMesh.cloud.get() &&
+         occlusionMesh.cloud->size()) ||
+        (blending_ &&
+         gesture_camera_->GetCameraType()!=tango_gl::GestureCamera::kTopOrtho &&
+         mapRendering_ && meshRendering_ &&
+         (cloudsToDraw.size() > 1 || (renderBackgroundCamera && wireFrame_)));
+
+	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);
+        
+        // Draw scene
+        for(std::vector<PointCloudDrawable*>::const_iterator iter=cloudsToDraw.begin(); iter!=cloudsToDraw.end(); ++iter)
+        {
+            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);
+        }
+        
+        if(!meshRendering_ && occlusionMesh.cloud.get() && occlusionMesh.cloud->size())
+        {
+            PointCloudDrawable drawable(occlusionMesh);
+            drawable.Render(projectionMatrix, viewMatrix, true, pointSize_, false, false, 0, 0, 0, 0, 0, 0, true);
+        }
+        
+		// back to normal window-system-provided framebuffer
+		glBindFramebuffer(GL_FRAMEBUFFER, originid); // unbind
+	}
+
+	if(doubleTapOn_ && gesture_camera_->GetCameraType() != tango_gl::GestureCamera::kFirstPerson)
+	{
+		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)
+		{
+            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];
+		glReadPixels(doubleTapPos_.x*screenWidth_, screenHeight_-doubleTapPos_.y*screenHeight_, 1, 1, GL_RGBA, GL_UNSIGNED_BYTE, zValue);
+		float zValueF = float(zValue[0]/255.0f) + float(zValue[1]/255.0f)/255.0f + float(zValue[2]/255.0f)/65025.0f + float(zValue[3]/255.0f)/160581375.0f;
+
+		if(zValueF != 0.0f)
+		{
+			zValueF = zValueF*2.0-1.0;//NDC
+			glm::vec4 point = glm::inverse(projectionMatrix*viewMatrix)*glm::vec4(doubleTapPos_.x*2.0f-1.0f, (1.0f-doubleTapPos_.y)*2.0f-1.0f, zValueF, 1.0f);
+			point /= point.w;
+			gesture_camera_->SetAnchorOffset(glm::vec3(point.x, point.y, point.z) - position);
+		}
+	}
+	doubleTapOn_ = false;
+
+	glClearColor(r_, g_, b_, 1.0f);
+	glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+    
+    if(renderBackgroundCamera && (!onlineBlending || !meshRendering_))
+    {
+        background_renderer_->Draw(uvsTransformed, 0, screenWidth_, screenHeight_, false);
+
+        //To debug occlusion image:
+        //PointCloudDrawable drawable(occlusionMesh);
+        //drawable.Render(projectionMatrix, viewMatrix, true, pointSize_, false, false, 999.0f);
+    }
+
+	if(!currentPose_->isNull())
+	{
+		if (frustumVisible_ && gesture_camera_->GetCameraType() != tango_gl::GestureCamera::kFirstPerson)
+		{
+			frustum_->SetPosition(position);
+			frustum_->SetRotation(rotation);
+			// Set the frustum scale to 4:3, this doesn't necessarily match the physical
+			// camera's aspect ratio, this is just for visualization purposes.
+			frustum_->SetScale(kFrustumScale);
+			frustum_->Render(projectionMatrix, viewMatrix);
+
+			rtabmap::Transform cameraFrame = *currentPose_*rtabmap::optical_T_opengl*rtabmap::CameraMobile::opticalRotationInv;
+			glm::vec3 positionCamera(cameraFrame.x(), cameraFrame.y(), cameraFrame.z());
+			Eigen::Quaternionf quatCamera = cameraFrame.getQuaternionf();
+			glm::quat rotationCamera(quatCamera.w(), quatCamera.x(), quatCamera.y(), quatCamera.z());
+
+			axis_->SetPosition(positionCamera);
+			axis_->SetRotation(rotationCamera);
+			axis_->Render(projectionMatrix, viewMatrix);
+		}
+
+		trace_->UpdateVertexArray(position);
+		if(traceVisible_)
+		{
+			trace_->Render(projectionMatrix, viewMatrix);
+		}
+        else
+        {
+            trace_->ClearVertexArray();
+        }
+	}
+
+	if(gridVisible_ && !renderBackgroundCamera)
+	{
+		grid_->Render(projectionMatrix, viewMatrix);
+	}
+
+	if(graphVisible_ && graph_)
+	{
+		graph_->Render(projectionMatrix, viewMatrix);
+	}
+
+
+	if(onlineBlending)
+	{
+		glEnable (GL_BLEND);
+		glDepthMask(GL_FALSE);
+	}
+
+	for(std::vector<PointCloudDrawable*>::const_iterator iter=cloudsToDraw.begin(); iter!=cloudsToDraw.end(); ++iter)
+	{
+		PointCloudDrawable * cloud = *iter;
+
+		if(boundingBoxRendering_)
+		{
+			box_->updateVertices(cloud->aabbMinWorld(), cloud->aabbMaxWorld());
+			box_->Render(projectionMatrix, viewMatrix);
+		}
+
+		Eigen::Vector3f cloudToCamera(
+				cloud->getPose().x() - openglCamera.x(),
+				cloud->getPose().y() - openglCamera.y(),
+				cloud->getPose().z() - openglCamera.z());
+		float distanceToCameraSqr = cloudToCamera[0]*cloudToCamera[0] + cloudToCamera[1]*cloudToCamera[1] + cloudToCamera[2]*cloudToCamera[2];
+
+		cloud->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, meshRenderingTexture_, lighting_, distanceToCameraSqr, onlineBlending?depthTexture_:0, screenWidth_, screenHeight_, gesture_camera_->getNearClipPlane(), gesture_camera_->getFarClipPlane(), false, wireFrame_);
+	}
+
+	if(onlineBlending)
+	{
+        if(renderBackgroundCamera && meshRendering_)
+        {
+            background_renderer_->Draw(uvsTransformed, depthTexture_, screenWidth_, screenHeight_, mapping);
+        }
+        
+		glDisable (GL_BLEND);
+		glDepthMask(GL_TRUE);
+	}
+    
+	//draw markers on foreground
+	for(std::map<int, tango_gl::Axis*>::const_iterator iter=markers_.begin(); iter!=markers_.end(); ++iter)
+	{
+		iter->second->Render(projectionMatrix, viewMatrix);
+	}
+
+	return (int)cloudsToDraw.size();
+}
+
+void Scene::SetCameraType(tango_gl::GestureCamera::CameraType camera_type) {
+  gesture_camera_->SetCameraType(camera_type);
+}
+
+void Scene::SetCameraPose(const rtabmap::Transform & pose)
+{
+	UASSERT(!pose.isNull());
+	if(currentPose_ ==0)
+	{
+		currentPose_ = new rtabmap::Transform(0,0,0,0,0,-M_PI/2.0f);
+	}
+	*currentPose_ = pose;
+}
+
+void Scene::setFOV(float angle)
+{
+	gesture_camera_->SetFieldOfView(angle);
+}
+void Scene::setOrthoCropFactor(float value)
+{
+	gesture_camera_->SetOrthoCropFactor(value);
+}
+void Scene::setGridRotation(float angleDeg)
+{
+	float angleRad = angleDeg * DEGREE_2_RADIANS;
+	if(grid_)
+	{
+		glm::quat rot = glm::rotate(glm::quat(1,0,0,0), angleRad, glm::vec3(0, 1, 0));
+		grid_->SetRotation(rot);
+	}
+}
+
+rtabmap::Transform Scene::GetOpenGLCameraPose(float * fov) const
+{
+	if(fov)
+	{
+		*fov = gesture_camera_->getFOV();
+	}
+	return rtabmap::glmToTransform(gesture_camera_->GetTransformationMatrix());
+}
+
+void Scene::OnTouchEvent(int touch_count,
+                         tango_gl::GestureCamera::TouchEvent event, float x0,
+                         float y0, float x1, float y1) {
+	UASSERT(gesture_camera_ != 0);
+	if(touch_count == 3)
+	{
+		//doubletap
+		if(!doubleTapOn_)
+		{
+			doubleTapPos_.x = x0;
+			doubleTapPos_.y = y0;
+			doubleTapOn_ = true;
+		}
+	}
+	else
+	{
+		// rotate/translate/zoom
+		gesture_camera_->OnTouchEvent(touch_count, event, x0, y0, x1, y1);
+	}
+}
+
+void Scene::updateGraph(
+		const std::map<int, rtabmap::Transform> & poses,
+		const std::multimap<int, rtabmap::Link> & links)
+{
+	LOGI("updateGraph");
+	//create
+    UASSERT(graph_shader_program_ != 0);
+    delete graph_;
+    graph_ = new GraphDrawable(graph_shader_program_, poses, links);
+}
+
+void Scene::setGraphVisible(bool visible)
+{
+	graphVisible_ = visible;
+}
+
+void Scene::setGridVisible(bool visible)
+{
+	gridVisible_ = visible;
+}
+
+void Scene::setTraceVisible(bool visible)
+{
+	traceVisible_ = visible;
+}
+
+void Scene::setFrustumVisible(bool visible)
+{
+	frustumVisible_ = visible;
+}
+
+//Should only be called in OpenGL thread!
+void Scene::addMarker(
+		int id,
+		const rtabmap::Transform & pose)
+{
+	LOGI("add marker %d", id);
+	std::map<int, tango_gl::Axis*>::iterator iter=markers_.find(id);
+	if(iter == markers_.end())
+	{
+		//create
+		tango_gl::Axis * drawable = new tango_gl::Axis();
+		drawable->SetScale(glm::vec3(0.05f,0.05f,0.05f));
+		drawable->SetLineWidth(5);
+		markers_.insert(std::make_pair(id, drawable));
+	}
+	setMarkerPose(id, pose);
+}
+void Scene::setMarkerPose(int id, const rtabmap::Transform & pose)
+{
+	UASSERT(!pose.isNull());
+	std::map<int, tango_gl::Axis*>::iterator iter=markers_.find(id);
+	if(iter != markers_.end())
+	{
+		glm::vec3 position(pose.x(), pose.y(), pose.z());
+		Eigen::Quaternionf quat = pose.getQuaternionf();
+		glm::quat rotation(quat.w(), quat.x(), quat.y(), quat.z());
+		iter->second->SetPosition(position);
+		iter->second->SetRotation(rotation);
+	}
+}
+bool Scene::hasMarker(int id) const
+{
+	return markers_.find(id) != markers_.end();
+}
+void Scene::removeMarker(int id)
+{
+	std::map<int, tango_gl::Axis*>::iterator iter=markers_.find(id);
+	if(iter != markers_.end())
+	{
+		delete iter->second;
+		markers_.erase(iter);
+	}
+}
+std::set<int> Scene::getAddedMarkers() const
+{
+	return uKeysSet(markers_);
+}
+
+void Scene::addCloud(
+		int id,
+		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
+		const pcl::IndicesPtr & indices,
+		const rtabmap::Transform & pose)
+{
+	LOGI("add cloud %d (%d points %d indices)", id, (int)cloud->size(), indices.get()?(int)indices->size():0);
+	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
+	if(iter != pointClouds_.end())
+	{
+		delete iter->second;
+		pointClouds_.erase(iter);
+	}
+
+	//create
+	PointCloudDrawable * drawable = new PointCloudDrawable(cloud, indices);
+	drawable->setPose(pose);
+	pointClouds_.insert(std::make_pair(id, drawable));
+}
+
+void Scene::addMesh(
+		int id,
+		const rtabmap::Mesh & mesh,
+		const rtabmap::Transform & pose,
+		bool createWireframe)
+{
+	LOGI("add mesh %d", id);
+	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
+	if(iter != pointClouds_.end())
+	{
+		delete iter->second;
+		pointClouds_.erase(iter);
+	}
+
+	//create
+	PointCloudDrawable * drawable = new PointCloudDrawable(mesh, createWireframe);
+	drawable->setPose(pose);
+	pointClouds_.insert(std::make_pair(id, drawable));
+
+	if(!mesh.pose.isNull() && mesh.cloud->size() && (!mesh.cloud->isOrganized() || mesh.indices->size()))
+	{
+		UTimer time;
+		float height = 0.0f;
+		Eigen::Affine3f affinePose = mesh.pose.toEigen3f();
+		if(mesh.polygons.size())
+		{
+			for(unsigned int i=0; i<mesh.polygons.size(); ++i)
+			{
+				for(unsigned int j=0; j<mesh.polygons[i].vertices.size(); ++j)
+				{
+					pcl::PointXYZRGB pt = pcl::transformPoint(mesh.cloud->at(mesh.polygons[i].vertices[j]), affinePose);
+					if(pt.z < height)
+					{
+						height = pt.z;
+					}
+				}
+			}
+		}
+		else
+		{
+			if(mesh.cloud->isOrganized())
+			{
+				for(unsigned int i=0; i<mesh.indices->size(); ++i)
+				{
+					pcl::PointXYZRGB pt = pcl::transformPoint(mesh.cloud->at(mesh.indices->at(i)), affinePose);
+					if(pt.z < height)
+					{
+						height = pt.z;
+					}
+				}
+			}
+			else
+			{
+				for(unsigned int i=0; i<mesh.cloud->size(); ++i)
+				{
+					pcl::PointXYZRGB pt = pcl::transformPoint(mesh.cloud->at(i), affinePose);
+					if(pt.z < height)
+					{
+						height = pt.z;
+					}
+				}
+			}
+		}
+
+		if(grid_->GetPosition().y == kHeightOffset.y || grid_->GetPosition().y > height)
+		{
+			grid_->SetPosition(glm::vec3(0,height,0));
+		}
+		LOGD("compute min height %f s", time.ticks());
+	}
+}
+
+
+void Scene::setCloudPose(int id, const rtabmap::Transform & pose)
+{
+	UASSERT(!pose.isNull());
+	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
+	if(iter != pointClouds_.end())
+	{
+		iter->second->setPose(pose);
+	}
+}
+
+void Scene::setCloudVisible(int id, bool visible)
+{
+	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
+	if(iter != pointClouds_.end())
+	{
+		iter->second->setVisible(visible);
+	}
+}
+
+bool Scene::hasCloud(int id) const
+{
+	return pointClouds_.find(id) != pointClouds_.end();
+}
+
+bool Scene::hasMesh(int id) const
+{
+	return pointClouds_.find(id) != pointClouds_.end() && pointClouds_.at(id)->hasMesh();
+}
+
+bool Scene::hasTexture(int id) const
+{
+	return pointClouds_.find(id) != pointClouds_.end() && pointClouds_.at(id)->hasTexture();
+}
+
+std::set<int> Scene::getAddedClouds() const
+{
+	return uKeysSet(pointClouds_);
+}
+
+void Scene::updateCloudPolygons(int id, const std::vector<pcl::Vertices> & polygons)
+{
+	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
+	if(iter != pointClouds_.end())
+	{
+		iter->second->updatePolygons(polygons);
+	}
+}
+
+void Scene::updateMesh(int id, const rtabmap::Mesh & mesh)
+{
+	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
+	if(iter != pointClouds_.end())
+	{
+		iter->second->updateMesh(mesh);
+	}
+}
+
+void Scene::updateGains(int id, float gainR, float gainG, float gainB)
+{
+	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
+	if(iter != pointClouds_.end())
+	{
+		iter->second->setGains(gainR, gainG, gainB);
+	}
+}
+
+void Scene::setGridColor(float r, float g, float b)
+{
+	if(grid_)
+	{
+		grid_->SetColor(r, g, b);
+	}
+}

app/android/jni/scene.h

@@ -0,0 +1,218 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_POINT_CLOUD_SCENE_H_
+#define TANGO_POINT_CLOUD_SCENE_H_
+
+#ifdef __ANDROID__
+#include <jni.h>
+#endif
+#include <memory>
+#include <set>
+
+#include "CameraMobile.h"
+#include <tango-gl/axis.h>
+#include <tango-gl/camera.h>
+#include <tango-gl/color.h>
+#include <tango-gl/gesture_camera.h>
+#include <tango-gl/grid.h>
+#include <tango-gl/frustum.h>
+#include <tango-gl/trace.h>
+#include <tango-gl/transform.h>
+#include <tango-gl/util.h>
+
+#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 <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+
+// Scene provides OpenGL drawable objects and renders them for visualization.
+class Scene {
+ public:
+  // Constructor and destructor.
+  Scene();
+  ~Scene();
+
+  // Allocate OpenGL resources for rendering.
+  void InitGLContent();
+
+  // Release non-OpenGL allocated resources.
+  void DeleteResources();
+
+  // Setup GL view port.
+  void SetupViewPort(int w, int h);
+  int getViewPortWidth() const {return screenWidth_;}
+  int getViewPortHeight() const {return screenHeight_;}
+
+  rtabmap::ScreenRotation getScreenRotation() const {return color_camera_to_display_rotation_;}
+  void setScreenRotation(rtabmap::ScreenRotation colorCameraToDisplayRotation) {color_camera_to_display_rotation_ = colorCameraToDisplayRotation;}
+
+  void clear(); // removed all point clouds
+
+  // Render loop.
+  // @param: cur_pose_transformation, latest pose's transformation.
+  // @param: point_cloud_transformation, pose transformation at point cloud
+  //         frame's timestamp.
+  // @param: point_cloud_vertices, point cloud's vertices of the current point
+  //         frame.
+  int Render(const float * uvsTransformed = 0, glm::mat4 arViewMatrix = glm::mat4(0), glm::mat4 arProjectionMatrix=glm::mat4(0), const rtabmap::Mesh & occlusionMesh=rtabmap::Mesh(), bool mapping=false);
+
+  // Set render camera's viewing angle, first person, third person or top down.
+  //
+  // @param: camera_type, camera type includes first person, third person and
+  //         top down
+  void SetCameraType(tango_gl::GestureCamera::CameraType camera_type);
+  tango_gl::GestureCamera::CameraType GetCameraType() const {return gesture_camera_->GetCameraType();}
+
+  void SetCameraPose(const rtabmap::Transform & pose); // opengl camera
+  rtabmap::Transform GetCameraPose() const {return currentPose_!=0?*currentPose_:rtabmap::Transform();}
+  rtabmap::Transform GetOpenGLCameraPose(float * fov = 0) const;
+
+  // Touch event passed from android activity. This function only support two
+  // touches.
+  //
+  // @param: touch_count, total count for touches.
+  // @param: event, touch event of current touch.
+  // @param: x0, normalized touch location for touch 0 on x axis.
+  // @param: y0, normalized touch location for touch 0 on y axis.
+  // @param: x1, normalized touch location for touch 1 on x axis.
+  // @param: y1, normalized touch location for touch 1 on y axis.
+  void OnTouchEvent(int touch_count, tango_gl::GestureCamera::TouchEvent event,
+                    float x0, float y0, float x1, float y1);
+
+  void updateGraph(
+  		const std::map<int, rtabmap::Transform> & poses,
+  		const std::multimap<int, rtabmap::Link> & links);
+
+  void setGraphVisible(bool visible);
+  void setGridVisible(bool visible);
+  void setTraceVisible(bool visible);
+  void setFrustumVisible(bool visible);
+
+  void addMarker(int id, const rtabmap::Transform & pose);
+  void setMarkerPose(int id, const rtabmap::Transform & pose);
+  bool hasMarker(int id) const;
+  void removeMarker(int id);
+  std::set<int> getAddedMarkers() const;
+
+  void addCloud(
+  		  int id,
+  		  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
+		  const pcl::IndicesPtr & indices,
+  		  const rtabmap::Transform & pose);
+  void addMesh(
+  		int id,
+  		const rtabmap::Mesh & mesh,
+  		const rtabmap::Transform & pose,
+		bool createWireframe = false);
+
+  void setCloudPose(int id, const rtabmap::Transform & pose);
+  void setCloudVisible(int id, bool visible);
+  bool hasCloud(int id) const;
+  bool hasMesh(int id) const;
+  bool hasTexture(int id) const;
+  std::set<int> getAddedClouds() const;
+  void updateCloudPolygons(int id, const std::vector<pcl::Vertices> & polygons);
+  void updateMesh(int id, const rtabmap::Mesh & mesh);
+  void updateGains(int id, float gainR, float gainG, float gainB);
+
+  void setBlending(bool enabled) {blending_ = enabled;}
+  void setMapRendering(bool enabled) {mapRendering_ = enabled;}
+  void setMeshRendering(bool enabled, bool withTexture) {meshRendering_ = enabled; meshRenderingTexture_ = withTexture;}
+  void setPointSize(float size) {pointSize_ = size;}
+  void setFOV(float angle);
+  void setOrthoCropFactor(float value);
+  void setGridRotation(float angleDeg);
+  void setLighting(bool enabled) {lighting_ = enabled;}
+  void setBackfaceCulling(bool enabled) {backfaceCulling_ = enabled;}
+  void setWireframe(bool enabled) {wireFrame_ = enabled;}
+  void setBackgroundColor(float r, float g, float b) {r_=r; g_=g; b_=b;} // 0.0f <> 1.0f
+  void setGridColor(float r, float g, float b);
+
+  bool isBlending() const {return blending_;}
+  bool isMapRendering() const {return mapRendering_;}
+  bool isMeshRendering() const {return meshRendering_;}
+  bool isMeshTexturing() const {return meshRendering_ && meshRenderingTexture_;}
+  float getPointSize() const {return pointSize_;}
+  bool isLighting() const {return lighting_;}
+  bool isBackfaceCulling() const {return backfaceCulling_;}
+  bool isWireframe() const {return wireFrame_;}
+
+  BackgroundRenderer * background_renderer_;
+
+ private:
+  // Camera object that allows user to use touch input to interact with.
+  tango_gl::GestureCamera* gesture_camera_;
+
+  // Device axis (in device frame of reference).
+  tango_gl::Axis* axis_;
+
+  // Device frustum.
+  tango_gl::Frustum* frustum_;
+
+  // Ground grid.
+  tango_gl::Grid* grid_;
+
+  // Bounding box
+  BoundingBoxDrawable * box_;
+
+  // Trace of pose data.
+  tango_gl::Trace* trace_;
+  GraphDrawable * graph_;
+  bool graphVisible_;
+  bool gridVisible_;
+  bool traceVisible_;
+  bool frustumVisible_;
+
+  std::map<int, tango_gl::Axis*> markers_;
+
+  rtabmap::ScreenRotation color_camera_to_display_rotation_;
+
+  std::map<int, PointCloudDrawable*> pointClouds_;
+
+  rtabmap::Transform * currentPose_;
+
+  // Shader to display point cloud.
+  GLuint graph_shader_program_;
+
+  bool blending_;
+  bool mapRendering_;
+  bool meshRendering_;
+  bool meshRenderingTexture_;
+  float pointSize_;
+  bool boundingBoxRendering_;
+  bool lighting_;
+  bool backfaceCulling_;
+  bool wireFrame_;
+  float r_;
+  float g_;
+  float b_;
+  GLuint fboId_;
+  GLuint rboId_;
+  GLuint depthTexture_; // 0=objects+occlusion
+  GLsizei screenWidth_;
+  GLsizei screenHeight_;
+  bool doubleTapOn_;
+  cv::Point2f doubleTapPos_;
+};
+
+#endif  // TANGO_POINT_CLOUD_SCENE_H_

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

@@ -0,0 +1,75 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/axis.h"
+#include "tango-gl/shaders.h"
+
+namespace tango_gl {
+
+static const float float_vertices[] = {0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
+                                       0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f,
+                                       0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f};
+
+static const float float_colors[] = {
+    1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 1.0f, 0.0f, 1.0f,
+    0.0f, 1.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 1.0f};
+
+Axis::Axis() : Line(3.0f, GL_LINES) {
+  // Implement SetShader here, not using the dedault one.
+  shader_program_ =
+      util::CreateProgram(shaders::GetColorVertexShader().c_str(),
+                          shaders::GetBasicFragmentShader().c_str());
+  if (!shader_program_) {
+    LOGE("Could not create program.");
+  }
+  uniform_mvp_mat_ = glGetUniformLocation(shader_program_, "mvp");
+  attrib_colors_ = glGetAttribLocation(shader_program_, "color");
+  attrib_vertices_ = glGetAttribLocation(shader_program_, "vertex");
+
+  size_t size = sizeof(float_vertices) / (sizeof(float) * 3);
+  for (size_t i = 0; i < size; i++) {
+    vec_vertices_.push_back(glm::vec3(float_vertices[i * 3],
+                                      float_vertices[i * 3 + 1],
+                                      float_vertices[i * 3 + 2]));
+    vec_colors_.push_back(
+        glm::vec4(float_colors[i * 4], float_colors[i * 4 + 1],
+                  float_colors[i * 4 + 2], float_colors[i * 4 + 3]));
+  }
+}
+
+void Axis::Render(const glm::mat4& projection_mat,
+                  const glm::mat4& view_mat) const {
+  glUseProgram(shader_program_);
+  glLineWidth(line_width_);
+  glm::mat4 model_mat = GetTransformationMatrix();
+  glm::mat4 mvp_mat = projection_mat * view_mat * model_mat;
+  glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+
+  glEnableVertexAttribArray(attrib_vertices_);
+  glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE,
+                        sizeof(glm::vec3), &vec_vertices_[0]);
+
+  glEnableVertexAttribArray(attrib_colors_);
+  glVertexAttribPointer(attrib_colors_, 4, GL_FLOAT, GL_FALSE,
+                        sizeof(glm::vec4), &vec_colors_[0]);
+
+  glDrawArrays(render_mode_, 0, vec_vertices_.size());
+
+  glDisableVertexAttribArray(attrib_vertices_);
+  glDisableVertexAttribArray(attrib_colors_);
+  glUseProgram(0);
+}
+}  // namespace tango_gl

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

@@ -0,0 +1,149 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/band.h"
+#include "tango-gl/util.h"
+
+namespace tango_gl {
+
+// Set band resolution to 0.01m(1cm) when using UpdateVertexArray()
+static const float kMinDistanceSquared = 0.0001f;
+
+Band::Band(const unsigned int max_length)
+    : band_width_(0.2), max_length_(max_length) {
+  SetShader();
+  vertices_v_.reserve(max_length);
+  pivot_left = glm::vec3(0, 0, 0);
+  pivot_right = glm::vec3(0, 0, 0);
+}
+
+void Band::SetWidth(const float width) {
+  band_width_ = width;
+}
+
+void Band::UpdateVertexArray(const glm::mat4 m, BandMode mode) {
+  // First 2 vertices of a band + 3 arrow head vertices.
+  bool need_to_initialize = (vertices_v_.size() < 5);
+
+  bool sufficient_delta = false;
+  if (!need_to_initialize) {
+    // Band head is the first two vertices after arrow head.
+    glm::vec3 band_front = 0.5f * (vertices_v_[vertices_v_.size() - 4] +
+                                   vertices_v_[vertices_v_.size() - 5]);
+    sufficient_delta = kMinDistanceSquared <
+        util::DistanceSquared(band_front, util::GetTranslationFromMatrix(m));
+  }
+
+  if (need_to_initialize || sufficient_delta) {
+    glm::vec3 left  = glm::vec3(-band_width_ * 0.5f, 0, 0);
+    glm::vec3 right = glm::vec3(band_width_ * 0.5f, 0, 0);
+    glm::vec3 arrow_left = glm::vec3(-band_width_ * 0.75f, 0, 0);
+    glm::vec3 arrow_right = glm::vec3(band_width_ * 0.75f, 0, 0);
+    glm::vec3 arrow_front = glm::vec3(0, 0, -band_width_ * 0.75f);
+
+    // If keep right pivot point, or normal mode,
+    // then only update left pivot point.
+    if (mode == BandMode::kNormal || mode == BandMode::kKeepRight) {
+      pivot_left = util::ApplyTransform(m, left);
+    }
+    // If keep left pivot point, or normal mode,
+    // then only update right pivot point.
+    if (mode == BandMode::kNormal || mode == BandMode::kKeepLeft) {
+      pivot_right = util::ApplyTransform(m, right);
+    }
+
+    glm::mat4 head_m = m;
+
+    if (mode != BandMode::kNormal) {
+      glm::vec3 up = glm::vec3(0, 1.0f, 0);
+      glm::vec3 position = 0.5f * (pivot_left + pivot_right);
+      glm::vec3 heading = glm::cross(up, pivot_right-pivot_left);
+      head_m = glm::inverse(glm::lookAt(glm::vec3(0, 0, 0), heading, up));
+      head_m[3][0] = position.x;
+      head_m[3][1] = position.y;
+      head_m[3][2] = position.z;
+    }
+
+    if (need_to_initialize) {
+      vertices_v_.resize(5);
+    } else {
+      vertices_v_.resize(vertices_v_.size() + 2);
+    }
+
+    size_t insertion_start = vertices_v_.size() - 5;
+    vertices_v_[insertion_start + 0] = pivot_left;
+    vertices_v_[insertion_start + 1] = pivot_right;
+    vertices_v_[insertion_start + 2] = util::ApplyTransform(head_m, arrow_left);
+    vertices_v_[insertion_start + 3] = util::ApplyTransform(head_m, arrow_right);
+    vertices_v_[insertion_start + 4] = util::ApplyTransform(head_m, arrow_front);
+
+    if (vertices_v_.size() > max_length_) {
+      vertices_v_.erase(vertices_v_.begin(), vertices_v_.begin() + 2);
+    }
+  }
+}
+
+void Band::UpdateVertexArray(const glm::mat4 m) {
+  // Defualt to call update with normal mode.
+  UpdateVertexArray(m, BandMode::kNormal);
+}
+
+void Band::SetVertexArray(const std::vector<glm::vec3>& v,
+                          const glm::vec3& up) {
+  vertices_v_.clear();
+  vertices_v_.reserve(2 * v.size());
+  if (v.size() < 2)
+    return;
+
+  for (size_t i = 0; i < v.size() - 1; ++i) {
+    glm::vec3 gl_p_world_a = v[i];
+    glm::vec3 gl_p_world_b = v[i + 1];
+    glm::vec3 dir = glm::normalize(gl_p_world_b - gl_p_world_a);
+    glm::vec3 left = glm::cross(up, dir);
+    glm::normalize(left);
+
+    vertices_v_.push_back(gl_p_world_a + (band_width_ / 2.0f * left));
+    vertices_v_.push_back(gl_p_world_a - (band_width_ / 2.0f * left));
+
+    // Cap the end of the path.
+    if (i == v.size() - 2) {
+      vertices_v_.push_back(gl_p_world_b + (band_width_ / 2.0f * left));
+      vertices_v_.push_back(gl_p_world_b - (band_width_ / 2.0f * left));
+    }
+  }
+
+}
+
+void Band::ClearVertexArray() { vertices_v_.clear(); }
+
+void Band::Render(const glm::mat4& projection_mat,
+                  const glm::mat4& view_mat) const {
+  glUseProgram(shader_program_);
+  glm::mat4 model_mat = GetTransformationMatrix();
+  glm::mat4 mvp_mat = projection_mat * view_mat * model_mat;
+  glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+
+  glUniform4f(uniform_color_, red_, green_, blue_, alpha_);
+
+  glEnableVertexAttribArray(attrib_vertices_);
+  glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE,
+                        sizeof(glm::vec3), &vertices_v_[0]);
+  glDrawArrays(GL_TRIANGLE_STRIP, 0, vertices_v_.size());
+  glDisableVertexAttribArray(attrib_vertices_);
+  glUseProgram(0);
+}
+
+}  // namespace tango_gl

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

@@ -0,0 +1,62 @@
+#include "tango-gl/bounding_box.h"
+
+namespace tango_gl {
+BoundingBox::BoundingBox(const std::vector<float>& vertices) {
+  // Set min and max to the first vertice.
+  bounding_min_ = glm::vec3(vertices[0], vertices[1], vertices[2]);
+  bounding_max_ = bounding_min_;
+  size_t vertices_count = vertices.size() / 3;
+  for (size_t i = 1; i < vertices_count; i += 3) {
+    bounding_min_.x = std::min(vertices[i * 3], bounding_min_.x);
+    bounding_min_.y = std::min(vertices[i * 3 + 1], bounding_min_.y);
+    bounding_min_.z = std::min(vertices[i * 3 + 2], bounding_min_.z);
+
+    bounding_max_.x = std::max(vertices[i * 3], bounding_max_.x);
+    bounding_max_.y = std::max(vertices[i * 3 + 1], bounding_max_.y);
+    bounding_max_.z = std::max(vertices[i * 3 + 2], bounding_max_.z);
+  }
+}
+
+bool BoundingBox::IsIntersecting(const Segment& segment,
+                                 const glm::quat& rotation,
+                                 const glm::mat4& transformation) {
+  // The current bounding box.
+  glm::vec3 min, max;
+
+  // If the mesh has been rotated, we need to derive a new bounding box
+  // based on the original one, if it just been translated or scaled,
+  // we can still use the original one with current model matrix applied.
+  if (rotation == glm::quat(1.0f, 0.0f, 0.0f, 0.0f)) {
+    min = util::ApplyTransform(transformation, bounding_min_);
+    max = util::ApplyTransform(transformation, bounding_max_);
+  } else {
+    std::vector<glm::vec3> box;
+    // Derive 8 vertices of the new bounding box from original min and max.
+    box.push_back(bounding_min_);
+    box.push_back(bounding_max_);
+
+    box.push_back(glm::vec3(bounding_min_.x, bounding_max_.y, bounding_max_.z));
+    box.push_back(glm::vec3(bounding_max_.x, bounding_min_.y, bounding_min_.z));
+
+    box.push_back(glm::vec3(bounding_min_.x, bounding_min_.y, bounding_max_.z));
+    box.push_back(glm::vec3(bounding_max_.x, bounding_max_.y, bounding_min_.z));
+
+    box.push_back(glm::vec3(bounding_max_.x, bounding_min_.y, bounding_max_.z));
+    box.push_back(glm::vec3(bounding_min_.x, bounding_max_.y, bounding_min_.z));
+
+    min = util::ApplyTransform(transformation, bounding_min_);
+    max = min;
+    for (size_t i = 1; i < box.size(); i++) {
+      glm::vec3 temp = util::ApplyTransform(transformation, box[i]);
+      min.x = std::min(temp.x, min.x);
+      min.y = std::min(temp.y, min.y);
+      min.z = std::min(temp.z, min.z);
+
+      max.x = std::max(temp.x, max.x);
+      max.y = std::max(temp.y, max.y);
+      max.z = std::max(temp.z, max.z);
+    }
+  }
+  return util::SegmentAABBIntersect(min, max, segment.start, segment.end);
+}
+}  // namespace tango_gl

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

@@ -0,0 +1,83 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/camera.h"
+#include "tango-gl/util.h"
+
+namespace tango_gl {
+
+Camera::Camera() {
+  field_of_view_ = 45.0f * DEGREE_2_RADIANS;
+  aspect_ratio_ = 4.0f / 3.0f;
+  width_ = 800.0f;
+  height_ = 600.0f;
+  near_clip_plane_ = 0.5f;
+  far_clip_plane_ = 50.0f;
+  ortho_ = false;
+  orthoScale_ = 2.0f;
+  orthoCropFactor_ = -1.0f;
+}
+
+glm::mat4 Camera::GetViewMatrix() {
+  return glm::inverse(GetTransformationMatrix());
+}
+
+glm::mat4 Camera::GetProjectionMatrix() {
+	if(ortho_)
+	{
+		return glm::ortho(-orthoScale_*aspect_ratio_, orthoScale_*aspect_ratio_, -orthoScale_, orthoScale_, orthoScale_ + orthoCropFactor_, far_clip_plane_);
+	}
+  return glm::perspective(field_of_view_, aspect_ratio_, near_clip_plane_, far_clip_plane_);
+}
+
+void Camera::SetWindowSize(float width, float height) {
+	width_ = width;
+	height_ = height;
+  aspect_ratio_ = width/height;
+}
+
+void Camera::SetFieldOfView(float fov) {
+  field_of_view_ = fov * DEGREE_2_RADIANS;
+}
+
+void Camera::SetNearFarClipPlanes(const float near, const float far)
+{
+	near_clip_plane_ = near;
+	far_clip_plane_ = far;
+}
+
+Camera::~Camera() {
+}
+
+glm::mat4 Camera::ProjectionMatrixForCameraIntrinsics(float width, float height,
+                                                      float fx, float fy,
+                                                      float cx, float cy,
+                                                      float near, float far) {
+  const float xscale = near / fx;
+  const float yscale = near / fy;
+
+  const float xoffset =  (cx - (width  / 2.0)) * xscale;
+  // Color camera's coordinates has y pointing downwards so we negate this term.
+  const float yoffset = -(cy - (height / 2.0)) * yscale;
+
+  return  glm::frustum(xscale * -width  / 2.0f - xoffset,
+                       xscale *  width  / 2.0f - xoffset,
+                       yscale * -height / 2.0f - yoffset,
+                       yscale *  height / 2.0f - yoffset,
+                       near, far);
+}
+
+}  // namespace tango_gl

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

@@ -0,0 +1,36 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/circle.h"
+
+namespace tango_gl {
+Circle::Circle(float radius, int resolution) : Mesh(GL_TRIANGLE_FAN){
+  SetShader();
+  std::vector<GLfloat> vertices;
+  vertices.reserve(3 * (resolution + 2));
+  vertices.push_back(0);
+  vertices.push_back(0);
+  vertices.push_back(0);
+  float delta_theta = M_PI * 2.0f / static_cast<float>(resolution);
+  for (int i = resolution; i >= 0; i--) {
+    float theta = delta_theta * static_cast<float>(i);
+    vertices.push_back(cos(theta) * radius);
+    vertices.push_back(0);
+    vertices.push_back(sin(theta) * radius);
+  }
+  SetVertices(vertices);
+}
+}  // namespace tango_gl

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

@@ -0,0 +1,52 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/conversions.h"
+
+namespace tango_gl {
+namespace conversions {
+
+glm::mat4 opengl_world_T_tango_world() {
+  // Note glm is column-wise.
+  return glm::mat4(1.0f, 0.0f,  0.0f, 0.0f,
+                   0.0f, 0.0f, -1.0f, 0.0f,
+                   0.0f, 1.0f,  0.0f, 0.0f,
+                   0.0f, 0.0f,  0.0f, 1.0f);
+}
+
+glm::mat4 color_camera_T_opengl_camera() {
+  // Note glm is column-wise.
+  return glm::mat4(1.0f,  0.0f,  0.0f, 0.0f,
+                   0.0f, -1.0f,  0.0f, 0.0f,
+                   0.0f,  0.0f, -1.0f, 0.0f,
+                   0.0f,  0.0f,  0.0f, 1.0f);
+}
+
+glm::mat4 depth_camera_T_opengl_camera() {
+  // Note glm is column-wise.
+  return glm::mat4(1.0f, 0.0f, 0.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f,
+                   -1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
+}
+
+glm::quat QuatTangoToGl(const glm::quat& tango_q_frame) {
+  const float kSqrt2Over2 = std::sqrt(2.0) / 2.0f;
+  // Tango frame is a -90 degree rotation about +X from the GL frame.
+  glm::quat gl_q_tango = glm::quat(kSqrt2Over2, -kSqrt2Over2, 0.0f, 0.0f);
+  return gl_q_tango * tango_q_frame;
+}
+
+}  // namespace gl_tango_conversions
+}  // namespace tango_gl

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

@@ -0,0 +1,54 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/cube.h"
+
+namespace tango_gl {
+
+static const GLfloat const_vertices[] = {
+    -1.0f, 1.0f,  1.0f,  -1.0f, -1.0f, 1.0f,  1.0f,  1.0f,  1.0f,  -1.0f, -1.0f,
+    1.0f,  1.0f,  -1.0f, 1.0f,  1.0f,  1.0f,  1.0f,  1.0f,  1.0f,  1.0f,  1.0f,
+    -1.0f, 1.0f,  1.0f,  1.0f,  -1.0f, 1.0f,  -1.0f, 1.0f,  1.0f,  -1.0f, -1.0f,
+    1.0f,  1.0f,  -1.0f, 1.0f,  1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, -1.0f, 1.0f,
+    -1.0f, 1.0f,  -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f,  -1.0f, -1.0f,
+    1.0f,  -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f,  1.0f,  -1.0f, -1.0f, -1.0f,
+    -1.0f, -1.0f, 1.0f,  -1.0f, 1.0f,  1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, 1.0f,
+    1.0f,  1.0f,  1.0f,  -1.0f, -1.0f, 1.0f,  1.0f,  1.0f,  1.0f,  1.0f,  1.0f,
+    1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, 1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, -1.0f,
+    1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, 1.0f,  -1.0f, -1.0f, -1.0f};
+
+static const GLfloat const_normals[] = {
+    0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,
+    1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  1.0f,  0.0f,  0.0f,  1.0f,
+    0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,
+    1.0f,  0.0f,  0.0f,  0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,
+    -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, -1.0f,
+    0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,
+    -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,
+    0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,
+    1.0f,  0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,
+    0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f};
+
+Cube::Cube() {
+  SetShader(true);
+  std::vector<GLfloat> vertices(
+      const_vertices,
+      const_vertices + sizeof(const_vertices) / sizeof(GLfloat));
+  std::vector<GLfloat> normals(
+      const_normals, const_normals + sizeof(const_normals) / sizeof(GLfloat));
+  SetVertices(vertices, normals);
+}
+}  // namespace tango_gl

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

@@ -0,0 +1,66 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/drawable_object.h"
+#include "tango-gl/shaders.h"
+
+namespace tango_gl {
+
+void DrawableObject::SetShader() {
+  shader_program_ =
+      util::CreateProgram(shaders::GetBasicVertexShader().c_str(),
+                          shaders::GetBasicFragmentShader().c_str());
+  if (!shader_program_) {
+    LOGE("Could not create program.");
+  }
+  uniform_mvp_mat_ = glGetUniformLocation(shader_program_, "mvp");
+  attrib_vertices_ = glGetAttribLocation(shader_program_, "vertex");
+  uniform_color_ = glGetUniformLocation(shader_program_, "color");
+}
+
+void DrawableObject::DeleteGlResources() {
+  if (shader_program_) {
+    glDeleteShader(shader_program_);
+  }
+}
+
+void DrawableObject::SetColor(float red, float green, float blue) {
+  red_ = red;
+  green_ = green;
+  blue_ = blue;
+}
+void DrawableObject::SetColor(const Color& color) {
+  SetColor(color.r, color.g, color.b);
+}
+
+void DrawableObject::SetAlpha(const float alpha) { alpha_ = alpha; }
+
+void DrawableObject::SetVertices(const std::vector<GLfloat>& vertices) {
+  vertices_ = vertices;
+}
+
+void DrawableObject::SetVertices(const std::vector<GLfloat>& vertices,
+                                 const std::vector<GLushort>& indices) {
+  vertices_ = vertices;
+  indices_ = indices;
+}
+
+void DrawableObject::SetVertices(const std::vector<GLfloat>& vertices,
+                                 const std::vector<GLfloat>& normals) {
+  vertices_ = vertices;
+  normals_ = normals;
+}
+}  // namespace tango_gl

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

@@ -0,0 +1,38 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "tango-gl/frustum.h"
+
+namespace tango_gl {
+
+static const float float_vertices[] = {
+    0.0f,  0.0f,  0.0f,  -1.0f, 1.0f,  -1.0f,
+	0.0f,  0.0f,  0.0f,  1.0f, 1.0f,  -1.0f,
+	0.0f,  0.0f,  0.0f,  -1.0f, -1.0f, -1.0f,
+	0.0f,  0.0f,  0.0f,  1.0f,  -1.0f, -1.0f,
+	-1.0f, 1.0f,  -1.0f, 1.0f,  1.0f,  -1.0f,
+    1.0f,  1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f,
+	1.0f,  -1.0f, -1.0f, -1.0f, -1.0f, -1.0f,
+	-1.0f, -1.0f, -1.0f, -1.0f, 1.0f,  -1.0f};
+
+Frustum::Frustum() : Line(3.0f, GL_LINES) {
+  SetShader();
+  size_t size = sizeof(float_vertices) / sizeof(float);
+  for (size_t i = 0; i < size; i += 3) {
+    vec_vertices_.push_back(glm::vec3(float_vertices[i], float_vertices[i + 1],
+                                      float_vertices[i + 2]));
+  }
+}
+}  // namespace tango_gl

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

@@ -0,0 +1,254 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/gesture_camera.h"
+#include "tango-gl/util.h"
+#include "glm/gtx/quaternion.hpp"
+
+namespace {
+// Render camera observation distance in third person camera mode.
+const float kThirdPersonCameraDist = 7.0f;
+
+// Render camera observation distance in third person camera mode.
+const float kThirdPersonFollowCameraDist = 2.0f;
+
+// Render camera observation distance in top down camera mode.
+const float kTopDownCameraDist = 5.0f;
+
+// Zoom in speed.
+const float kZoomSpeed = 10.0f;
+
+// Move speed
+const float kMoveSpeed = 10.0f;
+
+// Rotation speed
+const float kRotationSpeed = 2.0f;
+
+// Min/max clamp value of camera observation distance.
+const float kCamViewMinDist = .1f;
+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 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 {
+
+GestureCamera::GestureCamera() :
+		cam_cur_target_rot_(1,0,0,0),
+		start_touch_dist_(0.0f),
+		cur_touch_dist_(0.0f)
+{
+  cam_parent_transform_ = new Transform();
+  SetParent(cam_parent_transform_);
+}
+
+GestureCamera::~GestureCamera() { delete cam_parent_transform_; }
+
+void GestureCamera::OnTouchEvent(int touch_count, TouchEvent event, float x0,
+		float y0, float x1, float y1) {
+
+	if (camera_type_!=kFirstPerson && touch_count == 1) {
+		switch (event) {
+		case kTouch0Down: {
+			cam_start_angle_ = cam_cur_angle_;
+
+			touch0_start_position_.x = x0;
+			touch0_start_position_.y = y0;
+			break;
+		}
+		case kTouchMove: {
+			glm::vec2 offset;
+
+			float rotation_x = (touch0_start_position_.y - y0) * kRotationSpeed;
+			float rotation_y = (touch0_start_position_.x - x0) * kRotationSpeed;
+
+			if(camera_type_!=kTopOrtho)
+				cam_cur_angle_.x = cam_start_angle_.x + rotation_x;
+			cam_cur_angle_.y = cam_start_angle_.y + rotation_y;
+
+			StartCameraToCurrentTransform();
+
+			break;
+		}
+		default: { break; }
+		}
+	}
+	if (touch_count == 2) {
+		switch (event) {
+		case kTouch1Down: {
+			float abs_x = x0 - x1;
+			float abs_y = y0 - y1;
+			start_touch_dist_ = std::sqrt(abs_x * abs_x + abs_y * abs_y);
+			cam_start_dist_ = GetPosition().z;
+			cam_start_fov_ = this->getFOV();
+
+			// center touch
+			touch0_start_position_.x = (x0+x1)/2.0f;
+			touch0_start_position_.y = (y0+y1)/2.0f;
+			break;
+		}
+		case kTouchMove: {
+			float abs_x = x0 - x1;
+			float abs_y = y0 - y1;
+			float dist = start_touch_dist_ - std::sqrt(abs_x * abs_x + abs_y * abs_y);
+
+			if(camera_type_ == kFirstPerson)
+			{
+				this->SetFieldOfView(tango_gl::util::Clamp(cam_start_fov_ + dist * kZoomSpeed*10.0f, kLowestFov, kHighestFov));
+			}
+			else
+			{
+				cam_cur_dist_ = tango_gl::util::Clamp(cam_start_dist_ + dist * kZoomSpeed,
+								kCamViewMinDist, kCamViewMaxDist);
+
+				this->SetOrthoMode(camera_type_ == kTopOrtho);
+				if(camera_type_ == kTopOrtho)
+				{
+					this->SetOrthoScale(cam_cur_dist_);
+				}
+
+				glm::vec2 touch_center_position((x0+x1)/2.0f, (y0+y1)/2.0f);
+				glm::vec2 offset;
+				offset.x = (touch_center_position.x - touch0_start_position_.x) * kMoveSpeed;
+				offset.y = (touch_center_position.y - touch0_start_position_.y) * kMoveSpeed;
+				touch0_start_position_ = touch_center_position;
+
+				StartCameraToCurrentTransform();
+
+				anchor_offset_ += glm::rotate(cam_parent_transform_->GetRotation(), glm::vec3(-offset.x, offset.y, 0));
+			}
+			break;
+		}
+		default: { break; }
+		}
+	}
+}
+
+Segment GestureCamera::GetSegmentFromTouch(float normalized_x,
+                                           float normalized_y,
+                                           float touch_range) {
+  float screen_height = touch_range * (2.0f * glm::tan(field_of_view_ * 0.5f));
+  float screen_width = screen_height * aspect_ratio_;
+  // normalized_x and normalized_x are from OnTouchEvent, top-left corner of the
+  // screen
+  // is [0, 0], transform it to opengl frame.
+  normalized_x = normalized_x - 0.5f;
+  normalized_y = 0.5f - normalized_y;
+  glm::vec3 start =
+      util::ApplyTransform(GetTransformationMatrix(), glm::vec3(0, 0, 0));
+  glm::vec3 end = util::ApplyTransform(GetTransformationMatrix(), 
+      glm::vec3(normalized_x * screen_width, normalized_y * screen_height,
+                -touch_range));
+  Segment segment(start, end);
+  return segment;
+}
+
+void GestureCamera::SetAnchorPosition(const glm::vec3& pos, const glm::quat & rotation) {
+	// Anchor position
+	cam_parent_transform_->SetPosition(pos+anchor_offset_);
+
+	// Anchor rotation
+	if(camera_type_ == kThirdPersonFollow)
+	{
+		cam_cur_target_rot_ = rotation;
+		cam_cur_target_rot_.x = 0;
+		cam_cur_target_rot_.z = 0;
+		cam_cur_target_rot_ = glm::normalize(cam_cur_target_rot_);
+		StartCameraToCurrentTransform();
+	}
+}
+
+void GestureCamera::SetCameraType(CameraType camera_index) {
+  camera_type_ = camera_index;
+  switch (camera_index) {
+    case kFirstPerson:
+      SetOrthoMode(false);
+      SetFieldOfView(kLowestFov);
+      SetNearFarClipPlanes(0.25, 25);
+      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;
+      anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
+      cam_cur_angle_.x = 0.0f;
+      cam_cur_angle_.y = 0.0f;
+      cam_cur_target_rot_ = glm::quat(1,0,0,0);
+      cam_parent_transform_->SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
+      StartCameraToCurrentTransform();
+      break;
+    case kThirdPerson:
+    case kThirdPersonFollow:
+      SetOrthoMode(false);
+      SetFieldOfView(kLowFov);
+      SetNearFarClipPlanes(1, 50);
+      SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
+      SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
+      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;
+      cam_cur_target_rot_ = glm::quat(1,0,0,0);
+      StartCameraToCurrentTransform();
+      break;
+    case kTopDown:
+      SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
+      SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
+      SetOrthoMode(false);
+      SetFieldOfView(kLowFov);
+      SetNearFarClipPlanes(1, 50);
+      cam_cur_dist_ = kTopDownCameraDist;
+      anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
+      cam_cur_angle_.x = -M_PI / 2.0f;
+      cam_cur_angle_.y = 0.0f;
+      cam_cur_target_rot_ = glm::quat(1,0,0,0);
+      StartCameraToCurrentTransform();
+      break;
+    case kTopOrtho:
+	  SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
+	  SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
+	  SetOrthoMode(true);
+	  SetOrthoScale(kTopDownCameraDist);
+	  SetOrthoCropFactor(-1.0f);
+      SetFieldOfView(kLowFov);
+      SetNearFarClipPlanes(1, 50);
+	  cam_cur_dist_ = kTopDownCameraDist;
+	  anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
+	  cam_cur_angle_.x = -M_PI / 2.0f;
+	  cam_cur_angle_.y = 0.0f;
+	  cam_cur_target_rot_ = glm::quat(1,0,0,0);
+	  StartCameraToCurrentTransform();
+	  break;
+    default:
+      break;
+  }
+}
+
+void GestureCamera::StartCameraToCurrentTransform()
+{
+  //Anchor rotation
+  glm::quat parent_cam_rot = glm::rotate(cam_cur_target_rot_, cam_cur_angle_.y, glm::vec3(0, 1, 0));
+  parent_cam_rot = glm::rotate(parent_cam_rot, cam_cur_angle_.x, glm::vec3(1, 0, 0));
+  cam_parent_transform_->SetRotation(parent_cam_rot);
+
+  //Camera position
+  SetPosition(glm::vec3(0, 0, cam_cur_dist_));
+}
+}  // namespace tango_gl

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

@@ -0,0 +1,59 @@
+
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ * Distributed under the Project Tango Preview Development Kit (PDK) Agreement.
+ * CONFIDENTIAL. AUTHORIZED USE ONLY. DO NOT REDISTRIBUTE.
+ */
+
+#include "tango-gl/goal_marker.h"
+
+namespace tango_gl {
+
+static const GLfloat const_vertices[] = {
+    -4.5298f,  -0.2676f,  0.0,       -4.3209f,  -1.3857f,  0.0,      -3.7242f,
+    -11.1445f, 0.0,       -5.6799f,  -8.9811f,  0.0,       -4.4540f, 0.8673f,
+    0.0,       -7.8376f,  -6.4508f,  0.0,       -9.5223f,  -3.0538f, 0.0,
+    -9.9826f,  -0.5898f,  0.0,       -9.8157f,  1.9113f,   0.0,      -9.0320f,
+    4.2923f,   0.0,       -7.6808f,  6.4036f,   0.0,       -5.8469f, 8.1125f,
+    0.0,       -3.6457f,  9.3117f,   0.0,       -4.0984f,  1.9477f,  0.0,
+    -1.2155f,  9.9259f,   0.0,       -3.4853f,  2.9057f,   0.0,      1.2912f,
+    9.9163f,   0.0,       -2.6532f,  3.6812f,   0.0,       3.7167f,  9.2837f,
+    0.0,       -1.6543f,  4.2254f,   0.0,       5.9087f,   8.0677f,  0.0,
+    -0.5515f,  4.5040f,   0.0,       7.7294f,   6.3448f,   0.0,      0.5859f,
+    4.4997f,   0.0,       9.0645f,   4.2232f,   0.0,       1.6865f,  4.2126f,
+    0.0,       9.8300f,   1.8363f,   0.0,       2.6812f,   3.6609f,  0.0,
+    9.9778f,   -0.6660f,  0.0,       3.5074f,   2.8791f,   0.0,      9.4987f,
+    -3.1264f,  0.0,       4.1132f,   1.9164f,   0.0,       7.7964f,  -6.5204f,
+    0.0,       4.4605f,   0.8333f,   0.0,       5.6245f,   -9.0444f, 0.0,
+    4.5276f,   -0.3022f,  0.0,       3.6572f,   -11.1925f, 0.0,      4.3102f,
+    -1.4187f,  0.0,       1.5165f,   -13.5960f, 0.0,       3.8220f,  -2.4460f,
+    0.0,       -0.0382f,  -16.4245f, 0.0,       3.0936f,   -3.3197f, 0.0,
+    -1.5902f,  -13.5657f, 0.0,       2.1709f,   -3.9847f,  0.0,      -3.8405f,
+    -2.4168f,  0.0,       -3.1189f,  -3.2959f,  0.0,       -2.2012f, -3.9680f,
+    0.0,       -1.1452f,  -4.3908f,  0.0,       -0.0173f,  -4.5377f, 0.0,
+    1.1117f,   -4.3994f,  0.0};
+
+static const GLushort const_indices[] = {
+    1,  2,  3,  1,  3,  4,  5,  1,  4,  4,  6,  7,  5,  4,  7,  7,  8,  9,  9,
+    10, 11, 7,  9,  11, 5,  7,  11, 5,  11, 12, 5,  12, 13, 14, 5,  13, 14, 13,
+    15, 16, 14, 15, 16, 15, 17, 18, 16, 17, 18, 17, 19, 20, 18, 19, 20, 19, 21,
+    22, 20, 21, 22, 21, 23, 24, 22, 23, 24, 23, 25, 26, 24, 25, 26, 25, 27, 28,
+    26, 27, 28, 27, 29, 30, 28, 29, 30, 29, 31, 32, 30, 31, 32, 31, 33, 34, 32,
+    33, 34, 33, 35, 36, 34, 35, 36, 35, 37, 38, 36, 37, 38, 37, 39, 40, 38, 39,
+    40, 39, 41, 42, 40, 41, 42, 41, 43, 44, 42, 43, 44, 43, 3,  3,  2,  45, 3,
+    45, 46, 3,  46, 47, 3,  47, 48, 3,  48, 49, 3,  49, 50, 44, 3,  50};
+
+GoalMarker::GoalMarker() {
+  SetShader();
+  std::vector<GLfloat> vertices(
+      const_vertices,
+      const_vertices + sizeof(const_vertices) / sizeof(GLfloat));
+  std::vector<GLushort> indices(
+      const_indices, const_indices + sizeof(const_indices) / sizeof(GLushort));
+  // Change indices so they are zero-indexed.
+  for (size_t i = 0; i < indices.size(); ++i) {
+    indices[i] = indices[i] - 1;
+  }
+  SetVertices(vertices, indices);
+}
+}  // namespace tango_gl

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

@@ -0,0 +1,47 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/grid.h"
+
+namespace tango_gl {
+
+// Initialize Grid with x and y grid count,
+// qx, quantity in x
+// qy, quantity in y.
+Grid::Grid(float density, int qx, int qy) : Line(1.0f, GL_LINES) {
+  SetShader();
+
+  // 3 float in 1 vertex, 2 vertices form a line.
+  // Horizontal line and vertical line forms the grid.
+  float width = density * qx / 2;
+  float height = density * qy / 2;
+
+  // Horizontal line.
+  for (int i = 0; i < (qy + 1); i++) {
+	  for (int j = 0; j < (qx + 1); j++) {
+		vec_vertices_.push_back(glm::vec3(-width + j*density, 0.0f, -height + i * density));
+		vec_vertices_.push_back(glm::vec3(-width+ + (j+1)*density, 0.0f, -height + i * density));
+	  }
+  }
+
+  for (int i = 0; i < (qx + 1); i++) {
+	  for (int j = 0; j < (qy + 1); j++) {
+		vec_vertices_.push_back(glm::vec3(-width + i * density, 0.0f, -height + j*density));
+		vec_vertices_.push_back(glm::vec3(-width + i * density, 0.0f, -height + (j+1)*density));
+	  }
+  }
+}
+}  // namespace tango_gl

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

@@ -0,0 +1,32 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_AXIS_H_
+#define TANGO_GL_AXIS_H_
+
+#include "tango-gl/line.h"
+
+namespace tango_gl {
+class Axis : public Line {
+ public:
+  Axis();
+  void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
+ private:
+  GLuint attrib_colors_;
+  std::vector<glm::vec4> vec_colors_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_AXIS_H_

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

@@ -0,0 +1,55 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_BAND_H_
+#define TANGO_GL_BAND_H_
+
+#include <stdlib.h>
+#include <vector>
+
+#include "tango-gl/drawable_object.h"
+
+namespace tango_gl {
+class Band : public DrawableObject {
+ public:
+  enum BandMode {
+    kNormal = 0,
+    kKeepLeft = 1,
+    kKeepRight = 2
+  };
+
+  Band(const unsigned int max_legnth);
+
+  void SetWidth(const float width);
+  // Render a Band with arrow head, pass in the mode for rendering,
+  // kKeepLeft is left turn, kKeepRight is right turn,
+  // when making a turn, vertices only get updated in one side to avoid overlapping.
+  void UpdateVertexArray(const glm::mat4 m, BandMode mode);
+  void UpdateVertexArray(const glm::mat4 m);
+  void SetVertexArray(const std::vector<glm::vec3>& v, const glm::vec3& up);
+  void ClearVertexArray();
+  void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
+
+ private:
+  float band_width_;
+  unsigned int max_length_;
+  std::vector<glm::vec3> vertices_v_;
+  // Current band head's left and right position in world frame.
+  glm::vec3 pivot_left;
+  glm::vec3 pivot_right;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_BAND_H_

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

@@ -0,0 +1,42 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_BOUNDING_BOX_H_
+#define TANGO_GL_BOUNDING_BOX_H_
+
+#include <vector>
+
+#include "tango-gl/segment.h"
+#include "tango-gl/util.h"
+
+namespace tango_gl {
+class BoundingBox {
+ public:
+  BoundingBox()
+      : bounding_min_(glm::vec3(0, 0, 0)), bounding_max_(glm::vec3(0, 0, 0)) {}
+  BoundingBox(const std::vector<float>& vertices);
+  BoundingBox(const glm::vec3& min, const glm::vec3& max)
+      : bounding_min_(min), bounding_max_(max) {}
+  bool IsIntersecting(const Segment& segment, const glm::quat& rotation,
+                      const glm::mat4& transformation);
+
+ private:
+  // Axis-aligned bounding box minimum and maximum point.
+  glm::vec3 bounding_min_;
+  glm::vec3 bounding_max_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_BOUNDING_BOX_H_

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

@@ -0,0 +1,69 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_CAMERA_H_
+#define TANGO_GL_CAMERA_H_
+
+#include "tango-gl/transform.h"
+
+namespace tango_gl {
+class Camera : public Transform {
+ public:
+  Camera();
+  Camera(const Camera& other) = delete;
+  Camera& operator=(const Camera&) = delete;
+  ~Camera();
+
+  void SetWindowSize(const float width, const float height);
+  void SetFieldOfView(const float fov);
+  void SetOrthoMode(bool enabled) {ortho_ = enabled;}
+  void SetOrthoScale(float scale) {orthoScale_ = scale;}
+  void SetOrthoCropFactor(float value) {orthoCropFactor_ = value;}
+  void SetNearFarClipPlanes(const float near, const float far);
+
+  glm::mat4 GetViewMatrix();
+  glm::mat4 GetProjectionMatrix();
+  float getNearClipPlane() const {return near_clip_plane_;}
+  float getFarClipPlane() const {return far_clip_plane_;}
+
+  /**
+   * Create an OpenGL perspective matrix from window size, camera intrinsics, and clip settings.
+   *
+   * @param width  - The width of the camera image.
+   * @param height - The height of the camera image.
+   * @param fx     - The x-axis focal length of the camera.
+   * @param fy     - The y-axis focal length of the camera.
+   * @param cx     - The x-coordinate principal point in pixels.
+   * @param cy     - The y-coordinate principal point in pixels.
+   * @param near   - The desired near z-clipping plane.
+   * @param far    - The desired far z-clipping plane.
+   */
+  static glm::mat4 ProjectionMatrixForCameraIntrinsics(float width, float height,
+                                                       float fx,    float fy,
+                                                       float cx,    float cy,
+                                                       float near,  float far);
+ protected:
+  float field_of_view_;
+  float aspect_ratio_;
+  float width_;
+  float height_;
+  float near_clip_plane_, far_clip_plane_;
+  bool ortho_;
+  float orthoScale_;
+  float orthoCropFactor_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_CAMERA_H_

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

@@ -0,0 +1,28 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_CIRCLE_H_
+#define TANGO_GL_CIRCLE_H_
+
+#include "tango-gl/mesh.h"
+
+namespace tango_gl {
+class Circle : public Mesh {
+ public:
+  Circle(float radius, int resolution);
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_CIRCLE_H_

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

@@ -0,0 +1,33 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_COLOR_H_
+#define TANGO_GL_COLOR_H_
+
+namespace tango_gl {
+class Color {
+ public:
+  Color() : r(0), g(0), b(0) {}
+  Color(float red, float green, float blue) : r(red), g(green), b(blue) {}
+  Color(const Color&) = default;
+  Color& operator=(const Color&) = default;
+
+  float r;
+  float g;
+  float b;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_COLOR_H_

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

@@ -0,0 +1,132 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_GL_TANGO_CONVERSIONS_H_
+#define TANGO_GL_GL_TANGO_CONVERSIONS_H_
+
+#define GLM_FORCE_RADIANS
+
+#include "glm/glm.hpp"
+#include "glm/gtc/matrix_transform.hpp"
+#include "glm/gtc/quaternion.hpp"
+
+namespace tango_gl {
+namespace conversions {
+
+/**
+ * @brief Creates a glm::vec3 from double[3] = {x, y, z}. This is designed to
+ * work with the TangoPoseData.translation field.
+ */
+inline glm::vec3 Vec3FromArray(const double* array) {
+  return glm::vec3(array[0], array[1], array[2]);
+}
+
+/**
+ * @brief Creates a glm::quat from double[4] = {x, y, z, w}. This is designed to
+ * work with the TangoPoseData.orientation field.
+ */
+inline glm::quat QuatFromArray(const double* array) {
+  // Note GLM expects arguments in order {w, x, y, z}.
+  return glm::quat(array[3], array[0], array[1], array[2]);
+}
+
+/**
+ * @brief Creates a glm::mat4 rigid-frame transformation matrix from two arrays.
+ * This is designed for the TangoPoseData translation and orientation fields.
+ * @param A_p_B Position [x, y, z] of B_origin from A_origin, expressed in A.
+ * @param A_q_B The quaternion representation [x, y, z, w] of the rotation
+ * matrix A_R_B.
+ * @return The transformation matrix A_T_B.
+ */
+inline glm::mat4 TransformFromArrays(const double* A_p_B, const double* A_q_B) {
+  glm::vec3 glm_A_p_B = Vec3FromArray(A_p_B);
+  glm::quat glm_A_q_B = QuatFromArray(A_q_B);
+  return glm::translate(glm::mat4(1.0f), glm_A_p_B) * glm::mat4_cast(glm_A_q_B);
+}
+
+/**
+ * @brief Creates a glm::mat4 rigid-frame transformation matrix from glm::vec3 and glm::quat.
+ * This is designed for the TangoPoseData translation and orientation fields.
+ * @param A_p_B A position vector of B_origin from A_origin, expressed in A.
+ * @param A_q_B A quaternion representation of the rotation.
+ * matrix A_R_B.
+ * @return The transformation matrix A_T_B.
+ */
+inline glm::mat4 TransformFromVecAndQuat(const glm::vec3& A_p_B, const glm::quat& A_q_B) {
+  return glm::translate(glm::mat4(1.0f), A_p_B) * glm::mat4_cast(A_q_B);
+}
+
+/**
+ * @brief Convert (re-express, or rotate) a vector from the Tango ADF (or start-
+ * of-service) frame convention [right, forward, up] to the typical OpenGl world
+ * frame convention [right, up, backward]. Note this assumes the two frames are
+ * coincident, and it doesn't know about any additional offsets between a
+ * particular OpenGl scene and the Tango service frames.
+ * @param tango_vec A vector expressed in the Tango ADF frame convention.
+ * @return The same vector expressed using the Opengl frame convention.
+ */
+inline glm::vec3 Vec3TangoToGl(const glm::vec3& tango_vec) {
+  return glm::vec3(tango_vec.x, tango_vec.z, -tango_vec.y);
+}
+
+/**
+ * @brief Convert (re-express, or rotate) a vector from the typical OpenGl world
+ * frame convention [right, up, backward] to the Tango ADF (or start-of-service)
+ * frame convention [right, forward, up]. Note this assumes the two frames are
+ * coincident, and it doesn't know about any additional offsets between a
+ * particular OpenGl scene and the Tango service frames.
+ * @param gl_vec A vector expressed in the Opengl world frame convention.
+ * @return The same vector expressed using the Tango ADF frame convention.
+ */
+inline glm::vec3 Vec3GlToTango(const glm::vec3& gl_vec) {
+  return glm::vec3(gl_vec.x, -gl_vec.z, gl_vec.y);
+}
+
+/**
+ * @brief Given a quaternion representing the rotation matrix tango_R_any,
+ * returns the quaternion representing gl_R_any, where "any" is an arbitrary
+ * frame. Note the gl base frame is rotated by 90-degrees about +X from the
+ * Tango ADF/start-of-service frame, so this is equivalent to applying such a
+ * rotation to the quaternion.
+ * @param tango_q_any A quaternion representing rotation matrix tango_R_any.
+ * @return The quaternion representing gl_R_any.
+ */
+glm::quat QuatTangoToGl(const glm::quat& tango_q_any);
+
+/**
+ * Get the fixed transformation matrix relating the opengl frame convention
+ * (with Y-up, X-right) and the tango frame convention for the start-of-service
+ * and ADF frames (with Z-up, X-right), termed "world" here.
+ */
+glm::mat4 opengl_world_T_tango_world();
+
+/**
+ * Get the fixed transformation matrix relating the frame convention of the
+ * device's color camera frame (with Z-forward, X-right) and the opengl camera
+ * frame (with Z-backward, X-right).
+ */
+glm::mat4 color_camera_T_opengl_camera();
+
+/**
+ * Get the fixed transformation matrix relating the frame convention of the
+ * device's depth camera frame (with Z-forward, X-right) and the opengl camera
+ * frame (with Z-backward, X-right).
+ */
+glm::mat4 depth_camera_T_opengl_camera();
+
+}  // namespace conversions
+}  // namespace tango_gl
+#endif  // TANGO_GL_GL_TANGO_CONVERSIONS_H_

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

@@ -0,0 +1,28 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_CUBE_H_
+#define TANGO_GL_CUBE_H_
+
+#include "tango-gl/mesh.h"
+
+namespace tango_gl {
+class Cube : public Mesh {
+ public:
+  Cube();
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_CUBE_H_

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

@@ -0,0 +1,63 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_DRAWABLE_OBJECT_H_
+#define TANGO_GL_DRAWABLE_OBJECT_H_
+
+#include <vector>
+
+#include "tango-gl/color.h"
+#include "tango-gl/transform.h"
+#include "tango-gl/util.h"
+
+namespace tango_gl {
+class DrawableObject : public Transform {
+ public:
+  DrawableObject() : red_(0), green_(0), blue_(0), alpha_(1.0f) {};
+  DrawableObject(const DrawableObject& other) = delete;
+  const DrawableObject& operator=(const DrawableObject&) = delete;
+
+  void DeleteGlResources();
+  void SetShader();
+  void SetColor(const Color& color);
+  void SetColor(const float red, const float green, const float blue);
+  void SetAlpha(const float alpha);
+  void SetVertices(const std::vector<GLfloat>& vertices);
+  void SetVertices(const std::vector<GLfloat>& vertices,
+                   const std::vector<GLushort>& indices);
+  void SetVertices(const std::vector<GLfloat>& vertices,
+                   const std::vector<GLfloat>& normals);
+  virtual void Render(const glm::mat4& projection_mat,
+                      const glm::mat4& view_mat) const = 0;
+
+ protected:
+  float red_;
+  float green_;
+  float blue_;
+  float alpha_;
+  std::vector<GLushort> indices_;
+  std::vector<GLfloat> vertices_;
+  std::vector<GLfloat> normals_;
+
+  GLenum render_mode_;
+  GLuint shader_program_;
+  GLuint uniform_color_;
+  GLuint uniform_mvp_mat_;
+  GLuint attrib_vertices_;
+  GLuint attrib_normals_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_DRAWABLE_OBJECT_H_

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

@@ -0,0 +1,28 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_FRUSTUM_H_
+#define TANGO_GL_FRUSTUM_H_
+
+#include "tango-gl/line.h"
+
+namespace tango_gl {
+class Frustum : public Line {
+ public:
+  Frustum();
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_FRUSTUM_H_

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

@@ -0,0 +1,94 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_GESTURE_CAMERA_H_
+#define TANGO_GL_GESTURE_CAMERA_H_
+
+#include "tango-gl/camera.h"
+#include "tango-gl/segment.h"
+#include "tango-gl/transform.h"
+#include "tango-gl/util.h"
+
+namespace tango_gl {
+class GestureCamera : public Camera {
+ public:
+  enum CameraType {
+    kFirstPerson = 0,
+    kThirdPersonFollow = 1,
+    kTopDown = 2,
+	kTopOrtho = 3,
+    kThirdPerson = 4
+  };
+
+  enum TouchEvent {
+    kTouch0Down = 0,
+    kTouch0Up = 1,
+    kTouchMove = 2,
+    kTouch1Down = 5,
+    kTouch1Up = 6,
+    kTouchNone = -1
+  };
+
+  GestureCamera();
+  ~GestureCamera();
+
+  void OnTouchEvent(int touch_count, TouchEvent event, float x0, float y0,
+                    float x1, float y1);
+
+  // Get the ray in opengl world frame given the 2d touch position on screen,
+  // normalized touch_x and normalized touch_y should be the same value get from
+  // OnTouchEvent, x0 and y0, touch_range is the depth of the touch in
+  // camera frame.
+  Segment GetSegmentFromTouch(float normalized_x, float normalized_y,
+                              float touch_range);
+
+  void SetAnchorPosition(const glm::vec3& pos, const glm::quat & rotation);
+  void SetAnchorOffset(const glm::vec3& pos) {anchor_offset_ = pos;}
+  const glm::vec3& GetAnchorOffset() const {return anchor_offset_;}
+
+  void SetCameraDistance(float cameraDistance) {cam_cur_dist_ = cameraDistance;}
+  float GetCameraDistance() const {return cam_cur_dist_;}
+
+  // Set camera type, set render camera's parent position and rotation.
+  void SetCameraType(CameraType camera_index);
+
+  CameraType GetCameraType() const { return camera_type_; }
+  float getFOV() const {return field_of_view_ * RADIAN_2_DEGREE;}
+
+ private:
+  void StartCameraToCurrentTransform();
+
+  // Render camera's parent transformation.
+  Transform* cam_parent_transform_;
+
+  CameraType camera_type_;
+
+  glm::vec2 cam_start_angle_;
+  glm::vec2 cam_cur_angle_;
+  glm::quat cam_cur_target_rot_;
+
+  float cam_start_dist_;
+  float cam_start_fov_;
+  float cam_cur_dist_;
+  glm::vec3 anchor_offset_;
+
+  float start_touch_dist_;
+  float cur_touch_dist_;
+
+  glm::vec2 touch0_start_position_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_GESTURE_CAMERA_H_

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

@@ -0,0 +1,18 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ * Distributed under the Project Tango Preview Development Kit (PDK) Agreement.
+ * CONFIDENTIAL. AUTHORIZED USE ONLY. DO NOT REDISTRIBUTE.
+ */
+
+#ifndef TANGO_GL_GOAL_MARKER_H_
+#define TANGO_GL_GOAL_MARKER_H_
+
+#include <tango-gl/mesh.h>
+
+namespace tango_gl {
+class GoalMarker : public Mesh {
+ public:
+  GoalMarker();
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_GOAL_MARKER_H_

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

@@ -0,0 +1,28 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_GRID_H_
+#define TANGO_GL_GRID_H_
+
+#include "tango-gl/line.h"
+
+namespace tango_gl {
+class Grid : public Line {
+ public:
+  Grid(float density = 1.0f, int qx = 50, int qy = 50);
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_GRID_H_

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

@@ -0,0 +1,37 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_LINE_H_
+#define TANGO_GL_LINE_H_
+
+#include "tango-gl/drawable_object.h"
+
+namespace tango_gl {
+class Line : public DrawableObject {
+ public:
+  Line(float line_width, GLenum render_mode);
+  void SetLineWidth(const float pixels);
+  void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
+  void UpdateLineVertices(const std::vector<glm::vec3>& vec_vertices) {
+    vec_vertices_ = vec_vertices;
+  }
+
+ protected:
+  float line_width_;
+  std::vector<glm::vec3> vec_vertices_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_LINE_H_

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

@@ -0,0 +1,45 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_MESH_H_
+#define TANGO_GL_MESH_H_
+
+#include "tango-gl/bounding_box.h"
+#include "tango-gl/drawable_object.h"
+#include "tango-gl/segment.h"
+
+namespace tango_gl {
+class Mesh : public DrawableObject {
+ public:
+  Mesh();
+  Mesh(GLenum render_mode);
+  void SetShader();
+  void SetShader(bool is_lighting_on);
+  void SetBoundingBox();
+  void SetLightDirection(const glm::vec3& light_direction);
+  void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
+  bool IsIntersecting(const Segment& segment);
+
+ protected:
+  BoundingBox* bounding_box_;
+  bool is_lighting_on_;
+  bool is_bounding_box_on_;
+  glm::vec3 light_direction_;
+  GLuint uniform_mv_mat_;
+  GLuint uniform_light_vec_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_MESH_H_

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

@@ -0,0 +1,61 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_OBJ_LOADER_H
+#define TANGO_GL_OBJ_LOADER_H
+
+#include <vector>
+
+#include "tango-gl/util.h"
+
+namespace tango_gl {
+namespace obj_loader {
+//  Load standard .obj file into vertices, indices or normals vectors,
+//  OBJ file can be exported from 3D tools like 3ds Max or Blender.
+//  A readable file with only vertices should look like
+//  "v 1.00 2.00 3.00
+//   ...
+//   f 1 2 3
+//   f 1 2 3 4
+//   ..."
+//
+//  If exported with normals, file should look like
+//  "v 1.00 2.00 3.00
+//   ...
+//   f 1//1 2//3 3//4
+//   f 1//1 2//3 3//4 4//6
+//   ...
+//   vn 1.00 2.00 3.00
+//   ..."
+//  this can be used with Mesh:
+//
+//  std::vector<GLfloat> vertices;
+//  std::vector<GLushort> indices;
+//  std::vector<GLfloat> normals;
+//  tango_gl::obj_loader::LoadOBJData("/sdcard/model.obj", vertices, indices);
+//  mesh->SetVertices(vertices, indices);
+//  or
+//  tango_gl::obj_loader::LoadOBJData("/sdcard/model.obj", vertices, normals);
+//  mesh->SetVertices(vertices, normals);
+
+bool LoadOBJData(const char* path, std::vector<GLfloat>& vertices,
+                 std::vector<GLushort>& indices);
+
+bool LoadOBJData(const char* path, std::vector<GLfloat>& vertices,
+                 std::vector<GLfloat>& normals);
+}  // namespace obj_loader
+}  // namespace tango_gl
+#endif  // TANGO_GL_OBJ_LOADER

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

@@ -0,0 +1,44 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_QUAD_H_
+#define TANGO_GL_QUAD_H_
+
+#include "tango-gl/drawable_object.h"
+
+namespace tango_gl {
+class Quad : public DrawableObject {
+ public:
+  Quad();
+  Quad(const Quad& other) = delete;
+  Quad& operator=(const Quad&) = delete;
+  ~Quad();
+
+  void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
+  void SetTextureId(GLuint texture_id);
+
+ private:
+  GLuint vertex_buffer_;
+  GLuint shader_program_;
+  GLuint attrib_vertices_;
+  GLuint texture_coords_;
+  GLuint texture_handle;
+  GLuint uniform_mvp_mat_;
+
+  GLuint texture_id_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_QUAD_H_

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

@@ -0,0 +1,35 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_SEGMENT_H_
+#define TANGO_GL_SEGMENT_H_
+
+#include "glm/glm.hpp"
+
+namespace tango_gl {
+class Segment {
+ public:
+  Segment() : start(glm::vec3(0, 0, 0)), end(glm::vec3(0, 0, 0)) {}
+  Segment(const glm::vec3& segment_start, const glm::vec3& segment_end)
+      : start(segment_start), end(segment_end) {}
+  Segment(const Segment&) = default;
+  Segment& operator=(const Segment&) = default;
+
+  glm::vec3 start;
+  glm::vec3 end;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_SEGMENT_H_

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

@@ -0,0 +1,30 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_SEGMENT_DRAWABLE_H_
+#define TANGO_GL_SEGMENT_DRAWABLE_H_
+
+#include "tango-gl/line.h"
+#include "tango-gl/segment.h"
+
+namespace tango_gl {
+class SegmentDrawable : public Line {
+ public:
+  SegmentDrawable();
+  void UpdateSegment(const Segment& segment);
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_SEGMENT_DRAWABLE_H_

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

@@ -0,0 +1,32 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_SHADERS_H_
+#define TANGO_GL_SHADERS_H_
+
+#include <string>
+
+namespace tango_gl {
+namespace shaders {
+std::string GetBasicVertexShader();
+std::string GetBasicFragmentShader();
+std::string GetColorVertexShader();
+std::string GetVideoOverlayVertexShader();
+std::string GetVideoOverlayFragmentShader();
+std::string GetShadedVertexShader();
+}  // namespace shaders
+}  // namespace tango_gl
+#endif  // TANGO_GL_SHADERS_H_

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

@@ -0,0 +1,50 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_TEXTURE_H_
+#define TANGO_GL_TEXTURE_H_
+
+#include <errno.h>
+
+#ifdef __ANDROID__
+#include <png.h>
+#endif
+
+#include "tango-gl/util.h"
+
+namespace tango_gl {
+class Texture {
+ public:
+  Texture(const char* file_path);
+  Texture(const Texture& other) = delete;
+  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_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_TEXTURE_H_

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

@@ -0,0 +1,30 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_TRACE_H_
+#define TANGO_GL_TRACE_H_
+
+#include "tango-gl/line.h"
+
+namespace tango_gl {
+class Trace : public Line {
+ public:
+  Trace();
+  void UpdateVertexArray(const glm::vec3& v);
+  void ClearVertexArray();
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_TRACE_H_

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

@@ -0,0 +1,59 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_TRANSFORM_H_
+#define TANGO_GL_TRANSFORM_H_
+
+#include "glm/glm.hpp"
+#include "glm/gtc/quaternion.hpp"
+
+namespace tango_gl {
+class Transform {
+ public:
+  Transform();
+  virtual ~Transform();
+
+  Transform(const Transform& other) = delete;
+  const Transform& operator=(const Transform& rhs) = delete;
+
+  void SetPosition(const glm::vec3& position);
+  glm::vec3 GetPosition() const;
+
+  void SetRotation(const glm::quat& rotation);
+  glm::quat GetRotation() const;
+
+  void SetScale(const glm::vec3& scale);
+  glm::vec3 GetScale() const;
+
+  void Translate(const glm::vec3& translation);
+
+  void SetTransformationMatrix(const glm::mat4& transform_mat);
+  glm::mat4 GetTransformationMatrix() const;
+
+  void SetParent(Transform* transform);
+
+  const Transform* GetParent() const ;
+  Transform* GetParent() ;
+
+ private:
+  Transform* parent_;
+
+  glm::vec3 position_;
+  glm::quat rotation_;
+  glm::vec3 scale_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_TRANSFORM_H_

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

@@ -0,0 +1,28 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_TRIANGLE_H_
+#define TANGO_GL_TRIANGLE_H_
+
+#include "tango-gl/mesh.h"
+
+namespace tango_gl {
+class Triangle : public Mesh {
+ public:
+  Triangle();
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_TRIANGLE_H_

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

@@ -0,0 +1,106 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_GL_UTIL_H_
+#define TANGO_GL_GL_UTIL_H_
+#define GLM_FORCE_RADIANS
+
+#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"
+#include "glm/gtc/quaternion.hpp"
+#include "glm/gtc/type_ptr.hpp"
+#include "glm/gtx/matrix_decompose.hpp"
+
+#define LOG_TAG "rtabmap"
+#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
+#endif
+
+#define RADIAN_2_DEGREE 57.2957795f
+#define DEGREE_2_RADIANS 0.0174532925f
+
+namespace tango_gl {
+namespace util {
+  void CheckGlError(const char* operation);
+
+  GLuint CreateProgram(const char* vertex_source,
+                       const char* fragment_source);
+
+  void DecomposeMatrix(const glm::mat4& transform_mat,
+                       glm::vec3& translation,
+                       glm::quat& rotation,
+                       glm::vec3& scale);
+
+  // Get a 3x1 column from the upper 3x4 of a transformation matrix. Columns
+  // 0, 1, 2 are the rotation/scale portion, and column 3 is the translation.
+  glm::vec3 GetColumnFromMatrix(const glm::mat4& mat, const int col);
+
+  // Get the translation component of a transformation matrix.
+  glm::vec3 GetTranslationFromMatrix(const glm::mat4& mat);
+
+  float Clamp(float value, float min, float max);
+  void PrintMatrix(const glm::mat4& matrix);
+  void PrintVector(const glm::vec3& vector);
+  void PrintQuaternion(const glm::quat& quat);
+
+  glm::vec3 LerpVector(const glm::vec3& x, const glm::vec3& y, float a);
+  float DistanceSquared(const glm::vec3& v1, const glm::vec3& v2);
+
+  bool SegmentAABBIntersect(const glm::vec3& aabb_min, const glm::vec3& aabb_max,
+                        const glm::vec3& start, const glm::vec3& end);
+
+  glm::vec3 ApplyTransform(const glm::mat4& mat, const glm::vec3& vec);
+
+}  // namespace util
+}  // namespace tango_gl
+#endif  // TANGO_GL_RENDERER_GL_UTIL

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

@@ -0,0 +1,39 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_RENDERER_VIDEO_OVERLAY_H_
+#define TANGO_GL_RENDERER_VIDEO_OVERLAY_H_
+
+#include "tango-gl/drawable_object.h"
+
+namespace tango_gl {
+class VideoOverlay : public DrawableObject {
+ public:
+  VideoOverlay();
+  void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
+  GLuint GetTextureId() const { return texture_id_; }
+  void SetTextureId(GLuint texture_id) { texture_id_ = texture_id; }
+
+ private:
+  // This id is populated on construction, and is passed to the tango service.
+  GLuint texture_id_;
+
+  GLuint attrib_texture_coords_;
+  GLuint uniform_texture_;
+  GLuint vertex_buffers_[3];
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_RENDERER_VIDEO_OVERLAY_H_

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

@@ -0,0 +1,44 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/line.h"
+
+namespace tango_gl {
+Line::Line(float line_width, GLenum render_mode) {
+  line_width_ = line_width;
+  render_mode_ = render_mode;
+}
+void Line::SetLineWidth(const float pixels) { line_width_ = pixels; }
+void Line::Render(const glm::mat4& projection_mat,
+                  const glm::mat4& view_mat) const {
+  glUseProgram(shader_program_);
+  glLineWidth(line_width_);
+  glm::mat4 model_mat = GetTransformationMatrix();
+  glm::mat4 mvp_mat = projection_mat * view_mat * model_mat;
+  glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+
+  glUniform4f(uniform_color_, red_, green_, blue_, alpha_);
+
+  glEnableVertexAttribArray(attrib_vertices_);
+  glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE,
+                        sizeof(glm::vec3), &vec_vertices_[0]);
+  glDrawArrays(render_mode_, 0, vec_vertices_.size());
+
+  glDisableVertexAttribArray(attrib_vertices_);
+  glUseProgram(0);
+}
+
+}  // namespace tango_gl

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

@@ -0,0 +1,124 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/mesh.h"
+#include "tango-gl/shaders.h"
+
+namespace tango_gl {
+Mesh::Mesh() {
+  render_mode_ = GL_TRIANGLES;
+}
+Mesh::Mesh(GLenum render_mode) {
+  render_mode_ = render_mode;
+}
+
+void Mesh::SetShader() {
+  DrawableObject::SetShader();
+  // Default mode set to no lighting.
+  is_lighting_on_ = false;
+  // Default mode set to without bounding box detection.
+  is_bounding_box_on_ = false;
+}
+
+void Mesh::SetShader(bool is_lighting_on) {
+  if (is_lighting_on) {
+    shader_program_ =
+        util::CreateProgram(shaders::GetShadedVertexShader().c_str(),
+                            shaders::GetBasicFragmentShader().c_str());
+    if (!shader_program_) {
+      LOGE("Could not create program.");
+    }
+    uniform_mvp_mat_ = glGetUniformLocation(shader_program_, "mvp");
+    uniform_mv_mat_ = glGetUniformLocation(shader_program_, "mv");
+    uniform_light_vec_ = glGetUniformLocation(shader_program_, "lightVec");
+    uniform_color_ = glGetUniformLocation(shader_program_, "color");
+
+    attrib_vertices_ = glGetAttribLocation(shader_program_, "vertex");
+    attrib_normals_ = glGetAttribLocation(shader_program_, "normal");
+    is_lighting_on_ = true;
+    // Set a defualt direction for directional light.
+    light_direction_ = glm::vec3(-1.0f, -3.0f, -1.0f);
+    light_direction_ = glm::normalize(light_direction_);
+  } else {
+    SetShader();
+  }
+}
+
+void Mesh::SetBoundingBox(){
+  // Traverse all the vertices to define an axis-aligned
+  // bounding box for this mesh, needs to be called after SetVertices().
+  if(vertices_.size()==0){
+    LOGE("Please set up vertices first!");
+    return;
+  }
+  is_bounding_box_on_ = true;
+  bounding_box_ = new BoundingBox(vertices_);
+}
+
+void Mesh::SetLightDirection(const glm::vec3& light_direction) {
+  light_direction_ = light_direction;
+}
+
+bool Mesh::IsIntersecting(const Segment& segment) {
+  // If there is no bounding box defined based on all vertices,
+  // we can not calculate intersection.
+  if (!is_bounding_box_on_) {
+    LOGE("Mesh::IsIntersecting, bounding box is not available.");
+    return false;
+  }
+  return bounding_box_->IsIntersecting(segment, GetRotation(),
+                                       GetTransformationMatrix());
+}
+
+void Mesh::Render(const glm::mat4& projection_mat,
+                  const glm::mat4& view_mat) const {
+  glUseProgram(shader_program_);
+  glm::mat4 model_mat = GetTransformationMatrix();
+  glm::mat4 mv_mat = view_mat * model_mat;
+  glm::mat4 mvp_mat = projection_mat * mv_mat;
+  glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+  glUniform4f(uniform_color_, red_, green_, blue_, alpha_);
+
+  if (is_lighting_on_) {
+    glUniformMatrix4fv(uniform_mv_mat_, 1, GL_FALSE, glm::value_ptr(mv_mat));
+
+    glEnableVertexAttribArray(attrib_normals_);
+    glVertexAttribPointer(attrib_normals_, 3, GL_FLOAT, GL_FALSE,
+                          3 * sizeof(GLfloat), &normals_[0]);
+    glm::vec3 light_direction = glm::mat3(view_mat) * light_direction_;
+    glUniform3fv(uniform_light_vec_, 1, glm::value_ptr(light_direction));
+  }
+
+  glEnableVertexAttribArray(attrib_vertices_);
+
+  if (!indices_.empty()) {
+    glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE,
+                          3 * sizeof(GLfloat), vertices_.data());
+    glDrawElements(render_mode_, indices_.size(), GL_UNSIGNED_SHORT,
+                   indices_.data());
+  } else {
+    glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE,
+                          3 * sizeof(GLfloat), &vertices_[0]);
+    glDrawArrays(render_mode_, 0, vertices_.size() / 3);
+  }
+
+  glDisableVertexAttribArray(attrib_vertices_);
+  if (is_lighting_on_) {
+    glDisableVertexAttribArray(attrib_normals_);
+  }
+  glUseProgram(0);
+}
+}  // namespace tango_gl

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

@@ -0,0 +1,156 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include <string>
+
+#include "tango-gl/obj_loader.h"
+
+namespace tango_gl {
+bool obj_loader::LoadOBJData(const char* path, std::vector<GLfloat>& vertices,
+                             std::vector<GLushort>& indices) {
+  FILE *file = fopen(path, "r");
+  if (file == NULL) {
+    LOGE("Failed to open file: %s", path);
+    return false;
+  }
+
+  while (1) {
+    char lineHeader[128];
+    int res = fscanf(file, "%s", lineHeader);
+    if (res == EOF) break;
+    if (strcmp(lineHeader, "v") == 0) {
+      GLfloat vertex[3];
+      int matches =
+          fscanf(file, "%f %f %f\n", &vertex[0], &vertex[1], &vertex[2]);
+      if (matches != 3) {
+        LOGE("Format of 'v float float float' required for each vertice line");
+        return false;
+      }
+      vertices.push_back(vertex[0]);
+      vertices.push_back(vertex[1]);
+      vertices.push_back(vertex[2]);
+    } else if (strcmp(lineHeader, "f") == 0) {
+      GLushort vertexIndex[3];
+      int matches = fscanf(file, "%hu %hu %hu\n", &vertexIndex[0],
+                           &vertexIndex[1], &vertexIndex[2]);
+      if (matches != 3) {
+        LOGE("Format of 'f int int int' required for each face line");
+        return false;
+      }
+      indices.push_back(vertexIndex[0] - 1);
+      indices.push_back(vertexIndex[1] - 1);
+      indices.push_back(vertexIndex[2] - 1);
+    }
+    else {
+      char comments_buffer[1000];
+      fgets(comments_buffer, 1000, file);
+    }
+  }
+  fclose(file);
+  return true;
+}
+
+bool obj_loader::LoadOBJData(const char* path, std::vector<GLfloat>& vertices,
+                             std::vector<GLfloat>& normals) {
+  std::vector<unsigned int> vertexIndices, normalIndices;
+  std::vector<GLfloat> temp_vertices, temp_normals;
+
+  FILE* file = fopen(path, "r");
+  if (file == NULL) {
+    LOGE("Failed to open file: %s", path);
+    return false;
+  }
+
+  while (1) {
+    char lineHeader[128];
+    int res = fscanf(file, "%s", lineHeader);
+    if (res == EOF) break;
+    if (strcmp(lineHeader, "v") == 0) {
+      GLfloat vertex[3];
+      int matches =
+          fscanf(file, "%f %f %f\n", &vertex[0], &vertex[1], &vertex[2]);
+      if (matches != 3) {
+        LOGE("Format of 'v float float float' required for each vertice line");
+        return false;
+      }
+      temp_vertices.push_back(vertex[0]);
+      temp_vertices.push_back(vertex[1]);
+      temp_vertices.push_back(vertex[2]);
+    } else if (strcmp(lineHeader, "vn") == 0) {
+      GLfloat normal[3];
+      int matches =
+          fscanf(file, "%f %f %f\n", &normal[0], &normal[1], &normal[2]);
+      if (matches != 3) {
+        LOGE("Format of 'vn float float float' required for each normal line");
+        return false;
+      }
+      temp_normals.push_back(normal[0]);
+      temp_normals.push_back(normal[1]);
+      temp_normals.push_back(normal[2]);
+    } else if (strcmp(lineHeader, "f") == 0) {
+      GLushort vertexIndex[4];
+      GLushort normalIndex[4];
+      int matches = fscanf(file, "%hu//%hu %hu//%hu %hu//%hu %hu//%hu\n",
+                           &vertexIndex[0], &normalIndex[0], &vertexIndex[1], &normalIndex[1],
+                           &vertexIndex[2], &normalIndex[2], &vertexIndex[3], &normalIndex[3]);
+
+      // .obj file is 1-indexed, so subtract 1 from all indices.
+      if (matches == 6) {
+        // If triangles provided.
+        vertexIndices.push_back(vertexIndex[0] - 1);
+        vertexIndices.push_back(vertexIndex[1] - 1);
+        vertexIndices.push_back(vertexIndex[2] - 1);
+        normalIndices.push_back(normalIndex[0] - 1);
+        normalIndices.push_back(normalIndex[1] - 1);
+        normalIndices.push_back(normalIndex[2] - 1);
+      } else if(matches == 8) {
+        // If quads provided.
+        vertexIndices.push_back(vertexIndex[0] - 1);
+        vertexIndices.push_back(vertexIndex[1] - 1);
+        vertexIndices.push_back(vertexIndex[2] - 1);
+        vertexIndices.push_back(vertexIndex[0] - 1);
+        vertexIndices.push_back(vertexIndex[2] - 1);
+        vertexIndices.push_back(vertexIndex[3] - 1);
+        normalIndices.push_back(normalIndex[0] - 1);
+        normalIndices.push_back(normalIndex[1] - 1);
+        normalIndices.push_back(normalIndex[2] - 1);
+        normalIndices.push_back(normalIndex[0] - 1);
+        normalIndices.push_back(normalIndex[2] - 1);
+        normalIndices.push_back(normalIndex[3] - 1);
+      } else {
+        LOGE("Format of 'f int//int int//int int//int' required for each face");
+        return false;
+      }
+    } else {
+      char comments_buffer[1000];
+      fgets(comments_buffer, 1000, file);
+    }
+  }
+
+  for (unsigned int i = 0; i < vertexIndices.size(); i++) {
+    unsigned int vertexIndex = vertexIndices[i];
+    unsigned int normalIndex = normalIndices[i];
+
+    vertices.push_back(temp_vertices[vertexIndex * 3]);
+    vertices.push_back(temp_vertices[vertexIndex * 3 + 1]);
+    vertices.push_back(temp_vertices[vertexIndex * 3 + 2]);
+    normals.push_back(temp_normals[normalIndex * 3]);
+    normals.push_back(temp_normals[normalIndex * 3 + 1]);
+    normals.push_back(temp_normals[normalIndex * 3 + 2]);
+  }
+  fclose(file);
+  return true;
+}
+}  // namespace tango_gl

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

@@ -0,0 +1,91 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/quad.h"
+#include "tango-gl/util.h"
+
+namespace tango_gl {
+
+static const char kVertexShader[] =
+    "attribute vec4 vertex;\n"
+    "attribute vec2 inputTextureCoordinate;\n"
+    "varying vec2 textureCoordinate;\n"
+    "uniform mat4 mvp;\n"
+    "void main() {\n"
+    "  gl_Position = mvp*vertex;\n"
+    "  textureCoordinate = inputTextureCoordinate.xy;\n"
+    "}\n";
+
+static const char kFragmentShader[] =
+    "varying vec2 textureCoordinate;\n"
+    "uniform sampler2D inputTexture;\n"
+    "void main() {\n"
+    "  gl_FragColor = texture2D(inputTexture, textureCoordinate);\n"
+    "}\n";
+
+static const float vertices[] = {-0.5f, -0.5f, 0.5f, -0.5f,
+                                 -0.5f, 0.5f,  0.5f, 0.5f};
+
+static const GLfloat texture_coords[] = {0.0f, 1.0f, 1.0f, 1.0f,
+                                         0.0f, 0.0f, 1.0f, 0.0f, };
+
+Quad::Quad() {
+  shader_program_ = util::CreateProgram(kVertexShader, kFragmentShader);
+  if (!shader_program_) {
+    LOGE("Could not create program.");
+  }
+  uniform_mvp_mat_ = glGetUniformLocation(shader_program_, "mvp");
+  attrib_vertices_ = glGetAttribLocation(shader_program_, "vertex");
+  texture_coords_ =
+      glGetAttribLocation(shader_program_, "inputTextureCoordinate");
+  texture_handle = glGetUniformLocation(shader_program_, "inputTexture");
+  glGenBuffers(1, &vertex_buffer_);
+}
+
+Quad::~Quad() { glDeleteShader(shader_program_); }
+
+void Quad::SetTextureId(GLuint texture_id) { texture_id_ = texture_id; }
+
+void Quad::Render(const glm::mat4& projection_mat,
+                  const glm::mat4& view_mat) const {
+  glEnable(GL_CULL_FACE);
+  glEnable(GL_BLEND);
+  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+  glUseProgram(shader_program_);
+
+  glBindTexture(GL_TEXTURE_2D, texture_id_);
+  glUniform1i(texture_handle, 0);
+
+  // Calculate MVP matrix and pass it to shader.
+  glm::mat4 model_mat = GetTransformationMatrix();
+  glm::mat4 mvp_mat = projection_mat * view_mat * model_mat;
+  glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+
+  // Vertice binding
+  glEnableVertexAttribArray(attrib_vertices_);
+  glVertexAttribPointer(attrib_vertices_, 2, GL_FLOAT, GL_FALSE, 0, vertices);
+  glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+  glEnableVertexAttribArray(texture_coords_);
+  glVertexAttribPointer(texture_coords_, 2, GL_FLOAT, GL_FALSE, 0,
+                        texture_coords);
+
+  glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
+  glUseProgram(0);
+  glBindTexture(GL_TEXTURE_2D, 0);
+}
+
+}  // namespace tango_gl

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

@@ -0,0 +1,29 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/segment_drawable.h"
+
+namespace tango_gl {
+SegmentDrawable::SegmentDrawable() : tango_gl::Line(5.0f, GL_LINES) {
+  SetShader();
+  vec_vertices_.push_back(glm::vec3(0, 0, 0));
+  vec_vertices_.push_back(glm::vec3(1.f, 1.f, 1.f));
+}
+void SegmentDrawable::UpdateSegment(const Segment& segment) {
+  vec_vertices_[0] = segment.start;
+  vec_vertices_[1] = segment.end;
+}
+}  // namespace tango_gl

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

@@ -0,0 +1,95 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "tango-gl/shaders.h"
+
+namespace tango_gl {
+namespace shaders {
+std::string GetBasicVertexShader() {
+  return "precision mediump float;\n"
+         "precision mediump int;\n"
+         "attribute vec4 vertex;\n"
+         "uniform mat4 mvp;\n"
+         "uniform vec4 color;\n"
+         "varying vec4 v_color;\n"
+         "void main() {\n"
+         "  gl_Position = mvp*vertex;\n"
+         "  v_color = color;\n"
+         "}\n";
+}
+
+std::string GetBasicFragmentShader() {
+  return "precision mediump float;\n"
+         "varying vec4 v_color;\n"
+         "void main() {\n"
+         "  gl_FragColor = v_color;\n"
+         "}\n";
+}
+
+std::string GetColorVertexShader() {
+  return "precision mediump float;\n"
+         "precision mediump int;\n"
+         "attribute vec4 vertex;\n"
+         "attribute vec4 color;\n"
+         "uniform mat4 mvp;\n"
+         "varying vec4 v_color;\n"
+         "void main() {\n"
+         "  gl_Position = mvp*vertex;\n"
+         "  v_color = color;\n"
+         "}\n";
+}
+
+std::string GetVideoOverlayVertexShader() {
+  return "precision highp float;\n"
+         "precision highp int;\n"
+         "attribute vec4 vertex;\n"
+         "attribute vec2 textureCoords;\n"
+         "varying vec2 f_textureCoords;\n"
+         "uniform mat4 mvp;\n"
+         "void main() {\n"
+         "  f_textureCoords = textureCoords;\n"
+         "  gl_Position = mvp * vertex;\n"
+         "}\n";
+}
+
+std::string GetVideoOverlayFragmentShader() {
+  return "#extension GL_OES_EGL_image_external : require\n"
+         "precision highp float;\n"
+         "precision highp int;\n"
+         "uniform samplerExternalOES texture;\n"
+         "varying vec2 f_textureCoords;\n"
+         "void main() {\n"
+         "  gl_FragColor = texture2D(texture, f_textureCoords);\n"
+         "}\n";
+}
+
+std::string GetShadedVertexShader() {
+  return "attribute vec4 vertex;\n"
+         "attribute vec3 normal;\n"
+         "uniform mat4 mvp;\n"
+         "uniform mat4 mv;\n"
+         "uniform vec4 color;\n"
+         "uniform vec3 lightVec;\n"
+         "varying vec4 v_color;\n"
+         "void main() {\n"
+         "  vec3 mvNormal = vec3(mv * vec4(normal, 0.0));\n"
+         "  float diffuse = max(-dot(mvNormal, lightVec), 0.0);\n"
+         "  v_color.a = color.a;\n"
+         "  v_color.xyz = color.xyz * diffuse + color.xyz * 0.3;\n"
+         "  gl_Position = mvp*vertex;\n"
+         "}\n";
+}
+}  // namespace shaders
+}  // namespace tango_gl

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

@@ -0,0 +1,109 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "tango-gl/texture.h"
+#include "tango-gl/util.h"
+
+namespace tango_gl {
+
+static const int kMaxExponentiation = 12;
+
+static int RoundUpPowerOfTwo(int w) {
+  int start = 2;
+  for (int i = 0; i <= kMaxExponentiation; ++i) {
+    if (w < start) {
+      w = start;
+      break;
+    } else {
+      start = start << 1;
+    }
+  }
+  return 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");
+
+  if (file == NULL) {
+    LOGE("fp not loaded: %s", strerror(errno));
+    return false;
+  }
+
+  fseek(file, 8, SEEK_CUR);
+
+  png_structp png_ptr =
+      png_create_read_struct(PNG_LIBPNG_VER_STRING, NULL, NULL, NULL);
+  png_infop info_ptr = png_create_info_struct(png_ptr);
+
+  png_init_io(png_ptr, file);
+  png_set_sig_bytes(png_ptr, 8);
+  png_read_info(png_ptr, info_ptr);
+  png_get_IHDR(png_ptr, info_ptr, &width_, &height_, &bit_depth_, &color_type_,
+               NULL, NULL, NULL);
+
+  width_ = RoundUpPowerOfTwo(width_);
+  height_ = RoundUpPowerOfTwo(height_);
+  int row = width_ * (color_type_ == PNG_COLOR_TYPE_RGBA ? 4 : 3);
+  byte_data_ = new char[row * height_];
+
+  png_bytep* row_pointers = new png_bytep[height_];
+  for (uint i = 0; i < height_; ++i) {
+    row_pointers[i] = (png_bytep)(byte_data_ + i * row);
+  }
+  png_read_image(png_ptr, row_pointers);
+  png_destroy_read_struct(&png_ptr, &info_ptr, 0);
+
+  glGenTextures(1, &texture_id_);
+  glBindTexture(GL_TEXTURE_2D, texture_id_);
+  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
+  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
+  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+  util::CheckGlError("glBindTexture");
+  if (color_type_ == PNG_COLOR_TYPE_RGBA) {
+    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width_, height_, 0, GL_RGBA,
+                 GL_UNSIGNED_BYTE, byte_data_);
+  } else {
+    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width_, height_, 0, GL_RGB,
+                 GL_UNSIGNED_BYTE, byte_data_);
+  }
+  util::CheckGlError("glTexImage2D");
+  glBindTexture(GL_TEXTURE_2D, 0);
+
+  fclose(file);
+  delete[] row_pointers;
+  delete[] byte_data_;
+
+  return true;
+}
+#endif
+GLuint Texture::GetTextureID() const { return texture_id_; }
+
+Texture::~Texture() {
+  if (byte_data_ != NULL) {
+    delete[] byte_data_;
+  }
+  byte_data_ = NULL;
+}
+
+}  // namespace tango_gl

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

@@ -0,0 +1,38 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/trace.h"
+
+namespace tango_gl {
+
+static const int kMaxTraceLength = 5000;
+static const float kDistanceCheck = 0.05f;
+
+Trace::Trace() : Line(3.0f, GL_LINE_STRIP) { SetShader(); }
+
+void Trace::UpdateVertexArray(const glm::vec3& v) {
+  if (vec_vertices_.size() == 0) {
+    vec_vertices_.push_back(v);
+  } else {
+    float dist = glm::distance(vec_vertices_[vec_vertices_.size() - 1], v);
+    if (dist >= kDistanceCheck) {
+      vec_vertices_.push_back(v);
+    }
+  }
+}
+
+void Trace::ClearVertexArray() { vec_vertices_.clear(); }
+}  // namespace tango_gl