Update Parameters.h

Fix laserscan from depth

.appveyor.yml

@@ -0,0 +1,70 @@
+
+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:
+  # Qt
+  - set QTDIR=C:\Qt\5.8\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%
+  # 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
+  - ps: wget 'http://kent.dl.sourceforge.net/project/opencvlibrary/opencv-win/3.3.1/opencv-3.3.1-vc14.exe' -outfile opencv-3.3.1-vc14.exe
+  - cmd: opencv-3.3.1-vc14.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
+  # PCL (including QVTK)
+  - ps: wget 'https://dl.dropboxusercontent.com/s/atf4r8kb1xyc1ls/PCL%201.8.1.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 1.8.1\""
+  - set PATH=%PATH%;C:\Program Files\PCL 1.8.1\bin
+  # zlib
+  - ps: wget 'https://docs.google.com/uc?authuser=0&id=0B46akLGdg-uaYm9MTTI4MUtUcmc&export=download' -outfile zlib-1.2.8-vc2010-x64.zip
+  - 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
+  
+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 1.8.1\cmake" -DZLIB_ROOT="C:\Program Files\zlib" ..
+  
+after_build :
+  - cmake --build . --config Release --target package
+
+artifacts:
+  - path: build\RTABMap-*
+  
+notifications:
+  - provider: Email
+    to:
+      - matlabbe@email.com
+    on_build_success: false
+    on_build_failure: false
+    on_build_status_changed: true

.gitignore

@@ -1,6 +1,8 @@
 /lib
 .DS_Store
 .settings/language.settings.xml
+.idea/
+cmake-build-debug/
 app/android/.classpath
 app/android/.project
 app/android/AndroidManifest.xml

.travis.yml

@@ -1,6 +1,7 @@
 sudo: true
 dist: trusty
 language: cpp
+group: deprecated-2017Q3
 
 compiler:
   - gcc
@@ -13,6 +14,7 @@ addons:
       - libopencv-dev
       - libqt4-dev
       - libsqlite3-dev
+      - libyaml-cpp-dev
 
 install:
     - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'

CMakeLists.txt

@@ -20,8 +20,8 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 # VERSION
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
-SET(RTABMAP_MINOR_VERSION 11)
-SET(RTABMAP_PATCH_VERSION 14)
+SET(RTABMAP_MINOR_VERSION 17)
+SET(RTABMAP_PATCH_VERSION 1)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
   
@@ -46,25 +46,25 @@ IF(NOT ANDROID)
 ENDIF(NOT ANDROID)
 
 IF(WIN32 AND NOT MINGW)
-  	ADD_DEFINITIONS("-DNOMINMAX")
+    ADD_DEFINITIONS("-DNOMINMAX")
     ADD_DEFINITIONS("-wd4100 -wd4127 -wd4150 -wd4191 -wd4242 -wd4244 -wd4251 -wd4305 -wd4365 -wd4512 -wd4514 -wd4548 -wd4571 -wd4619 -wd4625 -wd4626 -wd4628 -wd4668 -wd4710 -wd4711 -wd4738 -wd4820 -wd4946 -wd4986")
 ELSE ()
-	ADD_DEFINITIONS( "-Wall" )
-	ADD_DEFINITIONS("-Wno-unknown-pragmas")
+    ADD_DEFINITIONS( "-Wall" )
+    ADD_DEFINITIONS("-Wno-unknown-pragmas")
 ENDIF()
 
 if(POLICY CMP0020)
-	cmake_policy(SET CMP0020 OLD)
+    cmake_policy(SET CMP0020 OLD)
 endif()
 if(POLICY CMP0043)
-	cmake_policy(SET CMP0043 OLD)
+    cmake_policy(SET CMP0043 OLD)
 endif()
 
 IF(MINGW)
     # Hide the --enable-auto-import warning
-	SET(CMAKE_EXE_LINKER_FLAGS "-Wl,--enable-auto-import")  
-	SET(CMAKE_MODULE_LINKER_FLAGS "-Wl,--enable-auto-import") 
-	SET(CMAKE_SHARED_LINKER_FLAGS "-Wl,--enable-auto-import") 
+    SET(CMAKE_EXE_LINKER_FLAGS "-Wl,--enable-auto-import")
+    SET(CMAKE_MODULE_LINKER_FLAGS "-Wl,--enable-auto-import")
+    SET(CMAKE_SHARED_LINKER_FLAGS "-Wl,--enable-auto-import")
 ENDIF(MINGW)
 
 # GCC 4 required
@@ -113,19 +113,26 @@ SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")
 SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")
 
 ####### INSTALL DIR #######
-set(INSTALL_INCLUDE_DIR include/${PROJECT_PREFIX}-${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION} CACHE PATH
-  "Installation directory for header files")
+set(INSTALL_INCLUDE_DIR include/${PROJECT_PREFIX}-${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION})
 if(WIN32 AND NOT CYGWIN)
   set(DEF_INSTALL_CMAKE_DIR CMake)
 else()
   set(DEF_INSTALL_CMAKE_DIR ${CMAKE_INSTALL_LIBDIR}/${PROJECT_PREFIX}-${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION})
 endif()
-set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR} CACHE PATH
-  "Installation directory for CMake files")
+set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR})
   
 ####### BUILD OPTIONS #######
+
+# ANDROID_PREBUILD (early exit if true)
+OPTION( ANDROID_PREBUILD "Set to ON to build rtabmap resource build tool (required for android build)" OFF )
+IF(ANDROID_PREBUILD)
+   MESSAGE("Option ANDROID_PREBUILD is set, only rtabmap resource tool will be built. You can use android toolchain after that.")
+   ADD_SUBDIRECTORY( utilite )
+   return()
+ENDIF(ANDROID_PREBUILD)
+
 IF(APPLE)
-	OPTION(BUILD_AS_BUNDLE "Set to ON to build as bundle (DragNDrop)" OFF)
+    OPTION(BUILD_AS_BUNDLE "Set to ON to build as bundle (DragNDrop)" OFF)
 ENDIF(APPLE)
 OPTION(BUILD_APP "Build main application" ON)
 OPTION(BUILD_TOOLS "Build tools" ON)
@@ -139,6 +146,7 @@ option(WITH_QT            "Include Qt support"                   ON)
 ENDIF()
 option(WITH_FREENECT      "Include Freenect support"             ON)
 option(WITH_FREENECT2     "Include Freenect2 support"            ON)
+option(WITH_K4W2          "Include Kinect for Windows v2 support" ON)
 option(WITH_OPENNI2       "Include OpenNI2 support"              ON)
 option(WITH_DC1394        "Include dc1394 support"               ON)
 option(WITH_G2O           "Include g2o support"                  ON)
@@ -146,18 +154,38 @@ option(WITH_GTSAM         "Include GTSAM support"                ON)
 option(WITH_TORO          "Include TORO support"                 ON)
 option(WITH_VERTIGO       "Include Vertigo support"              ON)
 option(WITH_CVSBA         "Include cvsba support"                ON)
+option(WITH_POINTMATCHER  "Include libpointmatcher support"      ON)
 option(WITH_FLYCAPTURE2   "Include FlyCapture2/Triclops support" ON)
 option(WITH_ZED           "Include ZED sdk support"              ON)
 option(WITH_REALSENSE     "Include RealSense support"            ON)
+option(WITH_REALSENSE_SLAM "Include RealSenseSlam support"       ON)
 option(WITH_OCTOMAP       "Include Octomap support"              ON)
+option(WITH_CPUTSDF       "Include CPUTSDF support"              ON)
+option(WITH_OPENCHISEL    "Include open_chisel support"          ON)
+option(WITH_FOVIS         "Include FOVIS support"                ON)
+option(WITH_VISO2         "Include VISO2 support"                ON)
+option(WITH_DVO           "Include DVO support"                  ON)
+option(WITH_ORB_SLAM2     "Include ORB_SLAM2 support"            ON)
+option(WITH_OKVIS         "Include OKVIS support"                ON)
 option(PCL_OMP            "With PCL OMP implementations"         ON)
 
 FIND_PACKAGE(OpenCV REQUIRED QUIET)
-FIND_PACKAGE(PCL 1.7 REQUIRED QUIET)
+
+IF(WITH_QT)
+FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)
+ELSE()
+FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation )
+ENDIF()
+if("${PCL_DEFINITIONS}" MATCHES "-march=native")
+  MESSAGE(WARNING "PCL definitions contain \"-march=native\", make sure all libraries using Eigen are also compiled with that flag to avoid some segmentation faults (with gdb referring to some Eigen functions).")
+else()
+  MESSAGE(STATUS "PCL definitions don't contain \"-march=native\", make sure all libraries using Eigen are also compiled without that flag to avoid some segmentation faults (with gdb referring to some Eigen functions).")
+endif()
+
 FIND_PACKAGE(ZLIB REQUIRED QUIET)
 
-# fix libproj.so not found on Xenial
 if(NOT "${PCL_LIBRARIES}" STREQUAL "")
+   # fix libproj.so not found on Xenial
    list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")
 endif()
 
@@ -199,12 +227,12 @@ IF(WITH_QT)
     IF("${VTK_MAJOR_VERSION}" GREATER 5)
         FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui QUIET)
         IF(Qt5_FOUND)
-             FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui Svg)
+             FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui OPTIONAL_COMPONENTS Svg)
         ENDIF(Qt5_FOUND)
     ENDIF("${VTK_MAJOR_VERSION}" GREATER 5)
 
     IF(NOT Qt5_FOUND)
-        FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtSvg)
+        FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
     ENDIF(NOT Qt5_FOUND)
         
     IF(QT4_FOUND OR Qt5_FOUND)
@@ -230,21 +258,28 @@ ENDIF(WITH_FREENECT)
 IF(WITH_FREENECT2)
     FIND_PACKAGE(freenect2 QUIET)
     IF(freenect2_FOUND)
-	   IF(NOT freenect2_INCLUDE_DIRS)
-	      SET(freenect2_INCLUDE_DIRS ${freenect2_INCLUDE_DIR})
-	   ENDIF(NOT freenect2_INCLUDE_DIRS)
+       IF(NOT freenect2_INCLUDE_DIRS)
+          SET(freenect2_INCLUDE_DIRS ${freenect2_INCLUDE_DIR})
+       ENDIF(NOT freenect2_INCLUDE_DIRS)
        MESSAGE(STATUS "Found freenect2: ${freenect2_INCLUDE_DIRS}")
        # Explicitly link to OpenCL (in case of CUDA installed)
-	   FIND_PACKAGE(OpenCL QUIET)
-	   IF(OpenCL_FOUND)
-		  SET(freenect2_LIBRARIES
-			${OpenCL_LIBRARIES}
-			${freenect2_LIBRARIES}
-		  )
-	   ENDIF(OpenCL_FOUND)
+       FIND_PACKAGE(OpenCL QUIET)
+       IF(OpenCL_FOUND)
+          SET(freenect2_LIBRARIES
+            ${OpenCL_LIBRARIES}
+            ${freenect2_LIBRARIES}
+          )
+       ENDIF(OpenCL_FOUND)
     ENDIF(freenect2_FOUND)
 ENDIF(WITH_FREENECT2)
 
+IF(WITH_K4W2 AND WIN32)
+    FIND_PACKAGE(KinectSDK2 QUIET)
+	IF(KinectSDK2_FOUND)
+       MESSAGE(STATUS "Found Kinect for Windows 2: ${KinectSDK2_INCLUDE_DIRS}")
+    ENDIF(KinectSDK2_FOUND)
+ENDIF(WITH_K4W2 AND WIN32)
+
 # IF PCL depends on OpenNI2 (already found), ignore WITH_OPENNI2
 IF(WITH_OPENNI2 OR OpenNI2_FOUND)
     FIND_PACKAGE(OpenNI2 QUIET)
@@ -279,70 +314,152 @@ IF(WITH_FLYCAPTURE2)
 ENDIF(WITH_FLYCAPTURE2)
 
 IF(WITH_CVSBA)
-	FIND_PACKAGE(cvsba QUIET)
+    FIND_PACKAGE(cvsba QUIET)
     IF(cvsba_FOUND)
        MESSAGE(STATUS "Found cvsba: ${cvsba_INCLUDE_DIRS}")
     ENDIF(cvsba_FOUND)
 ENDIF(WITH_CVSBA)
 
+IF(WITH_POINTMATCHER)
+    find_package(libpointmatcher QUIET)
+    IF(libpointmatcher_FOUND)
+       MESSAGE(STATUS "Found libpointmatcher: ${libpointmatcher_INCLUDE_DIRS}")
+    ENDIF(libpointmatcher_FOUND)
+ENDIF(WITH_POINTMATCHER)
+
+SET(ZED_FOUND FALSE)
 IF(WITH_ZED)
-	IF(WIN32) # Windows
-		SET(ZED_INCLUDE_DIRS $ENV{ZED_INCLUDE_DIRS})
-		if (CMAKE_CL_64) # 64 bits
-			SET(ZED_LIBRARIES $ENV{ZED_LIBRARIES_64})
-		else(CMAKE_CL_64) # 32 bits
-			message("32bits compilation is no more available with CUDA7.0")
-		endif(CMAKE_CL_64)
-		SET(ZED_LIBRARY_DIR $ENV{ZED_LIBRARY_DIR})
-		IF(ZED_LIBRARIES AND ZED_INCLUDE_DIRS)
-			SET(ZED_FOUND TRUE)
-			LINK_DIRECTORIES( ${LINK_DIRECTORIES} ${ZED_LIBRARY_DIR})
-		ENDIF(ZED_LIBRARIES AND ZED_INCLUDE_DIRS)
-	ELSE() # Linux
-		find_package(ZED 1 QUIET)
-	ENDIF(WIN32)
-	
-	IF(ZED_FOUND)
+    IF(WIN32) # Windows
+        SET(ZED_INCLUDE_DIRS $ENV{ZED_INCLUDE_DIRS})
+        if (CMAKE_CL_64) # 64 bits
+            SET(ZED_LIBRARIES $ENV{ZED_LIBRARIES_64})
+        else(CMAKE_CL_64) # 32 bits
+            message("32bits compilation is no more available with CUDA7.0")
+        endif(CMAKE_CL_64)
+        SET(ZED_LIBRARY_DIR $ENV{ZED_LIBRARY_DIR})
+        IF(ZED_LIBRARIES AND ZED_INCLUDE_DIRS)
+            SET(ZED_FOUND TRUE)
+            LINK_DIRECTORIES( ${LINK_DIRECTORIES} ${ZED_LIBRARY_DIR})
+        ENDIF(ZED_LIBRARIES AND ZED_INCLUDE_DIRS)
+    ELSE() # Linux
+        find_package(ZED 2 QUIET)
+    ENDIF(WIN32)
+    
+    IF(ZED_FOUND)
        MESSAGE(STATUS "Found ZED sdk: ${ZED_INCLUDE_DIRS}")
-	   ## look for CUDA
-	   find_package(CUDA)
-	   IF(CUDA_FOUND)
-		MESSAGE(STATUS "Found CUDA: ${CUDA_INCLUDE_DIRS}")
-	   ELSE()
-	    MESSAGE(FATAL_ERROR "CUDA is required to build with Zed sdk! Set -DWITH_ZED=OFF if you don't have CUDA.")
-	   ENDIF()
+       ## look for CUDA
+       find_package(CUDA)
+       IF(CUDA_FOUND)
+        MESSAGE(STATUS "Found CUDA: ${CUDA_INCLUDE_DIRS}")
+       ELSE()
+        MESSAGE(FATAL_ERROR "CUDA is required to build with Zed sdk! Set -DWITH_ZED=OFF if you don't have CUDA.")
+       ENDIF()
     ENDIF(ZED_FOUND)
 ENDIF(WITH_ZED)
 
 IF(WITH_REALSENSE)
-	FIND_PACKAGE(RealSense QUIET)
+    IF(WITH_REALSENSE_SLAM)
+       FIND_PACKAGE(RealSense QUIET COMPONENTS slam)
+    ELSE()
+       FIND_PACKAGE(RealSense QUIET)
+    ENDIF()
     IF(RealSense_FOUND)
        MESSAGE(STATUS "Found RealSense: ${RealSense_INCLUDE_DIRS}")
     ENDIF(RealSense_FOUND)
+    IF(RealSenseSlam_FOUND)
+       MESSAGE(STATUS "Found RealSenseSlam: ${RealSense_INCLUDE_DIRS}")
+    ENDIF(RealSenseSlam_FOUND)
 ENDIF(WITH_REALSENSE)
 
 IF(WITH_OCTOMAP)
-	FIND_PACKAGE(OCTOMAP QUIET)
+    FIND_PACKAGE(OCTOMAP QUIET)
     IF(OCTOMAP_FOUND)
-       MESSAGE(STATUS "Found octomap: ${OCTOMAP_INCLUDE_DIRS}")
+       MESSAGE(STATUS "Found octomap ${OCTOMAP_VERSION}: ${OCTOMAP_INCLUDE_DIRS}")
+       IF(OCTOMAP_VERSION VERSION_LESS 1.8)
+          ADD_DEFINITIONS("-DOCTOMAP_PRE_18")
+       ENDIF(OCTOMAP_VERSION VERSION_LESS 1.8)
     ENDIF(OCTOMAP_FOUND)
 ENDIF(WITH_OCTOMAP)
 
-IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND)
+IF(WITH_CPUTSDF)
+    FIND_PACKAGE(CPUTSDF QUIET)
+    IF(CPUTSDF_FOUND)
+       MESSAGE(STATUS "Found CPUTSDF: ${CPUTSDF_INCLUDE_DIRS}")
+    ENDIF(CPUTSDF_FOUND)
+ENDIF(WITH_CPUTSDF)
+
+IF(WITH_OPENCHISEL)
+    find_package(open_chisel QUIET)
+    if(open_chisel_FOUND)
+        MESSAGE(STATUS "Found open_chisel: ${open_chisel_INCLUDE_DIRS}")
+    endif(open_chisel_FOUND)
+ENDIF(WITH_OPENCHISEL)
+
+IF(WITH_FOVIS)
+    FIND_PACKAGE(libfovis QUIET)
+    IF(libfovis_FOUND)
+       MESSAGE(STATUS "Found libfovis: ${libfovis_INCLUDE_DIRS}")
+    ENDIF(libfovis_FOUND)
+ENDIF(WITH_FOVIS)
+
+IF(WITH_VISO2)
+    FIND_PACKAGE(libviso2 QUIET)
+    IF(libviso2_FOUND)
+       MESSAGE(STATUS "Found libviso2: ${libviso2_INCLUDE_DIRS}")
+    ENDIF(libviso2_FOUND)
+ENDIF(WITH_VISO2)
+
+IF(WITH_DVO)
+    FIND_PACKAGE(dvo_core QUIET)
+    IF(dvo_core_FOUND)
+       MESSAGE(STATUS "Found dvo_core: ${dvo_core_INCLUDE_DIRS}")
+    ENDIF(dvo_core_FOUND)
+ENDIF(WITH_DVO)
+
+IF(WITH_OKVIS)
+    FIND_PACKAGE(okvis 1.1 QUIET)
+    IF(okvis_FOUND)
+       MESSAGE(STATUS "Found okvis: ${OKVIS_INCLUDE_DIRS}")
+       find_package(brisk 2 REQUIRED)
+       MESSAGE(STATUS "Found brisk: ${BRISK_INCLUDE_DIRS}")
+       find_package(opengv REQUIRED)
+       MESSAGE(STATUS "Found opengv: ${OPENGV_INCLUDE_DIRS}")
+       find_package(Ceres REQUIRED CONFIG PATHS ${OKVIS_CERES_CONFIG} NO_DEFAULT_PATH)
+       MESSAGE(STATUS "Found ceres: ${CERES_INCLUDE_DIRS}")
+    ENDIF(okvis_FOUND)
+ENDIF(WITH_OKVIS)
+
+IF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
+    FIND_PACKAGE(ORB_SLAM2 QUIET)
+    IF(ORB_SLAM2_FOUND)
+       MESSAGE(STATUS "Found ORB_SLAM2: ${ORB_SLAM2_INCLUDE_DIRS}")
+       FIND_PACKAGE(Pangolin QUIET)
+       IF(NOT Pangolin_FOUND)
+          SET(ORB_SLAM2_FOUND FALSE)
+          MESSAGE(STATUS "Found ORB_SLAM2 but not Pangolin, disabling ORB_SLAM2.")
+       ELSE()
+          MESSAGE(STATUS "Found Pangolin: ${Pangolin_INCLUDE_DIRS}")
+          SET(ORB_SLAM2_INCLUDE_DIRS ${ORB_SLAM2_INCLUDE_DIRS} ${Pangolin_INCLUDE_DIRS})
+          SET(ORB_SLAM2_LIBRARIES ${ORB_SLAM2_LIBRARIES} ${Pangolin_LIBRARIES})
+       ENDIF()
+    ENDIF(ORB_SLAM2_FOUND)
+ENDIF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
+
+IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND OR ORB_SLAM2_FOUND OR okvis_FOUND OR open_chisel_FOUND)
    #Newest versions require std11
    IF(NOT MSVC)
      include(CheckCXXCompilerFlag)
-	  CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
-	  CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-	  IF(COMPILER_SUPPORTS_CXX11)
-		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-	  ELSEIF(COMPILER_SUPPORTS_CXX0X)
-		set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
-	  ELSE()
-		message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler if you want to use g2o or gtsam (set \"-DWITH_G2O=OFF -DWITH_GTSAM=OFF\" to build without g2o and gtsam).")
-	  ENDIF()
+      CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+      CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+      IF(COMPILER_SUPPORTS_CXX11)
+        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+      ELSEIF(COMPILER_SUPPORTS_CXX0X)
+        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+      ELSE()
+        message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler if you want to use g2o or gtsam (set \"-DWITH_G2O=OFF -DWITH_GTSAM=OFF\" to build without g2o and gtsam).")
+      ENDIF()
    ENDIF()
-ENDIF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND)
+ENDIF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND OR ORB_SLAM2_FOUND OR okvis_FOUND OR open_chisel_FOUND)
 
 ####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
 IF(APPLE AND BUILD_AS_BUNDLE)
@@ -376,7 +493,7 @@ ENDIF(APPLE AND BUILD_AS_BUNDLE)
 
 # CONF_DEPENDENCIES contains only dependencies not required by the headers
 SET(CONF_DEPENDENCIES 
-	${ZLIB_LIBRARIES}
+    ${ZLIB_LIBRARIES}
 )
 IF(NOT (OPENCV_NONFREE_FOUND OR OPENCV_XFEATURES2D_FOUND))
    SET(NONFREE "//")
@@ -385,6 +502,9 @@ IF(NOT G2O_FOUND)
    SET(G2O "//")
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${G2O_LIBRARIES})
+   IF(NOT G2O_CPP11)
+   SET(G2O_CPP_CONF "//")
+   ENDIF(NOT G2O_CPP11)
 ENDIF()
 IF(NOT GTSAM_FOUND)
    SET(GTSAM "//")
@@ -402,6 +522,9 @@ IF(NOT cvsba_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${cvsba_LIBRARIES})
 ENDIF()
+IF(NOT libpointmatcher_FOUND)
+   SET(POINTMATCHER "//")
+ENDIF(NOT libpointmatcher_FOUND)
 IF(NOT Freenect_FOUND)
    SET(FREENECT "//")
 ELSE()
@@ -412,6 +535,11 @@ IF(NOT freenect2_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${freenect2_LIBRARIES})
 ENDIF()
+IF(NOT KinectSDK2_FOUND)
+   SET(K4W2 "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${KinectSDK2_LIBRARIES})
+ENDIF()
 IF(NOT OpenNI2_FOUND)
    SET(OPENNI2 "//")
 ELSE()
@@ -437,17 +565,59 @@ IF(NOT RealSense_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${RealSense_LIBRARIES}) 
 ENDIF()
+IF(NOT RealSenseSlam_FOUND)
+   SET(REALSENSESLAM "//")
+ENDIF(NOT RealSenseSlam_FOUND)
 IF(NOT OCTOMAP_FOUND)
    SET(OCTOMAP "//")
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${OCTOMAP_LIBRARIES}) 
 ENDIF()
+IF(NOT CPUTSDF_FOUND)
+   SET(CPUTSDF "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${CPUTSDF_LIBRARIES}) 
+ENDIF()
+IF(NOT open_chisel_FOUND)
+   SET(OPENCHISEL "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${open_chisel_LIBRARIES}) 
+ENDIF()
+IF(NOT libfovis_FOUND)
+   SET(FOVIS "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${libfovis_LIBRARIES}) 
+ENDIF()
+IF(NOT libviso2_FOUND)
+   SET(VISO2 "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${libviso2_LIBRARIES}) 
+ENDIF()
+IF(NOT dvo_core_FOUND)
+   SET(DVO "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${dvo_core_LIBRARIES}) 
+ENDIF()
+IF(NOT okvis_FOUND)
+   SET(OKVIS "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${OKVIS_LIBRARIES}) 
+ENDIF()
+IF(NOT ORB_SLAM2_FOUND)
+   SET(ORB_SLAM2 "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${ORB_SLAM2_LIBRARIES}) 
+ENDIF()
 IF(ADD_VTK_GUI_SUPPORT_QT_TO_CONF)
    SET(CONF_VTK_QT true)
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} vtkGUISupportQt)
 ELSE()
    SET(CONF_VTK_QT false)
 ENDIF()
+IF(VTK_USE_QVTK)
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${QVTK_LIBRARY}) 
+ENDIF(VTK_USE_QVTK)
+
 IF(NOT (OpenCV_FOUND AND OpenCV_VERSION_MAJOR EQUAL 3))
    SET(OPENCV3 "//")
 ENDIF(NOT (OpenCV_FOUND AND OpenCV_VERSION_MAJOR EQUAL 3))
@@ -496,8 +666,8 @@ file(RELATIVE_PATH REL_LIB_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "$
    
 # ... for the build tree
 set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/corelib/include" 
-					  "${PROJECT_SOURCE_DIR}/guilib/include" 
-					  "${PROJECT_SOURCE_DIR}/utilite/include")
+                      "${PROJECT_SOURCE_DIR}/guilib/include" 
+                      "${PROJECT_SOURCE_DIR}/utilite/include")
 set(CONF_LIB_DIR "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY} ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
 IF(QT4_FOUND OR Qt5_FOUND)
    set(CONF_WITH_GUI ON)
@@ -622,13 +792,14 @@ MESSAGE(STATUS "  BUILD_APP =            ${BUILD_APP}")
 MESSAGE(STATUS "  BUILD_TOOLS =          ${BUILD_TOOLS}")
 MESSAGE(STATUS "  BUILD_EXAMPLES =       ${BUILD_EXAMPLES}")
 IF(NOT WIN32)
-	# see comment above for the BUILD_SHARED_LIBS option on Windows
-	MESSAGE(STATUS "  BUILD_SHARED_LIBS =    ${BUILD_SHARED_LIBS}")
+    # see comment above for the BUILD_SHARED_LIBS option on Windows
+    MESSAGE(STATUS "  BUILD_SHARED_LIBS =    ${BUILD_SHARED_LIBS}")
 ENDIF(NOT WIN32)
 IF(APPLE)
 MESSAGE(STATUS "  BUILD_AS_BUNDLE =      ${BUILD_AS_BUNDLE}")
 ENDIF(APPLE)
 MESSAGE(STATUS "  CMAKE_CXX_FLAGS = ${CMAKE_CXX_FLAGS}")
+MESSAGE(STATUS "  PCL_DEFINITIONS = ${PCL_DEFINITIONS}")
 
 IF(OpenCV_FOUND)
   IF(OpenCV_VERSION_MAJOR EQUAL 2)
@@ -670,6 +841,14 @@ ELSE()
 MESSAGE(STATUS "  With Freenect2            = NO (libfreenect2 not found)")
 ENDIF()
 
+IF(KinectSDK2_FOUND)
+MESSAGE(STATUS "  With Kinect for Windows 2 = YES (License: Apache v2 and/or GPLv2)")
+ELSEIF(NOT WITH_K4W2)
+MESSAGE(STATUS "  With Kinect for Windows 2 = NO (WITH_K4W2=OFF)")
+ELSE()
+MESSAGE(STATUS "  With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)")
+ENDIF()
+
 IF(DC1394_FOUND)
 MESSAGE(STATUS "  With dc1394               = YES (License: LGPL)")
 ELSEIF(NOT WITH_DC1394)
@@ -708,11 +887,15 @@ ELSE()
 MESSAGE(STATUS "  With GTSAM                = NO (GTSAM not found)")
 ENDIF()
 
+IF(G2O_FOUND OR GTSAM_FOUND)
 IF(WITH_VERTIGO)
 MESSAGE(STATUS "  With VERTIGO              = YES (License: GPLv3)")
 ELSE()
 MESSAGE(STATUS "  With VERTIGO              = NO (WITH_VERTIGO=OFF)")
 ENDIF()
+ELSE()
+MESSAGE(STATUS "  With VERTIGO              = NO (GTSAM or g2o required)")
+ENDIF()
 
 IF(cvsba_FOUND)
 MESSAGE(STATUS "  With cvsba                = YES (License: GPLv2)")
@@ -722,6 +905,14 @@ ELSE()
 MESSAGE(STATUS "  With cvsba                = NO (cvsba not found)")
 ENDIF()
 
+IF(libpointmatcher_FOUND)
+MESSAGE(STATUS "  With libpointmatcher      = YES (License: BSD)")
+ELSEIF(NOT WITH_POINTMATCHER)
+MESSAGE(STATUS "  With libpointmatcher      = NO (WITH_POINTMATCHER=OFF)")
+ELSE()
+MESSAGE(STATUS "  With libpointmatcher      = NO (libpointmatcher not found)")
+ENDIF()
+
 IF(ZED_FOUND)
 IF(CUDA_FOUND)
 MESSAGE(STATUS "  With ZED                  = YES (With CUDA)")
@@ -736,6 +927,13 @@ ENDIF()
 
 IF(RealSense_FOUND)
 MESSAGE(STATUS "  With RealSense            = YES (License: Apache-2)")
+IF(RealSenseSlam_FOUND)
+MESSAGE(STATUS "  With RealSenseSlam        = YES")
+ELSEIF(NOT WITH_REALSENSE)
+MESSAGE(STATUS "  With RealSenseSlam        = NO (librealsense_slam not found)")
+ELSE()
+MESSAGE(STATUS "  With RealSenseSlam        = NO (WITH_REALSENSE_SLAM=OFF)")
+ENDIF()
 ELSEIF(NOT WITH_REALSENSE)
 MESSAGE(STATUS "  With RealSense            = NO (WITH_REALSENSE=OFF)")
 ELSE()
@@ -750,6 +948,64 @@ ELSE()
 MESSAGE(STATUS "  With OCTOMAP              = NO (octomap not found)")
 ENDIF()
 
+IF(CPUTSDF_FOUND)
+MESSAGE(STATUS "  With CPUTSDF              = YES (License: BSD)")
+ELSEIF(NOT WITH_CPUTSDF)
+MESSAGE(STATUS "  With CPUTSDF              = NO (WITH_CPUTSDF=OFF)")
+ELSE()
+MESSAGE(STATUS "  With CPUTSDF              = NO (CPUTSDF not found)")
+ENDIF()
+
+IF(open_chisel_FOUND)
+MESSAGE(STATUS "  With OpenChisel           = YES (License: ???)")
+ELSEIF(NOT WITH_OPENCHISEL)
+MESSAGE(STATUS "  With OpenChisel           = NO (WITH_OPENCHISEL=OFF)")
+ELSE()
+MESSAGE(STATUS "  With OpenChisel           = NO (open_chisel not found)")
+ENDIF()
+
+IF(libfovis_FOUND)
+MESSAGE(STATUS "  With libfovis             = YES (License: GPLv2)")
+ELSEIF(NOT WITH_FOVIS)
+MESSAGE(STATUS "  With libfovis             = NO (WITH_FOVIS=OFF)")
+ELSE()
+MESSAGE(STATUS "  With libfovis             = NO (libfovis not found)")
+ENDIF()
+
+IF(libviso2_FOUND)
+MESSAGE(STATUS "  With libviso2             = YES (License: GPLv3)")
+ELSEIF(NOT WITH_VISO2)
+MESSAGE(STATUS "  With libviso2             = NO (WITH_VISO2=OFF)")
+ELSE()
+MESSAGE(STATUS "  With libviso2             = NO (libviso2 not found)")
+ENDIF()
+
+IF(dvo_core_FOUND)
+MESSAGE(STATUS "  With dvo_core             = YES (License: GPLv3)")
+ELSEIF(NOT WITH_DVO)
+MESSAGE(STATUS "  With dvo_core             = NO (WITH_DVO=OFF)")
+ELSE()
+MESSAGE(STATUS "  With dvo_core             = NO (dvo_core not found)")
+ENDIF()
+
+IF(okvis_FOUND)
+MESSAGE(STATUS "  With okvis                = YES (License: BSD)")
+ELSEIF(NOT WITH_DVO)
+MESSAGE(STATUS "  With okvis                = NO (WITH_OKVIS=OFF)")
+ELSE()
+MESSAGE(STATUS "  With okvis                = NO (okvis not found)")
+ENDIF()
+
+IF(ORB_SLAM2_FOUND)
+MESSAGE(STATUS "  With ORB_SLAM2            = YES (License: GPLv3)")
+ELSEIF(NOT WITH_ORB_SLAM2)
+MESSAGE(STATUS "  With ORB_SLAM2            = NO (WITH_ORB_SLAM2=OFF)")
+ELSEIF(G2O_FOUND)
+MESSAGE(STATUS "  With ORB_SLAM2            = NO (WITH_G2O should be OFF as ORB_SLAM2 uses its own g2o version)")
+ELSE()
+MESSAGE(STATUS "  With ORB_SLAM2            = NO (ORB_SLAM2 not found, make sure environment variable ORB_SLAM2_ROOT_DIR is set)")
+ENDIF()
+
 IF(QT4_FOUND)
 MESSAGE(STATUS "  With Qt4                  = YES (License: Open Source or Commercial)")
 ELSEIF(Qt5_FOUND)
@@ -768,3 +1024,5 @@ MESSAGE(SEND_ERROR "No graph optimizer found! You should have at least one of th
        GTSAM (https://collab.cc.gatech.edu/borg/gtsam)
        set -DWITH_TORO=ON")
 ENDIF(NOT GTSAM_FOUND AND NOT G2O_FOUND AND NOT WITH_TORO)
+
+# vim: set et ft=cmake fenc=utf-8 ff=unix sts=0 sw=2 ts=2 :

README.md

@@ -1,10 +1,20 @@
-rtabmap [![Build Status](https://travis-ci.org/introlab/rtabmap.svg?branch=master)](https://travis-ci.org/introlab/rtabmap)
+rtabmap ![Analytics](https://ga-beacon.appspot.com/UA-56986679-3/github-main?pixel) 
 =======
 
+[![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]
+[![License][license-image]][license]
+Linux: [![Build Status](https://travis-ci.org/introlab/rtabmap.svg?branch=master)](https://travis-ci.org/introlab/rtabmap) Windows: [![Build status](https://ci.appveyor.com/api/projects/status/hr73xspix9oqa26h/branch/master?svg=true)](https://ci.appveyor.com/project/matlabbe/rtabmap/branch/master)
+
+[release-image]: https://img.shields.io/badge/release-0.16.3-green.svg?style=flat
+[releases]: 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).
 
 To use RTAB-Map under ROS, visit the [rtabmap](http://wiki.ros.org/rtabmap) page on the ROS wiki.
-
-

RTABMapConfig.cmake.in

@@ -1,4 +1,8 @@
 # - Config file for the RTABMap package
+# Components:
+#  core    (required)
+#  gui     (optional)
+#  utilite (required)
 # It defines the following variables
 #  RTABMap_INCLUDE_DIRS - include directories for RTABMap
 #  RTABMap_LIBRARIES    - libraries to link against
@@ -42,8 +46,18 @@ ENDIF()
 
 set(RTABMap_LIBRARIES ${RTABMap_CORE} ${RTABMap_UTILITE})
 
+list(LENGTH RTABMap_FIND_COMPONENTS RTABMap_FIND_COMPONENTS_LENGTH)
+set(WITH_GUI ON)
+if(${RTABMap_FIND_COMPONENTS_LENGTH} GREATER 0)
+   list (FIND RTABMap_FIND_COMPONENTS "gui" _index)
+   if (${_index} EQUAL -1)
+      set(WITH_GUI OFF)
+   endif()
+endif(${RTABMap_FIND_COMPONENTS_LENGTH} GREATER 0)
+
+
 #gui lib (OFF if RTAB-Map is not built with Qt)
-if(@CONF_WITH_GUI@)
+if(@CONF_WITH_GUI@ AND ${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@)
    
@@ -59,13 +73,15 @@ if(@CONF_WITH_GUI@)
    ENDIF()
    
    set(RTABMap_LIBRARIES ${RTABMap_LIBRARIES} ${RTABMap_GUI})
-endif(@CONF_WITH_GUI@)
+elseif(${WITH_GUI})
+   MESSAGE(ERROR "Asked for \"gui\" module but RTABMap hasn't been built with gui support.")
+endif()
 
 # Dependencies
-if(@CONF_VTK_QT@)
+if(@CONF_VTK_QT@ AND ${WITH_GUI})
    find_package(VTK COMPONENTS vtkGUISupportQt NO_MODULE) # to define vtkGUISupportQt target
-endif(@CONF_VTK_QT@)
-set(RTABMap_LIBRARIES ${RTABMap_LIBRARIES} @CONF_DEPENDENCIES@)
+endif(@CONF_VTK_QT@ AND ${WITH_GUI})
+SET(RTABMap_LIBRARIES ${RTABMap_LIBRARIES} "@CONF_DEPENDENCIES@")
 
 #backward compatibilities
 set(RTABMAP_CORE ${RTABMap_CORE})
@@ -74,3 +90,7 @@ if(RTABMap_GUI)
    set(RTABMAP_GUI ${RTABMap_GUI})
    set(RTABMAP_QT_VERSION @CONF_QT_VERSION@)
 endif(RTABMap_GUI)
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(RTABMap DEFAULT_MSG RTABMap_LIBRARIES RTABMap_INCLUDE_DIRS)
+mark_as_advanced(RTABMap_LIBRARIES RTABMap_INCLUDE_DIRS RTABMap_LIBRARY_DIRS)

Version.h.in

@@ -40,18 +40,29 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @NONFREE@#define RTABMAP_NONFREE
 @TORO@#define RTABMAP_TORO
 @G2O@#define RTABMAP_G2O
+@G2O_CPP_CONF@#define RTABMAP_G2O_CPP11
 @GTSAM@#define RTABMAP_GTSAM
 @VERTIGO@#define RTABMAP_VERTIGO
 @OPENCV3@#define RTABMAP_OPENCV3
 @OPENNI2@#define RTABMAP_OPENNI2
 @FREENECT@#define RTABMAP_FREENECT
 @FREENECT2@#define RTABMAP_FREENECT2
+@K4W2@#define RTABMAP_K4W2
 @CVSBA@#define RTABMAP_CVSBA
+@POINTMATCHER@#define RTABMAP_POINTMATCHER
 @DC1394@#define RTABMAP_DC1394
 @FLYCAPTURE2@#define RTABMAP_FLYCAPTURE2
 @ZED@#define RTABMAP_ZED
 @REALSENSE@#define RTABMAP_REALSENSE
+@REALSENSESLAM@#define RTABMAP_REALSENSE_SLAM
 @OCTOMAP@#define RTABMAP_OCTOMAP
+@CPUTSDF@#define RTABMAP_CPUTSDF
+@OPENCHISEL@#define RTABMAP_OPENCHISEL
+@FOVIS@#define RTABMAP_FOVIS
+@VISO2@#define RTABMAP_VISO2
+@DVO@#define RTABMAP_DVO
+@OKVIS@#define RTABMAP_OKVIS
+@ORB_SLAM2@#define RTABMAP_ORB_SLAM2
 
 #endif /* VERSION_H_ */
 

app/android/AndroidManifest.xml.in

@@ -2,7 +2,7 @@
 <!-- BEGIN_INCLUDE(manifest) -->
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
         package="com.introlab.rtabmap"
-        android:versionCode="34"
+        android:versionCode="70"
         android:versionName="@RTABMAP_VERSION@">
 
     <uses-permission android:name="android.permission.CAMERA" />
@@ -12,6 +12,8 @@
     <uses-permission android:name="android.permission.ACCESS_SURFACE_FLINGER" />
     <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-feature android:name="android.hardware.location.gps" />
     <uses-feature android:glEsVersion="0x00020000" />
 
     <!-- This is the platform API where NativeActivity was introduced. -->
@@ -20,7 +22,8 @@
     <!-- This .apk has no Java code itself, so set hasCode to false. -->
     <application 
         android:label="@string/app_name" 
-        android:icon="@drawable/ic_launcher">
+        android:icon="@drawable/ic_launcher"
+        android:debuggable="@ANDROID_DEBUGGABLE@">
         
         <uses-library android:name="com.projecttango.libtango_device2" android:required="true" />
 
@@ -29,7 +32,9 @@
         <activity android:name="RTABMapActivity"
                 android:label="@string/app_name"
                 android:launchMode="singleTask"
-                android:screenOrientation="landscape">
+		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" />
@@ -39,7 +44,8 @@
             </intent-filter>
         </activity>
 
-        <activity android:name="SettingsActivity" android:label="@string/settings"/>
+        <activity android:name="SettingsActivity" android:label="@string/settings" android:screenOrientation="fullSensor"/>
+        <activity android:name="SketchfabActivity" android:label="@string/sketchfab" android:screenOrientation="fullSensor"/>
     </application>
 
 </manifest>

app/android/CMakeLists.txt

@@ -1,4 +1,17 @@
 
+option(DISABLE_LOG        "Disable Android logging (should be true in release)"    ON)
+IF(DISABLE_LOG)
+  ADD_DEFINITIONS(-DDISABLE_LOG)
+ENDIF(DISABLE_LOG)
+
+MESSAGE(STATUS "DISABLE_LOG = ${DISABLE_LOG}")
+
+IF(DISABLE_LOG)
+   SET(ANDROID_DEBUGGABLE false)
+ELSE()
+   SET(ANDROID_DEBUGGABLE true)
+ENDIF()
+
 add_subdirectory(jni)
 
 

app/android/custom_rules.xml

@@ -4,7 +4,10 @@
 			<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"/>
+			<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>
+</project>

app/android/info.txt.in

@@ -1,8 +1,7 @@
 <h3>Real-Time Appearance-Based Mapping</h3>
 Version @RTABMAP_VERSION@<br>
 Author: Mathieu Labb&eacute;<br>
-Copyright 2016<br>
+Copyright 2016-2017<br>
 IntRoLab - Universit&eacute; de Sherbrooke<br>
 <b>http://introlab.github.io/rtabmap</b><br><br>
 
-

app/android/jni/CameraTango.cpp

@@ -40,39 +40,49 @@ namespace rtabmap {
 const int kVersionStringLength = 128;
 const int holeSize = 5;
 const float maxDepthError = 0.10;
-const int scanDownsampling = 10;
+const int scanDownsampling = 1;
 
 // Callbacks
 void onPointCloudAvailableRouter(void* context, const TangoPointCloud* point_cloud)
 {
 	CameraTango* app = static_cast<CameraTango*>(context);
-	app->cloudReceived(cv::Mat(1, point_cloud->num_points, CV_32FC4, point_cloud->points[0]), point_cloud->timestamp);
+	if(app->isRunning() && 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)
+	if(app->isRunning())
 	{
-		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
-	{
-		LOGE("Not supported color format : %d.", color->format);
-	}
+		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);
+		if(!tangoImage.empty())
+		{
+			app->rgbReceived(tangoImage, (unsigned int)color->format, color->timestamp);
+		}
 	}
 }
 
@@ -94,16 +104,23 @@ void onTangoEventAvailableRouter(void* context, const TangoEvent* event)
 //////////////////////////////
 // CameraTango
 //////////////////////////////
-CameraTango::CameraTango(int decimation, bool autoExposure) :
+const float CameraTango::bilateralFilteringSigmaS = 2.0f;
+const float CameraTango::bilateralFilteringSigmaR = 0.075f;
+
+CameraTango::CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing) :
 		Camera(0),
 		tango_config_(0),
-		firstFrame_(true),
+		previousStamp_(0.0),
 		stampEpochOffset_(0.0),
+		colorCamera_(colorCamera),
 		decimation_(decimation),
-		autoExposure_(autoExposure),
+		rawScanPublished_(publishRawScan),
+		smoothing_(smoothing),
 		cloudStamp_(0),
 		tangoColorType_(0),
-		tangoColorStamp_(0)
+		tangoColorStamp_(0),
+		colorCameraToDisplayRotation_(ROTATION_0),
+		originUpdate_(false)
 {
 	UASSERT(decimation >= 1);
 }
@@ -113,11 +130,70 @@ CameraTango::~CameraTango() {
 	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();
 
-	TangoSupport_initializeLibrary();
+	TangoSupport_initialize(TangoService_getPoseAtTime, TangoService_getCameraIntrinsics);
 
 	// Connect to Tango
 	LOGI("NativeRTABMap: Setup tango config");
@@ -137,38 +213,15 @@ bool CameraTango::init(const std::string & calibrationFolder, const std::string
 		return false;
 	}
 
-	// Enable color.
-	ret = TangoConfig_setBool(tango_config_, "config_enable_color_camera", true);
-	if (ret != TANGO_SUCCESS)
+	if(colorCamera_)
 	{
-		LOGE("NativeRTABMap: config_enable_color_camera() failed with error code: %d", ret);
-		return false;
-	}
-
-	// disable auto exposure (disabled, seems broken on latest Tango releases)
-	ret = TangoConfig_setBool(tango_config_, "config_color_mode_auto", autoExposure_);
-	if (ret != TANGO_SUCCESS)
-	{
-		LOGE("NativeRTABMap: config_color_mode_auto() failed with error code: %d", ret);
-		//return false;
-	}
-	else
-	{
-		if(!autoExposure_)
+		// Enable color.
+		ret = TangoConfig_setBool(tango_config_, "config_enable_color_camera", true);
+		if (ret != TANGO_SUCCESS)
 		{
-			ret = TangoConfig_setInt32(tango_config_, "config_color_iso", 800);
-			if (ret != TANGO_SUCCESS)
-			{
-				LOGE("NativeRTABMap: config_color_iso() failed with error code: %d", ret);
-				return false;
-			}
+			LOGE("NativeRTABMap: config_enable_color_camera() failed with error code: %d", ret);
+			return false;
 		}
-		bool verifyAutoExposureState;
-		int32_t verifyIso, verifyExp;
-		TangoConfig_getBool( tango_config_, "config_color_mode_auto", &verifyAutoExposureState );
-		TangoConfig_getInt32( tango_config_, "config_color_iso", &verifyIso );
-		TangoConfig_getInt32( tango_config_, "config_color_exp", &verifyExp );
-		LOGI( "NativeRTABMap: config_color autoExposure=%s %d %d", verifyAutoExposureState?"On" : "Off", verifyIso, verifyExp );
 	}
 
 	// Enable depth.
@@ -233,7 +286,7 @@ bool CameraTango::init(const std::string & calibrationFolder, const std::string
 		return false;
 	}
 
-	ret = TangoService_connectOnFrameAvailable(TANGO_CAMERA_COLOR, this, onFrameAvailableRouter);
+	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);
@@ -282,7 +335,7 @@ bool CameraTango::init(const std::string & calibrationFolder, const std::string
 	//
 	// Get color camera with respect to device transformation matrix.
 	frame_pair.base = TANGO_COORDINATE_FRAME_DEVICE;
-	frame_pair.target = TANGO_COORDINATE_FRAME_CAMERA_COLOR;
+	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)
 	{
@@ -300,22 +353,67 @@ bool CameraTango::init(const std::string & calibrationFolder, const std::string
 
 	// camera intrinsic
 	TangoCameraIntrinsics color_camera_intrinsics;
-	ret = TangoService_getCameraIntrinsics(TANGO_CAMERA_COLOR, &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;
 	}
-	model_ = CameraModel(
+
+	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,
-			this->getLocalTransform());
-	model_.setImageSize(cv::Size(color_camera_intrinsics.width, color_camera_intrinsics.height));
+			color_camera_intrinsics.width,
+			color_camera_intrinsics.height);
 
-	// device to camera optical rotation in rtabmap frame
-	model_.setLocalTransform(tango_device_T_rtabmap_device.inverse()*deviceTColorCamera_);
+	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,
+			tango_device_T_rtabmap_device.inverse()*deviceTColorCamera_); // device to camera optical rotation in rtabmap frame
+
+	if(!colorCamera_)
+	{
+		initFisheyeRectificationMap(model_, fisheyeRectifyMapX_, fisheyeRectifyMapY_);
+	}
 
 	LOGI("deviceTColorCameraTango  =%s", deviceTColorCamera_.prettyPrint().c_str());
 	LOGI("deviceTColorCameraRtabmap=%s", (tango_device_T_rtabmap_device.inverse()*deviceTColorCamera_).prettyPrint().c_str());
@@ -331,9 +429,22 @@ void CameraTango::close()
 	{
 		TangoConfig_free(tango_config_);
 		tango_config_ = nullptr;
+		LOGI("TangoService_disconnect()");
 		TangoService_disconnect();
+		LOGI("TangoService_disconnect() done.");
 	}
-	firstFrame_ = true;
+	previousPose_.setNull();
+	previousStamp_ = 0.0;
+	fisheyeRectifyMapX_ = cv::Mat();
+	fisheyeRectifyMapY_ = cv::Mat();
+	lastKnownGPS_ = GPS();
+	originOffset_ = Transform();
+	originUpdate_ = false;
+}
+
+void CameraTango::resetOrigin()
+{
+	originUpdate_ = true;
 }
 
 void CameraTango::cloudReceived(const cv::Mat & cloud, double timestamp)
@@ -388,16 +499,29 @@ void CameraTango::rgbReceived(const cv::Mat & tangoImage, int type, double times
 	}
 }
 
-static rtabmap::Transform opticalRotationTango(
+static rtabmap::Transform opticalRotation(
 								1.0f,  0.0f,  0.0f, 0.0f,
 							    0.0f, -1.0f,  0.0f, 0.0f,
 								0.0f,  0.0f, -1.0f, 0.0f);
 void CameraTango::poseReceived(const Transform & pose)
 {
-	if(!pose.isNull() && pose.getNormSquared() < 100000)
+	if(!pose.isNull())
 	{
 		// send pose of the camera (without optical rotation), not the device
-		this->post(new PoseEvent(pose*deviceTColorCamera_*opticalRotationTango));
+		Transform p = pose*deviceTColorCamera_*opticalRotation;
+		if(originUpdate_)
+		{
+			originOffset_ = p.translation().inverse();
+			originUpdate_ = false;
+		}
+		if(!originOffset_.isNull())
+		{
+			this->post(new PoseEvent(originOffset_*p));
+		}
+		else
+		{
+			this->post(new PoseEvent(p));
+		}
 	}
 }
 
@@ -416,6 +540,11 @@ std::string CameraTango::getSerial() const
 	return "Tango";
 }
 
+void CameraTango::setGPS(const GPS & gps)
+{
+	lastKnownGPS_ = gps;
+}
+
 rtabmap::Transform CameraTango::tangoPoseToTransform(const TangoPoseData * tangoPose) const
 {
 	UASSERT(tangoPose);
@@ -512,6 +641,7 @@ SensorData CameraTango::captureImage(CameraInfo * info)
 			tangoColorType_ = 0;
 		}
 
+		LOGD("tangoColorType=%d", tangoColorType);
 		if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_RGBA_8888)
 		{
 			cv::cvtColor(tangoImage, rgb, CV_RGBA2BGR);
@@ -524,6 +654,10 @@ SensorData CameraTango::captureImage(CameraInfo * info)
 		{
 			cv::cvtColor(tangoImage, rgb, CV_YUV2BGR_NV21);
 		}
+		else if(tangoColorType == 35)
+		{
+			cv::cvtColor(tangoImage, rgb, cv::COLOR_YUV420sp2GRAY);
+		}
 		else
 		{
 			LOGE("Not supported color format : %d.", tangoColorType);
@@ -536,10 +670,22 @@ SensorData CameraTango::captureImage(CameraInfo * info)
 		//}
 
 		CameraModel model = model_;
-		if(decimation_ > 1)
+
+		if(colorCamera_)
 		{
-			rgb = util2d::decimate(rgb, decimation_);
-			model = model.scaled(1.0/double(decimation_));
+			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
@@ -552,7 +698,7 @@ SensorData CameraTango::captureImage(CameraInfo * info)
 		Transform colorToDepth;
 		TangoPoseData pose_color_image_t1_T_depth_image_t0;
 		if (TangoSupport_calculateRelativePose(
-				rgbStamp, TANGO_COORDINATE_FRAME_CAMERA_COLOR, cloudStamp,
+				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)
 		{
@@ -577,39 +723,82 @@ SensorData CameraTango::captureImage(CameraInfo * info)
 			// 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;
-			depth = cv::Mat::zeros(model_.imageHeight()/8, model_.imageWidth()/8, CV_16UC1); // mm
-			CameraModel depthModel = model_.scaled(1.0f/8.0f);
-			std::vector<cv::Point3f> scanData(cloud.total());
+			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)
 			{
 				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)
+				if(pt.z > 0.0f && i%scanDownsampling == 0 && rawScanPublished_)
 				{
 					scanData.at(oi++) = pt;
 				}
 
-				int pixel_x, pixel_y;
+				int pixel_x_l, pixel_y_l, pixel_x_h, pixel_y_h;
 				// get the coordinate on image plane.
-				pixel_x = static_cast<int>((depthModel.fx()) * (pt.x / pt.z) + depthModel.cx());
-				pixel_y = static_cast<int>((depthModel.fy()) * (pt.y / pt.z) + depthModel.cy());
+				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>=0 && pixel_x<depth.cols &&
-				   pixel_y>0 && pixel_y<depth.rows &&
+				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, pixel_x);
+					unsigned short & depthPixel = depth.at<unsigned short>(pixel_y_l, pixel_x_l);
 					if(depthPixel == 0 || depthPixel > depth_value)
 					{
 						depthPixel = depth_value;
-						pixelsSet += 1;
+						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 CameraTangoEvent(0, "TooClose", ""));
 			}
 
 			if(oi)
@@ -629,6 +818,12 @@ SensorData CameraTango::captureImage(CameraInfo * info)
 
 			Transform poseDevice = getPoseAtTimestamp(rgbStamp);
 
+			// adjust origin
+			if(!originOffset_.isNull())
+			{
+				poseDevice = originOffset_ * poseDevice;
+			}
+
 			//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());
@@ -639,8 +834,79 @@ SensorData CameraTango::captureImage(CameraInfo * info)
 			//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());
 
-			data = SensorData(scan, LaserScanInfo(cloud.total()/scanDownsampling, 0, model.localTransform()), rgb, depth, model, this->getNextSeqID(), rgbStamp);
+			Transform scanLocalTransform = model.localTransform();
+
+			// Rotate image depending on the camera orientation
+			if(colorCameraToDisplayRotation_ == ROTATION_90)
+			{
+				cv::Mat rgbt(rgb.cols, rgb.rows, rgb.type());
+				cv::flip(rgb,rgb,1);
+				cv::transpose(rgb,rgbt);
+				rgb = rgbt;
+				cv::Mat deptht(depth.cols, depth.rows, depth.type());
+				cv::flip(depth,depth,1);
+				cv::transpose(depth,deptht);
+				depth = deptht;
+				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(0,0,0,0,0,1.57079632679489661923132169163975144));
+				model.setImageSize(sizet);
+			}
+			else if(colorCameraToDisplayRotation_ == ROTATION_180)
+			{
+				cv::flip(rgb,rgb,1);
+				cv::flip(rgb,rgb,0);
+				cv::flip(depth,depth,1);
+				cv::flip(depth,depth,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(0,0,0,0,0,1.57079632679489661923132169163975144*2.0));
+				model.setImageSize(sizet);
+			}
+			else if(colorCameraToDisplayRotation_ == ROTATION_270)
+			{
+				cv::Mat rgbt(rgb.cols, rgb.rows, rgb.type());
+				cv::transpose(rgb,rgbt);
+				cv::flip(rgbt,rgbt,1);
+				rgb = rgbt;
+				cv::Mat deptht(depth.cols, depth.rows, depth.type());
+				cv::transpose(depth,deptht);
+				cv::flip(deptht,deptht,1);
+				depth = deptht;
+				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(0,0,0,0,0,-1.57079632679489661923132169163975144));
+				model.setImageSize(sizet);
+			}
+
+			if(smoothing_)
+			{
+				//UTimer t;
+				depth = rtabmap::util2d::fastBilateralFiltering(depth, bilateralFilteringSigmaS, bilateralFilteringSigmaR);
+				data.setDepthOrRightRaw(depth);
+				//LOGD("Bilateral filtering, time=%fs", t.ticks());
+			}
+
+			if(rawScanPublished_)
+			{
+				data = SensorData(LaserScan::backwardCompatibility(scan, cloud.total()/scanDownsampling, 0, scanLocalTransform), rgb, depth, model, this->getNextSeqID(), rgbStamp);
+			}
+			else
+			{
+				data = SensorData(rgb, depth, model, this->getNextSeqID(), rgbStamp);
+			}
 			data.setGroundTruth(odom);
+
+			if(lastKnownGPS_.stamp() > 0.0 && rgbStamp-lastKnownGPS_.stamp()<1.0)
+			{
+				data.setGPS(lastKnownGPS_);
+			}
+			else if(lastKnownGPS_.stamp()>0.0)
+			{
+				LOGD("GPS too old (current time=%f, gps time = %f)", rgbStamp, lastKnownGPS_.stamp());
+			}
 		}
 		else
 		{
@@ -670,15 +936,25 @@ void CameraTango::mainLoop()
 		{
 			rtabmap::Transform pose = data.groundTruth();
 			data.setGroundTruth(Transform());
+
 			// convert stamp to epoch
-			if(firstFrame_)
+			bool firstFrame = previousPose_.isNull();
+			if(firstFrame)
 			{
 				stampEpochOffset_ = UTimer::now()-data.stamp();
 			}
 			data.setStamp(stampEpochOffset_ + data.stamp());
-			LOGI("Publish odometry message (variance=%f)", firstFrame_?9999:0.0001);
-			this->post(new OdometryEvent(data, pose, firstFrame_?9999:0.0001, firstFrame_?9999:0.0001));
-			firstFrame_ = false;
+			OdometryInfo info;
+			if(!firstFrame)
+			{
+				info.interval = data.stamp()-previousStamp_;
+				info.transform = previousPose_.inverse() * pose;
+			}
+			info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.0001);
+			LOGI("Publish odometry message (variance=%f)", firstFrame?9999:0.0001);
+			this->post(new OdometryEvent(data, pose, info));
+			previousPose_ = pose;
+			previousStamp_ = data.stamp();
 		}
 		else if(!this->isKilled())
 		{

app/android/jni/CameraTango.h

@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define CAMERATANGO_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>
@@ -36,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UEvent.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <boost/thread/mutex.hpp>
+#include <tango_support_api.h>
 
 class TangoPoseData;
 
@@ -70,17 +72,26 @@ private:
 
 class CameraTango : public Camera, public UThread, public UEventsSender {
 public:
-	CameraTango(int decimation, bool autoExposure);
+	static const float bilateralFilteringSigmaS;
+	static const float bilateralFilteringSigmaR;
+
+public:
+	CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing);
 	virtual ~CameraTango();
 
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
 	void close(); // close Tango connection
+	void resetOrigin();
 	virtual bool isCalibrated() const;
 	virtual std::string getSerial() const;
 	const CameraModel & getCameraModel() const {return model_;}
 	rtabmap::Transform tangoPoseToTransform(const TangoPoseData * tangoPose) const;
+	void setColorCamera(bool enabled) {if(!this->isRunning()) colorCamera_ = enabled;}
 	void setDecimation(int value) {decimation_ = value;}
-	void setAutoExposure(bool enabled) {autoExposure_ = enabled;}
+	void setSmoothing(bool enabled) {smoothing_ = enabled;}
+	void setRawScanPublished(bool enabled) {rawScanPublished_ = enabled;}
+	void setScreenRotation(TangoSupportRotation colorCameraToDisplayRotation) {colorCameraToDisplayRotation_ = colorCameraToDisplayRotation;}
+	void setGPS(const GPS & gps);
 
 	void cloudReceived(const cv::Mat & cloud, double timestamp);
 	void rgbReceived(const cv::Mat & tangoImage, int type, double timestamp);
@@ -98,11 +109,14 @@ private:
 
 private:
 	void * tango_config_;
-	bool firstFrame_;
+	Transform previousPose_;
+	double previousStamp_;
 	UTimer cameraStartedTime_;
 	double stampEpochOffset_;
+	bool colorCamera_;
 	int decimation_;
-	bool autoExposure_;
+	bool rawScanPublished_;
+	bool smoothing_;
 	cv::Mat cloud_;
 	double cloudStamp_;
 	cv::Mat tangoColor_;
@@ -112,6 +126,12 @@ private:
 	USemaphore dataReady_;
 	CameraModel model_;
 	Transform deviceTColorCamera_;
+	TangoSupportRotation colorCameraToDisplayRotation_;
+	cv::Mat fisheyeRectifyMapX_;
+	cv::Mat fisheyeRectifyMapY_;
+	GPS lastKnownGPS_;
+	Transform originOffset_;
+	bool originUpdate_;
 };
 
 } /* namespace rtabmap */

app/android/jni/ProgressionStatus.h

@@ -0,0 +1,124 @@
+/*
+ * 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>
+#include <jni.h>
+
+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), jvm_(0), rtabmap_(0)
+	{
+		registerToEventsManager();
+	}
+
+	void setJavaObjects(JavaVM * jvm, jobject rtabmap)
+	{
+		jvm_ = jvm;
+		rtabmap_ = rtabmap;
+	}
+
+	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;
+			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();
+			}
+			if(!success)
+			{
+				UERROR("Failed to call rtabmap::updateProgressionCallback");
+			}
+		}
+		return false;
+	}
+
+private:
+	int count_;
+	int max_;
+	JavaVM *jvm_;
+	jobject rtabmap_;
+};
+
+}
+
+
+#endif /* APP_ANDROID_JNI_PROGRESSIONSTATUS_H_ */

app/android/jni/RTABMapApp.h

@@ -34,9 +34,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <tango_client_api.h>  // NOLINT
 #include <tango-gl/util.h>
 
-#include <scene.h>
-#include <CameraTango.h>
-#include <util.h>
+#include "scene.h"
+#include "CameraTango.h"
+#include "util.h"
+#include "ProgressionStatus.h"
 
 #include <rtabmap/core/RtabmapThread.h>
 #include <rtabmap/utilite/UEventsHandler.h>
@@ -53,7 +54,9 @@ class RTABMapApp : public UEventsHandler {
 
   void onCreate(JNIEnv* env, jobject caller_activity);
 
-  void openDatabase(const std::string & databasePath = "");
+  void setScreenRotation(int displayRotation, int cameraRotation);
+
+  int openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, const std::string & databaseSource=std::string());
 
   bool onTangoServiceConnected(JNIEnv* env, jobject iBinder);
 
@@ -111,56 +114,74 @@ class RTABMapApp : public UEventsHandler {
                     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 setDriftCorrection(bool enabled);
   void setGraphVisible(bool visible);
   void setGridVisible(bool visible);
-  void setAutoExposure(bool enabled);
+  void setRawScanSaved(bool enabled);
+  void setCameraColor(bool enabled);
   void setFullResolution(bool enabled);
+  void setSmoothing(bool enabled);
   void setAppendMode(bool enabled);
   void setDataRecorderMode(bool enabled);
   void setMaxCloudDepth(float value);
-  void setMeshDecimation(int value);
+  void setMinCloudDepth(float value);
+  void setCloudDensityLevel(int value);
   void setMeshAngleTolerance(float value);
   void setMeshTriangleSize(int value);
-  void setMinClusterSize(int value);
+  void setClusterRatio(float value);
   void setMaxGainRadius(float value);
+  void setRenderingTextureDecimation(int value);
+  void setBackgroundColor(float gray);
   int setMappingParameter(const std::string & key, const std::string & value);
+  void setGPS(const rtabmap::GPS & gps);
 
   void resetMapping();
   void save(const std::string & databasePath);
-  cv::Mat mergeTextures(pcl::TextureMesh & mesh, int textureSize) const;
+  void cancelProcessing();
   bool exportMesh(
-		  const std::string & filePath,
 		  float cloudVoxelSize,
+		  bool regenerateCloud,
 		  bool meshing,
 		  int textureSize,
+		  int textureCount,
 		  int normalK,
 		  bool optimized,
 		  float optimizedVoxelSize,
 		  int optimizedDepth,
-		  float optimizedDecimationFactor,
+		  int optimizedMaxPolygons,
 		  float optimizedColorRadius,
 		  bool optimizedCleanWhitePolygons,
-		  bool optimizedColorWhitePolygons,
+		  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);
 
  protected:
-  virtual void handleEvent(UEvent * event);
+  virtual bool handleEvent(UEvent * event);
 
  private:
   rtabmap::ParametersMap getRtabmapParameters();
   bool smoothMesh(int id, 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:
   rtabmap::CameraTango * camera_;
@@ -171,56 +192,78 @@ class RTABMapApp : public UEventsHandler {
   bool odomCloudShown_;
   bool graphOptimization_;
   bool nodesFiltering_;
-  bool driftCorrection_;
   bool localizationMode_;
   bool trajectoryMode_;
-  bool autoExposure_;
+  bool rawScanSaved_;
+  bool smoothing_;
+  bool cameraColor_;
   bool fullResolution_;
   bool appendMode_;
   float maxCloudDepth_;
-  int meshDecimation_;
+  float minCloudDepth_;
+  int cloudDensityLevel_;
   int meshTrianglePix_;
   float meshAngleToleranceDeg_;
-  int minClusterSize_;
+  float clusterRatio_;
   float maxGainRadius_;
+  int renderingTextureDecimation_;
+  float backgroundColor_;
 
   rtabmap::ParametersMap mappingParameters_;
 
   bool paused_;
   bool dataRecorderMode_;
   bool clearSceneOnNextRender_;
+  bool openingDatabase_;
+  bool exporting_;
+  bool postProcessing_;
   bool filterPolygonsOnNextRender_;
   int gainCompensationOnNextRender_;
   bool bilateralFilteringOnNextRender_;
+  bool takeScreenshotOnNextRender_;
   bool cameraJustInitialized_;
+  int meshDecimation_;
   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 exportedMesh_;
-  cv::Mat exportedTexture_;
+  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_;
 
-	std::list<rtabmap::Statistics> rtabmapEvents_;
+	std::list<rtabmap::RtabmapEvent*> rtabmapEvents_;
+	std::list<rtabmap::RtabmapEvent*> visLocalizationEvents_;
 	std::list<rtabmap::OdometryEvent> odomEvents_;
 	std::list<rtabmap::Transform> poseEvents_;
 
+	rtabmap::Transform mapToOdom_;
+
 	boost::mutex rtabmapMutex_;
+	boost::mutex visLocalizationMutex_;
 	boost::mutex meshesMutex_;
 	boost::mutex odomMutex_;
 	boost::mutex poseMutex_;
 	boost::mutex renderingMutex_;
 
+	USemaphore screenshotReady_;
+
 	std::map<int, Mesh> createdMeshes_;
 	std::map<int, rtabmap::Transform> rawPoses_;
 
 	std::pair<rtabmap::RtabmapEventInit::Status, std::string> status_;
+
+	rtabmap::ProgressionStatus progressionStatus_;
 };
 
 #endif  // TANGO_POINT_CLOUD_POINT_CLOUD_APP_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/jni_interface.cpp

@@ -56,19 +56,30 @@ Java_com_introlab_rtabmap_RTABMapLib_onCreate(
 }
 
 JNIEXPORT void JNICALL
-Java_com_introlab_rtabmap_RTABMapLib_openEmptyDatabase(
-    JNIEnv* env, jobject)
+Java_com_introlab_rtabmap_RTABMapLib_setScreenRotation(
+    JNIEnv* env, jobject, int displayRotation, int cameraRotation)
 {
-	return app.openDatabase();
+	return app.setScreenRotation(displayRotation, cameraRotation);
 }
 
-JNIEXPORT void JNICALL
+JNIEXPORT int JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_openDatabase(
-    JNIEnv* env, jobject, jstring databasePath)
+    JNIEnv* env, jobject, jstring databasePath, bool databaseInMemory, bool optimize)
 {
 	std::string databasePathC;
 	GetJStringContent(env,databasePath,databasePathC);
-	return app.openDatabase(databasePathC);
+	return app.openDatabase(databasePathC, databaseInMemory, optimize);
+}
+
+JNIEXPORT int JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_openDatabase2(
+    JNIEnv* env, jobject, jstring databaseSource, jstring databasePath, bool databaseInMemory, bool optimize)
+{
+	std::string databasePathC;
+	GetJStringContent(env,databasePath,databasePathC);
+	std::string databaseSourceC;
+	GetJStringContent(env,databaseSource,databaseSourceC);
+	return app.openDatabase(databasePathC, databaseInMemory, optimize, databaseSourceC);
 }
 
 JNIEXPORT bool JNICALL
@@ -127,6 +138,12 @@ Java_com_introlab_rtabmap_RTABMapLib_setPausedMapping(
 	return app.setPausedMapping(paused);
 }
 JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setOnlineBlending(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setOnlineBlending(enabled);
+}
+JNIEXPORT void JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_setMapCloudShown(
 		JNIEnv*, jobject, bool shown)
 {
@@ -151,12 +168,42 @@ Java_com_introlab_rtabmap_RTABMapLib_setPointSize(
 	return app.setPointSize(value);
 }
 JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setFOV(
+		JNIEnv*, jobject, float fov)
+{
+	return app.setFOV(fov);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setOrthoCropFactor(
+		JNIEnv*, jobject, float value)
+{
+	return app.setOrthoCropFactor(value);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setGridRotation(
+		JNIEnv*, jobject, float value)
+{
+	return app.setGridRotation(value);
+}
+JNIEXPORT void JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_setLighting(
 		JNIEnv*, jobject, bool enabled)
 {
 	return app.setLighting(enabled);
 }
 JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setBackfaceCulling(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setBackfaceCulling(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setWireframe(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setWireframe(enabled);
+}
+JNIEXPORT void JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_setLocalizationMode(
 		JNIEnv*, jobject, bool enabled)
 {
@@ -181,12 +228,6 @@ Java_com_introlab_rtabmap_RTABMapLib_setNodesFiltering(
 	return app.setNodesFiltering(enabled);
 }
 JNIEXPORT void JNICALL
-Java_com_introlab_rtabmap_RTABMapLib_setDriftCorrection(
-		JNIEnv*, jobject, bool enabled)
-{
-	return app.setDriftCorrection(enabled);
-}
-JNIEXPORT void JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_setGraphVisible(
 		JNIEnv*, jobject, bool visible)
 {
@@ -199,10 +240,10 @@ Java_com_introlab_rtabmap_RTABMapLib_setGridVisible(
 	return app.setGridVisible(visible);
 }
 JNIEXPORT void JNICALL
-Java_com_introlab_rtabmap_RTABMapLib_setAutoExposure(
+Java_com_introlab_rtabmap_RTABMapLib_setRawScanSaved(
 		JNIEnv*, jobject, bool enabled)
 {
-	return app.setAutoExposure(enabled);
+	return app.setRawScanSaved(enabled);
 }
 JNIEXPORT void JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_setFullResolution(
@@ -211,6 +252,18 @@ Java_com_introlab_rtabmap_RTABMapLib_setFullResolution(
 	return app.setFullResolution(enabled);
 }
 JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setSmoothing(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setSmoothing(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setCameraColor(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setCameraColor(enabled);
+}
+JNIEXPORT void JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_setAppendMode(
 		JNIEnv*, jobject, bool enabled)
 {
@@ -229,10 +282,16 @@ Java_com_introlab_rtabmap_RTABMapLib_setMaxCloudDepth(
 	return app.setMaxCloudDepth(value);
 }
 JNIEXPORT void JNICALL
-Java_com_introlab_rtabmap_RTABMapLib_setMeshDecimation(
+Java_com_introlab_rtabmap_RTABMapLib_setMinCloudDepth(
+		JNIEnv*, jobject, float value)
+{
+	return app.setMinCloudDepth(value);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setCloudDensityLevel(
 		JNIEnv*, jobject, int value)
 {
-	return app.setMeshDecimation(value);
+	return app.setCloudDensityLevel(value);
 }
 JNIEXPORT void JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_setMeshAngleTolerance(
@@ -247,10 +306,10 @@ Java_com_introlab_rtabmap_RTABMapLib_setMeshTriangleSize(
 	return app.setMeshTriangleSize(value);
 }
 JNIEXPORT void JNICALL
-Java_com_introlab_rtabmap_RTABMapLib_setMinClusterSize(
-		JNIEnv*, jobject, int value)
+Java_com_introlab_rtabmap_RTABMapLib_setClusterRatio(
+		JNIEnv*, jobject, float value)
 {
-	return app.setMinClusterSize(value);
+	return app.setClusterRatio(value);
 }
 JNIEXPORT void JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_setMaxGainRadius(
@@ -258,6 +317,18 @@ Java_com_introlab_rtabmap_RTABMapLib_setMaxGainRadius(
 {
 	return app.setMaxGainRadius(value);
 }
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setRenderingTextureDecimation(
+		JNIEnv*, jobject, int value)
+{
+	return app.setRenderingTextureDecimation(value);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setBackgroundColor(
+		JNIEnv*, jobject, float value)
+{
+	return app.setBackgroundColor(value);
+}
 JNIEXPORT jint JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_setMappingParameter(
     JNIEnv* env, jobject, jstring key, jstring value)
@@ -268,6 +339,24 @@ Java_com_introlab_rtabmap_RTABMapLib_setMappingParameter(
 	return app.setMappingParameter(keyC, valueC);
 }
 
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setGPS(
+		JNIEnv*, jobject,
+		double stamp,
+		double longitude,
+		double latitude,
+		double altitude,
+		double accuracy,
+		double bearing)
+{
+	return app.setGPS(rtabmap::GPS(stamp,
+			longitude,
+			latitude,
+			altitude,
+			accuracy,
+			bearing));
+}
+
 JNIEXPORT void JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_resetMapping(
 		JNIEnv*, jobject)
@@ -284,38 +373,49 @@ Java_com_introlab_rtabmap_RTABMapLib_save(
 	return app.save(databasePathC);
 }
 
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_cancelProcessing(
+		JNIEnv* env, jobject)
+{
+	return app.cancelProcessing();
+}
+
 JNIEXPORT bool JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
 		JNIEnv* env, jobject,
-		jstring filePath,
 		float cloudVoxelSize,
+		bool regenerateCloud,
 		bool meshing,
 		int textureSize,
+		int textureCount,
 		int normalK,
 		bool optimized,
 		float optimizedVoxelSize,
 		int optimizedDepth,
-		float optimizedDecimationFactor,
+		int optimizedMaxPolygons,
 		float optimizedColorRadius,
 		bool optimizedCleanWhitePolygons,
-		bool optimizedColorWhitePolygons,
+		int optimizedMinClusterSize,
+		float optimizedMaxTextureDistance,
+		int optimizedMinTextureClusterSize,
 		bool blockRendering)
 {
-	std::string filePathC;
-	GetJStringContent(env,filePath,filePathC);
 	return app.exportMesh(
-			filePathC,
 			cloudVoxelSize,
+			regenerateCloud,
 			meshing,
 			textureSize,
+			textureCount,
 			normalK,
 			optimized,
 			optimizedVoxelSize,
 			optimizedDepth,
-			optimizedDecimationFactor,
+			optimizedMaxPolygons,
 			optimizedColorRadius,
 			optimizedCleanWhitePolygons,
-			optimizedColorWhitePolygons,
+			optimizedMinClusterSize,
+			optimizedMaxTextureDistance,
+			optimizedMinTextureClusterSize,
 			blockRendering);
 }
 
@@ -326,6 +426,18 @@ Java_com_introlab_rtabmap_RTABMapLib_postExportation(
 	return app.postExportation(visualize);
 }
 
+JNIEXPORT bool JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_writeExportedMesh(
+		JNIEnv* env, jobject, jstring directory, jstring name)
+{
+	std::string directoryC;
+	GetJStringContent(env,directory,directoryC);
+	std::string nameC;
+	GetJStringContent(env,name,nameC);
+	return app.writeExportedMesh(directoryC, nameC);
+}
+
+
 JNIEXPORT int JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_postProcessing(
 		JNIEnv* env, jobject, int approach)

app/android/jni/point_cloud_drawable.h

@@ -40,29 +40,41 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 // 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(
-		  GLuint cloudShaderProgram,
-		  GLuint textureShaderProgram,
   		  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
 		  const pcl::IndicesPtr & indices,
-		  float gain);
+		  float gainR = 1.0f,
+		  float gainG = 1.0f,
+		  float gainB = 1.0f);
   PointCloudDrawable(
-  		  GLuint cloudShaderProgram,
-  		  GLuint textureShaderProgram,
     	  const Mesh & mesh,
-		  const cv::Mat & texture);
+		  bool createWireframe = false);
   virtual ~PointCloudDrawable();
 
-  void updatePolygons(const std::vector<pcl::Vertices> & polygons);
-  void updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const pcl::IndicesPtr & indices, float gain);
-  void updateMesh(const Mesh & mesh, const cv::Mat & texture);
+  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 Mesh & mesh, bool createWireframe = false);
   void setPose(const rtabmap::Transform & pose);
   void setVisible(bool visible) {visible_=visible;}
-  rtabmap::Transform getPose() const {return glmToTransform(pose_);}
+  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 polygons_.size()!=0;}
   bool hasTexture() const {return textures_ != 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.
   //
@@ -70,28 +82,61 @@ class PointCloudDrawable {
   // @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,
+  void Render(
+		  const glm::mat4 & projectionMatrix,
 		  const glm::mat4 & viewMatrix,
 		  bool meshRendering = true,
 		  float pointSize = 3.0f,
 		  bool textureRendering = false,
-		  bool lighting = true);
+		  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_buffers_;
   GLuint textures_;
   std::vector<GLuint> polygons_;
+  std::vector<GLuint> polygonsLowRes_;
+  std::vector<GLuint> polygonLines_;
+  std::vector<GLuint> polygonLinesLowRes_;
+  std::vector<GLuint> verticesLowRes_;
+  std::vector<GLuint> verticesLowLowRes_;
   int nPoints_;
-  glm::mat4 pose_;
+  rtabmap::Transform pose_;
+  glm::mat4 poseGl_;
   bool visible_;
   bool hasNormals_;
   std::vector<unsigned int> organizedToDenseIndices_;
+  float minHeight_; // odom frame
 
-  GLuint cloud_shader_program_;
-  GLuint texture_shader_program_;
+  float gainR_;
+  float gainG_;
+  float gainB_;
 
-  float gain_;
+  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

@@ -16,10 +16,18 @@
 
 #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"
@@ -28,7 +36,7 @@
 // add an offset in z to our origin. We'll set this offset to 1.3 meters based
 // on the average height of a human standing with a Tango device. This allows us
 // to place a grid roughly on the ground for most users.
-const glm::vec3 kHeightOffset = glm::vec3(0.0f, 1.3f, 0.0f);
+const glm::vec3 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);
@@ -39,92 +47,6 @@ 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 kPointCloudVertexShader =
-    "precision mediump float;\n"
-    "precision mediump int;\n"
-    "attribute vec3 aVertex;\n"
-	"attribute vec3 aNormal;\n"
-    "attribute vec3 aColor;\n"
-
-    "uniform mat4 uMVP;\n"
-	"uniform mat3 uN;\n"
-	"uniform vec3 uAmbientColor;\n"
-	"uniform vec3 uLightingDirection;\n"
-	"uniform bool uUseLighting;\n"
-
-    "uniform float uPointSize;\n"
-    "varying vec3 vColor;\n"
-    "varying float vLightWeighting;\n"
-
-    "void main() {\n"
-    "  gl_Position = uMVP*vec4(aVertex.x, aVertex.y, aVertex.z, 1.0);\n"
-    "  gl_PointSize = uPointSize;\n"
-	"  if (!uUseLighting) {\n"
-	"    vLightWeighting = vec3(1.0, 1.0, 1.0);\n"
-	"  } else {\n"
-	"    vec3 transformedNormal = uN * aNormal;\n"
-	"    vLightWeighting = max(dot(transformedNormal, uLightingDirection), 0.0);\n"
-	"    if(vLightWeighting<0.1) vLightWeighting=0.1;\n"
-	"  }\n"
-    "  vColor = aColor;\n"
-    "}\n";
-const std::string kPointCloudFragmentShader =
-    "precision mediump float;\n"
-    "precision mediump int;\n"
-	"uniform float uGain;\n"
-    "varying vec3 vColor;\n"
-	"varying float vLightWeighting;\n"
-    "void main() {\n"
-    "  vec4 textureColor = vec4(vColor.z*uGain, vColor.y*uGain, vColor.x*uGain, 1.0);\n"
-	"  gl_FragColor = vec4(textureColor.rgb * uGain * vLightWeighting, textureColor.a);\n"
-    "}\n";
-
-const std::string kTextureMeshVertexShader =
-    "precision mediump float;\n"
-    "precision mediump int;\n"
-    "attribute vec3 aVertex;\n"
-	"attribute vec3 aNormal;\n"
-    "attribute vec2 aTexCoord;\n"
-
-    "uniform mat4 uMVP;\n"
-    "uniform mat3 uN;\n"
-	"uniform vec3 uAmbientColor;\n"
-    "uniform vec3 uLightingDirection;\n"
-    "uniform bool uUseLighting;\n"
-
-    "varying vec2 vTexCoord;\n"
-    "varying float vLightWeighting;\n"
-
-    "void main() {\n"
-    "  gl_Position = uMVP*vec4(aVertex.x, aVertex.y, aVertex.z, 1.0);\n"
-
-	"  if(aTexCoord.x < 0.0) {\n"
-	"    vTexCoord.x = 1.0;\n"
-	"    vTexCoord.y = 1.0;\n" // bottom right corner
-	"  } else {\n"
-    "    vTexCoord = aTexCoord;\n"
-    "  }\n"
-
-	"  if (!uUseLighting) {\n"
-    "    vLightWeighting = vec3(1.0, 1.0, 1.0);\n"
-    "  } else {\n"
-    "    vec3 transformedNormal = uN * aNormal;\n"
-    "    vLightWeighting = max(dot(transformedNormal, uLightingDirection), 0.0);\n"
-    "    if(vLightWeighting<0.1) vLightWeighting=0.1;\n"
-    "  }\n"
-    "}\n";
-const std::string kTextureMeshFragmentShader =
-    "precision mediump float;\n"
-    "precision mediump int;\n"
-	"uniform sampler2D uTexture;\n"
-	"uniform float uGain;\n"
-    "varying vec2 vTexCoord;\n"
-	"varying float vLightWeighting;\n"
-    "void main() {\n"
-    "  vec4 textureColor = texture2D(uTexture, vTexCoord);\n"
-	"  gl_FragColor = vec4(textureColor.rgb * uGain * vLightWeighting, textureColor.a);\n"
-    "}\n";
-
 const std::string kGraphVertexShader =
     "precision mediump float;\n"
     "precision mediump int;\n"
@@ -151,21 +73,32 @@ Scene::Scene() :
 		axis_(0),
 		frustum_(0),
 		grid_(0),
+		box_(0),
 		trace_(0),
 		graph_(0),
 		graphVisible_(true),
 		gridVisible_(true),
 		traceVisible_(true),
+		color_camera_to_display_rotation_(ROTATION_0),
 		currentPose_(0),
-		cloud_shader_program_(0),
-		texture_mesh_shader_program_(0),
 		graph_shader_program_(0),
+		blending_(true),
 		mapRendering_(true),
 		meshRendering_(true),
 		meshRenderingTexture_(true),
 		pointSize_(5.0f),
-		frustumCulling_(true),
-		lighting_(true)
+		boundingBoxRendering_(false),
+		lighting_(false),
+		backfaceCulling_(true),
+		wireFrame_(false),
+		r_(0.0f),
+		g_(0.0f),
+		b_(0.0f),
+		fboId_(0),
+		depthTexture_(0),
+		screenWidth_(0),
+		screenHeight_(0),
+		doubleTapOn_(false)
 {
 	gesture_camera_ = new tango_gl::GestureCamera();
 	gesture_camera_->SetCameraType(
@@ -188,35 +121,30 @@ void Scene::InitGLContent()
 	UASSERT(axis_ == 0);
 
 
-  axis_ = new tango_gl::Axis();
-  frustum_ = new tango_gl::Frustum();
-  trace_ = new tango_gl::Trace();
-  grid_ = new tango_gl::Grid();
-  currentPose_ = new rtabmap::Transform();
+	axis_ = new tango_gl::Axis();
+	frustum_ = new tango_gl::Frustum();
+	trace_ = new tango_gl::Trace();
+	grid_ = new tango_gl::Grid();
+	box_ = new BoundingBoxDrawable();
+	currentPose_ = new rtabmap::Transform();
 
 
-  axis_->SetScale(glm::vec3(0.5f,0.5f,0.5f));
-  frustum_->SetColor(kTraceColor);
-  trace_->ClearVertexArray();
-  trace_->SetColor(kTraceColor);
-  grid_->SetColor(kGridColor);
-  grid_->SetPosition(-kHeightOffset);
+	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);
 
-  if(cloud_shader_program_ == 0)
-  {
-	  cloud_shader_program_ = tango_gl::util::CreateProgram(kPointCloudVertexShader.c_str(), kPointCloudFragmentShader.c_str());
-	  UASSERT(cloud_shader_program_ != 0);
-  }
-  if(texture_mesh_shader_program_ == 0)
-  {
-	  texture_mesh_shader_program_ = tango_gl::util::CreateProgram(kTextureMeshVertexShader.c_str(), kTextureMeshFragmentShader.c_str());
-	  UASSERT(texture_mesh_shader_program_ != 0);
-  }
-  if(graph_shader_program_ == 0)
-  {
-	  graph_shader_program_ = tango_gl::util::CreateProgram(kGraphVertexShader.c_str(), kGraphFragmentShader.c_str());
-	  UASSERT(graph_shader_program_ != 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!
@@ -225,26 +153,29 @@ void Scene::DeleteResources() {
 	LOGI("Scene::DeleteResources()");
 	if(axis_)
 	{
-	  delete axis_;
-	  axis_ = 0;
-	  delete frustum_;
-	  delete trace_;
-	  delete grid_;
-	  delete currentPose_;
+		delete axis_;
+		axis_ = 0;
+		delete frustum_;
+		delete trace_;
+		delete grid_;
+		delete currentPose_;
+		delete box_;
 	}
 
-	if (cloud_shader_program_) {
-		glDeleteShader(cloud_shader_program_);
-		cloud_shader_program_ = 0;
-	  }
-	if (texture_mesh_shader_program_) {
-		glDeleteShader(texture_mesh_shader_program_);
-		texture_mesh_shader_program_ = 0;
-	  }
+	PointCloudDrawable::releaseShaderPrograms();
+
 	if (graph_shader_program_) {
 		glDeleteShader(graph_shader_program_);
 		graph_shader_program_ = 0;
-	  }
+	}
+
+	if(fboId_>0)
+	{
+		glDeleteFramebuffers(1, &fboId_);
+		fboId_ = 0;
+		glDeleteTextures(1, &depthTexture_);
+		depthTexture_ = 0;
+	}
 
 	clear();
 }
@@ -267,143 +198,360 @@ void Scene::clear()
 		graph_ = 0;
 	}
 	pointClouds_.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");
+	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 || fboId_ == 0)
+	{
+		if(fboId_>0)
+		{
+			glDeleteFramebuffers(1, &fboId_);
+			fboId_ = 0;
+			glDeleteTextures(1, &depthTexture_);
+			depthTexture_ = 0;
+		}
+
+		// 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_DEPTH_COMPONENT, w, h, 0, GL_DEPTH_COMPONENT, GL_UNSIGNED_INT, NULL);
+		glBindTexture(GL_TEXTURE_2D, 0);
+
+		// regenerate fbo texture
+		// create a framebuffer object, you need to delete them when program exits.
+		glGenFramebuffers(1, &fboId_);
+		glBindFramebuffer(GL_FRAMEBUFFER, fboId_);
+
+		// Set the texture to be at the depth attachment point of the FBO
+		glFramebufferTexture2D(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_TEXTURE_2D, depthTexture_, 0);
+
+		GLuint status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
+		if ( status != GL_FRAMEBUFFER_COMPLETE)
+		{
+			LOGE("Frame buffer cannot be generated! Status: %in", status);
+		}
+		glBindFramebuffer(GL_FRAMEBUFFER,0);
+	}
+	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 f Viewing frustum.
+ * @param b An axis aligned bounding box.
+ * @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; }
   }
-  UASSERT(gesture_camera_ != 0);
-  gesture_camera_->SetAspectRatio(static_cast<float>(w) /
-                                  static_cast<float>(h));
-  glViewport(0, 0, w, h);
+  return true;
 }
 
 //Should only be called in OpenGL thread!
 int Scene::Render() {
 	UASSERT(gesture_camera_ != 0);
 
-  glEnable(GL_DEPTH_TEST);
-  glEnable(GL_CULL_FACE);
-
-  glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
-  glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
-
-  if(!currentPose_->isNull())
-  {
-	  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());
-
-	  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);
-	  }
-	  else
-	  {
-		// In third person or top down mode, we follow the camera movement.
-		gesture_camera_->SetAnchorPosition(position, rotation);
-
-		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(gesture_camera_->GetProjectionMatrix(),
-						 gesture_camera_->GetViewMatrix());
-
-		axis_->SetPosition(position);
-		axis_->SetRotation(rotation);
-		axis_->Render(gesture_camera_->GetProjectionMatrix(),
-					  gesture_camera_->GetViewMatrix());
-	  }
-
-	  trace_->UpdateVertexArray(position);
-	  if(traceVisible_)
-	  {
-		  trace_->Render(gesture_camera_->GetProjectionMatrix(),
-						 gesture_camera_->GetViewMatrix());
-	  }
-  }
-
-  	if(gridVisible_)
-  	{
-  		grid_->Render(gesture_camera_->GetProjectionMatrix(),
-  					  gesture_camera_->GetViewMatrix());
-  	}
-
-	int cloudDrawn=0;
-	if(mapRendering_ && frustumCulling_)
+	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())
 	{
-		//Use camera frustum to cull nodes that don't need to be drawn
-		pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
-		std::vector<int> ids(pointClouds_.size());
+		rotateM = glm::rotate<float>(float(color_camera_to_display_rotation_)*-1.57079632679489661923132169163975144, glm::vec3(0.0f, 0.0f, 1.0f));
 
-		cloud->resize(pointClouds_.size());
-		ids.resize(pointClouds_.size());
-		int oi=0;
-		for(std::map<int, PointCloudDrawable*>::const_iterator iter=pointClouds_.begin(); iter!=pointClouds_.end(); ++iter)
+		if (gesture_camera_->GetCameraType() == tango_gl::GestureCamera::kFirstPerson)
 		{
-			if(!iter->second->getPose().isNull() && iter->second->isVisible())
-			{
-				(*cloud)[oi] = pcl::PointXYZ(iter->second->getPose().x(), iter->second->getPose().y(), iter->second->getPose().z());
-				ids[oi++] = iter->first;
-			}
+			// In first person mode, we directly control camera's motion.
+			gesture_camera_->SetPosition(position);
+			gesture_camera_->SetRotation(rotation*glm::quat(rotateM));
 		}
-		cloud->resize(oi);
-		ids.resize(oi);
-
-		if(oi)
+		else
 		{
-			float fov = 45.0f;
-			rtabmap::Transform openglCamera = GetOpenGLCameraPose(&fov)*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);
-			pcl::IndicesPtr indices = rtabmap::util3d::frustumFiltering(
-					cloud,
-					pcl::IndicesPtr(new std::vector<int>),
-					openglCamera,
-					fov*2.0f,
-					fov*2.0f,
-					0.1f,
-					100.0f);
+			// In third person or top down mode, we follow the camera movement.
+			gesture_camera_->SetAnchorPosition(position, rotation*glm::quat(rotateM));
+		}
+	}
 
-			//LOGI("Frustum poses filtered = %d (showing %d/%d)",
-			//			(int)(pointClouds_.size()-indices->size()),
-			//			(int)indices->size(),
-			//			(int)pointClouds_.size());
+	glm::mat4 projectionMatrix = gesture_camera_->GetProjectionMatrix();
+	glm::mat4 viewMatrix = gesture_camera_->GetViewMatrix();
 
-			for(unsigned int i=0; i<indices->size(); ++i)
+	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()))
 			{
-				++cloudDrawn;
-				pointClouds_.find(ids[indices->at(i)])->second->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_, meshRenderingTexture_, lighting_);
+				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
 	{
-		for(std::map<int, PointCloudDrawable*>::const_iterator iter=pointClouds_.begin(); iter!=pointClouds_.end(); ++iter)
+		glDisable(GL_CULL_FACE);
+	}
+
+	UTimer timer;
+
+	bool onlineBlending = blending_ && gesture_camera_->GetCameraType()!=tango_gl::GestureCamera::kTopOrtho && mapRendering_ && meshRendering_ && cloudsToDraw.size()>1;
+	if(onlineBlending && fboId_)
+	{
+		// set the rendering destination to FBO
+		glBindFramebuffer(GL_FRAMEBUFFER, fboId_);
+
+		glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE);
+		glClearColor(1, 1, 1, 1);
+		glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+
+		// Draw scene
+		for(std::vector<PointCloudDrawable*>::const_iterator iter=cloudsToDraw.begin(); iter!=cloudsToDraw.end(); ++iter)
 		{
-			if((mapRendering_ || iter->first < 0) && iter->second->isVisible())
-			{
-				++cloudDrawn;
-				iter->second->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix(), meshRendering_, pointSize_, meshRenderingTexture_, lighting_);
-			}
+			// set large distance to cam to use low res polygons for fast processing
+			(*iter)->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, false, false, 999.0f);
+		}
+
+		// back to normal window-system-provided framebuffer
+		glBindFramebuffer(GL_FRAMEBUFFER, 0); // unbind
+		glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
+	}
+
+	if(doubleTapOn_ && gesture_camera_->GetCameraType() != tango_gl::GestureCamera::kFirstPerson)
+	{
+		glClearColor(0, 0, 0, 0);
+		glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+
+		for(std::vector<PointCloudDrawable*>::const_iterator iter=cloudsToDraw.begin(); iter!=cloudsToDraw.end(); ++iter)
+		{
+			// set large distance to cam to use low res polygons for fast processing
+			(*iter)->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_*10.0f, false, false, 999.0f, 0, 0, 0, 0, 0, true);
+		}
+
+		GLubyte zValue[4];
+		glReadPixels(doubleTapPos_.x*screenWidth_, screenHeight_-doubleTapPos_.y*screenHeight_, 1, 1, GL_RGBA, GL_UNSIGNED_BYTE, zValue);
+		float fromFixed = 256.0f/255.0f;
+		float zValueF = float(zValue[0]/255.0f)*fromFixed + float(zValue[1]/255.0f)*fromFixed/255.0f + float(zValue[2]/255.0f)*fromFixed/65025.0f + float(zValue[3]/255.0f)*fromFixed/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(!currentPose_->isNull())
+	{
+		if (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);
+
+			axis_->SetPosition(position);
+			axis_->SetRotation(rotation);
+			axis_->Render(projectionMatrix, viewMatrix);
+		}
+
+		trace_->UpdateVertexArray(position);
+		if(traceVisible_)
+		{
+			trace_->Render(projectionMatrix, viewMatrix);
+		}
+
+		if(gridVisible_)
+		{
+			grid_->Render(projectionMatrix, viewMatrix);
 		}
 	}
 
 	if(graphVisible_ && graph_)
 	{
-		graph_->Render(gesture_camera_->GetProjectionMatrix(), gesture_camera_->GetViewMatrix());
+		graph_->Render(projectionMatrix, viewMatrix);
 	}
 
-	return cloudDrawn;
+
+	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)
+	{
+		glDisable (GL_BLEND);
+		glDepthMask(GL_TRUE);
+	}
+
+	return (int)cloudsToDraw.size();
 }
 
 void Scene::SetCameraType(tango_gl::GestureCamera::CameraType camera_type) {
@@ -417,6 +565,24 @@ void Scene::SetCameraPose(const rtabmap::Transform & pose)
 	*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)
@@ -424,14 +590,27 @@ rtabmap::Transform Scene::GetOpenGLCameraPose(float * fov) const
 		*fov = gesture_camera_->getFOV();
 	}
 	return 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);
-  gesture_camera_->OnTouchEvent(touch_count, event, x0, y0, x1, y1);
+	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(
@@ -446,8 +625,11 @@ void Scene::updateGraph(
 	}
 
 	//create
-	UASSERT(graph_shader_program_ != 0);
-	graph_ = new GraphDrawable(graph_shader_program_, poses, links);
+	if(graphVisible_)
+	{
+		UASSERT(graph_shader_program_ != 0);
+		graph_ = new GraphDrawable(graph_shader_program_, poses, links);
+	}
 }
 
 void Scene::setGraphVisible(bool visible)
@@ -481,13 +663,7 @@ void Scene::addCloud(
 	}
 
 	//create
-	UASSERT(cloud_shader_program_ != 0 && texture_mesh_shader_program_!=0);
-	PointCloudDrawable * drawable = new PointCloudDrawable(
-			cloud_shader_program_,
-			texture_mesh_shader_program_,
-			cloud,
-			indices,
-			1.0f);
+	PointCloudDrawable * drawable = new PointCloudDrawable(cloud, indices);
 	drawable->setPose(pose);
 	pointClouds_.insert(std::make_pair(id, drawable));
 }
@@ -495,8 +671,8 @@ void Scene::addCloud(
 void Scene::addMesh(
 		int id,
 		const Mesh & mesh,
-		const cv::Mat & texture,
-		const rtabmap::Transform & pose)
+		const rtabmap::Transform & pose,
+		bool createWireframe)
 {
 	LOGI("add mesh %d", id);
 	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
@@ -507,14 +683,61 @@ void Scene::addMesh(
 	}
 
 	//create
-	UASSERT(cloud_shader_program_ != 0 && texture_mesh_shader_program_!=0);
-	PointCloudDrawable * drawable = new PointCloudDrawable(
-			cloud_shader_program_,
-			texture_mesh_shader_program_,
-			mesh,
-			texture);
+	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());
+	}
 }
 
 
@@ -566,11 +789,28 @@ void Scene::updateCloudPolygons(int id, const std::vector<pcl::Vertices> & polyg
 	}
 }
 
-void Scene::updateMesh(int id, const Mesh & mesh, const cv::Mat & texture)
+void Scene::updateMesh(int id, const Mesh & mesh)
 {
 	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
 	if(iter != pointClouds_.end())
 	{
-		iter->second->updateMesh(mesh, texture);
+		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

@@ -37,6 +37,7 @@
 
 #include <point_cloud_drawable.h>
 #include <graph_drawable.h>
+#include <bounding_box_drawable.h>
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -56,6 +57,10 @@ class Scene {
 
   // Setup GL view port.
   void SetupViewPort(int w, int h);
+  int getViewPortWidth() const {return screenWidth_;}
+  int getViewPortHeight() const {return screenHeight_;}
+
+  void setScreenRotation(TangoSupportRotation colorCameraToDisplayRotation) {color_camera_to_display_rotation_ = colorCameraToDisplayRotation;}
 
   void clear(); // removed all point clouds
 
@@ -75,7 +80,7 @@ class Scene {
 
   void SetCameraPose(const rtabmap::Transform & pose);
   rtabmap::Transform GetCameraPose() const {return currentPose_!=0?*currentPose_:rtabmap::Transform();}
-  rtabmap::Transform GetOpenGLCameraPose(float * fov) const;
+  rtabmap::Transform GetOpenGLCameraPose(float * fov = 0) const;
 
   // Touch event passed from android activity. This function only support two
   // touches.
@@ -105,8 +110,8 @@ class Scene {
   void addMesh(
   		int id,
   		const Mesh & mesh,
-		const cv::Mat & texture,
-  		const rtabmap::Transform & pose);
+  		const rtabmap::Transform & pose,
+		bool createWireframe = false);
 
   void setCloudPose(int id, const rtabmap::Transform & pose);
   void setCloudVisible(int id, bool visible);
@@ -115,19 +120,29 @@ class Scene {
   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 Mesh & mesh, const cv::Mat & texture);
+  void updateMesh(int id, const 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 setFrustumCulling(bool enabled) {frustumCulling_ = enabled;}
+  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 isFrustumCulling() const {return frustumCulling_;}
   bool isLighting() const {return lighting_;}
+  bool isBackfaceCulling() const {return backfaceCulling_;}
 
  private:
   // Camera object that allows user to use touch input to interact with.
@@ -142,6 +157,9 @@ class Scene {
   // Ground grid.
   tango_gl::Grid* grid_;
 
+  // Bounding box
+  BoundingBoxDrawable * box_;
+
   // Trace of pose data.
   tango_gl::Trace* trace_;
   GraphDrawable * graph_;
@@ -149,21 +167,33 @@ class Scene {
   bool gridVisible_;
   bool traceVisible_;
 
+  TangoSupportRotation color_camera_to_display_rotation_;
+
   std::map<int, PointCloudDrawable*> pointClouds_;
 
   rtabmap::Transform * currentPose_;
 
   // Shader to display point cloud.
-  GLuint cloud_shader_program_;
-  GLuint texture_mesh_shader_program_;
   GLuint graph_shader_program_;
 
+  bool blending_;
   bool mapRendering_;
   bool meshRendering_;
   bool meshRenderingTexture_;
   float pointSize_;
-  bool frustumCulling_;
+  bool boundingBoxRendering_;
   bool lighting_;
+  bool backfaceCulling_;
+  bool wireFrame_;
+  float r_;
+  float g_;
+  float b_;
+  GLuint fboId_;
+  GLuint depthTexture_;
+  GLsizei screenWidth_;
+  GLsizei screenHeight_;
+  bool doubleTapOn_;
+  cv::Point2f doubleTapPos_;
 };
 
 #endif  // TANGO_POINT_CLOUD_SCENE_H_

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

@@ -22,8 +22,13 @@ namespace tango_gl {
 Camera::Camera() {
   field_of_view_ = 45.0f * DEGREE_2_RADIANS;
   aspect_ratio_ = 4.0f / 3.0f;
-  near_clip_plane_ = 0.1f;
-  far_clip_plane_ = 100.0f;
+  width_ = 800.0f;
+  height_ = 600.0f;
+  near_clip_plane_ = 0.2f;
+  far_clip_plane_ = 1000.0f;
+  ortho_ = false;
+  orthoScale_ = 2.0f;
+  orthoCropFactor_ = -1.0f;
 }
 
 glm::mat4 Camera::GetViewMatrix() {
@@ -31,18 +36,29 @@ glm::mat4 Camera::GetViewMatrix() {
 }
 
 glm::mat4 Camera::GetProjectionMatrix() {
-  return glm::perspective(field_of_view_, aspect_ratio_,
-                          near_clip_plane_, far_clip_plane_);
+	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::SetAspectRatio(float aspect_ratio) {
-  aspect_ratio_ = aspect_ratio;
+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() {
 }
 

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

@@ -62,68 +62,83 @@ GestureCamera::GestureCamera() :
 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) {
-    return;
-  }
+		float y0, float x1, float y1) {
 
-  if (touch_count == 1) {
-    switch (event) {
-      case kTouch0Down: {
-        cam_start_angle_ = cam_cur_angle_;
+	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: {
-        float rotation_x = (touch0_start_position_.y - y0) * kRotationSpeed;
-        float rotation_y = (touch0_start_position_.x - x0) * kRotationSpeed;
+			touch0_start_position_.x = x0;
+			touch0_start_position_.y = y0;
+			break;
+		}
+		case kTouchMove: {
+			glm::vec2 offset;
 
-        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;
+			float rotation_x = (touch0_start_position_.y - y0) * kRotationSpeed;
+			float rotation_y = (touch0_start_position_.x - x0) * kRotationSpeed;
 
-        // 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_!=kTopOrtho)
+				cam_cur_angle_.x = cam_start_angle_.x + rotation_x;
+			cam_cur_angle_.y = cam_start_angle_.y + rotation_y;
 
-        cam_cur_dist_ = tango_gl::util::Clamp(cam_start_dist_ + dist * kZoomSpeed,
-                                  kCamViewMinDist, kCamViewMaxDist);
+			StartCameraToCurrentTransform();
 
-        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;
+			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();
 
-        StartCameraToCurrentTransform();
+			// 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);
 
-        anchor_offset_ += glm::rotate(cam_parent_transform_->GetRotation(), glm::vec3(-offset.x, offset.y, 0));
+			if(camera_type_ == kFirstPerson)
+			{
+				this->SetFieldOfView(tango_gl::util::Clamp(cam_start_fov_ + dist * kZoomSpeed*10.0f, 45, 90));
+			}
+			else
+			{
+				cam_cur_dist_ = tango_gl::util::Clamp(cam_start_dist_ + dist * kZoomSpeed,
+								kCamViewMinDist, kCamViewMaxDist);
 
-        break;
-      }
-      default: { break; }
-    }
-  }
+				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,
@@ -164,6 +179,7 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
   camera_type_ = camera_index;
   switch (camera_index) {
     case kFirstPerson:
+    	SetOrthoMode(false);
       SetFieldOfView(kLowFov);
       SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
       SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
@@ -177,20 +193,22 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
       break;
     case kThirdPerson:
     case kThirdPersonFollow:
-      SetFieldOfView(kHighFov);
+    	SetOrthoMode(false);
+    	SetFieldOfView(kHighFov);
       SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
       SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
       cam_cur_dist_ = kThirdPersonFollow?kThirdPersonFollowCameraDist:kThirdPersonCameraDist;
       anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
-      cam_cur_angle_.x = -M_PI / 4.0f;
+      cam_cur_angle_.x = -M_PI / 6.0f;
       cam_cur_angle_.y = kThirdPersonFollow?0:M_PI / 4.0f;
       cam_cur_target_rot_ = glm::quat(1,0,0,0);
       StartCameraToCurrentTransform();
       break;
     case kTopDown:
-      SetFieldOfView(kHighFov);
       SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
       SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
+      SetOrthoMode(false);
+      SetFieldOfView(kHighFov);
       cam_cur_dist_ = kTopDownCameraDist;
       anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
       cam_cur_angle_.x = -M_PI / 2.0f;
@@ -198,6 +216,19 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
       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);
+	  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;
   }

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

@@ -27,11 +27,17 @@ class Camera : public Transform {
   Camera& operator=(const Camera&) = delete;
   ~Camera();
 
-  void SetAspectRatio(const float aspect_ratio);
+  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.
@@ -52,7 +58,12 @@ class Camera : public Transform {
  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/gesture_camera.h

@@ -29,7 +29,8 @@ class GestureCamera : public Camera {
     kFirstPerson = 0,
     kThirdPersonFollow = 1,
     kTopDown = 2,
-    kThirdPerson = 3
+	kTopOrtho = 3,
+    kThirdPerson = 4
   };
 
   enum TouchEvent {
@@ -55,6 +56,11 @@ class GestureCamera : public Camera {
                               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);
@@ -75,6 +81,7 @@ class GestureCamera : public Camera {
   glm::quat cam_cur_target_rot_;
 
   float cam_start_dist_;
+  float cam_start_fov_;
   float cam_cur_dist_;
   glm::vec3 anchor_offset_;
 

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

@@ -25,6 +25,7 @@
 #include <android/log.h>
 #include <GLES2/gl2.h>
 #include <GLES2/gl2ext.h>
+#include <tango_support_api.h>
 
 #include "glm/glm.hpp"
 #include "glm/gtc/matrix_transform.hpp"
@@ -33,9 +34,15 @@
 #include "glm/gtx/matrix_decompose.hpp"
 
 #define LOG_TAG "rtabmap"
+#ifdef DISABLE_LOG
+#define LOGD(...) ;
+#define LOGI(...) ;
+#define LOGW(...) ;
+#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
 #define LOGE(...) __android_log_print(ANDROID_LOG_ERROR,LOG_TAG,__VA_ARGS__)
 
 #ifndef M_PI
@@ -76,6 +83,33 @@ namespace util {
                         const glm::vec3& start, const glm::vec3& end);
 
   glm::vec3 ApplyTransform(const glm::mat4& mat, const glm::vec3& vec);
+
+  // Get the Android rotation integer value from color camera to display.
+  // This function is used to compute the orientation difference to handle
+  // the portrait and landscape mode for color camera display.
+  //
+  // @param display: integer value of display orientation, values available
+  // are 0, 1, 2 ,3. Followed by Android display orientation standard:
+  // https://developer.android.com/reference/android/view/Display.html#getRotation()
+  // @param color_camera: integer value of color camera oreintation, values
+  // available are 0, 90, 180, 270. Followed by Android camera orientation
+  // standard:
+  // https://developer.android.com/reference/android/hardware/Camera.CameraInfo.html#orientation
+  TangoSupportRotation GetAndroidRotationFromColorCameraToDisplay(
+      int display_rotation, int color_camera_rotation);
+
+  // Get the Android rotation integer value from color camera to display.
+  // This function is used to compute the orientation difference to handle
+  // the portrait and landscape mode for color camera display.
+  //
+  // @param display: the device display orientation.
+  // @param color_camera: integer value of color camera oreintation, values
+  // available are 0, 90, 180, 270. Followed by Android camera orientation
+  // standard:
+  // https://developer.android.com/reference/android/hardware/Camera.CameraInfo.html#orientation
+  TangoSupportRotation GetAndroidRotationFromColorCameraToDisplay(
+      TangoSupportRotation display_rotation, int color_camera_rotation);
+
 }  // namespace util
 }  // namespace tango_gl
 #endif  // TANGO_GL_RENDERER_GL_UTIL

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

@@ -19,6 +19,27 @@
 
 namespace tango_gl {
 
+namespace {
+int NormalizedColorCameraRotation(int camera_rotation) {
+  int camera_n = 0;
+  switch (camera_rotation) {
+    case 90:
+      camera_n = 1;
+      break;
+    case 180:
+      camera_n = 2;
+      break;
+    case 270:
+      camera_n = 3;
+      break;
+    default:
+      camera_n = 0;
+      break;
+  }
+  return camera_n;
+}
+}  // annonymous namespace
+
 void util::CheckGlError(const char* operation) {
   for (GLint error = glGetError(); error; error = glGetError()) {
     LOGE("after %s() glError (0x%x)\n", operation, error);
@@ -217,4 +238,23 @@ glm::vec3 util::ApplyTransform(const glm::mat4& mat, const glm::vec3& vec) {
   return glm::vec3(mat * glm::vec4(vec, 1.0f));
 }
 
+TangoSupportRotation util::GetAndroidRotationFromColorCameraToDisplay(
+    int display_rotation, int color_camera_rotation) {
+  TangoSupportRotation r =
+      static_cast<TangoSupportRotation>(display_rotation);
+  return util::GetAndroidRotationFromColorCameraToDisplay(
+      r, color_camera_rotation);
+}
+
+TangoSupportRotation util::GetAndroidRotationFromColorCameraToDisplay(
+    TangoSupportRotation display_rotation, int color_camera_rotation) {
+  int color_camera_n = NormalizedColorCameraRotation(color_camera_rotation);
+
+  int ret = static_cast<int>(display_rotation) - color_camera_n;
+  if (ret < 0) {
+    ret += 4;
+  }
+  return static_cast<TangoSupportRotation>(ret % 4);
+}
+
 }  // namespace tango_gl

app/android/jni/third-party/lib/.gitignore

@@ -0,0 +1 @@
+ 

app/android/jni/util.h

@@ -44,14 +44,14 @@ class LogHandler : public UEventsHandler
 public:
 	LogHandler()
 	{
-		ULogger::setLevel(ULogger::kWarning);
-		ULogger::setEventLevel(ULogger::kWarning);
+		ULogger::setLevel(ULogger::kDebug);
+		ULogger::setEventLevel(ULogger::kDebug);
 		ULogger::setPrintThreadId(true);
 
 		registerToEventsManager();
 	}
 protected:
-	virtual void handleEvent(UEvent * event)
+	virtual bool handleEvent(UEvent * event)
 	{
 		if(event->getClassName().compare("ULogEvent") == 0)
 		{
@@ -74,6 +74,7 @@ protected:
 			}
 
 		}
+		return false;
 	}
 };
 
@@ -150,19 +151,26 @@ public:
 		cloud(new pcl::PointCloud<pcl::PointXYZRGB>),
 		normals(new pcl::PointCloud<pcl::Normal>),
 		indices(new std::vector<int>),
-		visible(true),
-		gain(1.0f)
-	{}
+		visible(true)
+	{
+		gains[0] = gains[1] = gains[2] = 1.0f;
+	}
 
 	pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud; // organized cloud
 	pcl::PointCloud<pcl::Normal>::Ptr normals;
 	pcl::IndicesPtr indices;
 	std::vector<pcl::Vertices> polygons;
+	std::vector<pcl::Vertices> polygonsLowRes;
 	rtabmap::Transform pose; // in rtabmap coordinates
 	bool visible;
 	rtabmap::CameraModel cameraModel;
-	float gain;
-	std::vector<Eigen::Vector2f> texCoords;
+	double gains[3]; // RGB gains
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+    	std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > texCoords;
+#else
+    	std::vector<Eigen::Vector2f> texCoords;
+#endif
+	cv::Mat texture;
 };
 
 #endif /* UTIL_H_ */

app/android/res/drawable/custom_seekbar.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<layer-list xmlns:android="http://schemas.android.com/apk/res/android" >
+    <item>
+        <shape>
+            <gradient
+                android:endColor="#00ffffff"
+                android:startColor="#ff686868"
+                android:useLevel="false" />
+        </shape>
+    </item>
+
+</layer-list>

app/android/res/layout/activity_rtabmap.xml

@@ -15,297 +15,130 @@
 -->
 <RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
     android:layout_width="wrap_content"
-    android:layout_height="wrap_content" >
+    android:layout_height="wrap_content">
 
     <android.opengl.GLSurfaceView
         android:id="@+id/gl_surface_view"
         android:layout_width="fill_parent"
         android:layout_height="fill_parent"
-        android:layout_gravity="top" />
+        android:layout_gravity="top"/>
     
-   <LinearLayout
-        android:id="@+id/debug_layout"
+    <RelativeLayout 
         android:layout_width="wrap_content"
+        android:layout_height="match_parent"
+        android:fitsSystemWindows="true">
+    
+    <ToggleButton
+        android:id="@+id/wireframe_button"
+        android:layout_width="100dp"
         android:layout_height="wrap_content"
-        android:layout_alignParentTop="true"
-        android:layout_alignParentLeft="true"
-        android:orientation="vertical"
-        android:paddingLeft="5dp" >
-
-        <LinearLayout
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:orientation="horizontal" >
-
-            <TextView
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:text="@string/status" />
-
-            <TextView
-                android:id="@+id/status"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content" />
-        </LinearLayout>
-               
-        <LinearLayout
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:orientation="horizontal" >
-
-            <TextView
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:text="@string/nodes" />
-
-            <TextView
-                android:id="@+id/nodes"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content" />
-        </LinearLayout>
-        
-        <LinearLayout
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:orientation="horizontal" >
-
-            <TextView
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:text="@string/words" />
-
-            <TextView
-                android:id="@+id/words"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content" />
-        </LinearLayout>
-        
-        <LinearLayout
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:orientation="horizontal" >
-
-            <TextView
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:text="@string/memory" />
-
-            <TextView
-                android:id="@+id/memory"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content" />
-        </LinearLayout>
-        
-        <LinearLayout
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:orientation="horizontal" >
-
-            <TextView
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:text="@string/db_size" />
-
-            <TextView
-                android:id="@+id/db_size"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content" />
-        </LinearLayout>
-        
-         <LinearLayout
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:orientation="horizontal" >
-
-            <TextView
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:text="@string/points" />
-
-            <TextView
-                android:id="@+id/points"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content" />
-        </LinearLayout>
-        <LinearLayout
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:orientation="horizontal" >
-
-            <TextView
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:text="@string/polygons" />
-
-            <TextView
-                android:id="@+id/polygons"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content" />
-        </LinearLayout>
-        
-         <LinearLayout
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:orientation="horizontal" >
-
-            <TextView
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:text="@string/update_time" />
-
-            <TextView
-                android:id="@+id/update_time"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content" />
-        </LinearLayout>
-        <LinearLayout
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:orientation="horizontal" >
-
-            <TextView
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:text="@string/features" />
-
-            <TextView
-                android:id="@+id/features"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content" />
-        </LinearLayout>
-        <LinearLayout
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:orientation="horizontal" >
-
-            <TextView
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:text="@string/total_loop" />
-
-            <TextView
-                android:id="@+id/total_loop"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content" />
-        </LinearLayout>
-
-        <LinearLayout
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:orientation="horizontal" >
-
-            <TextView
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:text="@string/inliers" />
-
-            <TextView
-                android:id="@+id/inliers"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content" />
-
-        </LinearLayout>
-        <LinearLayout
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:orientation="horizontal" >
-
-            <TextView
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:text="@string/hypothesis" />
-
-            <TextView
-                android:id="@+id/hypothesis"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content" />
-        </LinearLayout>
-        <LinearLayout
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:orientation="horizontal" >
-
-            <TextView
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content"
-                android:text="@string/fps" />
-
-            <TextView
-                android:id="@+id/fps"
-                android:layout_width="wrap_content"
-                android:layout_height="wrap_content" />
-        </LinearLayout>
-           
-    </LinearLayout>
-
+        android:layout_above="@+id/light_button"
+        android:layout_alignLeft="@+id/light_button"
+        android:layout_alignParentRight="true"
+        android:layout_marginBottom="5dp"
+        android:layout_marginRight="5dp"
+        android:paddingRight="5dp"
+        android:textOff="@string/wireframe"
+        android:textOn="@string/wireframe" />
+    
     <ToggleButton
         android:id="@+id/light_button"
         android:layout_width="100dp"
         android:layout_height="wrap_content"
-        android:layout_above="@+id/first_person_button"
-        android:layout_alignLeft="@+id/first_person_button"
+        android:layout_above="@+id/backface_button"
+        android:layout_alignLeft="@+id/backface_button"
         android:layout_alignParentRight="true"
-        android:layout_marginBottom="15dp"
+        android:layout_marginBottom="5dp"
         android:layout_marginRight="5dp"
         android:paddingRight="5dp"
         android:textOff="@string/light_off"
         android:textOn="@string/light_on" />
-   
-    <ToggleButton
-        android:id="@+id/first_person_button"
-        android:layout_width="100dp"
-        android:layout_height="wrap_content"
-        android:layout_above="@+id/third_person_button"
-        android:layout_alignLeft="@+id/third_person_button"
-        android:layout_alignParentRight="true"
-        android:layout_marginBottom="5dp"
-        android:layout_marginRight="5dp"
-        android:paddingRight="5dp"
-        android:textOff="@string/first_person"
-        android:textOn="@string/first_person" />
     
     <ToggleButton
-        android:id="@+id/third_person_button"
+        android:id="@+id/backface_button"
         android:layout_width="100dp"
         android:layout_height="wrap_content"
-        android:layout_above="@+id/top_down_button"
+        android:layout_above="@+id/camera_button"
+        android:layout_alignRight="@+id/camera_button"
         android:layout_alignParentRight="true"
-        android:layout_marginBottom="5dp"
+        android:layout_marginBottom="15dp"
         android:layout_marginRight="5dp"
         android:paddingRight="5dp"
-        android:textOff="@string/third_person"
-        android:textOn="@string/third_person" />
-
-    <ToggleButton
-        android:id="@+id/top_down_button"
-        android:layout_width="100dp"
-        android:layout_height="wrap_content"
+        android:textOff="@string/backface_off"
+        android:textOn="@string/backface_on" />
+ 
+    <com.introlab.rtabmap.NDSpinner
+        android:id="@+id/camera_button"
+        android:layout_width="140dp"
+        android:layout_height="40dp"
         android:layout_alignParentBottom="true"
         android:layout_alignParentRight="true"
         android:layout_marginRight="5dp"
+        android:layout_marginBottom="10dp"
         android:paddingRight="5dp"
-        android:textOff="@string/top_down"
-        android:textOn="@string/top_down" />
+        android:paddingBottom="10dp"
+        android:text="@string/camera_button"
+        android:spinnerMode="dropdown"/>
 
     <ToggleButton
         android:id="@+id/pause_button"
         android:layout_width="100dp"
         android:layout_height="wrap_content"
-        android:layout_alignLeft="@+id/first_person_button"
+		android:layout_marginRight="5dp"
         android:layout_alignParentTop="true"
-        android:layout_marginTop="61dp"
-        android:paddingRight="5dp"
+        android:layout_marginTop="10dp"
+        android:layout_alignParentRight="true"
         android:textOff="@string/pause"
         android:textOn="@string/resume" />
-    
+
+    <Button
+        android:id="@+id/button_shareToSketchfab"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_marginRight="5dp"
+        android:layout_marginTop="10dp"
+        android:layout_alignParentRight="true"
+        android:layout_below="@+id/pause_button"
+        android:text="@string/share_to_sketchfab" />
+
+    <Button
+        android:id="@+id/button_saveOnDevice"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_alignRight="@+id/button_shareToSketchfab"
+        android:layout_below="@+id/button_shareToSketchfab"
+        android:text="@string/save_to_file" />
+
     <Button
         android:id="@+id/close_visualization_button"
         android:layout_width="200dp"
         android:layout_height="wrap_content"
+        android:layout_above="@+id/camera_button"
+        android:layout_centerHorizontal="true"
+        android:text="@string/close_visualization" />
+
+    <SeekBar
+        android:id="@+id/seekBar_ortho_cut"
+        android:layout_width="200dp"
+        android:layout_height="wrap_content"
+        android:rotation="270"
+        android:layout_above="@+id/light_button"
         android:layout_alignParentLeft="true"
-        android:layout_alignParentBottom="true"
-        android:layout_marginLeft="5dp"
-        android:paddingLeft="5dp"
-        android:text="@string/close_visualization"/>
-        
+        android:layout_gravity="center"
+        android:layout_marginLeft="-50dp"
+        android:progressDrawable="@drawable/custom_seekbar" />
+    
+    <SeekBar
+        android:id="@+id/seekBar_grid"
+        android:layout_width="200dp"
+        android:layout_height="wrap_content"
+        android:layout_alignParentLeft="true"
+        android:layout_alignBottom="@+id/camera_button"
+        android:layout_marginLeft="35dp"
+        android:paddingBottom="10dp"
+        android:progressDrawable="@drawable/custom_seekbar" />
+
+
+
+</RelativeLayout>        
 </RelativeLayout>

app/android/res/layout/activity_settings.xml

@@ -3,12 +3,12 @@
     <PreferenceCategory
         android:title="@string/pref_title_rendering">
         <ListPreference 
-            android:key="@string/pref_key_decimation"
-    		android:title="@string/pref_title_decimation"
-    		android:summary="@string/pref_summary_decimation"
-   			android:entries="@array/pref_decimation_keys"
-   			android:entryValues="@array/pref_decimation_values"
-   			android:defaultValue="@string/pref_default_decimation"/>
+            android:key="@string/pref_key_density"
+    		android:title="@string/pref_title_density"
+    		android:summary="@string/pref_summary_density"
+   			android:entries="@array/pref_density_keys"
+   			android:entryValues="@array/pref_density_values"
+   			android:defaultValue="@string/pref_default_density"/>
         <ListPreference 
             android:key="@string/pref_key_depth"
     		android:title="@string/pref_title_depth"
@@ -16,6 +16,13 @@
    			android:entries="@array/pref_depth_keys"
    			android:entryValues="@array/pref_depth_values"
    			android:defaultValue="@string/pref_default_depth"/>
+        <ListPreference 
+            android:key="@string/pref_key_min_depth"
+    		android:title="@string/pref_title_min_depth"
+    		android:summary="@string/pref_summary_min_depth"
+   			android:entries="@array/pref_min_depth_keys"
+   			android:entryValues="@array/pref_min_depth_values"
+   			android:defaultValue="@string/pref_default_min_depth"/>
         <ListPreference
             android:key="@string/pref_key_point_size"
     		android:title="@string/pref_title_point_size"
@@ -37,167 +44,277 @@
    			android:entries="@array/pref_triangle_keys"
    			android:entryValues="@array/pref_triangle_values"
    			android:defaultValue="@string/pref_default_triangle"/>
-        <SwitchPreference
+        <ListPreference 
+            android:key="@string/pref_key_rendering_texture_decimation"
+    		android:title="@string/pref_title_rendering_texture_decimation"
+    		android:summary="@string/pref_summary_rendering_texture_decimation"
+   			android:entries="@array/pref_rendering_texture_decimation_keys"
+   			android:entryValues="@array/pref_rendering_texture_decimation_values"
+   			android:defaultValue="@string/pref_default_rendering_texture_decimation"/>
+        <ListPreference 
+            android:key="@string/pref_key_background_color"
+    		android:title="@string/pref_title_background_color"
+    		android:summary="@string/pref_summary_background_color"
+   			android:entries="@array/pref_background_color_keys"
+   			android:entryValues="@array/pref_background_color_values"
+   			android:defaultValue="@string/pref_default_background_color"/>
+        <com.introlab.rtabmap.CustomSwitchPreference
+            android:key="@string/pref_key_blending"
+            android:title="@string/pref_title_blending"
+            android:summary="@string/pref_summary_blending"
+            android:defaultValue="@string/pref_default_blending"/>
+        <com.introlab.rtabmap.CustomSwitchPreference
             android:key="@string/pref_key_nodes_filtering"
             android:title="@string/pref_title_nodes_filtering"
             android:summary="@string/pref_summary_nodes_filtering"
             android:defaultValue="@string/pref_default_nodes_filtering"/>
     </PreferenceCategory>
-
-    <PreferenceCategory
-        android:title="@string/pref_title_mapping">
-    <PreferenceScreen
-            android:key="pref_button_mapping"
-            android:title="@string/pref_title_mapping"
-            android:summary="@string/pref_summary_mapping"
-            android:persistent="false">
-        
-	    <SwitchPreference
-            android:key="@string/pref_key_append"
-            android:title="@string/pref_title_append"
-            android:summary="@string/pref_summary_append"
-            android:defaultValue="@string/pref_default_append"/>
-	    <SwitchPreference
-            android:key="@string/pref_key_drift_correction"
-            android:title="@string/pref_title_drift_correction"
-            android:summary="@string/pref_summary_drift_correction"
-            android:defaultValue="@string/pref_default_drift_correction"/>
-	    <SwitchPreference
-            android:key="@string/pref_key_auto_exposure"
-            android:title="@string/pref_title_auto_exposure"
-            android:summary="@string/pref_summary_auto_exposure"
-            android:defaultValue="@string/pref_default_auto_exposure"/>
-	    <SwitchPreference
-            android:key="@string/pref_key_resolution"
-            android:title="@string/pref_title_resolution"
-            android:summary="@string/pref_summary_resolution"
-            android:defaultValue="@string/pref_default_resolution"/>
-  
-        <ListPreference
-            android:key="@string/pref_key_update_rate"
-            android:title="@string/pref_title_update_rate"
-            android:summary="@string/pref_summary_update_rate"
-            android:entries="@array/pref_update_rate_keys"
-   			android:entryValues="@array/pref_update_rate_values"
-   			android:defaultValue="@string/pref_default_update_rate"/>
-        <ListPreference 
-            android:key="@string/pref_key_time_thr"
-    		android:title="@string/pref_title_time_thr"
-    		android:summary="@string/pref_summary_time_thr"
-   			android:entries="@array/pref_time_thr_keys"
-   			android:entryValues="@array/pref_time_thr_values"
-   			android:defaultValue="@string/pref_default_time_thr"/>
-        <ListPreference 
-            android:key="@string/pref_key_loop_thr"
-    		android:title="@string/pref_title_loop_thr"
-    		android:summary="@string/pref_summary_loop_thr"
-   			android:entries="@array/pref_loop_thr_keys"
-   			android:entryValues="@array/pref_loop_thr_values"
-   			android:defaultValue="@string/pref_default_loop_thr"/>
-        <ListPreference 
-            android:key="@string/pref_key_opt_error"
-    		android:title="@string/pref_title_opt_error"
-    		android:summary="@string/pref_summary_opt_error"
-   			android:entries="@array/pref_opt_error_keys"
-   			android:entryValues="@array/pref_opt_error_values"
-   			android:defaultValue="@string/pref_default_opt_error"/>
-        <ListPreference 
-            android:key="@string/pref_key_features"
-    		android:title="@string/pref_title_features"
-    		android:summary="@string/pref_summary_features"
-   			android:entries="@array/pref_features_keys"
-   			android:entryValues="@array/pref_features_values"
-   			android:defaultValue="@string/pref_default_features"/>
-        <ListPreference 
-            android:key="@string/pref_key_features_type"
-    		android:title="@string/pref_title_features_type"
-    		android:summary="@string/pref_summary_features_type"
-   			android:entries="@array/pref_features_type_keys"
-   			android:entryValues="@array/pref_features_type_values"
-   			android:defaultValue="@string/pref_default_features_type"/>
-    </PreferenceScreen>
-    </PreferenceCategory>
-    
-    <PreferenceCategory
-        android:title="@string/pref_title_export">
-    <PreferenceScreen
-            android:key="pref_button_export"
-            android:title="@string/pref_title_export"
-            android:summary="@string/pref_summary_export"
-            android:persistent="false">
-        
-        <ListPreference 
-            android:key="@string/pref_key_cloud_voxel"
-    		android:title="@string/pref_title_cloud_voxel"
-    		android:summary="@string/pref_summary_cloud_voxel"
-   			android:entries="@array/pref_cloud_voxel_keys"
-   			android:entryValues="@array/pref_cloud_voxel_values"
-   			android:defaultValue="@string/pref_default_cloud_voxel"/>
-        
-        <ListPreference 
-            android:key="@string/pref_key_texture_size"
-    		android:title="@string/pref_title_texture_size"
-    		android:summary="@string/pref_summary_texture_size"
-   			android:entries="@array/pref_texture_size_keys"
-   			android:entryValues="@array/pref_texture_size_values"
-   			android:defaultValue="@string/pref_default_texture_size"/>
-        
-        <ListPreference 
-            android:key="@string/pref_key_normal_k"
-    		android:title="@string/pref_title_normal_k"
-    		android:summary="@string/pref_summary_normal_k"
-   			android:entries="@array/pref_normal_k_values"
-   			android:entryValues="@array/pref_normal_k_values"
-   			android:defaultValue="@string/pref_default_normal_k"/>
-        
-	    <SwitchPreference
-            android:key="@string/pref_key_block_render"
-            android:title="@string/pref_title_block_render"
-            android:summary="@string/pref_summary_block_render"
-            android:defaultValue="@string/pref_default_block_render"/>
-	    
-	    <PreferenceCategory
-        android:title="@string/pref_title_optimized">
-        
-        
-	        <ListPreference 
-	            android:key="@string/pref_key_opt_depth"
-	    		android:title="@string/pref_title_opt_depth"
-	    		android:summary="@string/pref_summary_opt_depth"
-	   			android:entries="@array/pref_opt_depth_values"
-	   			android:entryValues="@array/pref_opt_depth_values"
-	   			android:defaultValue="@string/pref_default_opt_depth"/>
-	        
-	        <ListPreference 
-	            android:key="@string/pref_key_opt_decimation_factor"
-	    		android:title="@string/pref_title_opt_decimation_factor"
-	    		android:summary="@string/pref_summary_opt_decimation_factor"
-	   			android:entries="@array/pref_opt_decimation_factor_keys"
-	   			android:entryValues="@array/pref_opt_decimation_factor_values"
-	   			android:defaultValue="@string/pref_default_opt_decimation_factor"/>
-	        
-	        <ListPreference 
-	            android:key="@string/pref_key_opt_color_radius"
-	    		android:title="@string/pref_title_opt_color_radius"
-	    		android:summary="@string/pref_summary_opt_color_radius"
-	   			android:entries="@array/pref_opt_color_radius_keys"
-	   			android:entryValues="@array/pref_opt_color_radius_values"
-	   			android:defaultValue="@string/pref_default_opt_color_radius"/>
-	        
-	        <SwitchPreference
-	            android:key="@string/pref_key_opt_clean_white"
-	            android:title="@string/pref_title_opt_clean_white"
-	            android:summary="@string/pref_summary_opt_clean_white"
-	            android:defaultValue="@string/pref_default_opt_clean_white"/>
-	        
-	       </PreferenceCategory>
- 	</PreferenceScreen>
- 	</PreferenceCategory>
  	 	
     <PreferenceCategory
         android:title="@string/pref_title_general">
         
-        <ListPreference 
+        <PreferenceScreen
+            android:key="pref_button_mapping"
+            android:title="@string/pref_title_mapping_sub"
+            android:summary="@string/pref_summary_mapping"
+            android:persistent="false">
+        
+		    <com.introlab.rtabmap.CustomSwitchPreference
+	            android:key="@string/pref_key_append"
+	            android:title="@string/pref_title_append"
+	            android:summary="@string/pref_summary_append"
+	            android:defaultValue="@string/pref_default_append"/>
+		    <com.introlab.rtabmap.CustomSwitchPreference
+	            android:key="@string/pref_key_resolution"
+	            android:title="@string/pref_title_resolution"
+	            android:summary="@string/pref_summary_resolution"
+	            android:defaultValue="@string/pref_default_resolution"/>
+		    <com.introlab.rtabmap.CustomSwitchPreference
+		        android:key="@string/pref_key_smoothing"
+		        android:title="@string/pref_title_smoothing"
+		        android:summary="@string/pref_summary_smoothing"
+		        android:defaultValue="@string/pref_default_smoothing"/>
+		    <com.introlab.rtabmap.CustomSwitchPreference
+		        android:key="@string/pref_key_fisheye"
+		        android:title="@string/pref_title_fisheye"
+		        android:summary="@string/pref_summary_fisheye"
+		        android:defaultValue="@string/pref_default_fisheye"/>
+	  
+		     <PreferenceCategory
+	        	android:title="@string/pref_title_mapping_core">
+		        <ListPreference
+		            android:key="@string/pref_key_update_rate"
+		            android:title="@string/pref_title_update_rate"
+		            android:summary="@string/pref_summary_update_rate"
+		            android:entries="@array/pref_update_rate_keys"
+		   			android:entryValues="@array/pref_update_rate_values"
+		   			android:defaultValue="@string/pref_default_update_rate"/>
+		        <ListPreference
+		            android:key="@string/pref_key_max_speed"
+		            android:title="@string/pref_title_max_speed"
+		            android:summary="@string/pref_summary_max_speed"
+		            android:entries="@array/pref_max_speed_keys"
+		   			android:entryValues="@array/pref_max_speed_values"
+		   			android:defaultValue="@string/pref_default_max_speed"/>
+		        <ListPreference 
+		            android:key="@string/pref_key_time_thr"
+		    		android:title="@string/pref_title_time_thr"
+		    		android:summary="@string/pref_summary_time_thr"
+		   			android:entries="@array/pref_time_thr_keys"
+		   			android:entryValues="@array/pref_time_thr_values"
+		   			android:defaultValue="@string/pref_default_time_thr"/>
+		        <ListPreference 
+		            android:key="@string/pref_key_mem_thr"
+		    		android:title="@string/pref_title_mem_thr"
+		    		android:summary="@string/pref_summary_mem_thr"
+		   			android:entries="@array/pref_mem_thr_keys"
+		   			android:entryValues="@array/pref_mem_thr_values"
+		   			android:defaultValue="@string/pref_default_mem_thr"/>
+		        <ListPreference 
+		            android:key="@string/pref_key_loop_thr"
+		    		android:title="@string/pref_title_loop_thr"
+		    		android:summary="@string/pref_summary_loop_thr"
+		   			android:entries="@array/pref_loop_thr_keys"
+		   			android:entryValues="@array/pref_loop_thr_values"
+		   			android:defaultValue="@string/pref_default_loop_thr"/>
+		        <ListPreference 
+		            android:key="@string/pref_key_sim_thr"
+		    		android:title="@string/pref_title_sim_thr"
+		    		android:summary="@string/pref_summary_sim_thr"
+		   			android:entries="@array/pref_sim_thr_keys"
+		   			android:entryValues="@array/pref_sim_thr_values"
+		   			android:defaultValue="@string/pref_default_sim_thr"/>
+		        <ListPreference 
+		            android:key="@string/pref_key_min_inliers"
+		    		android:title="@string/pref_title_min_inliers"
+		    		android:summary="@string/pref_summary_min_inliers"
+		   			android:entries="@array/pref_min_inliers_keys"
+		   			android:entryValues="@array/pref_min_inliers_values"
+		   			android:defaultValue="@string/pref_default_min_inliers"/>
+		        <ListPreference 
+		            android:key="@string/pref_key_opt_error"
+		    		android:title="@string/pref_title_opt_error"
+		    		android:summary="@string/pref_summary_opt_error"
+		   			android:entries="@array/pref_opt_error_keys"
+		   			android:entryValues="@array/pref_opt_error_values"
+		   			android:defaultValue="@string/pref_default_opt_error"/>
+		        <ListPreference 
+		            android:key="@string/pref_key_features_voc"
+		    		android:title="@string/pref_title_features_voc"
+		    		android:summary="@string/pref_summary_features_voc"
+		   			android:entries="@array/pref_features_voc_keys"
+		   			android:entryValues="@array/pref_features_voc_values"
+		   			android:defaultValue="@string/pref_default_features_voc"/>
+		        <ListPreference 
+		            android:key="@string/pref_key_features"
+		    		android:title="@string/pref_title_features"
+		    		android:summary="@string/pref_summary_features"
+		   			android:entries="@array/pref_features_keys"
+		   			android:entryValues="@array/pref_features_values"
+		   			android:defaultValue="@string/pref_default_features"/>
+		        <ListPreference 
+		            android:key="@string/pref_key_features_type"
+		    		android:title="@string/pref_title_features_type"
+		    		android:summary="@string/pref_summary_features_type"
+		   			android:entries="@array/pref_features_type_keys"
+		   			android:entryValues="@array/pref_features_type_values"
+		   			android:defaultValue="@string/pref_default_features_type"/>
+		        <ListPreference 
+		            android:key="@string/pref_key_optimizer"
+		    		android:title="@string/pref_title_optimizer"
+		    		android:summary="@string/pref_summary_optimizer"
+		   			android:entries="@array/pref_optimizer_keys"
+		   			android:entryValues="@array/pref_optimizer_values"
+		   			android:defaultValue="@string/pref_default_optimizer"/>
+		        <com.introlab.rtabmap.CustomSwitchPreference 
+		            android:key="@string/pref_key_optimize_end"
+		    		android:title="@string/pref_title_optimize_end"
+		    		android:summary="@string/pref_summary_optimize_end"
+		   			android:defaultValue="@string/pref_default_optimize_end"/>
+		    </PreferenceCategory>
+	        <PreferenceCategory
+	        	android:title="@string/pref_title_mapping_database">
+		        <com.introlab.rtabmap.CustomSwitchPreference
+		            android:key="@string/pref_key_keep_all_db"
+		            android:title="@string/pref_title_keep_all_db"
+		            android:summary="@string/pref_summary_keep_all_db"
+		            android:defaultValue="@string/pref_default_keep_all_db"/>
+		        <com.introlab.rtabmap.CustomSwitchPreference
+		            android:key="@string/pref_key_raw_scan_saved"
+		            android:title="@string/pref_title_raw_scan_saved"
+		            android:summary="@string/pref_summary_raw_scan_saved"
+		            android:defaultValue="@string/pref_default_raw_scan_saved"/>
+		        <com.introlab.rtabmap.CustomSwitchPreference
+		            android:key="@string/pref_key_gps_saved"
+		            android:title="@string/pref_title_gps_saved"
+		            android:summary="@string/pref_summary_gps_saved"
+		            android:defaultValue="@string/pref_default_gps_saved"/>
+		        <com.introlab.rtabmap.CustomSwitchPreference
+		            android:key="@string/pref_key_db_in_memory"
+		            android:title="@string/pref_title_db_in_memory"
+		            android:summary="@string/pref_summary_db_in_memory"
+		            android:defaultValue="@string/pref_default_db_in_memory"/>
+		    </PreferenceCategory>
+	    </PreferenceScreen>
+    
+	    <PreferenceScreen
+	            android:key="pref_button_export"
+	            android:title="@string/pref_title_export_sub"
+	            android:summary="@string/pref_summary_export"
+	            android:persistent="false">
+	        
+	        <ListPreference 
+	            android:key="@string/pref_key_cloud_voxel"
+	    		android:title="@string/pref_title_cloud_voxel"
+	    		android:summary="@string/pref_summary_cloud_voxel"
+	   			android:entries="@array/pref_cloud_voxel_keys"
+	   			android:entryValues="@array/pref_cloud_voxel_values"
+	   			android:defaultValue="@string/pref_default_cloud_voxel"/>
+	        
+	        <ListPreference 
+	            android:key="@string/pref_key_texture_size"
+	    		android:title="@string/pref_title_texture_size"
+	    		android:summary="@string/pref_summary_texture_size"
+	   			android:entries="@array/pref_texture_size_keys"
+	   			android:entryValues="@array/pref_texture_size_values"
+	   			android:defaultValue="@string/pref_default_texture_size"/>
+	        
+	        <ListPreference 
+	            android:key="@string/pref_key_texture_count"
+	    		android:title="@string/pref_title_texture_count"
+	    		android:summary="@string/pref_summary_texture_count"
+	   			android:entries="@array/pref_texture_count_keys"
+	   			android:entryValues="@array/pref_texture_count_values"
+	   			android:defaultValue="@string/pref_default_texture_count"/>
+	        
+	        <ListPreference 
+	            android:key="@string/pref_key_normal_k"
+	    		android:title="@string/pref_title_normal_k"
+	    		android:summary="@string/pref_summary_normal_k"
+	   			android:entries="@array/pref_normal_k_values"
+	   			android:entryValues="@array/pref_normal_k_values"
+	   			android:defaultValue="@string/pref_default_normal_k"/>
+	        
+	        <ListPreference 
+	            android:key="@string/pref_key_max_texture_distance"
+	    		android:title="@string/pref_title_max_texture_distance"
+	    		android:summary="@string/pref_summary_max_texture_distance"
+	   			android:entries="@array/pref_max_texture_distance_keys"
+	   			android:entryValues="@array/pref_max_texture_distance_values"
+	   			android:defaultValue="@string/pref_default_max_texture_distance"/>
+	        
+	        <ListPreference 
+	            android:key="@string/pref_key_min_texture_cluster_size"
+	    		android:title="@string/pref_title_min_texture_cluster_size"
+	    		android:summary="@string/pref_summary_min_texture_cluster_size"
+	   			android:entries="@array/pref_min_texture_cluster_size_keys"
+	   			android:entryValues="@array/pref_min_texture_cluster_size_values"
+	   			android:defaultValue="@string/pref_default_min_texture_cluster_size"/>
+	        
+		    <com.introlab.rtabmap.CustomSwitchPreference
+	            android:key="@string/pref_key_block_render"
+	            android:title="@string/pref_title_block_render"
+	            android:summary="@string/pref_summary_block_render"
+	            android:defaultValue="@string/pref_default_block_render"/>
+		    
+		    <PreferenceCategory
+	        android:title="@string/pref_title_optimized">
+	        
+	        
+		        <ListPreference 
+		            android:key="@string/pref_key_opt_depth"
+		    		android:title="@string/pref_title_opt_depth"
+		    		android:summary="@string/pref_summary_opt_depth"
+		   			android:entries="@array/pref_opt_depth_keys"
+		   			android:entryValues="@array/pref_opt_depth_values"
+		   			android:defaultValue="@string/pref_default_opt_depth"/>
+		        
+
+		        <ListPreference 
+		            android:key="@string/pref_key_opt_color_radius"
+		    		android:title="@string/pref_title_opt_color_radius"
+		    		android:summary="@string/pref_summary_opt_color_radius"
+		   			android:entries="@array/pref_opt_color_radius_keys"
+		   			android:entryValues="@array/pref_opt_color_radius_values"
+		   			android:defaultValue="@string/pref_default_opt_color_radius"/>
+		        
+		        <com.introlab.rtabmap.CustomSwitchPreference
+		            android:key="@string/pref_key_opt_clean_white"
+		            android:title="@string/pref_title_opt_clean_white"
+		            android:summary="@string/pref_summary_opt_clean_white"
+		            android:defaultValue="@string/pref_default_opt_clean_white"/>
+		        
+		        <ListPreference 
+		            android:key="@string/pref_key_opt_min_cluster_size"
+		    		android:title="@string/pref_title_opt_min_cluster_size"
+		    		android:summary="@string/pref_summary_opt_min_cluster_size"
+		   			android:entries="@array/pref_opt_min_cluster_size_keys"
+		   			android:entryValues="@array/pref_opt_min_cluster_size_values"
+		   			android:defaultValue="@string/pref_default_opt_min_cluster_size"/>
+		        
+		       </PreferenceCategory>
+	 	</PreferenceScreen>
+	 	<ListPreference 
             android:key="@string/pref_key_gain_max_radius"
     		android:title="@string/pref_title_gain_max_radius"
     		android:summary="@string/pref_summary_gain_max_radius"
@@ -205,13 +322,26 @@
    			android:entryValues="@array/pref_gain_max_radius_values"
    			android:defaultValue="@string/pref_default_gain_max_radius"/>
         <ListPreference 
-            android:key="@string/pref_key_min_cluster_size"
-    		android:title="@string/pref_title_min_cluster_size"
-    		android:summary="@string/pref_summary_min_cluster_size"
-   			android:entries="@array/pref_min_cluster_size_values"
-   			android:entryValues="@array/pref_min_cluster_size_values"
-   			android:defaultValue="@string/pref_default_min_cluster_size"/>
-        
+            android:key="@string/pref_key_cluster_ratio"
+    		android:title="@string/pref_title_cluster_ratio"
+    		android:summary="@string/pref_summary_cluster_ratio"
+   			android:entries="@array/pref_cluster_ratio_keys"
+   			android:entryValues="@array/pref_cluster_ratio_values"
+   			android:defaultValue="@string/pref_default_cluster_ratio"/>
+        <com.introlab.rtabmap.CustomSwitchPreference 
+            android:key="@string/pref_key_notification_sound"
+    		android:title="@string/pref_title_notification_sound"
+    		android:summary="@string/pref_summary_notification_sound"
+   			android:defaultValue="@string/pref_default_notification_sound"/>
+    </PreferenceCategory>
+	<PreferenceCategory
+        android:title="@string/pref_title_presets">
+        <Preference android:title="@string/pref_title_open_button"
+	                android:key="@string/pref_key_open_button"/>
+        <Preference android:title="@string/pref_title_save_button"
+	                android:key="@string/pref_key_save_button"/>
+        <Preference android:title="@string/pref_title_remove_button"
+	                android:key="@string/pref_key_remove_button"/>
 	    <Preference android:title="@string/pref_title_reset_button"
 	                android:key="@string/pref_key_reset_button"/>
     </PreferenceCategory>

app/android/res/layout/activity_sketchfab.xml

@@ -0,0 +1,81 @@
+<?xml version="1.0" encoding="utf-8"?>
+<ScrollView xmlns:android="http://schemas.android.com/apk/res/android" 
+    android:layout_width="match_parent"
+    android:layout_height="match_parent">
+<LinearLayout android:layout_width="match_parent"
+              android:layout_height="match_parent"
+              android:orientation="vertical"
+              android:focusableInTouchMode="true" >
+              
+    <TextView android:id="@+id/text"
+              android:layout_width="wrap_content"
+              android:layout_height="wrap_content"
+              android:text="Model Name*:" />
+
+    <EditText
+        android:id="@+id/editText_filename"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:imeOptions="flagNoExtractUi"
+        android:ems="10" />
+
+    <TextView
+        android:id="@+id/textView1"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="Description:" />
+
+    <EditText
+        android:id="@+id/editText_description"
+        android:ems="10"
+        android:lines="4" 
+	    android:minLines="2" 
+	    android:gravity="top|left" 
+	    android:maxLines="8" 
+	    android:layout_weight="1" 
+	    android:layout_height="wrap_content" 
+	    android:layout_width="fill_parent" 
+	    android:scrollbars="vertical"
+	    android:imeOptions="flagNoExtractUi"
+        android:inputType="textMultiLine" >
+
+        <requestFocus />
+    </EditText>
+
+    <TextView
+        android:id="@+id/textView2"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:text="Tags:" />
+
+    <EditText
+        android:id="@+id/editText_tags"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:imeOptions="flagNoExtractUi"
+        android:ems="10" />
+
+    <CheckBox
+        android:id="@+id/checkBox_draft"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:checked="true"
+        android:text="Draft Mode" />
+
+    <LinearLayout
+        android:layout_width="match_parent"
+        android:layout_height="0dip"
+        android:layout_weight="1"
+        android:gravity="right|bottom"
+        android:orientation="horizontal" >
+
+        <Button
+            android:id="@+id/button_ok"
+            android:layout_width="wrap_content"
+            android:layout_height="wrap_content"
+            android:layout_weight="0.06"
+            android:text="Upload" />
+    </LinearLayout>
+
+</LinearLayout>
+</ScrollView>

app/android/res/layout/database_list.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="utf-8"?>
+<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
+android:layout_width="match_parent"
+android:layout_height="wrap_content"
+android:background="#fff">
+
+<ImageView
+android:id="@+id/imageView"
+android:layout_width="@dimen/image_width"
+android:layout_height="@dimen/image_width"
+android:layout_marginLeft="10dp"
+android:padding="5dp"
+android:src="@drawable/ic_launcher" />
+
+<TextView
+android:id="@+id/textView"
+android:layout_width="wrap_content"
+android:layout_height="wrap_content"
+android:layout_gravity="center"
+android:text="Demo"
+android:textColor="#000" />
+</LinearLayout>

app/android/res/menu/optionmenu.xml

@@ -8,14 +8,31 @@
 		  <item android:id="@+id/texture_mesh" android:checked="true" android:title="Texture Mesh" />
 	   </group>
 	   <item android:id="@+id/save" android:title="Save" android:showAsAction="ifRoom"/>
-       <item android:id="@+id/post_processing" android:title="Optimize" android:showAsAction="ifRoom">
+                     
+       <item android:id="@+id/export" android:showAsAction="ifRoom" android:title="Export">
+          <menu>
+              <item android:id="@+id/export_point_cloud_menu" android:title="Point Cloud">
+                  <menu>
+                  	<item android:id="@+id/export_point_cloud" android:title="Current Density" />
+                  	<item android:id="@+id/export_point_cloud_highrez" android:title="Max Density" />
+                  </menu>
+              </item>
+	          <item android:id="@+id/export_optimized_mesh_menu" android:title="Optimized Mesh..." >
+	              <menu>
+		              <item android:id="@+id/export_optimized_mesh" android:title="Colored Mesh" />
+			          <item android:id="@+id/export_optimized_mesh_texture" android:title="Textured Mesh" />
+		          </menu>
+	          </item>
+          </menu>
+       </item>
+       
+        <item android:id="@+id/post_processing" android:title="Optimize" android:showAsAction="ifRoom">
           <menu>
              <item android:id="@+id/post_processing_standard" android:title="Standard Optimization" />
              <item android:id="@+id/post_processing_advanced" android:title="Advanced..." >
 	            <menu>
 	              <item android:id="@+id/global_graph_optimization" android:title="Global Graph Optimization" />
 	              <item android:id="@+id/detect_more_loop_closures" android:title="Detect More Loop Closures" />
-	              <item android:id="@+id/icp_refining" android:title="ICP Refining" />
 	              <item android:id="@+id/gain_compensation_fast" android:title="Adjust Colors (Fast)" />
 	              <item android:id="@+id/gain_compensation_full" android:title="Adjust Colors (Full)" />
 	              <item android:id="@+id/bilateral_filtering" android:title="Mesh Smoothing" />
@@ -25,29 +42,13 @@
 	         </item>
           </menu>
        </item>
-       <item android:id="@+id/export" android:showAsAction="ifRoom" android:title="Export">
-          <menu>
-              <item android:id="@+id/export_point_cloud" android:title="Point Cloud (*.ply)" />
-              <item android:id="@+id/export_mesh_menu" android:title="Raw Mesh..." >
-	              <menu>
-		              <item android:id="@+id/export_mesh" android:title="Colored Mesh (*.ply)" />
-			          <item android:id="@+id/export_mesh_texture" android:title="Textured Mesh (*.obj)" />
-		          </menu>
-	          </item>
-	          <item android:id="@+id/export_optimized_mesh_menu" android:title="Optimized Mesh..." >
-	              <menu>
-		              <item android:id="@+id/export_optimized_mesh" android:title="Colored Mesh (*.ply)" />
-			          <item android:id="@+id/export_optimized_mesh_texture" android:title="Textured Mesh (*.obj)" />
-		          </menu>
-	          </item>
-          </menu>
-       </item>
        
        <item android:id="@+id/open" android:title="Open" android:showAsAction="ifRoom"/>
        
        <item android:id="@+id/menu_rendering_settings" android:title="Visibility...">
         <menu >
         <group android:id="@+id/group_rendering_visibility" android:checkableBehavior="all">
+            <item android:id="@+id/status" android:checked="true" android:title="Status" />
             <item android:id="@+id/debug" android:checked="false" android:title="Debug" />
             <item android:id="@+id/map_shown" android:checked="true" android:title="Map Visible" />
             <item android:id="@+id/odom_shown" android:checked="true" android:title="Odom Visible" />

app/android/res/values/arrays.xml

@@ -0,0 +1,9 @@
+
+    <resources>
+        <string-array name="camera_view_array">
+        <item>First View</item>
+        <item>Third-P. View</item>
+        <item>Top View</item>
+        <item>Ortho View</item>
+    </string-array>
+    </resources>

app/android/res/values/dimens.xml

@@ -0,0 +1,4 @@
+
+    <resources>
+        <dimen name="image_width">150dp</dimen>
+    </resources>

app/android/res/values/styles.xml

@@ -0,0 +1,10 @@
+<resources>
+    <style name="ThemeActionBar" parent="@android:style/Widget.DeviceDefault.ActionBar.Solid">
+        <item name="android:background">#20000000</item>
+    </style>
+
+    <style name="ThemeApp" parent="@android:style/Theme.DeviceDefault">
+        <item name="android:actionBarStyle">@style/ThemeActionBar</item>
+        <item name="android:windowActionBarOverlay">true</item>
+    </style>
+</resources>

app/android/src/com/introlab/rtabmap/AboutDialog.java

@@ -8,11 +8,13 @@ import java.io.BufferedReader;
 import java.io.IOException;
 import java.io.InputStream;
 import java.io.InputStreamReader;
+
 import android.app.Dialog;
 import android.content.Context;
 import android.graphics.Color;
 import android.os.Bundle;
 import android.text.Html;
+import android.text.method.LinkMovementMethod;
 import android.text.util.Linkify;
 import android.widget.TextView;
 
@@ -33,8 +35,10 @@ public class AboutDialog extends Dialog{
 		setContentView(R.layout.about);
 		TextView tv = (TextView)findViewById(R.id.info_text);
 		tv.setText(Html.fromHtml(readRawTextFile(R.raw.info)));
+		tv.setMovementMethod(LinkMovementMethod.getInstance());
 		tv.setLinkTextColor(Color.WHITE);
 		Linkify.addLinks(tv, Linkify.ALL);
+		tv.append(Html.fromHtml("<b><a href=http://introlab.github.io/rtabmap/index.html#privacy-policy>Privacy Policy</a></b>"));
 	}
 	
 	public static String readRawTextFile(int id) {

app/android/src/com/introlab/rtabmap/CustomSwitchPreference.java

@@ -0,0 +1,82 @@
+package com.introlab.rtabmap;
+
+import android.content.Context;
+import android.preference.SwitchPreference;
+import android.util.AttributeSet;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.Switch;
+
+/**
+ * 
+ * @author mathieu
+ * Bug fix of switch preferences changing states 
+ * when scrolling on Jelly Bean: 
+ * https://issuetracker.google.com/issues/36941388#comment4
+ */
+
+public class CustomSwitchPreference extends SwitchPreference { 
+
+    /** 
+     * Construct a new SwitchPreference with the given style options.
+     * 
+     * @param context The Context that will style this preference 
+     * @param attrs Style attributes that differ from the default 
+     * @param defStyle Theme attribute defining the default style options 
+     */ 
+    public CustomSwitchPreference(Context context, AttributeSet attrs, int defStyle) { 
+        super(context, attrs, defStyle); 
+    } 
+
+    /** 
+     * Construct a new SwitchPreference with the given style options.
+     * 
+     * @param context The Context that will style this preference 
+     * @param attrs Style attributes that differ from the default 
+     */ 
+    public CustomSwitchPreference(Context context, AttributeSet attrs) { 
+        super(context, attrs); 
+    } 
+
+    /** 
+     * Construct a new SwitchPreference with default style options. 
+     * 
+     * @param context The Context that will style this preference 
+     */ 
+    public CustomSwitchPreference(Context context) { 
+        super(context, null); 
+    } 
+
+    @Override 
+    protected void onBindView(View view) { 
+        // Clean listener before invoke SwitchPreference.onBindView 
+        ViewGroup viewGroup= (ViewGroup)view; 
+        clearListenerInViewGroup(viewGroup); 
+        super.onBindView(view); 
+    } 
+
+    /** 
+     * Clear listener in Switch for specify ViewGroup. 
+     * 
+     * @param viewGroup The ViewGroup that will need to clear the listener. 
+     */ 
+    private void clearListenerInViewGroup(ViewGroup viewGroup) { 
+        if (null == viewGroup) { 
+            return; 
+        } 
+
+        int count = viewGroup.getChildCount(); 
+        for(int n = 0; n < count; ++n) { 
+            View childView = viewGroup.getChildAt(n); 
+            if(childView instanceof Switch) { 
+                final Switch switchView = (Switch) childView; 
+                switchView.setOnCheckedChangeListener(null); 
+                return; 
+            } else if (childView instanceof ViewGroup){ 
+                ViewGroup childGroup = (ViewGroup)childView; 
+                clearListenerInViewGroup(childGroup); 
+            } 
+        } 
+    } 
+
+}

app/android/src/com/introlab/rtabmap/DatabaseListArrayAdapter.java

@@ -0,0 +1,102 @@
+package com.introlab.rtabmap;
+
+import android.content.Context;
+import android.database.Cursor;
+import android.database.sqlite.SQLiteDatabase;
+import android.graphics.Bitmap;
+import android.graphics.BitmapFactory;
+import android.graphics.drawable.Drawable;
+import android.util.Log;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.BaseAdapter;
+import android.widget.ImageView;
+import android.widget.LinearLayout;
+import android.widget.SimpleAdapter;
+
+import java.io.ByteArrayInputStream;
+import java.io.InputStream;
+import java.util.ArrayList;
+import java.util.HashMap;
+
+public class DatabaseListArrayAdapter extends SimpleAdapter {
+	LayoutInflater inflater;
+	Context context;
+	ArrayList<HashMap<String, String>> arrayList;
+	int imageWidth;
+
+	public DatabaseListArrayAdapter(Context context, ArrayList<HashMap<String, String>> data, int resource, String[] from, int[] to) {
+		super(context, data, resource, from, to);
+		this.context = context;
+		this.arrayList = data;
+		this.imageWidth = (int)context.getResources().getDimension(R.dimen.image_width);
+		inflater.from(context);
+	}
+
+	@Override
+	public View getView(final int position, View convertView, ViewGroup parent) {
+		View view = super.getView(position, convertView, parent);
+		ImageView imageView = (ImageView) view.findViewById(R.id.imageView);
+		
+		boolean imageSet = false;
+		String path = this.arrayList.get(position).get("path");
+		if(!path.isEmpty())
+		{
+			SQLiteDatabase db = null;
+			try {
+				db = SQLiteDatabase.openDatabase(path, null, SQLiteDatabase.OPEN_READONLY);
+				
+				// get version
+				Cursor c1 = db.rawQuery("SELECT version FROM Admin", null);    
+		        if(c1.moveToFirst()) {
+		        	String version = c1.getString(c1.getColumnIndex("version"));
+		        	Log.i(RTABMapActivity.TAG, "Version="+version);
+		        	if(Util.versionCompare(version, "0.12.0") >= 0) {
+		        		Cursor c2 = db.rawQuery("SELECT preview_image FROM Admin WHERE preview_image is not null", null); 
+		        		if(c2.moveToFirst()) {
+		        			Log.i(RTABMapActivity.TAG, "Found image preview for db " + path);
+
+		        			byte[] bytes = c2.getBlob(c2.getColumnIndex("preview_image"));
+		        			ByteArrayInputStream inputStream = new ByteArrayInputStream(bytes);
+		        			Bitmap bitmap = BitmapFactory.decodeStream(inputStream);
+		        			imageView.setImageBitmap(bitmap);
+		        			imageSet = true;
+		        		}
+		        		else {
+		        			Log.i(RTABMapActivity.TAG, "Not found image preview for db " + path);
+		        		}
+		        	}
+		        	else {
+		        		Log.i(RTABMapActivity.TAG, "Too old database for preview image, path = " + path);
+		        	}
+		        }
+		        else {
+		        	Log.e(RTABMapActivity.TAG, "Failed getting version from database");
+		        }
+	
+	        } catch (Exception e) {
+	            Log.e(RTABMapActivity.TAG, e.getMessage());
+	        }
+			finally {
+				if(db != null && db.isOpen()) {
+	            	db.close();
+	            }
+			}
+		}
+		else
+		{
+			Log.e(RTABMapActivity.TAG, "Database path empty for item " + position);
+		}
+		
+		if(!imageSet)
+		{
+			Drawable myDrawable = context.getResources().getDrawable(R.drawable.ic_launcher);
+			imageView.setImageDrawable(myDrawable);
+		}
+		LinearLayout.LayoutParams layoutParams = new LinearLayout.LayoutParams(imageWidth,imageWidth/(!imageSet?2:1));
+		imageView.setLayoutParams(layoutParams);
+		return view;
+	}
+
+}

app/android/src/com/introlab/rtabmap/NDSpinner.java

@@ -0,0 +1,43 @@
+package com.introlab.rtabmap;
+
+import android.content.Context;
+import android.util.AttributeSet;
+import android.widget.Spinner;
+
+
+/** Spinner extension that calls onItemSelected even when the selection is the same as its previous value 
+Author: Mattia Ruggiero 
+https://stackoverflow.com/questions/5335306/how-can-i-get-an-event-in-android-spinner-when-the-current-selected-item-is-sele
+*/
+public class NDSpinner extends Spinner {
+
+    public NDSpinner(Context context)
+    { super(context); }
+
+    public NDSpinner(Context context, AttributeSet attrs)
+    { super(context, attrs); }
+
+    public NDSpinner(Context context, AttributeSet attrs, int defStyle)
+    { super(context, attrs, defStyle); }
+
+    @Override 
+    public void setSelection(int position, boolean animate) {
+        boolean sameSelected = position == getSelectedItemPosition();
+        super.setSelection(position, animate);
+        if (sameSelected) {
+            // Spinner does not call the OnItemSelectedListener if the same item is selected, so do it manually now
+            //getOnItemSelectedListener().onItemSelected(this, getSelectedView(), position, getSelectedItemId());
+        }
+    } 
+
+    @Override
+    public void setSelection(int position) {
+        boolean sameSelected = position == getSelectedItemPosition();
+        super.setSelection(position);
+        if (sameSelected) {
+            // Spinner does not call the OnItemSelectedListener if the same item is selected, so do it manually now
+            getOnItemSelectedListener().onItemSelected(this, getSelectedView(), position, getSelectedItemId());
+        }
+    }
+
+}

app/android/src/com/introlab/rtabmap/RTABMapLib.java

@@ -25,8 +25,10 @@ public class RTABMapLib
     // The activity object is used for checking if the API version is outdated.
     public static native void onCreate(RTABMapActivity activity);
     
-    public static native void openEmptyDatabase();
-    public static native void openDatabase(String databasePath);
+    public static native void setScreenRotation(int displayRotation, int cameraRotation);
+    
+    public static native int openDatabase(String databasePath, boolean databaseInMemory, boolean optimize);
+    public static native int openDatabase2(String databaseSource, String databasePath, boolean databaseInMemory, boolean optimize);
     
     /*
      * Called when the Tango service is connected.
@@ -57,6 +59,7 @@ public class RTABMapLib
     
 
     public static native void setPausedMapping(boolean paused);
+    public static native void setOnlineBlending(boolean enabled);
     public static native void setMapCloudShown(boolean shown);
     public static native void setOdomCloudShown(boolean shown);
     public static native void setMeshRendering(boolean enabled, boolean withTexture);
@@ -64,39 +67,60 @@ public class RTABMapLib
     public static native void setTrajectoryMode(boolean enabled);
     public static native void setGraphOptimization(boolean enabled);
     public static native void setNodesFiltering(boolean enabled);
-    public static native void setDriftCorrection(boolean enabled);
     public static native void setGraphVisible(boolean visible);
     public static native void setGridVisible(boolean visible);
-    public static native void setAutoExposure(boolean enabled);
+    public static native void setRawScanSaved(boolean enabled);
     public static native void setFullResolution(boolean enabled);
+    public static native void setSmoothing(boolean enabled);
+    public static native void setCameraColor(boolean enabled);
     public static native void setAppendMode(boolean enabled);
     public static native void setDataRecorderMode(boolean enabled);
     public static native void setMaxCloudDepth(float value);
+    public static native void setMinCloudDepth(float value);
     public static native void setPointSize(float value);
+    public static native void setFOV(float value);
+    public static native void setOrthoCropFactor(float value);
+    public static native void setGridRotation(float value);
     public static native void setLighting(boolean enabled);
-    public static native void setMeshDecimation(int value);
+    public static native void setBackfaceCulling(boolean enabled);
+    public static native void setWireframe(boolean enabled);
+    public static native void setCloudDensityLevel(int value);
     public static native void setMeshAngleTolerance(float value);
     public static native void setMeshTriangleSize(int value);
-    public static native void setMinClusterSize(int value);
+    public static native void setClusterRatio(float value);
     public static native void setMaxGainRadius(float value);
+    public static native void setRenderingTextureDecimation(int value);
+    public static native void setBackgroundColor(float gray);
     public static native int setMappingParameter(String key, String value);
+    public static native void setGPS(
+			double stamp,
+			double longitude, 
+			double latitude, 
+			double altitude,  
+			double accuracy,
+			double bearing);
 
     public static native void resetMapping();
     public static native void save(String outputDatabasePath);
+    public static native void cancelProcessing();
     public static native boolean exportMesh(
-    		String filePath,
     		float cloudVoxelSize,
+    		boolean regenerateCloud,
     		boolean meshing,
     		int textureSize,
+    		int textureCount,
     		int normalK,
     		boolean optimized,
     		float optimizedVoxelSize,
     		int optimizedDepth,
-    		float optimizedDecimationFactor,
+    		int optimizedMaxPolygons,
     		float optimizedColorRadius,
     		boolean optimizedCleanWhitePolygons,
-    		boolean optimizedColorWhitePolygons,
+    		int optimizedMinClusterSize,
+    		float optimizedMaxTextureDistance,
+    		int optimizedMinTextureClusterSize,
     		boolean blockRendering);
+    public static native boolean writeExportedMesh(String directory, String name);
     public static native boolean postExportation(boolean visualize);
     public static native int postProcessing(int approach);
     

app/android/src/com/introlab/rtabmap/Renderer.java

@@ -16,8 +16,16 @@
 
 package com.introlab.rtabmap;
 
+import java.util.Vector;
+import java.util.concurrent.locks.ReentrantLock;
+
+import android.app.Activity;
 import android.app.ProgressDialog;
+import android.opengl.GLES20;
 import android.opengl.GLSurfaceView;
+import android.opengl.Matrix;
+import android.util.Log;
+import android.widget.Toast;
 
 import javax.microedition.khronos.egl.EGLConfig;
 import javax.microedition.khronos.opengles.GL10;
@@ -26,30 +34,195 @@ import javax.microedition.khronos.opengles.GL10;
 // ground grid, camera frustum, camera axis, and trajectory based on the Tango
 // device's pose.
 public class Renderer implements GLSurfaceView.Renderer {
+
+	private final float[] mtrxProjection = new float[16];
+	private final float[] mtrxView = new float[16];
+	private final float[] mtrxProjectionAndView = new float[16];
+
+	private TextManager mTextManager = null;
+	private float mSurfaceHeight = 0.0f;
+	private float mTextColor = 1.0f;
+	private int mOffset = 0;
 	
-	private ProgressDialog mProgressDialog;
+	private Vector<TextObject> mTexts;
+
+	private static RTABMapActivity mActivity;
+	public Renderer(RTABMapActivity c) {
+		mActivity = c;
+	}
+
+	private ProgressDialog mProgressDialog = null;
+	private Toast mToast = null;
 	
+	private boolean mTextChanged = false;
+	private ReentrantLock mTextLock = new ReentrantLock();
+
 	public void setProgressDialog(ProgressDialog progressDialog)
 	{
 		mProgressDialog = progressDialog;
 	}
+
+	public void setToast(Toast toast)
+	{
+		mToast = toast;
+	}
 	
-  // Render loop of the Gl context.
-  public void onDrawFrame(GL10 gl) {
-    int value = RTABMapLib.render();
-    if(value == 1 && mProgressDialog != null)
-    {
-    	mProgressDialog.dismiss();
-    }
-  }
+	public void setOffset(int offset)
+	{
+		mOffset = offset;
+	}
 
-  // Called when the surface size changes.
-  public void onSurfaceChanged(GL10 gl, int width, int height) {
-	  RTABMapLib.setupGraphic(width, height);
-  }
+	// Render loop of the Gl context.
+	public void onDrawFrame(GL10 useGLES20instead) {
 
-  // Called when the surface is created or recreated.
-  public void onSurfaceCreated(GL10 gl, EGLConfig config) {
-	  RTABMapLib.initGlContent();
-  }
+		try
+		{
+			final int value = RTABMapLib.render();
+
+			if(mTextManager!=null)
+			{
+				if(mTextChanged)
+				{
+					mTextChanged = false;
+					Vector<TextObject> txtcollection = new Vector<TextObject>();
+					
+					mTextLock.lock();
+				    try {
+				    	if(mTexts.size() > 0)
+				    	{
+				    		txtcollection.addAll(mTexts);
+				    	}
+				    } finally {
+				    	mTextLock.unlock();
+				    }
+				    
+					// Prepare the text for rendering
+					mTextManager.PrepareDraw(txtcollection);
+				}
+				
+				float[] mvp = new float[16];
+				Matrix.translateM(mvp, 0, mtrxProjectionAndView, 0, 0, mOffset, 0);
+				mTextManager.Draw(mvp);
+			}
+
+			if(value != 0 && mProgressDialog != null && mProgressDialog.isShowing())
+			{
+				mActivity.runOnUiThread(new Runnable() {
+					public void run() {
+						if(!RTABMapActivity.DISABLE_LOG) Log.i("RTABMapActivity", "Renderer: dismiss dialog, value received=" + String.valueOf(value));
+						mProgressDialog.dismiss();
+						mActivity.resetNoTouchTimer();
+					}
+				});
+			}
+			if(value==-1)
+			{
+				mActivity.runOnUiThread(new Runnable() {
+					public void run() {
+						if(mToast!=null)
+						{
+							mToast.makeText(mActivity, String.format("Out of Memory!"), Toast.LENGTH_SHORT).show();
+						}
+					}
+				});
+			}
+			else if(value==-2)
+			{
+				mActivity.runOnUiThread(new Runnable() {
+					public void run() {
+						if(mToast!=null)
+						{
+							mToast.makeText(mActivity, String.format("Rendering Error!"), Toast.LENGTH_SHORT).show();
+						}
+					}
+				});
+			}
+		}
+		catch(final Exception e)
+		{
+			mActivity.runOnUiThread(new Runnable() {
+				public void run() {
+					if(mToast!=null)
+					{
+						mToast.makeText(mActivity, String.format("Rendering error! %s", e.getMessage()), Toast.LENGTH_SHORT).show();
+					}
+				}
+
+			});
+		}
+	}
+
+	// Called when the surface size changes.
+	public void onSurfaceChanged(GL10 useGLES20instead, int width, int height) {
+		
+		RTABMapLib.setupGraphic(width, height);
+		
+		mSurfaceHeight = (float)height;
+
+		// Clear our matrices
+		for(int i=0;i<16;i++)
+		{
+			mtrxProjection[i] = 0.0f;
+			mtrxView[i] = 0.0f;
+			mtrxProjectionAndView[i] = 0.0f;
+		}
+
+		// Setup our screen width and height for normal sprite translation.
+		Matrix.orthoM(mtrxProjection, 0, 0f, width, 0.0f, height, 0, 50);
+
+		// Set the camera position (View matrix)
+		Matrix.setLookAtM(mtrxView, 0, 0f, 0f, 1f, 0f, 0f, 0f, 0f, 1.0f, 0.0f);
+
+		// Calculate the projection and view transformation
+		Matrix.multiplyMM(mtrxProjectionAndView, 0, mtrxProjection, 0, mtrxView, 0);
+	}
+
+	// Called when the surface is created or recreated.
+	public void onSurfaceCreated(GL10 useGLES20instead, EGLConfig config) {
+
+		RTABMapLib.initGlContent();
+		
+		// Create our text manager
+		mTextManager = new TextManager(mActivity);
+		mTextManager.setColor(mTextColor);
+	}
+	
+	public void updateTexts(String[] texts)
+	{
+		if(mTextManager != null && mSurfaceHeight > 0.0f)
+		{
+			Vector<TextObject> textObjects = new Vector<TextObject>();
+			float offset = mSurfaceHeight-mTextManager.getMaxTextHeight();
+			if(texts != null)
+			{
+				for(int i=0;i<texts.length; ++i)
+				{
+					if(texts[i]!=null && texts[i].length()>0)
+					{
+						TextObject txt = new TextObject(texts[i], 0, offset);
+						textObjects.add(txt);
+					}
+					offset-=mTextManager.getMaxTextHeight();
+				}
+			}
+	
+			mTextLock.lock();
+			try {
+				mTexts = textObjects;
+			} finally {
+				mTextLock.unlock();
+			}
+	
+			mTextChanged = true;
+		}
+	}
+	
+	public void setTextColor(float color) 
+	{
+		mTextColor = color;
+		if(mTextManager != null)
+		{
+			mTextManager.setColor(mTextColor);
+		}
+	}
 }

app/android/src/com/introlab/rtabmap/SettingsActivity.java

@@ -1,23 +1,36 @@
 package com.introlab.rtabmap;
 
-import android.app.Activity;
+import java.io.File;
+import java.text.SimpleDateFormat;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.Iterator;
+import java.util.Map.Entry;
+
+import android.app.AlertDialog;
+import android.content.DialogInterface;
 import android.content.SharedPreferences;
 import android.content.SharedPreferences.OnSharedPreferenceChangeListener;
 import android.os.Bundle;
 import android.preference.ListPreference;
 import android.preference.Preference;
 import android.preference.PreferenceActivity;
-import android.preference.PreferenceManager;
+import android.text.InputType;
+import android.view.WindowManager;
+import android.view.inputmethod.EditorInfo;
+import android.widget.EditText;
 
 public class SettingsActivity extends PreferenceActivity implements OnSharedPreferenceChangeListener {
 	
+	private SettingsActivity getActivity() {return this;}
+	
     @Override
     public void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
         addPreferencesFromResource(R.layout.activity_settings);
         
-        Preference button = findPreference(getString(R.string.pref_key_reset_button));
-        button.setOnPreferenceClickListener(new Preference.OnPreferenceClickListener() {
+        Preference buttonReset = findPreference(getString(R.string.pref_key_reset_button));
+        buttonReset.setOnPreferenceClickListener(new Preference.OnPreferenceClickListener() {
         	@Override
         	public boolean onPreferenceClick(Preference preference) {   
         		getPreferenceScreen().getSharedPreferences().edit().clear().commit();
@@ -28,28 +41,184 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
         	}
         });
         
-        ((Preference)findPreference(getString(R.string.pref_key_decimation))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_decimation))).getEntry() + ") "+getString(R.string.pref_summary_decimation));
+        Preference buttonOpen = findPreference(getString(R.string.pref_key_open_button));
+        buttonOpen.setOnPreferenceClickListener(new Preference.OnPreferenceClickListener() {
+        	@Override
+        	public boolean onPreferenceClick(Preference preference) {   
+        		File prefsdir = new File(getApplicationInfo().dataDir,"shared_prefs");
+        		if(prefsdir.exists() && prefsdir.isDirectory()){
+        			ArrayList<String> filesArray = new ArrayList<String>(Arrays.asList(prefsdir.list()));
+        			ArrayList<String> newList = new ArrayList<String>();
+        			filesArray.remove("com.introlab.rtabmap_preferences.xml");
+				filesArray.remove("WebViewChromiumPrefs.xml");
+        			for (String s : filesArray) {
+        				newList.add(s.substring(0, s.length()-4)); // rip off the ".xml"
+        			}
+        			final String[] files = newList.toArray(new String[filesArray.size()]);
+        			if(files.length > 0)
+        			{
+        				AlertDialog.Builder builder = new AlertDialog.Builder(getActivity());
+        				builder.setTitle("Choose Presets:");
+        				builder.setItems(files, new DialogInterface.OnClickListener() {
+        					public void onClick(DialogInterface dialog, final int which) {
+        						//sp1 is the shared pref to copy to
+        						SharedPreferences.Editor ed = getPreferenceScreen().getSharedPreferences().edit(); 
+        						SharedPreferences sp = getActivity().getSharedPreferences(files[which], MODE_PRIVATE); //The shared preferences to copy from
+        						//Cycle through all the entries in the sp
+        						for(Entry<String,?> entry : sp.getAll().entrySet()){ 
+        						 Object v = entry.getValue(); 
+        						 String key = entry.getKey();
+        						 //Now we just figure out what type it is, so we can copy it.
+        						 // Note that i am using Boolean and Integer instead of boolean and int.
+        						 // That's because the Entry class can only hold objects and int and boolean are primatives.
+        						 if(v instanceof Boolean) 
+        						 // Also note that i have to cast the object to a Boolean 
+        						 // and then use .booleanValue to get the boolean
+        						    ed.putBoolean(key, ((Boolean)v).booleanValue());
+        						 else if(v instanceof Float)
+        						    ed.putFloat(key, ((Float)v).floatValue());
+        						 else if(v instanceof Integer)
+        						    ed.putInt(key, ((Integer)v).intValue());
+        						 else if(v instanceof Long)
+        						    ed.putLong(key, ((Long)v).longValue());
+        						 else if(v instanceof String)
+        						    ed.putString(key, ((String)v));         
+        						}
+        						ed.commit(); //save it.
+        						recreate();
+        						return;
+        					}
+        				});
+        				builder.show();
+        			}   
+        		}
+
+        		return true;
+        	}
+        });
+        
+        Preference buttonSave = findPreference(getString(R.string.pref_key_save_button));
+        buttonSave.setOnPreferenceClickListener(new Preference.OnPreferenceClickListener() {
+        	@Override
+        	public boolean onPreferenceClick(Preference preference) {   
+        		AlertDialog.Builder builder = new AlertDialog.Builder(getActivity());
+    			builder.setTitle("Save Presets:");
+    			final EditText input = new EditText(getActivity());
+    			input.setInputType(InputType.TYPE_CLASS_TEXT); 
+    			input.setImeOptions(EditorInfo.IME_FLAG_NO_EXTRACT_UI);
+    			builder.setView(input);
+    			builder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
+    				@Override
+    				public void onClick(DialogInterface dialog, int which)
+    				{
+    					final String fileName = input.getText().toString();  
+    					dialog.dismiss();
+    					if(!fileName.isEmpty())
+    					{
+    						File newFile = new File(getApplicationInfo().dataDir + "/shared_prefs/" + fileName + ".xml");
+    						if(newFile.exists())
+    						{
+    							new AlertDialog.Builder(getActivity())
+    							.setTitle("Presets Already Exist")
+    							.setMessage("Do you want to overwrite the existing file?")
+    							.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
+    								public void onClick(DialogInterface dialog, int which) {
+    									saveConfig(fileName);
+    								}
+    							})
+    							.setNegativeButton("No", new DialogInterface.OnClickListener() {
+    								public void onClick(DialogInterface dialog, int which) {
+    									dialog.dismiss();
+    								}
+    							})
+    							.show();
+    						}
+    						else
+    						{
+    							saveConfig(fileName);
+    						}
+    					}
+    				}
+    			});
+    			AlertDialog alertToShow = builder.create();
+    			alertToShow.getWindow().setSoftInputMode(WindowManager.LayoutParams.SOFT_INPUT_STATE_VISIBLE);
+    			alertToShow.show();
+
+        		return true;
+        	}
+        });
+        
+        Preference buttonRemove = findPreference(getString(R.string.pref_key_remove_button));
+        buttonRemove.setOnPreferenceClickListener(new Preference.OnPreferenceClickListener() {
+        	@Override
+        	public boolean onPreferenceClick(Preference preference) {   
+        		File prefsdir = new File(getApplicationInfo().dataDir,"shared_prefs");
+        		if(prefsdir.exists() && prefsdir.isDirectory()){
+        			ArrayList<String> filesArray = new ArrayList<String>(Arrays.asList(prefsdir.list()));
+        			ArrayList<String> newList = new ArrayList<String>();
+        			filesArray.remove("com.introlab.rtabmap_preferences.xml");
+				filesArray.remove("WebViewChromiumPrefs.xml");
+        			for (String s : filesArray) {
+        				newList.add(s.substring(0, s.length()-4)); // rip off the ".xml"
+        			}
+        			final String[] files = newList.toArray(new String[filesArray.size()]);
+        			if(files.length > 0)
+        			{
+        				AlertDialog.Builder builder = new AlertDialog.Builder(getActivity());
+        				builder.setTitle("Remove Presets:");
+        				builder.setItems(files, new DialogInterface.OnClickListener() {
+        					public void onClick(DialogInterface dialog, final int which) {
+        						File file = new File(getApplicationInfo().dataDir + "/shared_prefs/" + files[which] + ".xml");
+        						if(file.exists())
+        						{
+        							file.delete();
+        						}
+        						return;
+        					}
+        				});
+        				builder.show();
+        			}   
+        		}
+
+        		return true;
+        	}
+        });
+        
+        
+        ((Preference)findPreference(getString(R.string.pref_key_density))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_density))).getEntry() + ") "+getString(R.string.pref_summary_density));
         ((Preference)findPreference(getString(R.string.pref_key_depth))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_depth))).getEntry() + ") "+getString(R.string.pref_summary_depth));
+        ((Preference)findPreference(getString(R.string.pref_key_min_depth))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_min_depth))).getEntry() + ") "+getString(R.string.pref_summary_min_depth));
         ((Preference)findPreference(getString(R.string.pref_key_point_size))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_point_size))).getEntry() + ") "+getString(R.string.pref_summary_point_size));
         ((Preference)findPreference(getString(R.string.pref_key_angle))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_angle))).getEntry() + ") "+getString(R.string.pref_summary_angle));
         ((Preference)findPreference(getString(R.string.pref_key_triangle))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_triangle))).getEntry() + ") "+getString(R.string.pref_summary_triangle));
-   
+        ((Preference)findPreference(getString(R.string.pref_key_background_color))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_background_color))).getEntry() + ") "+getString(R.string.pref_summary_background_color));
+        ((Preference)findPreference(getString(R.string.pref_key_rendering_texture_decimation))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_rendering_texture_decimation))).getEntry() + ") "+getString(R.string.pref_summary_rendering_texture_decimation));
+          
         ((Preference)findPreference(getString(R.string.pref_key_update_rate))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_update_rate))).getEntry() + ") "+getString(R.string.pref_summary_update_rate));
+        ((Preference)findPreference(getString(R.string.pref_key_max_speed))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_max_speed))).getEntry() + ") "+getString(R.string.pref_summary_max_speed));
         ((Preference)findPreference(getString(R.string.pref_key_time_thr))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_time_thr))).getEntry() + ") "+getString(R.string.pref_summary_time_thr));
+        ((Preference)findPreference(getString(R.string.pref_key_mem_thr))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_mem_thr))).getEntry() + ") "+getString(R.string.pref_summary_mem_thr));
         ((Preference)findPreference(getString(R.string.pref_key_loop_thr))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_loop_thr))).getEntry() + ") "+getString(R.string.pref_summary_loop_thr));
+        ((Preference)findPreference(getString(R.string.pref_key_sim_thr))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_sim_thr))).getEntry() + ") "+getString(R.string.pref_summary_sim_thr));
+        ((Preference)findPreference(getString(R.string.pref_key_min_inliers))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_min_inliers))).getEntry() + ") "+getString(R.string.pref_summary_min_inliers));
         ((Preference)findPreference(getString(R.string.pref_key_opt_error))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_error))).getEntry() + ") "+getString(R.string.pref_summary_opt_error));
+        ((Preference)findPreference(getString(R.string.pref_key_features_voc))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_features_voc))).getEntry() + ") "+getString(R.string.pref_summary_features_voc));
         ((Preference)findPreference(getString(R.string.pref_key_features))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_features))).getEntry() + ") "+getString(R.string.pref_summary_features));
         ((Preference)findPreference(getString(R.string.pref_key_features_type))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_features_type))).getEntry() + ") "+getString(R.string.pref_summary_features_type));
+        ((Preference)findPreference(getString(R.string.pref_key_optimizer))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_optimizer))).getEntry() + ") "+getString(R.string.pref_summary_optimizer));
         
         ((Preference)findPreference(getString(R.string.pref_key_cloud_voxel))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_cloud_voxel))).getEntry() + ") "+getString(R.string.pref_summary_cloud_voxel));
         ((Preference)findPreference(getString(R.string.pref_key_texture_size))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_texture_size))).getEntry() + ") "+getString(R.string.pref_summary_texture_size));
+        ((Preference)findPreference(getString(R.string.pref_key_texture_count))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_texture_count))).getEntry() + ") "+getString(R.string.pref_summary_texture_count));
         ((Preference)findPreference(getString(R.string.pref_key_normal_k))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_normal_k))).getEntry() + ") "+getString(R.string.pref_summary_normal_k));
+        ((Preference)findPreference(getString(R.string.pref_key_max_texture_distance))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_max_texture_distance))).getEntry() + ") "+getString(R.string.pref_summary_max_texture_distance));
+        ((Preference)findPreference(getString(R.string.pref_key_min_texture_cluster_size))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_min_texture_cluster_size))).getEntry() + ") "+getString(R.string.pref_summary_min_texture_cluster_size));
 
         ((Preference)findPreference(getString(R.string.pref_key_opt_depth))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_depth))).getEntry() + ") "+getString(R.string.pref_summary_opt_depth));
-        ((Preference)findPreference(getString(R.string.pref_key_opt_decimation_factor))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_decimation_factor))).getValue() + "%%) "+getString(R.string.pref_summary_opt_decimation_factor));
         ((Preference)findPreference(getString(R.string.pref_key_opt_color_radius))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_color_radius))).getEntry() + ") "+getString(R.string.pref_summary_opt_color_radius));
-    
-        ((Preference)findPreference(getString(R.string.pref_key_min_cluster_size))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_min_cluster_size))).getEntry() + ") "+getString(R.string.pref_summary_min_cluster_size));
+        ((Preference)findPreference(getString(R.string.pref_key_opt_min_cluster_size))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_opt_min_cluster_size))).getEntry() + ") "+getString(R.string.pref_summary_opt_min_cluster_size));
+
+        ((Preference)findPreference(getString(R.string.pref_key_cluster_ratio))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_cluster_ratio))).getEntry() + ") "+getString(R.string.pref_summary_cluster_ratio));
         ((Preference)findPreference(getString(R.string.pref_key_gain_max_radius))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_gain_max_radius))).getEntry() + ") "+getString(R.string.pref_summary_gain_max_radius));
     }
     
@@ -57,28 +226,58 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
         Preference pref = findPreference(key);
 
         if (pref instanceof ListPreference) {
-        	if(key.compareTo(getString(R.string.pref_key_decimation))==0) pref.setSummary("("+ ((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_decimation));
-        	if(key.compareTo(getString(R.string.pref_key_depth))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_depth));
+        	if(key.compareTo(getString(R.string.pref_key_density))==0) pref.setSummary("("+ ((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_density));
+        	if(key.compareTo(getString(R.string.pref_key_depth))==0) 
+    		{
+    			pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_depth));
+    			float maxDepth = Float.parseFloat(((ListPreference)pref).getValue());
+    			float minDepth = Float.parseFloat(((ListPreference)findPreference(getString(R.string.pref_key_min_depth))).getValue());
+    			if(maxDepth > 0.0f && maxDepth <= minDepth)
+    			{
+    				((ListPreference)findPreference(getString(R.string.pref_key_min_depth))).setValueIndex(0);
+    			}
+    		}
+        	if(key.compareTo(getString(R.string.pref_key_min_depth))==0) 
+        	{
+        		pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_min_depth));
+        		float maxDepth = Float.parseFloat(((ListPreference)findPreference(getString(R.string.pref_key_depth))).getValue());
+        		float minDepth = Float.parseFloat(((ListPreference)pref).getValue());
+        		if(minDepth >= maxDepth)
+        		{
+        			((ListPreference)findPreference(getString(R.string.pref_key_depth))).setValueIndex(0);
+        		}
+        	}
         	if(key.compareTo(getString(R.string.pref_key_point_size))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_point_size));
         	if(key.compareTo(getString(R.string.pref_key_angle))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_angle));
         	if(key.compareTo(getString(R.string.pref_key_triangle))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_triangle));
+        	if(key.compareTo(getString(R.string.pref_key_background_color))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_background_color));
+        	if(key.compareTo(getString(R.string.pref_key_rendering_texture_decimation))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_rendering_texture_decimation));
         	
         	if(key.compareTo(getString(R.string.pref_key_update_rate))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_update_rate));
+        	if(key.compareTo(getString(R.string.pref_key_max_speed))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_max_speed));
         	if(key.compareTo(getString(R.string.pref_key_time_thr))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_time_thr));
+        	if(key.compareTo(getString(R.string.pref_key_mem_thr))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_mem_thr));
         	if(key.compareTo(getString(R.string.pref_key_loop_thr))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_loop_thr));
+        	if(key.compareTo(getString(R.string.pref_key_sim_thr))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_sim_thr));
+        	if(key.compareTo(getString(R.string.pref_key_min_inliers))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_min_inliers));
         	if(key.compareTo(getString(R.string.pref_key_opt_error))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_opt_error));
+        	if(key.compareTo(getString(R.string.pref_key_features_voc))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_features_voc));
         	if(key.compareTo(getString(R.string.pref_key_features))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_features));
         	if(key.compareTo(getString(R.string.pref_key_features_type))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_features_type));
+        	if(key.compareTo(getString(R.string.pref_key_optimizer))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_optimizer));
         	
         	if(key.compareTo(getString(R.string.pref_key_cloud_voxel))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_cloud_voxel));
         	if(key.compareTo(getString(R.string.pref_key_texture_size))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_texture_size));
+        	if(key.compareTo(getString(R.string.pref_key_texture_count))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_texture_count));
         	if(key.compareTo(getString(R.string.pref_key_normal_k))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_normal_k));
+        	if(key.compareTo(getString(R.string.pref_key_max_texture_distance))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_max_texture_distance));
+        	if(key.compareTo(getString(R.string.pref_key_min_texture_cluster_size))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_min_texture_cluster_size));
 
         	if(key.compareTo(getString(R.string.pref_key_opt_depth))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_opt_depth));
-        	if(key.compareTo(getString(R.string.pref_key_opt_decimation_factor))==0) pref.setSummary("("+((ListPreference)pref).getValue() + "%%) "+getString(R.string.pref_summary_opt_decimation_factor));
         	if(key.compareTo(getString(R.string.pref_key_opt_color_radius))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_opt_color_radius));
+        	if(key.compareTo(getString(R.string.pref_key_opt_min_cluster_size))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_opt_min_cluster_size));
         	
-        	if(key.compareTo(getString(R.string.pref_key_min_cluster_size))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_min_cluster_size));
+        	if(key.compareTo(getString(R.string.pref_key_cluster_ratio))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_cluster_ratio));
         	if(key.compareTo(getString(R.string.pref_key_gain_max_radius))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_gain_max_radius));
         
         }
@@ -99,4 +298,33 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
         getPreferenceScreen().getSharedPreferences()
                 .unregisterOnSharedPreferenceChangeListener(this);
     }
-}
+    
+    private void saveConfig(String fileName)
+    {
+    	//sp1 is the shared pref to copy to
+		SharedPreferences.Editor ed = getActivity().getSharedPreferences(fileName, MODE_PRIVATE).edit(); 
+		SharedPreferences sp = getPreferenceScreen().getSharedPreferences(); //The shared preferences to copy from
+		ed.clear(); // This clears the one we are copying to, but you don't necessarily need to do that.
+		//Cycle through all the entries in the sp
+		for(Entry<String,?> entry : sp.getAll().entrySet()){ 
+		 Object v = entry.getValue(); 
+		 String key = entry.getKey();
+		 //Now we just figure out what type it is, so we can copy it.
+		 // Note that i am using Boolean and Integer instead of boolean and int.
+		 // That's because the Entry class can only hold objects and int and boolean are primatives.
+		 if(v instanceof Boolean) 
+		 // Also note that i have to cast the object to a Boolean 
+		 // and then use .booleanValue to get the boolean
+		    ed.putBoolean(key, ((Boolean)v).booleanValue());
+		 else if(v instanceof Float)
+		    ed.putFloat(key, ((Float)v).floatValue());
+		 else if(v instanceof Integer)
+		    ed.putInt(key, ((Integer)v).intValue());
+		 else if(v instanceof Long)
+		    ed.putLong(key, ((Long)v).longValue());
+		 else if(v instanceof String)
+		    ed.putString(key, ((String)v));         
+		}
+		ed.commit(); //save it.
+    }
+}

app/android/src/com/introlab/rtabmap/SketchfabActivity.java

@@ -0,0 +1,453 @@
+package com.introlab.rtabmap;
+
+import java.io.File;
+import java.io.IOException;
+import java.util.List;
+
+import android.app.Activity;
+import android.app.AlertDialog;
+import android.app.Dialog;
+import android.app.ProgressDialog;
+import android.content.Context;
+import android.content.DialogInterface;
+import android.content.Intent;
+import android.content.SharedPreferences;
+import android.net.ConnectivityManager;
+import android.net.NetworkInfo;
+import android.os.AsyncTask;
+import android.os.Bundle;
+import android.preference.PreferenceManager;
+import android.text.Editable;
+import android.text.SpannableString;
+import android.text.TextWatcher;
+import android.text.method.LinkMovementMethod;
+import android.text.util.Linkify;
+import android.util.Log;
+import android.view.View;
+import android.view.View.OnClickListener;
+import android.webkit.WebView;
+import android.webkit.WebViewClient;
+import android.widget.Button;
+import android.widget.CheckBox;
+import android.widget.EditText;
+import android.widget.TextView;
+import android.widget.Toast;
+
+public class SketchfabActivity extends Activity implements OnClickListener {
+	
+	private static final String AUTHORIZE_PATH	= "https://sketchfab.com/oauth2/authorize";
+	private static final String CLIENT_ID		= "RXrIJYAwlTELpySsyM8TrK9r3kOGQ5Qjj9VVDIfV";
+	private static final String REDIRECT_URI	= "https://introlab.github.io/rtabmap/oauth2_redirect";
+	
+	ProgressDialog mProgressDialog;
+	
+	private Dialog mAuthDialog;
+	
+	private String mAuthToken;
+	private String mWorkingDirectory;
+	
+	EditText mFilename;
+	EditText mDescription;
+	EditText mTags;
+	CheckBox mDraft;
+	Button mButtonOk;
+	
+	private SketchfabActivity getActivity() {return this;}
+
+	@Override
+	protected void onCreate(Bundle savedInstanceState) {
+		super.onCreate(savedInstanceState);
+		setContentView(R.layout.activity_sketchfab);
+		
+		mFilename = (EditText)findViewById(R.id.editText_filename);
+		mDescription = (EditText)findViewById(R.id.editText_description);
+		mTags = (EditText)findViewById(R.id.editText_tags);
+		mDraft = (CheckBox)findViewById(R.id.checkBox_draft);
+		mButtonOk = (Button)findViewById(R.id.button_ok);
+		
+		mProgressDialog = new ProgressDialog(this);
+		mProgressDialog.setCanceledOnTouchOutside(false);
+		
+		mAuthToken = getIntent().getExtras().getString(RTABMapActivity.RTABMAP_AUTH_TOKEN_KEY);
+		mFilename.setText(getIntent().getExtras().getString(RTABMapActivity.RTABMAP_FILENAME_KEY));
+		mWorkingDirectory = getIntent().getExtras().getString(RTABMapActivity.RTABMAP_WORKING_DIR_KEY);
+		
+		SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
+		String tags = sharedPref.getString(getString(R.string.pref_key_tags), getString(R.string.pref_default_tags));
+		if(tags.isEmpty())
+		{
+			tags = getString(R.string.pref_default_tags);
+		}
+		mTags.setText(tags);
+		
+		mButtonOk.setEnabled(mFilename.getText().toString().length()>0);
+		mButtonOk.setOnClickListener(this);
+		
+		mFilename.addTextChangedListener(new TextWatcher() {
+
+			   @Override
+			   public void afterTextChanged(Editable s) {}
+
+			   @Override    
+			   public void beforeTextChanged(CharSequence s, int start,
+			     int count, int after) {
+			   }
+
+			   @Override    
+			   public void onTextChanged(CharSequence s, int start,
+			     int before, int count) {
+			      mButtonOk.setEnabled(s.length() != 0);
+			   }
+			  });
+		
+		mFilename.setSelectAllOnFocus(true);
+		mFilename.requestFocus();
+	}
+	
+	@Override
+	public void onClick(View v) {
+		// Handle button clicks.
+		switch (v.getId()) {
+		case R.id.button_ok:
+			shareToSketchfab();
+			break;
+		default:
+			return;
+		}
+	}
+	
+	private void shareToSketchfab()
+	{
+		if(!mTags.getText().toString().isEmpty())
+		{
+			SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
+			SharedPreferences.Editor editor = sharedPref.edit();
+			editor.putString(getString(R.string.pref_key_tags), mTags.getText().toString());
+			// Commit the edits!
+			editor.commit();
+		}
+		
+		authorizeAndPublish(mFilename.getText().toString());	
+	}
+	
+	private boolean isNetworkAvailable() {
+	    ConnectivityManager connectivityManager 
+	          = (ConnectivityManager) getSystemService(Context.CONNECTIVITY_SERVICE);
+	    NetworkInfo activeNetworkInfo = connectivityManager.getActiveNetworkInfo();
+	    return activeNetworkInfo != null && activeNetworkInfo.isConnected();
+	}
+	
+	private void authorizeAndPublish(final String fileName)
+	{
+		if(!isNetworkAvailable())
+		{
+			// Visualize the result?
+			new AlertDialog.Builder(this)
+			.setTitle("Sharing to Sketchfab...")
+			.setMessage("Network is not available. Make sure you have internet before continuing.")
+			.setPositiveButton("Try Again", new DialogInterface.OnClickListener() {
+				public void onClick(DialogInterface dialog, int which) {
+					authorizeAndPublish(fileName);
+				}
+			})
+			.setNeutralButton("Abort", new DialogInterface.OnClickListener() {
+				public void onClick(DialogInterface dialog, int which) {
+				}
+			})
+			.show();
+			return;
+		}	
+
+		// get token the first time
+		if(mAuthToken == null)
+		{
+			Log.i(RTABMapActivity.TAG,"We don't have the token, get it!");
+
+			WebView web;
+			mAuthDialog = new Dialog(this);
+			mAuthDialog.setContentView(R.layout.auth_dialog);
+			web = (WebView)mAuthDialog.findViewById(R.id.webv);
+			web.setWebContentsDebuggingEnabled(!RTABMapActivity.DISABLE_LOG);
+			web.getSettings().setJavaScriptEnabled(true);
+			String auth_url = AUTHORIZE_PATH+"?redirect_uri="+REDIRECT_URI+"&response_type=token&client_id="+CLIENT_ID;
+			Log.i(RTABMapActivity.TAG, "Auhorize url="+auth_url);
+			web.setWebViewClient(new WebViewClient() {
+
+				boolean authComplete = false;
+
+				@Override
+				public void onPageFinished(WebView view, String url) {
+					super.onPageFinished(view, url);
+
+					//Log.i(TAG,"onPageFinished url="+url);
+					if(url.contains("error=access_denied")){
+						Log.e(RTABMapActivity.TAG, "ACCESS_DENIED_HERE");
+						authComplete = true;
+						Toast.makeText(getApplicationContext(), "Error Occured", Toast.LENGTH_SHORT).show();
+						mAuthDialog.dismiss();
+					}
+					else if (url.startsWith(REDIRECT_URI) && url.contains("access_token") && authComplete != true) {
+						//Log.i(TAG,"onPageFinished received token="+url);
+						String[] sArray = url.split("access_token=");
+						mAuthToken = (sArray[1].split("&token_type=Bearer"))[0];
+						authComplete = true;
+						
+						mAuthDialog.dismiss();
+
+						zipAndPublish(fileName);
+					}
+				}
+			});
+			mAuthDialog.show();
+			mAuthDialog.setTitle("Authorize RTAB-Map");
+			mAuthDialog.setCancelable(true);
+			web.loadUrl(auth_url);
+		}
+		else
+		{
+			zipAndPublish(fileName);
+		}
+	}
+
+	private void zipAndPublish(final String fileName)
+	{		
+		mProgressDialog.setTitle("Upload to Sketchfab");
+		mProgressDialog.setMessage(String.format("Compressing the files..."));
+		mProgressDialog.show();
+
+		Thread workingThread = new Thread(new Runnable() {
+			public void run() {
+				try{
+					
+					File tmpDir = new File(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR);
+					tmpDir.mkdirs();
+					String[] fileNames = Util.loadFileList(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR, false);
+					if(!RTABMapActivity.DISABLE_LOG) Log.i(RTABMapActivity.TAG, String.format("Deleting %d files in \"%s\"", fileNames.length, mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR));
+					for(int i=0; i<fileNames.length; ++i)
+					{
+						File f = new File(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR + "/" + fileNames[i]);
+						if(f.delete())
+						{
+							if(!RTABMapActivity.DISABLE_LOG) Log.i(RTABMapActivity.TAG, String.format("Deleted \"%s\"", f.getPath()));
+						}
+						else
+						{
+							if(!RTABMapActivity.DISABLE_LOG) Log.i(RTABMapActivity.TAG, String.format("Failed deleting \"%s\"", f.getPath()));
+						}
+					}
+					File exportDir = new File(mWorkingDirectory + RTABMapActivity.RTABMAP_EXPORT_DIR);
+					exportDir.mkdirs();
+					
+					if(RTABMapLib.writeExportedMesh(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR, RTABMapActivity.RTABMAP_TMP_FILENAME))
+					{
+						String[] files = new String[0];
+						// verify if we have all files
+				
+						fileNames = Util.loadFileList(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR, false);
+						if(fileNames.length > 0)
+						{
+							files = new String[fileNames.length];
+							for(int i=0; i<fileNames.length; ++i)
+							{
+								files[i] = mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR + "/" + fileNames[i];
+							}
+						}
+						else
+						{
+							if(!RTABMapActivity.DISABLE_LOG) Log.i(RTABMapActivity.TAG, "Missing files!");
+						}
+				
+						if(files.length > 0)
+						{
+							final String[] filesToZip = files;
+							final String zipOutput = mWorkingDirectory+fileName+".zip";
+							Util.zip(filesToZip, zipOutput);
+							runOnUiThread(new Runnable() {
+								public void run() {
+									mProgressDialog.dismiss();
+
+									File f = new File(zipOutput);
+
+									// Continue?
+									AlertDialog.Builder builder = new AlertDialog.Builder(getActivity());
+									builder.setTitle("File(s) compressed and ready to upload!");
+									
+									final int fileSizeMB = (int)f.length()/(1024 * 1024);
+									final int fileSizeKB = (int)f.length()/(1024);
+									if(fileSizeMB == 0)
+									{
+										Log.i(RTABMapActivity.TAG, String.format("Zipped files = %d KB", fileSizeKB));
+										builder.setMessage(String.format("Total size to upload = %d KB. Do you want to continue?\n\n", fileSizeKB));
+									}
+									else
+									{
+										Log.i(RTABMapActivity.TAG, String.format("Zipped files = %d MB", fileSizeMB));
+										builder.setMessage(String.format("Total size to upload = %d MB. %sDo you want to continue?\n\n"
+												+ "Tip: To reduce the model size, you can also look at the Settings->Exporting options.", fileSizeMB,
+												fileSizeMB>=50?"Note that for size over 50 MB, a Sketchfab PRO account is required, otherwise the upload may fail. ":""));
+									}
+
+									
+									builder.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
+										public void onClick(DialogInterface dialog, int which) {
+											mProgressDialog.setTitle("Upload to Sketchfab");
+											if(fileSizeMB == 0)
+											{
+												mProgressDialog.setMessage(String.format("Uploading model \"%s\" (%d KB) to Sketchfab...", fileName, fileSizeKB));
+											}
+											else
+											{
+												mProgressDialog.setMessage(String.format("Uploading model \"%s\" (%d MB) to Sketchfab...", fileName, fileSizeMB));
+											}
+											mProgressDialog.show();
+											new uploadToSketchfabTask().execute(zipOutput, fileName);
+										}
+									});
+									builder.setNegativeButton("No", new DialogInterface.OnClickListener() {
+										public void onClick(DialogInterface dialog, int which) {
+											// do nothing...
+										}
+									});
+									builder.show();
+								}
+							});
+						}
+					}
+					else
+					{
+						runOnUiThread(new Runnable() {
+							public void run() {
+								mProgressDialog.dismiss();
+								Toast.makeText(getActivity(), String.format("Failed writing files!"), Toast.LENGTH_LONG).show();
+							}
+						});
+					}
+				}
+				catch(IOException ex) {
+					Log.e(RTABMapActivity.TAG, "Failed to zip", ex);
+				}
+			}
+		});
+
+		workingThread.start();
+	}
+	
+	private class uploadToSketchfabTask extends AsyncTask<String, Void, Void>
+	{
+		String mModelUri;
+		String mModelFilePath;
+		String error = "";
+		String mFileName;
+
+		protected void onPreExecute() {
+			//display progress dialog.
+		}
+
+		@Override
+		protected void onPostExecute(Void result) {
+			
+			mProgressDialog.dismiss();
+			//Task you want to do on UIThread after completing Network operation
+			//onPostExecute is called after doInBackground finishes its task.
+			if(mModelFilePath!= null)
+			{
+				File f = new File(mModelFilePath);
+				f.delete(); // cleanup
+
+				// See on sketchfab?
+				  final SpannableString s = new SpannableString(
+				        "Model \"" + mFileName + "\" is now processing on Sketchfab! You can click "
+				        + "on the link below to see it on Sketchfab.\n\nhttps://sketchfab.com/models/"+mModelUri);
+				  Linkify.addLinks(s, Linkify.WEB_URLS);
+				final AlertDialog d = new AlertDialog.Builder(getActivity())
+				.setTitle("Upload finished!")
+				.setCancelable(false)
+				.setMessage(s)
+				.setPositiveButton("Close", new DialogInterface.OnClickListener() {
+					public void onClick(DialogInterface dialog, int which) {
+						Intent resultIntent = new Intent();
+						resultIntent.putExtra(RTABMapActivity.RTABMAP_AUTH_TOKEN_KEY, mAuthToken); 
+						setResult(Activity.RESULT_OK, resultIntent);
+						finish();
+					}
+				}).create();
+				d.show();
+				((TextView)d.findViewById(android.R.id.message)).setMovementMethod(LinkMovementMethod.getInstance());
+			}
+			else
+			{
+				Toast.makeText(getApplicationContext(), String.format("Upload failed! Error=\"%s\"", error), Toast.LENGTH_SHORT).show();
+			}
+		}
+
+		@Override
+		protected Void doInBackground(String... files) {
+			String charset = "UTF-8";
+			File uploadFile = new File(files[0]);
+			mFileName = files[1];
+			String requestURL = "https://api.sketchfab.com/v3/models";
+
+			Log.i(RTABMapActivity.TAG, "Uploading " + files[0]);
+
+			try {
+				MultipartUtility multipart = new MultipartUtility(requestURL, mAuthToken, charset);
+
+				multipart.addFormField("name", mFileName);
+				multipart.addFormField("description", mDescription.getText().toString());
+				multipart.addFormField("tags", mTags.getText().toString());
+				multipart.addFormField("source", "RTAB-Map");
+				multipart.addFormField("isPublished", mDraft.isChecked()?"false":"true");	
+				multipart.addFilePart("modelFile", uploadFile);
+
+				Log.i(RTABMapActivity.TAG, "Starting multipart request");
+				List<String> response = multipart.finish();
+
+				Log.i(RTABMapActivity.TAG, "SERVER REPLIED:");
+
+				for (String line : response) {
+					Log.i(RTABMapActivity.TAG, line);
+					//{"uri":"https:\/\/api.sketchfab.com\/v3\/models\/XXXXXXXXX","uid":"XXXXXXXXXX"}
+					if(line.contains("\"uid\":\""))
+					{
+						String[] sArray = line.split("\"uid\":\"");
+						mModelUri = (sArray[1].split("\""))[0];
+						mModelFilePath = files[0];
+
+						//patch model for orientation
+						/*HttpClient httpClient = new DefaultHttpClient(); 
+						try {
+							String patchURL = "https://api.sketchfab.com/v3/models/"+ mModelUri +"/options";
+							HttpPatch request = new HttpPatch(patchURL);
+							String json = 
+											"{\n"+
+												"uid: "+ mModelUri + "\n" +
+												"shading: shadeless\n"+
+												//"orientation:\n"+
+												//"{\n"+
+												//	"axis : [1, 0, 0]\n"+
+												//	"angle : 0\n"+
+												//"}\n"+
+											"}";
+
+							request.setHeader("Authorization", "Bearer " + mAuthToken);
+							StringEntity params =new StringEntity(json, "UTF-8");
+							params.setContentType("application/json");
+							request.setEntity(params);
+							HttpResponse responsePatch = httpClient.execute(request);
+							int responseStatus = responsePatch.getStatusLine().getStatusCode();
+							Log.i(RTABMapActivity.TAG, "get data responseStatus: " + responseStatus);
+
+						}catch (Exception e) {
+							Log.e(RTABMapActivity.TAG, "Error while patching model", e);
+							error = e.getMessage();
+						}*/
+					}
+				}    		  
+			} catch (IOException ex) {
+				Log.e(RTABMapActivity.TAG, "Error while uploading", ex);
+				error = ex.getMessage();
+			}
+			return null;
+		}
+	}
+}

app/android/src/com/introlab/rtabmap/TextManager.java

@@ -0,0 +1,419 @@
+//package ri.blog.opengl008;
+package com.introlab.rtabmap;
+
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.nio.FloatBuffer;
+import java.nio.ShortBuffer;
+import java.util.Iterator;
+import java.util.Vector;
+
+import android.content.Context;
+import android.graphics.Bitmap;
+import android.graphics.Canvas;
+import android.graphics.Color;
+import android.graphics.Rect;
+import android.graphics.Typeface;
+import android.opengl.GLES20;
+import android.opengl.GLUtils;
+import android.text.TextPaint;
+
+public class TextManager {
+	
+	/* SHADER Text
+	 * 
+	 * This shader is for rendering 2D text textures straight from a texture
+	 * Color and alpha blended.
+	 * 
+	 */
+	public static final String vs_Text =
+		"uniform mat4 uMVPMatrix;" +
+		"attribute vec4 vPosition;" +
+		"attribute vec2 a_texCoord;" +
+		"varying vec2 v_texCoord;" +
+	    "void main() {" +
+	    "  gl_Position = uMVPMatrix * vPosition;" +
+	    "  v_texCoord = a_texCoord;" +
+	    "}";
+	public static final String fs_Text =
+	    "precision mediump float;" +
+	    "uniform float uColor;" +
+	    "varying vec2 v_texCoord;" +
+        "uniform sampler2D s_texture;" +
+	    "void main() {" +
+	    "  gl_FragColor = texture2D( s_texture, v_texCoord );" +
+	    "  gl_FragColor.rgb *= uColor;" +
+	    "}";
+	
+	public static int sp_Text;
+	
+	public static final int RI_TEXT_TEXTURE_SIZE = 512; // 512
+	public static final float RI_TEXT_HEIGHT_BASE = 32.0f;
+	public static final char RI_TEXT_START = ' ';
+	public static final char RI_TEXT_STOP = '~'+1;
+	
+	public float getMaxTextHeight() {return mTextHeight;}
+	
+	private float mUVWidth;
+	private float mUVHeight;
+	private float mTextHeight;
+	private float mColor;
+	
+	private FloatBuffer vertexBuffer;
+	private FloatBuffer textureBuffer;
+	private ShortBuffer drawListBuffer;
+	
+	private float[] vecs;
+	private float[] uvs;
+	private short[] indices;
+	
+	private int index_vecs;
+	private int index_indices;
+	private int index_uvs;
+
+	private int texturenr;
+	private int[] mTextures;
+	
+	private float uniformscale = 1.0f;
+	
+	float[] mCharacterWidth;
+	
+	public TextManager(Context context)
+	{
+		// Create the arrays
+		vecs = new float[3 * 10];
+		uvs = new float[2 * 10];
+		indices = new short[10];
+		
+		// init as 0 as default
+		texturenr = 0;
+		
+		// Text shader
+		int vshadert = TextManager.loadShader(GLES20.GL_VERTEX_SHADER, TextManager.vs_Text);
+		int fshadert = TextManager.loadShader(GLES20.GL_FRAGMENT_SHADER, TextManager.fs_Text);
+
+		TextManager.sp_Text = GLES20.glCreateProgram();
+		GLES20.glAttachShader(TextManager.sp_Text, vshadert);
+		GLES20.glAttachShader(TextManager.sp_Text, fshadert); 		// add the fragment shader to program
+		GLES20.glLinkProgram(TextManager.sp_Text);                  // creates OpenGL ES program executables
+		
+		// Generate Textures, if more needed, alter these numbers.
+		mTextures = new int[1];
+		GLES20.glGenTextures(1, mTextures, 0);
+		
+		// Create an empty, mutable bitmap
+		Bitmap bitmap = Bitmap.createBitmap(RI_TEXT_TEXTURE_SIZE, RI_TEXT_TEXTURE_SIZE, Bitmap.Config.ARGB_4444);
+		// get a canvas to paint over the bitmap
+		Canvas canvas = new Canvas(bitmap);
+		bitmap.eraseColor(0);
+
+		// Draw the text
+		TextPaint textPaint = new TextPaint();
+		textPaint.setTextSize(RI_TEXT_HEIGHT_BASE);
+		textPaint.setColor(Color.WHITE);
+		textPaint.setAntiAlias(true);
+		textPaint.setTypeface(Typeface.create("Arial", Typeface.BOLD));
+		
+		// compute real maximum height
+		mTextHeight=0.0f;
+		for(char c=RI_TEXT_START; c<RI_TEXT_STOP; ++c)
+		{
+			Rect textBounds = new Rect();
+			textPaint.getTextBounds(String.valueOf(c), 0, 1, textBounds);
+			if(textBounds.height() + textBounds.bottom > mTextHeight)
+			{
+				mTextHeight = textBounds.height() + textBounds.bottom;
+			}
+		}
+		mUVWidth = (float)RI_TEXT_HEIGHT_BASE/(float)RI_TEXT_TEXTURE_SIZE;
+		mUVHeight = mTextHeight/(float)RI_TEXT_TEXTURE_SIZE;
+		mColor = 1.0f;
+		
+		int colCount = RI_TEXT_TEXTURE_SIZE/(int)RI_TEXT_HEIGHT_BASE;
+		mCharacterWidth = new float[RI_TEXT_STOP-RI_TEXT_START];
+		int i=0;
+		for(char c=RI_TEXT_START; c<RI_TEXT_STOP; ++c)
+		{
+			Rect textBounds = new Rect();
+			textPaint.getTextBounds(String.valueOf(c), 0, 1, textBounds);
+			canvas.drawText(String.valueOf(c), (i%colCount)*RI_TEXT_HEIGHT_BASE, (i/colCount) * mTextHeight + RI_TEXT_HEIGHT_BASE, textPaint);
+			mCharacterWidth[i] = textPaint.measureText(String.valueOf(c));
+			++i;
+		}
+		
+		GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, mTextures[0]);
+		GLES20.glTexParameteri(GLES20.GL_TEXTURE_2D, GLES20.GL_TEXTURE_MIN_FILTER, GLES20.GL_LINEAR);
+        GLES20.glTexParameteri(GLES20.GL_TEXTURE_2D, GLES20.GL_TEXTURE_MAG_FILTER, GLES20.GL_LINEAR);
+        GLUtils.texImage2D(GLES20.GL_TEXTURE_2D, 0, bitmap, 0);
+		
+		//Clean up
+		bitmap.recycle();
+	}
+	
+	public void setTextureID(int val)
+	{
+		texturenr = val;
+	}
+	
+	public static int loadShader(int type, String shaderCode){
+
+	    // create a vertex shader type (GLES20.GL_VERTEX_SHADER)
+	    // or a fragment shader type (GLES20.GL_FRAGMENT_SHADER)
+	    int shader = GLES20.glCreateShader(type);
+
+	    // add the source code to the shader and compile it
+	    GLES20.glShaderSource(shader, shaderCode);
+	    GLES20.glCompileShader(shader);
+	    
+	    // return the shader
+	    return shader;
+	}
+	
+	
+	public void AddCharRenderInformation(float[] vec, float[] cs, float[] uv, short[] indi)
+	{
+		// We need a base value because the object has indices related to 
+		// that object and not to this collection so basicly we need to 
+		// translate the indices to align with the vertexlocation in ou
+		// vecs array of vectors.
+		short base = (short) (index_vecs / 3);
+			
+		// We should add the vec, translating the indices to our saved vector
+		for(int i=0;i<vec.length;i++)
+		{
+			vecs[index_vecs] = vec[i];
+			index_vecs++;
+		}
+		
+		// We should add the uvs
+		for(int i=0;i<uv.length;i++)
+		{
+			uvs[index_uvs] = uv[i];
+			index_uvs++;
+		}
+
+		// We handle the indices
+		for(int j=0;j<indi.length;j++)
+		{
+			indices[index_indices] = (short) (base + indi[j]);
+			index_indices++;
+		}
+	}
+
+	public void PrepareDrawInfo(Vector<TextObject> txtcollection)
+	{
+		// Reset the indices.
+		index_vecs = 0;
+		index_indices = 0;
+		index_uvs = 0;
+		
+		// Get the total amount of characters
+		int charcount = 0;
+		for (TextObject txt : txtcollection) {
+			if(txt!=null)
+			{
+				if(!(txt.text==null))
+				{
+					charcount += txt.text.length(); 
+				}
+			}
+		}
+		
+		// Create the arrays we need with the correct size.
+		vecs = null;
+		uvs = null;
+		indices = null;
+		
+		vecs = new float[charcount * 12];
+		uvs = new float[charcount * 8];
+		indices = new short[charcount * 6];
+
+	}
+	
+	public void PrepareDraw(Vector<TextObject> txtcollection)
+	{
+		// Setup all the arrays
+		PrepareDrawInfo(txtcollection);
+		
+		// Using the iterator protects for problems with concurrency
+		for( Iterator< TextObject > it = txtcollection.iterator(); it.hasNext() ; )
+	    {
+	    	TextObject txt = it.next();
+	    	if(txt!=null)
+			{
+		    	if(!(txt.text==null))
+				{
+					convertTextToTriangleInfo(txt);
+				}
+			}
+	    }
+	}
+	
+	public void Draw(float[] m)
+	{
+		if(vecs.length > 0)
+		{
+			GLES20.glDisable(GLES20.GL_DEPTH_TEST);
+			GLES20.glEnable(GLES20.GL_BLEND);
+			
+			// Set the correct shader for our grid object.
+			GLES20.glUseProgram(sp_Text);
+			
+			// The vertex buffer.
+			ByteBuffer bb = ByteBuffer.allocateDirect(vecs.length * 4);
+			bb.order(ByteOrder.nativeOrder());
+			vertexBuffer = bb.asFloatBuffer();
+			vertexBuffer.put(vecs);
+			vertexBuffer.position(0);
+			
+			// The texture buffer
+			ByteBuffer bb2 = ByteBuffer.allocateDirect(uvs.length * 4);
+			bb2.order(ByteOrder.nativeOrder());
+			textureBuffer = bb2.asFloatBuffer();
+			textureBuffer.put(uvs);
+			textureBuffer.position(0);
+			
+			// initialize byte buffer for the draw list
+			ByteBuffer dlb = ByteBuffer.allocateDirect(indices.length * 2);
+			dlb.order(ByteOrder.nativeOrder());
+			drawListBuffer = dlb.asShortBuffer();
+			drawListBuffer.put(indices);
+			drawListBuffer.position(0);
+			
+			// get handle to vertex shader's vPosition member
+		    int mPositionHandle = GLES20.glGetAttribLocation(sp_Text, "vPosition");
+		    
+		    // Enable a handle to the triangle vertices
+		    GLES20.glEnableVertexAttribArray(mPositionHandle);
+		 
+		    // Prepare the background coordinate data
+		    GLES20.glVertexAttribPointer(mPositionHandle, 3,
+		                                 GLES20.GL_FLOAT, false,
+		                                 0, vertexBuffer);
+		    
+		    int mTexCoordLoc = GLES20.glGetAttribLocation(sp_Text, "a_texCoord" );
+		    
+		    // Prepare the texturecoordinates
+		    GLES20.glVertexAttribPointer ( mTexCoordLoc, 2, GLES20.GL_FLOAT,
+	                false, 
+	                0, textureBuffer);
+	
+		    GLES20.glEnableVertexAttribArray ( mPositionHandle );
+	        GLES20.glEnableVertexAttribArray ( mTexCoordLoc );
+	
+		    // get handle to shape's transformation matrix
+	        int mtrxhandle = GLES20.glGetUniformLocation(sp_Text, "uMVPMatrix");
+	        
+	    	// Apply the projection and view transformation
+	        GLES20.glUniformMatrix4fv(mtrxhandle, 1, false, m, 0);
+	        
+	        // get handle to color value
+	        int colorhandle = GLES20.glGetUniformLocation(sp_Text, "uColor");
+	        GLES20.glUniform1f(colorhandle, mColor);
+	        
+	        int mSamplerLoc = GLES20.glGetUniformLocation (sp_Text, "s_texture" );
+	        
+	        // Texture activate unit 0
+	        GLES20.glActiveTexture(GLES20.GL_TEXTURE0);
+			// Bind the texture to this unit.
+	        GLES20.glBindTexture(GLES20.GL_TEXTURE_2D, mTextures[0]);
+	        // Set the sampler texture unit to our selected id
+		    GLES20.glUniform1i ( mSamplerLoc, texturenr);
+		    
+	        // Draw the triangle
+	        GLES20.glDrawElements(GLES20.GL_TRIANGLES, indices.length, GLES20.GL_UNSIGNED_SHORT, drawListBuffer);
+	
+	        // Disable vertex array
+	        GLES20.glDisableVertexAttribArray(mPositionHandle);
+	        GLES20.glDisableVertexAttribArray(mTexCoordLoc);
+		}
+	}
+	
+	private void convertTextToTriangleInfo(TextObject val)
+	{		
+		// Get attributes from text object
+		float x = val.x;
+		float y = val.y;
+		String text = val.text;
+		
+		// Create 
+		for(int j=0; j<text.length(); j++)
+		{
+			// get ascii value
+			char c = text.charAt(j);
+			int c_val = (int)c;
+			
+			int indx = c_val-RI_TEXT_START;
+			
+			if(indx<0 || indx>=mCharacterWidth.length) {
+				// unknown character, we will add a space for it to be save.
+				indx = 0;
+			}
+			
+			int colCount = RI_TEXT_TEXTURE_SIZE/(int)RI_TEXT_HEIGHT_BASE;
+			
+			// Calculate the uv parts
+			int row = indx / colCount;
+			int col = indx % colCount;
+			
+			float v = row * mUVHeight;
+			float v2 = v + mUVHeight;
+			float u = col * mUVWidth;
+			float u2 = u + mCharacterWidth[indx]/(float)RI_TEXT_TEXTURE_SIZE;
+			
+			// Creating the triangle information
+			float[] vec = new float[12];
+			float[] uv = new float[8];
+			float[] colors = new float[16];
+			
+			vec[0] = x;
+			vec[1] = y + (mTextHeight * uniformscale);
+			vec[2] = 0.99f;
+			vec[3] = x;
+			vec[4] = y;
+			vec[5] = 0.99f;
+			vec[6] = x + (mCharacterWidth[indx] * uniformscale);
+			vec[7] = y;
+			vec[8] = 0.99f;
+			vec[9] = x + (mCharacterWidth[indx] * uniformscale);
+			vec[10] = y + (mTextHeight * uniformscale);
+			vec[11] = 0.99f;
+		
+			colors = new float[]
+				    	{val.color[0], val.color[1], val.color[2], val.color[3],
+						val.color[0], val.color[1], val.color[2], val.color[3],
+						val.color[0], val.color[1], val.color[2], val.color[3],
+						val.color[0], val.color[1], val.color[2], val.color[3]
+				    			  		           };
+			// 0.001f = texture bleeding hack/fix
+			uv[0] = u+0.001f;
+			uv[1] = v+0.001f;
+			uv[2] = u+0.001f;
+			uv[3] = v2-0.001f;
+			uv[4] = u2-0.001f;
+			uv[5] = v2-0.001f;
+			uv[6] = u2-0.001f;
+			uv[7] = v+0.001f;
+			
+			short[] inds = {0, 1, 2, 0, 2, 3};
+			
+			// Add our triangle information to our collection for 1 render call.
+			AddCharRenderInformation(vec, colors, uv, inds);
+			
+			// Calculate the new position
+			x += (mCharacterWidth[indx]  * uniformscale);
+		}
+	}
+
+	public float getUniformscale() {
+		return uniformscale;
+	}
+
+	public void setUniformscale(float uniformscale) {
+		this.uniformscale = uniformscale;
+	}
+	
+	public void setColor(float color) {
+		mColor = color;
+	}
+}

app/android/src/com/introlab/rtabmap/TextObject.java

@@ -0,0 +1,33 @@
+//package ri.blog.opengl008;
+package com.introlab.rtabmap;
+
+public class TextObject {
+	
+	public String text;
+	public float x;
+	public float y;
+	public float[] color;
+	
+	public TextObject()
+	{
+		text = "default";
+		x = 0f;
+		y = 0f;
+		color = new float[] {1f, 1f, 1f, 1.0f};
+	}
+	
+	public TextObject(String txt, float xcoord, float ycoord)
+	{
+		text = txt;
+		x = xcoord;
+		y = ycoord;
+		color = new float[] {1f, 1f, 1f, 1.0f};
+	}
+	
+	/*public boolean validate()
+	{
+		if(text.compareTo("")==0) return false;
+		
+		return true;
+	}*/
+}

app/android/src/com/introlab/rtabmap/Util.java

@@ -0,0 +1,126 @@
+package com.introlab.rtabmap;
+
+import java.io.BufferedInputStream;
+import java.io.BufferedOutputStream;
+import java.io.File;
+import java.io.FileInputStream;
+import java.io.FileOutputStream;
+import java.io.FilenameFilter;
+import java.io.IOException;
+import java.util.Arrays;
+import java.util.zip.ZipEntry;
+import java.util.zip.ZipOutputStream;
+
+import android.content.Context;
+import android.net.ConnectivityManager;
+import android.net.NetworkInfo;
+import android.util.Log;
+
+public class Util {
+	
+	public static final int ZIP_BUFFER_SIZE = 1<<20; // 1MB
+
+	public static void zip(String file, String zipFile) throws IOException {
+		Log.i(RTABMapActivity.TAG, "Zipping " + file +" to " + zipFile);
+		String[] files = new String[1];
+		files[0] = file;
+		zip(files, zipFile);
+	}
+
+	public static void zip(String[] files, String zipFile) throws IOException {
+		Log.i(RTABMapActivity.TAG, "Zipping " + String.valueOf(files.length) +" files to " + zipFile);
+		BufferedInputStream origin = null;
+		ZipOutputStream out = new ZipOutputStream(new BufferedOutputStream(new FileOutputStream(zipFile)));
+		try { 
+			byte data[] = new byte[ZIP_BUFFER_SIZE];
+
+			for (int i = 0; i < files.length; i++) {
+				FileInputStream fi = new FileInputStream(files[i]);    
+				origin = new BufferedInputStream(fi, ZIP_BUFFER_SIZE);
+				try {
+					ZipEntry entry = new ZipEntry(files[i].substring(files[i].lastIndexOf("/") + 1));
+					out.putNextEntry(entry);
+					int count;
+					while ((count = origin.read(data, 0, ZIP_BUFFER_SIZE)) != -1) {
+						out.write(data, 0, count);
+					}
+				}
+				finally {
+					origin.close();
+				}
+			}
+		}
+		finally {
+			out.close();
+		}
+	}
+
+	public static String[] loadFileList(String directory, final boolean databasesOnly) {
+		File path = new File(directory); 
+		String fileList[];
+		try {
+			path.mkdirs();
+		}
+		catch(SecurityException e) {
+			Log.e(RTABMapActivity.TAG, "unable to write on the sd card " + e.toString());
+		}
+		if(path.exists()) {
+			FilenameFilter filter = new FilenameFilter() {
+
+				@Override
+				public boolean accept(File dir, String filename) {
+					File sel = new File(dir, filename);
+					if(databasesOnly)
+					{
+						return filename.compareTo(RTABMapActivity.RTABMAP_TMP_DB) != 0 && filename.endsWith(".db");
+					}
+					else
+					{
+						return sel.isFile();
+					}
+				}
+
+			};
+			fileList = path.list(filter);
+			Arrays.sort(fileList);
+		}
+		else {
+			fileList = new String[0];
+		}
+		return fileList;
+	}
+	
+	/**
+	 * https://stackoverflow.com/questions/6701948/efficient-way-to-compare-version-strings-in-java
+	 * Compares two version strings. 
+	 * 
+	 * Use this instead of String.compareTo() for a non-lexicographical 
+	 * comparison that works for version strings. e.g. "1.10".compareTo("1.6").
+	 * 
+	 * @note It does not work if "1.10" is supposed to be equal to "1.10.0".
+	 * 
+	 * @param str1 a string of ordinal numbers separated by decimal points. 
+	 * @param str2 a string of ordinal numbers separated by decimal points.
+	 * @return The result is a negative integer if str1 is _numerically_ less than str2. 
+	 *         The result is a positive integer if str1 is _numerically_ greater than str2. 
+	 *         The result is zero if the strings are _numerically_ equal.
+	 */
+	public static int versionCompare(String str1, String str2) {
+	    String[] vals1 = str1.split("\\.");
+	    String[] vals2 = str2.split("\\.");
+	    int i = 0;
+	    // set index to first non-equal ordinal or length of shortest version string
+	    while (i < vals1.length && i < vals2.length && vals1[i].equals(vals2[i])) {
+	      i++;
+	    }
+	    // compare first non-equal ordinal number
+	    if (i < vals1.length && i < vals2.length) {
+	        int diff = Integer.valueOf(vals1[i]).compareTo(Integer.valueOf(vals2[i]));
+	        return Integer.signum(diff);
+	    }
+	    // the strings are equal or one string is a substring of the other
+	    // e.g. "1.2.3" = "1.2.3" or "1.2.3" < "1.2.3.4"
+	    return Integer.signum(vals1.length - vals2.length);
+	}
+	
+}

app/src/CMakeLists.txt

@@ -74,7 +74,11 @@ ELSE()
 ENDIF()
 TARGET_LINK_LIBRARIES(rtabmap rtabmap_core rtabmap_gui rtabmap_utilite ${LIBRARIES})
 IF(Qt5_FOUND)
-    QT5_USE_MODULES(rtabmap Widgets Core Gui Svg PrintSupport)
+    IF(Qt5Svg_FOUND)
+        QT5_USE_MODULES(rtabmap Widgets Core Gui Svg PrintSupport)
+    ELSE()
+        QT5_USE_MODULES(rtabmap Widgets Core Gui PrintSupport)
+    ENDIF()
 ENDIF(Qt5_FOUND)
 
 IF(APPLE AND BUILD_AS_BUNDLE)

app/src/ObjDeletionHandler.h

@@ -50,13 +50,14 @@ signals:
 	void objDeletionEventReceived(int);
 
 protected:
-	virtual void handleEvent(UEvent * event)
+	virtual bool handleEvent(UEvent * event)
 	{
 		if(event->getClassName().compare("UObjDeletedEvent") == 0 &&
 		   event->getCode() == _watchedId)
 		{
 			emit objDeletionEventReceived(_watchedId);
 		}
+		return false;
 	}
 private:
 	int _watchedId;

cmake_modules/FindFlyCapture2.cmake

@@ -19,13 +19,13 @@ set(Triclops_LIBDIR $ENV{Triclops_ROOT_DIR}/lib)
 endif()
 
 #FlyCapture2 SDK
-find_path(FlyCapture2_INCLUDE_DIR NAMES FlyCapture2.h PATHS $ENV{FlyCapture2_ROOT_DIR}/include)
-find_library(FlyCapture2_LIBRARY NAMES FlyCapture2_v100 FlyCapture2 flycapture2 NO_DEFAULT_PATH PATHS ${FlyCapture2_LIBDIR})
+find_path(FlyCapture2_INCLUDE_DIR NAMES FlyCapture2.h PATHS $ENV{FlyCapture2_ROOT_DIR}/include $ENV{FlyCapture2_ROOT_DIR}/include/flycapture)
+find_library(FlyCapture2_LIBRARY NAMES FlyCapture2_v100 FlyCapture2 flycapture2 flycapture NO_DEFAULT_PATH PATHS ${FlyCapture2_LIBDIR})
 
 # Triclops SDK
-find_path(Triclops_INCLUDE_DIR NAMES triclops.h PATHS $ENV{Triclops_ROOT_DIR}/include)
-find_library(Triclops_LIBRARY NAMES triclops triclops_v100 NO_DEFAULT_PATH PATHS ${Triclops_LIBDIR})
-find_library(FlyCaptureBridge_LIBRARY NAMES flycapture2bridge flycapture2bridge_v100 NO_DEFAULT_PATH PATHS ${Triclops_LIBDIR})
+find_path(Triclops_INCLUDE_DIR NAMES triclops.h PATHS $ENV{Triclops_ROOT_DIR}/include $ENV{Triclops_ROOT_DIR}/include/triclops)
+find_library(Triclops_LIBRARY NAMES triclops triclops_v100 libtriclops.so.3 NO_DEFAULT_PATH PATHS ${Triclops_LIBDIR})
+find_library(FlyCaptureBridge_LIBRARY NAMES flycapture2bridge flycapture2bridge_v100 libflycapture2bridge.so.3 NO_DEFAULT_PATH PATHS ${Triclops_LIBDIR})
 find_library(pnmutils_LIBRARY NAMES pnmutils pnmutils_v100 NO_DEFAULT_PATH PATHS ${Triclops_LIBDIR})
 
 IF (FlyCapture2_INCLUDE_DIR AND Triclops_INCLUDE_DIR AND FlyCapture2_LIBRARY AND Triclops_LIBRARY AND FlyCaptureBridge_LIBRARY AND pnmutils_LIBRARY)

cmake_modules/FindG2O.cmake

@@ -17,6 +17,14 @@ FIND_LIBRARY(CHOLMOD_LIB cholmod)
 FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h 
   PATHS "C:\\Program Files\\g2o\\include")
 
+FIND_FILE(G2O_CONFIG_FILE g2o/config.h 
+  PATHS ${G2O_INCLUDE_DIR}
+  NO_DEFAULT_PATH)
+
+#ifdef G2O_NUMBER_FORMAT_STR
+#define G2O_CPP11 // we assume that if G2O_NUMBER_FORMAT_STR is defined, this is the new g2o code with c++11 interface
+#endif
+
 # Macro to unify finding both the debug and release versions of the
 # libraries; this is adapted from the rtabmap config
 
@@ -75,7 +83,7 @@ ENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER
 
 # G2O itself declared found if we found the core libraries and at least one solver
 SET(G2O_FOUND "NO")
-IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)
+IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_CONFIG_FILE AND G2O_SOLVERS_FOUND)
   SET(G2O_INCLUDE_DIRS ${G2O_INCLUDE_DIR})
   SET(G2O_LIBRARIES 
 	${G2O_CORE_LIBRARY}
@@ -105,5 +113,15 @@ IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FO
 	  ${CHOLMOD_LIB})
   ENDIF(G2O_SOLVER_CHOLMOD)
 
+  FILE(READ ${G2O_CONFIG_FILE} TMPTXT)
+  STRING(FIND "${TMPTXT}" "G2O_NUMBER_FORMAT_STR" matchres)
+  IF(${matchres} EQUAL -1)
+    MESSAGE(STATUS "Old g2o version detected with c++03 interface (config file: ${G2O_CONFIG_FILE}).")
+    SET(G2O_CPP11 0)
+  ELSE()
+    MESSAGE(WARNING "Latest g2o version detected with c++11 interface (config file: ${G2O_CONFIG_FILE}). Make sure g2o is built with \"-DBUILD_WITH_MARCH_NATIVE=OFF\" to avoid segmentation faults caused by Eigen.")
+    SET(G2O_CPP11 1)
+  ENDIF()
+
   SET(G2O_FOUND "YES")
-ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)
+ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_CONFIG_FILE AND G2O_SOLVERS_FOUND)

cmake_modules/FindKinectSDK2.cmake

@@ -0,0 +1,183 @@
+#.rst:
+# FindKinectSDK2
+# --------------
+#
+# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries
+#
+# Use this module by invoking find_package with the form::
+#
+#    find_package( KinectSDK2 [REQUIRED] )
+#
+# Results for users are reported in following variables::
+#
+#    KinectSDK2_FOUND                - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
+#    KinectSDK2_INCLUDE_DIRS         - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
+#    KinectSDK2_LIBRARY_DIRS         - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
+#    KinectSDK2_LIBRARIES            - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
+#    KinectSDK2_COMMANDS             - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
+#
+# This module reads hints about search locations from following environment variables::
+#
+#    KINECTSDK20_DIR                 - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
+#
+# CMake entries::
+#
+#    KinectSDK2_DIR                  - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
+#    KinectSDK2_FACE                 - Check the box when using Face or HDFace features. (Default uncheck)
+#    KinectSDK2_FUSION               - Check the box when using Fusion features. (Default uncheck)
+#    KinectSDK2_VGB                  - Check the box when using Visual Gesture Builder features. (Default uncheck)
+#
+# Example to find Kinect SDK v2::
+#
+#    cmake_minimum_required( VERSION 2.8 )
+#
+#    project( project )
+#    add_executable( project main.cpp )
+#    set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "project" )
+#
+#    # Find package using this module.
+#    find_package( KinectSDK2 REQUIRED )
+#
+#    if(KinectSDK2_FOUND)
+#      # [C/C++]>[General]>[Additional Include Directories]
+#      include_directories( ${KinectSDK2_INCLUDE_DIRS} )
+#
+#      # [Linker]>[General]>[Additional Library Directories]
+#      link_directories( ${KinectSDK2_LIBRARY_DIRS} )
+#
+#      # [Linker]>[Input]>[Additional Dependencies]
+#      target_link_libraries( project ${KinectSDK2_LIBRARIES} )
+#
+#      # [Build Events]>[Post-Build Event]>[Command Line]
+#      add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
+#    endif()
+#
+# =============================================================================
+#
+# Copyright (c) 2016 Tsukasa SUGIURA
+# Distributed under the MIT License.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+# =============================================================================
+
+##### Utility #####
+
+# Check Directory Macro
+macro(CHECK_DIR _DIR)
+  if(NOT EXISTS "${${_DIR}}")
+    message(WARNING "Directory \"${${_DIR}}\" not found.")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_DIR)
+  endif()
+endmacro()
+
+# Check Files Macro
+macro(CHECK_FILES _FILES _DIR)
+  set(_MISSING_FILES)
+  foreach(_FILE ${${_FILES}})
+    if(NOT EXISTS "${_FILE}")
+      get_filename_component(_FILE ${_FILE} NAME)
+      set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
+    endif()
+  endforeach()
+  if(_MISSING_FILES)
+    message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
+    set(KinectSDK2_FOUND FALSE)
+    unset(_FILES)
+  endif()
+endmacro()
+
+# Target Platform
+set(TARGET_PLATFORM)
+if(NOT CMAKE_CL_64)
+  set(TARGET_PLATFORM x86)
+else()
+  set(TARGET_PLATFORM x64)
+endif()
+
+##### Find Kinect SDK v2 #####
+
+# Found
+set(KinectSDK2_FOUND TRUE)
+if(MSVC_VERSION LESS 1700)
+  message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
+  set(KinectSDK2_FOUND FALSE)
+endif()
+
+# Options
+option(KinectSDK2_FACE "Face and HDFace features" FALSE)
+option(KinectSDK2_FUSION "Fusion features" FALSE)
+option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
+
+# Root Directoty
+set(KinectSDK2_DIR)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
+  check_dir(KinectSDK2_DIR)
+endif()
+
+# Include Directories
+set(KinectSDK2_INCLUDE_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
+  check_dir(KinectSDK2_INCLUDE_DIRS)
+endif()
+
+# Library Directories
+set(KinectSDK2_LIBRARY_DIRS)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
+  check_dir(KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Dependencies
+set(KinectSDK2_LIBRARIES)
+if(KinectSDK2_FOUND)
+  set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
+
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
+  endif()
+
+  check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
+endif()
+
+# Custom Commands
+set(KinectSDK2_COMMANDS)
+if(KinectSDK2_FOUND)
+  if(KinectSDK2_FACE)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_FUSION)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  if(KinectSDK2_VGB)
+    set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
+    check_dir(KinectSDK2_REDIST_DIR)
+    list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
+  endif()
+
+  # Empty Commands
+  if(NOT KinectSDK2_COMMANDS)
+    set(KinectSDK2_COMMANDS COMMAND)
+  endif()
+endif()
+
+message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")

cmake_modules/FindORB_SLAM2.cmake

@@ -0,0 +1,33 @@
+# - Find ORB_SLAM2 
+#
+# It sets the following variables:
+#  ORB_SLAM2_FOUND         - Set to false, or undefined, if ORB_SLAM2 isn't found.
+#  ORB_SLAM2_INCLUDE_DIRS  - The ORB_SLAM2 include directory.
+#  ORB_SLAM2_LIBRARIES     - The ORB_SLAM2 library to link against.
+#
+#  Set ORB_SLAM2_ROOT_DIR environment variable as the path to ORB_SLAM2 root folder.
+
+find_path(ORB_SLAM2_INCLUDE_DIR NAMES System.h PATHS $ENV{ORB_SLAM2_ROOT_DIR}/include)
+find_library(ORB_SLAM2_LIBRARY NAMES ORB_SLAM2 PATHS $ENV{ORB_SLAM2_ROOT_DIR}/lib)
+find_path(g2o_INCLUDE_DIR NAMES g2o/core/sparse_optimizer.h PATHS $ENV{ORB_SLAM2_ROOT_DIR}/Thirdparty/g2o NO_DEFAULT_PATH)
+find_library(g2o_LIBRARY NAMES g2o PATHS $ENV{ORB_SLAM2_ROOT_DIR}/Thirdparty/g2o/lib NO_DEFAULT_PATH)
+find_library(DBoW2_LIBRARY NAMES DBoW2 PATHS $ENV{ORB_SLAM2_ROOT_DIR}/Thirdparty/DBoW2/lib NO_DEFAULT_PATH)
+
+IF (ORB_SLAM2_INCLUDE_DIR AND ORB_SLAM2_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_DIR AND g2o_LIBRARY)
+   SET(ORB_SLAM2_FOUND TRUE)
+   SET(ORB_SLAM2_INCLUDE_DIRS ${ORB_SLAM2_INCLUDE_DIR} ${g2o_INCLUDE_DIR} $ENV{ORB_SLAM2_ROOT_DIR})
+   SET(ORB_SLAM2_LIBRARIES ${g2o_LIBRARY} ${ORB_SLAM2_LIBRARY} ${DBoW2_LIBRARY})
+ENDIF (ORB_SLAM2_INCLUDE_DIR AND ORB_SLAM2_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_DIR AND g2o_LIBRARY)
+
+IF (ORB_SLAM2_FOUND)
+   # show which ORB_SLAM2 was found only if not quiet
+   IF (NOT ORB_SLAM2_FIND_QUIETLY)
+      MESSAGE(STATUS "Found ORB_SLAM2: ${ORB_SLAM2_LIBRARIES}")
+   ENDIF (NOT ORB_SLAM2_FIND_QUIETLY)
+ELSE (ORB_SLAM2_FOUND)
+   # fatal error if ORB_SLAM2 is required but not found
+   IF (ORB_SLAM2_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find ORB_SLAM2")
+   ENDIF (ORB_SLAM2_FIND_REQUIRED)
+ENDIF (ORB_SLAM2_FOUND)
+

cmake_modules/FindRealSense.cmake

@@ -4,9 +4,18 @@
 #
 # It sets the following variables:
 #  RealSense_FOUND       - Set to false, or undefined, if RealSense isn't found.
+#  RealSenseSlam_FOUND    - Set to false, or undefined, if RealSense slam module isn't found.
 #  RealSense_INCLUDE_DIRS - The RealSense include directory.
 #  RealSense_LIBRARIES     - The RealSense library to link against.
 
+# Use find_package( RealSense COMPONENTS slam ) to search for realsense slam library
+if( RealSense_FIND_COMPONENTS )
+   foreach( component ${RealSense_FIND_COMPONENTS} )
+     string( TOUPPER ${component} _COMPONENT )
+     set( REALSENSE_USE_${_COMPONENT} 1 )
+   endforeach()
+endif()
+
 #RealSense library
 find_path(RealSense_INCLUDE_DIRS NAMES librealsense/rs.hpp PATHS $ENV{RealSense_ROOT_DIR}/include)
 if(CMAKE_CL_64)
@@ -19,9 +28,44 @@ IF (RealSense_INCLUDE_DIRS AND RealSense_LIBRARY)
    SET(RealSense_FOUND TRUE)
 ENDIF (RealSense_INCLUDE_DIRS AND RealSense_LIBRARY)
 
+#SLAM
+if(REALSENSE_USE_SLAM)
+   find_path(RealSenseSlam_INCLUDE_DIRS NAMES librealsense/slam/slam.h PATHS $ENV{RealSense_ROOT_DIR}/include)
+   if(CMAKE_CL_64)
+      find_library(RealSenseSlam_LIBRARY NAMES realsense_slam PATHS $ENV{RealSense_ROOT_DIR}/lib  $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/x64)
+      find_library(RealSenseImage_LIBRARY NAMES realsense_image PATHS $ENV{RealSense_ROOT_DIR}/lib  $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/x64)
+      find_library(RealSenseSP_Core_LIBRARY NAMES SP_Core PATHS $ENV{RealSense_ROOT_DIR}/lib  $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/x64)
+      find_library(RealSenseTracker_LIBRARY NAMES tracker PATHS $ENV{RealSense_ROOT_DIR}/lib  $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/x64)
+   else()
+      find_library(RealSenseSlam_LIBRARY NAMES realsense_slam PATHS $ENV{RealSense_ROOT_DIR}/lib  $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/Win32)
+      find_library(RealSenseImage_LIBRARY NAMES realsense_image PATHS $ENV{RealSense_ROOT_DIR}/lib  $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/Win32)
+      find_library(RealSenseSP_Core_LIBRARY NAMES SP_Core PATHS $ENV{RealSense_ROOT_DIR}/lib  $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/Win32)
+      find_library(RealSenseTracker_LIBRARY NAMES tracker PATHS $ENV{RealSense_ROOT_DIR}/lib  $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/Win32)
+   endif()
+else()
+   set(RealSenseSlam_INCLUDE_DIRS "")
+endif()
+
 IF (RealSense_FOUND)
-   # show which RealSense was found only if not quiet
+
+   IF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY)
+      SET(RealSenseSlam_FOUND TRUE)
+   ENDIF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY)
+
    SET(RealSense_LIBRARIES ${RealSense_LIBRARY})
+   IF (RealSenseSlam_FOUND)
+      IF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY)
+         SET(RealSenseSlam_FOUND TRUE)
+      ENDIF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY)
+      SET(RealSense_LIBRARIES 
+            ${RealSense_LIBRARIES}
+            ${RealSenseSlam_LIBRARY}
+            ${RealSenseImage_LIBRARY}
+            ${RealSenseSP_Core_LIBRARY}
+            ${RealSenseTracker_LIBRARY})
+   ENDIF(RealSenseSlam_FOUND)
+
+   # show which RealSense was found only if not quiet
    IF (NOT RealSense_FIND_QUIETLY)
       MESSAGE(STATUS "Found RealSense: ${RealSense_LIBRARIES}")
    ENDIF (NOT RealSense_FIND_QUIETLY)

cmake_modules/FindTango.cmake

@@ -8,8 +8,8 @@
 
 FIND_PATH(Tango_INCLUDE_DIR tango_client_api.h)
 
-FIND_LIBRARY(Tango_LIBRARY NAMES tango_client_api)
-FIND_LIBRARY(Tango_support_LIBRARY NAMES tango_support_api)
+FIND_LIBRARY(Tango_LIBRARY NAMES tango_client_api PATH_SUFFIXES ${ANDROID_ABI})
+FIND_LIBRARY(Tango_support_LIBRARY NAMES tango_support_api PATH_SUFFIXES ${ANDROID_ABI})
 
 IF (Tango_INCLUDE_DIR AND Tango_LIBRARY AND Tango_support_LIBRARY)
    SET(Tango_FOUND TRUE)

corelib/include/rtabmap/core/BayesFilter.h

@@ -59,18 +59,14 @@ public:
 	const std::vector<double> & getPredictionLC() const; // {Vp, Lc, l1, l2, l3, l4...}
 	std::string getPredictionLCStr() const; // for convenience {Vp, Lc, l1, l2, l3, l4...}
 
-	cv::Mat generatePrediction(const Memory * memory, const std::vector<int> & ids) const;
+	cv::Mat generatePrediction(const Memory * memory, const std::vector<int> & ids);
 
 private:
 	cv::Mat updatePrediction(const cv::Mat & oldPrediction,
 			const Memory * memory,
 			const std::vector<int> & oldIds,
-			const std::vector<int> & newIds) const;
+			const std::vector<int> & newIds);
 	void updatePosterior(const Memory * memory, const std::vector<int> & likelihoodIds);
-	float addNeighborProb(cv::Mat & prediction,
-			unsigned int col,
-			const std::map<int, int> & neighbors,
-			const std::map<int, int> & idToIndexMap) const;
 	void normalize(cv::Mat & prediction, unsigned int index, float addedProbabilitiesSum, bool virtualPlaceUsed) const;
 
 private:
@@ -80,6 +76,7 @@ private:
 	std::vector<double> _predictionLC; // {Vp, Lc, l1, l2, l3, l4...}
 	bool _fullPredictionUpdate;
 	float _totalPredictionLCValues;
+	std::map<int, std::map<int, int> > _neighborsIndex;
 };
 
 } // namespace rtabmap

corelib/include/rtabmap/core/Camera.h

@@ -66,6 +66,7 @@ public:
 	void setImageRate(float imageRate) {_imageRate = imageRate;}
 	void setLocalTransform(const Transform & localTransform) {_localTransform= localTransform;}
 
+	void resetTimer();
 protected:
 	/**
 	 * Constructor

corelib/include/rtabmap/core/CameraInfo.h

@@ -59,6 +59,7 @@ public:
 	float timeCapture;
 	float timeDisparity;
 	float timeMirroring;
+	float timeStereoExposureCompensation;
 	float timeImageDecimation;
 	float timeScanFromDepth;
 	float timeUndistortDepth;
@@ -66,6 +67,7 @@ public:
 	float timeTotal;
 	Transform odomPose;
 	cv::Mat odomCovariance;
+	std::vector<float> odomVelocity;
 };
 
 } // namespace rtabmap

corelib/include/rtabmap/core/CameraRGB.h

@@ -68,7 +68,7 @@ public:
 	const CameraModel & cameraModel() const {return _model;}
 
 	void setPath(const std::string & dir) {_path=dir;}
-	void setStartIndex(int index) {_startAt = index;} // negative means last
+	virtual void setStartIndex(int index) {_startAt = index;} // negative means last
 	void setDirRefreshed(bool enabled) {_refreshDir = enabled;}
 	void setImagesRectified(bool enabled) {_rectifyImages = enabled;}
 	void setBayerMode(int mode) {_bayerMode = mode;} // -1=disabled (default) 0=BayerBG, 1=BayerGB, 2=BayerRG, 3=BayerGR
@@ -85,19 +85,19 @@ public:
 			int maxScanPts = 0,
 			int downsampleStep = 1,
 			float voxelSize = 0.0f,
-			int normalsK = 0, // compute normals if > 0
-			const Transform & localTransform=Transform::getIdentity())
+			int normalsK = 0,        // compute normals if > 0
+			float normalsRadius = 0, // compute normals if > 0
+			const Transform & localTransform=Transform::getIdentity(),
+			bool forceGroundNormalsUp = false)
 	{
 		_scanPath = dir;
 		_scanLocalTransform = localTransform;
 		_scanMaxPts = maxScanPts;
 		_scanDownsampleStep = downsampleStep;
 		_scanNormalsK = normalsK;
+		_scanNormalsRadius = normalsRadius;
 		_scanVoxelSize = voxelSize;
-		if(_scanDownsampleStep>1)
-		{
-			_scanMaxPts /= _scanDownsampleStep;
-		}
+		_scanForceGroundNormalsUp = forceGroundNormalsUp;
 	}
 
 	void setDepthFromScan(bool enabled, int fillHoles = 1, bool fillHolesFromBorder = false)
@@ -107,18 +107,23 @@ public:
 		_depthFromScanFillHolesFromBorder = fillHolesFromBorder;
 	}
 
+	// Format: 0=Raw, 1=RGBD-SLAM, 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe
 	void setOdometryPath(const std::string & filePath, int format = 0)
 	{
 		_odometryPath = filePath;
 		_odometryFormat = format;
 	}
 
+	// Format: 0=Raw, 1=RGBD-SLAM, 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe
 	void setGroundTruthPath(const std::string & filePath, int format = 0)
 	{
 		_groundTruthPath = filePath;
 		_groundTruthFormat = format;
 	}
 
+	void setMaxPoseTimeDiff(double diff) {_maxPoseTimeDiff = diff;}
+	double getMaxPoseTimeDiff() const {return _maxPoseTimeDiff;}
+
 	void setDepth(bool isDepth, float depthScaleFactor = 1.0f)
 	{
 		_isDepth = isDepth;
@@ -127,7 +132,12 @@ public:
 
 protected:
 	virtual SensorData captureImage(CameraInfo * info = 0);
-	bool readPoses(std::list<Transform> & outputPoses, std::list<double> & stamps, const std::string & filePath, int format) const;
+	bool readPoses(
+			std::list<Transform> & outputPoses,
+			std::list<double> & stamps,
+			const std::string & filePath,
+			int format,
+			double maxTimeDiff) const;
 
 private:
 	std::string _path;
@@ -152,6 +162,8 @@ private:
 	int _scanDownsampleStep;
 	float _scanVoxelSize;
 	int _scanNormalsK;
+	float _scanNormalsRadius;
+	bool _scanForceGroundNormalsUp;
 
 	bool _depthFromScan;
 	int _depthFromScanFillHoles; // <0:horizontal 0:disabled >0:vertical
@@ -163,9 +175,9 @@ private:
 
 	std::string _odometryPath;
 	int _odometryFormat;
-
 	std::string _groundTruthPath;
 	int _groundTruthFormat;
+	double _maxPoseTimeDiff;
 
 	std::list<double> _stamps;
 	std::list<Transform> odometry_;

corelib/include/rtabmap/core/CameraRGBD.h

@@ -39,9 +39,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/pcl_config.h>
 
 #ifdef HAVE_OPENNI
+#if __linux__ && __i386__ && __cplusplus >= 201103L
+#warning "Openni driver is not available on i386 when building with c++11 support"
+#else
+#define RTABMAP_OPENNI
 #include <pcl/io/openni_camera/openni_depth_image.h>
 #include <pcl/io/openni_camera/openni_image.h>
 #endif
+#endif
 
 #include <boost/signals2/connection.hpp>
 
@@ -69,11 +74,21 @@ namespace rs
 {
 	class context;
 	class device;
+	namespace slam {
+	class slam;
+	}
 }
 
 typedef struct _freenect_context freenect_context;
 typedef struct _freenect_device freenect_device;
 
+typedef struct IKinectSensor IKinectSensor;
+typedef struct ICoordinateMapper ICoordinateMapper;
+typedef struct _DepthSpacePoint DepthSpacePoint;
+typedef struct _ColorSpacePoint ColorSpacePoint;
+typedef struct tagRGBQUAD RGBQUAD;
+typedef struct IMultiSourceFrameReader IMultiSourceFrameReader;
+
 namespace rtabmap
 {
 
@@ -92,7 +107,7 @@ public:
 			float imageRate = 0,
 			const Transform & localTransform = Transform::getIdentity());
 	virtual ~CameraOpenni();
-#ifdef HAVE_OPENNI
+#ifdef RTABMAP_OPENNI
     void image_cb (
     		const boost::shared_ptr<openni_wrapper::Image>& rgb,
 			const boost::shared_ptr<openni_wrapper::DepthImage>& depth,
@@ -175,6 +190,7 @@ public:
 	bool setGain(int value);
 	bool setMirroring(bool enabled);
 	void setOpenNI2StampsAndIDsUsed(bool used);
+	void setIRDepthShift(int horizontal, int vertical);
 
 protected:
 	virtual SensorData captureImage(CameraInfo * info = 0);
@@ -190,6 +206,8 @@ private:
 	std::string _deviceId;
 	bool _openNI2StampsAndIDsUsed;
 	StereoCameraModel _stereoModel;
+	int _depthHShift;
+	int _depthVShift;
 #endif
 };
 
@@ -253,14 +271,15 @@ public:
 public:
 	// default local transform z in, x right, y down));
 	CameraFreenect2(int deviceId= 0,
-					Type type = kTypeColor2DepthSD,
+					Type type = kTypeDepth2ColorSD,
 					float imageRate=0.0f,
 					const Transform & localTransform = Transform::getIdentity(),
 					float minDepth = 0.3f,
 					float maxDepth = 12.0f,
 					bool bilateralFiltering = true,
 					bool edgeAwareFiltering = true,
-					bool noiseFiltering = true);
+					bool noiseFiltering = true,
+					const std::string & pipelineName = "");
 	virtual ~CameraFreenect2();
 
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
@@ -284,12 +303,68 @@ private:
 	bool bilateralFiltering_;
 	bool edgeAwareFiltering_;
 	bool noiseFiltering_;
+	std::string pipelineName_;
+#endif
+};
+
+/////////////////////////
+// CameraK4W2
+/////////////////////////
+
+class RTABMAP_EXP CameraK4W2 :
+	public Camera
+{
+public:
+	static bool available();
+
+	enum Type {
+		kTypeColor2DepthSD,
+		kTypeDepth2ColorSD,
+		kTypeDepth2ColorHD
+	};
+
+public:
+	static const int        cDepthWidth = 512;
+	static const int        cDepthHeight = 424;
+	static const int        cColorWidth = 1920;
+	static const int        cColorHeight = 1080;
+
+public:
+	// default local transform z in, x right, y down));
+	CameraK4W2(int deviceId = 0, // not used
+		Type type = kTypeDepth2ColorSD,
+		float imageRate = 0.0f,
+		const Transform & localTransform = Transform::getIdentity());
+	virtual ~CameraK4W2();
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	virtual bool isCalibrated() const;
+	virtual std::string getSerial() const;
+
+protected:
+	virtual SensorData captureImage(CameraInfo * info = 0);
+
+private:
+	void close();
+
+private:
+#ifdef RTABMAP_K4W2
+	Type type_;
+	IKinectSensor*          pKinectSensor_;
+	ICoordinateMapper*      pCoordinateMapper_;
+	DepthSpacePoint*        pDepthCoordinates_;
+	ColorSpacePoint*        pColorCoordinates_;
+	IMultiSourceFrameReader* pMultiSourceFrameReader_;
+	RGBQUAD * pColorRGBX_;
+	INT_PTR hMSEvent;
+	CameraModel colorCameraModel_;
 #endif
 };
 
 /////////////////////////
 // CameraRealSense
 /////////////////////////
+class slam_event_handler;
 class RTABMAP_EXP CameraRealSense :
 	public Camera
 {
@@ -302,6 +377,7 @@ public:
 		int deviceId = 0,
 		int presetRGB = 0, // 0=best quality, 1=largest image, 2=highest framerate
 		int presetDepth = 0, // 0=best quality, 1=largest image, 2=highest framerate
+		bool computeOdometry = false,
 		float imageRate = 0,
 		const Transform & localTransform = Transform::getIdentity());
 	virtual ~CameraRealSense();
@@ -309,6 +385,7 @@ public:
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
 	virtual bool isCalibrated() const;
 	virtual std::string getSerial() const;
+	virtual bool odomProvided() const;
 
 protected:
 	virtual SensorData captureImage(CameraInfo * info = 0);
@@ -320,6 +397,16 @@ private:
 	int deviceId_;
 	int presetRGB_;
 	int presetDepth_;
+	bool computeOdometry_;
+
+	int motionSeq_[2];
+	rs::slam::slam * slam_;
+	UMutex slamLock_;
+
+	std::map<double, std::pair<cv::Mat, cv::Mat> > bufferedFrames_;
+	std::pair<cv::Mat, cv::Mat> lastSyncFrames_;
+	UMutex dataMutex_;
+	USemaphore dataReady_;
 #endif
 };
 
@@ -347,6 +434,8 @@ public:
 	virtual bool isCalibrated() const;
 	virtual std::string getSerial() const;
 
+	virtual void setStartIndex(int index) {CameraImages::setStartIndex(index);cameraDepth_.setStartIndex(index);} // negative means last
+
 protected:
 	virtual SensorData captureImage(CameraInfo * info = 0);
 

corelib/include/rtabmap/core/CameraStereo.h

@@ -42,11 +42,8 @@ class Camera;
 
 namespace sl
 {
-namespace zed
-{
 class Camera;
 }
-}
 
 namespace rtabmap
 {
@@ -121,7 +118,7 @@ public:
 			int deviceId,
 			int resolution = 2, // 0=HD2K, 1=HD1080, 2=HD720, 3=VGA
 			int quality = 1,    // 0=NONE, 1=PERFORMANCE, 2=QUALITY
-			int sensingMode = 1,// 0=FULL, 1=RAW
+			int sensingMode = 0,// 0=STANDARD, 1=FILL
 			int confidenceThr = 100,
 			bool computeOdometry = false,
 			float imageRate=0.0f,
@@ -130,7 +127,7 @@ public:
 	CameraStereoZed(
 			const std::string & svoFilePath,
 			int quality = 1,    // 0=NONE, 1=PERFORMANCE, 2=QUALITY
-			int sensingMode = 1,// 0=FULL, 1=RAW
+			int sensingMode = 0,// 0=STANDARD, 1=FILL
 			int confidenceThr = 100,
 			bool computeOdometry = false,
 			float imageRate=0.0f,
@@ -148,7 +145,7 @@ protected:
 
 private:
 #ifdef RTABMAP_ZED
-	sl::zed::Camera * zed_;
+	sl::Camera * zed_;
 	StereoCameraModel stereoModel_;
 	CameraVideo::Source src_;
 	int usbDevice_;
@@ -191,6 +188,8 @@ public:
 	virtual bool isCalibrated() const;
 	virtual std::string getSerial() const;
 
+	virtual void setStartIndex(int index) {CameraImages::setStartIndex(index);camera2_->setStartIndex(index);} // negative means last
+
 protected:
 	virtual SensorData captureImage(CameraInfo * info = 0);
 

corelib/include/rtabmap/core/CameraThread.h

@@ -42,6 +42,8 @@ namespace rtabmap
 {
 
 class Camera;
+class CameraInfo;
+class SensorData;
 class StereoDense;
 
 /**
@@ -58,6 +60,7 @@ public:
 	virtual ~CameraThread();
 
 	void setMirroringEnabled(bool enabled) {_mirroring = enabled;}
+	void setStereoExposureCompensation(bool enabled) {_stereoExposureCompensation = enabled;}
 	void setColorOnly(bool colorOnly) {_colorOnly = colorOnly;}
 	void setImageDecimation(int decimation) {_imageDecimation = decimation;}
 	void setStereoToDepth(bool enabled) {_stereoToDepth = enabled;}
@@ -71,15 +74,19 @@ public:
 			int decimation=4,
 			float maxDepth=4.0f,
 			float voxelSize = 0.0f,
-			int normalsK = 0)
+			int normalsK = 0,
+			int normalsRadius = 0.0f)
 	{
 		_scanFromDepth = enabled;
 		_scanDecimation=decimation;
 		_scanMaxDepth = maxDepth;
 		_scanVoxelSize = voxelSize;
 		_scanNormalsK = normalsK;
+		_scanNormalsRadius = normalsRadius;
 	}
 
+	void postUpdate(SensorData * data, CameraInfo * info = 0) const;
+
 	//getters
 	bool isPaused() const {return !this->isRunning();}
 	bool isCapturing() const {return this->isRunning();}
@@ -94,6 +101,7 @@ private:
 private:
 	Camera * _camera;
 	bool _mirroring;
+	bool _stereoExposureCompensation;
 	bool _colorOnly;
 	int _imageDecimation;
 	bool _stereoToDepth;
@@ -103,6 +111,7 @@ private:
 	float _scanMinDepth;
 	float _scanVoxelSize;
 	int _scanNormalsK;
+	float _scanNormalsRadius;
 	StereoDense * _stereoDense;
 	clams::DiscreteDepthDistortionModel * _distortionModel;
 	bool _bilateralFiltering;

corelib/include/rtabmap/core/Compression.h

@@ -83,5 +83,8 @@ cv::Mat RTABMAP_EXP uncompressData(const cv::Mat & bytes);
 cv::Mat RTABMAP_EXP uncompressData(const std::vector<unsigned char> & bytes);
 cv::Mat RTABMAP_EXP uncompressData(const unsigned char * bytes, unsigned long size);
 
+cv::Mat RTABMAP_EXP compressString(const std::string & str);
+std::string RTABMAP_EXP uncompressString(const cv::Mat & bytes);
+
 } /* namespace rtabmap */
 #endif /* COMPRESSION_H_ */

corelib/include/rtabmap/core/DBDriver.h

@@ -68,6 +68,7 @@ public:
 	virtual ~DBDriver();
 
 	virtual void parseParameters(const ParametersMap & parameters);
+	virtual bool isInMemory() const {return _url.empty();}
 	const std::string & getUrl() const {return _url;}
 
 	void beginTransaction() const;
@@ -91,12 +92,37 @@ public:
 				int nodeId,
 				const cv::Mat & ground,
 				const cv::Mat & obstacles,
+				const cv::Mat & empty,
 				float cellSize,
 				const cv::Point3f & viewpoint);
+	void updateDepthImage(int nodeId, const cv::Mat & image);
 
 public:
 	void addInfoAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap & parameters) const;
 	void addStatistics(const Statistics & statistics) const;
+	void savePreviewImage(const cv::Mat & image) const;
+	cv::Mat loadPreviewImage() const;
+	void saveOptimizedPoses(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
+	std::map<int, Transform> loadOptimizedPoses(Transform * lastlocalizationPose) const;
+	void save2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize) const;
+	cv::Mat load2DMap(float & xMin, float & yMin, float & cellSize) const;
+	void saveOptimizedMesh(
+			const cv::Mat & cloud,
+			const std::vector<std::vector<std::vector<unsigned int> > > & polygons = std::vector<std::vector<std::vector<unsigned int> > >(),      // Textures -> polygons -> vertices
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+			const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords = std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >(), // Textures -> uv coords for each vertex of the polygons
+#else
+			const std::vector<std::vector<Eigen::Vector2f> > & texCoords = std::vector<std::vector<Eigen::Vector2f> >(), // Textures -> uv coords for each vertex of the polygons
+#endif
+			const cv::Mat & textures = cv::Mat()) const; // concatenated textures (assuming square textures with all same size);
+	cv::Mat loadOptimizedMesh(
+			std::vector<std::vector<std::vector<unsigned int> > > * polygons = 0,
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+			std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,
+#else
+			std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,
+#endif
+			cv::Mat * textures = 0) const;
 
 public:
 	// Mutex-protected methods of abstract versions below
@@ -106,22 +132,30 @@ public:
 	bool isConnected() const;
 	long getMemoryUsed() const; // In bytes
 	std::string getDatabaseVersion() const;
+	long getNodesMemoryUsed() const;
+	long getLinksMemoryUsed() const;
 	long getImagesMemoryUsed() const;
 	long getDepthImagesMemoryUsed() const;
+	long getCalibrationsMemoryUsed() const;
+	long getGridsMemoryUsed() const;
 	long getLaserScansMemoryUsed() const;
 	long getUserDataMemoryUsed() const;
 	long getWordsMemoryUsed() const;
+	long getFeaturesMemoryUsed() const;
+	long getStatisticsMemoryUsed() const;
 	int getLastNodesSize() const; // working memory
 	int getLastDictionarySize() const; // working memory
 	int getTotalNodesSize() const;
 	int getTotalDictionarySize() const;
 	ParametersMap getLastParameters() const;
-	std::map<std::string, float> getStatistics(int nodeId, double & stamp) const;
+	std::map<std::string, float> getStatistics(int nodeId, double & stamp, std::vector<int> * wmState=0) const;
+	std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatistics() const;
+	std::map<int, std::vector<int> > getAllStatisticsWmStates() const;
 
 	void executeNoResult(const std::string & sql) const;
 
 	// Load objects
-	void load(VWDictionary * dictionary) const;
+	void load(VWDictionary * dictionary, bool lastStateOnly = true) const;
 	void loadLastNodes(std::list<Signature *> & signatures) const;
 	void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0);
 	void loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws);
@@ -130,7 +164,8 @@ public:
 	void loadNodeData(std::list<Signature *> & signatures, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
 	void getNodeData(int signatureId, SensorData & data, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
 	bool getCalibration(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const;
-	bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose) const;
+	bool getLaserScanInfo(int signatureId, LaserScan & info) const;
+	bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps) const;
 	void loadLinks(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const;
 	void getWeight(int signatureId, int & weight) const;
 	void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false, bool ignoreBadSignatures = false) const;
@@ -150,23 +185,31 @@ private:
 	virtual bool isConnectedQuery() const = 0;
 	virtual long getMemoryUsedQuery() const = 0; // In bytes
 	virtual bool getDatabaseVersionQuery(std::string & version) const = 0;
+	virtual long getNodesMemoryUsedQuery() const = 0;
+	virtual long getLinksMemoryUsedQuery() const = 0;
 	virtual long getImagesMemoryUsedQuery() const = 0;
 	virtual long getDepthImagesMemoryUsedQuery() const = 0;
+	virtual long getCalibrationsMemoryUsedQuery() const = 0;
+	virtual long getGridsMemoryUsedQuery() const = 0;
 	virtual long getLaserScansMemoryUsedQuery() const = 0;
 	virtual long getUserDataMemoryUsedQuery() const = 0;
 	virtual long getWordsMemoryUsedQuery() const = 0;
+	virtual long getFeaturesMemoryUsedQuery() const = 0;
+	virtual long getStatisticsMemoryUsedQuery() const = 0;
 	virtual int getLastNodesSizeQuery() const = 0;
 	virtual int getLastDictionarySizeQuery() const = 0;
 	virtual int getTotalNodesSizeQuery() const = 0;
 	virtual int getTotalDictionarySizeQuery() const = 0;
 	virtual ParametersMap getLastParametersQuery() const = 0;
-	virtual std::map<std::string, float> getStatisticsQuery(int nodeId, double & stamp) const = 0;
+	virtual std::map<std::string, float> getStatisticsQuery(int nodeId, double & stamp, std::vector<int> * wmState) const = 0;
+	virtual std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatisticsQuery() const = 0;
+	virtual std::map<int, std::vector<int> > getAllStatisticsWmStatesQuery() const = 0;
 
 	virtual void executeNoResultQuery(const std::string & sql) const = 0;
 
 	virtual void getWeightQuery(int signatureId, int & weight) const = 0;
 
-	virtual void saveQuery(const std::list<Signature *> & signatures) const = 0;
+	virtual void saveQuery(const std::list<Signature *> & signatures) = 0;
 	virtual void saveQuery(const std::list<VisualWord *> & words) const = 0;
 	virtual void updateQuery(const std::list<Signature *> & signatures, bool updateTimestamp) const = 0;
 	virtual void updateQuery(const std::list<VisualWord *> & words, bool updateTimestamp) const = 0;
@@ -178,13 +221,41 @@ private:
 				int nodeId,
 				const cv::Mat & ground,
 				const cv::Mat & obstacles,
+				const cv::Mat & empty,
 				float cellSize,
 				const cv::Point3f & viewpoint) const = 0;
 
+	virtual void updateDepthImageQuery(
+					int nodeId,
+					const cv::Mat & image) const = 0;
+
 	virtual void addStatisticsQuery(const Statistics & statistics) const = 0;
+	virtual void savePreviewImageQuery(const cv::Mat & image) const = 0;
+	virtual cv::Mat loadPreviewImageQuery() const = 0;
+	virtual void saveOptimizedPosesQuery(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const = 0;
+	virtual std::map<int, Transform> loadOptimizedPosesQuery(Transform * lastlocalizationPose) const = 0;
+	virtual void save2DMapQuery(const cv::Mat & map, float xMin, float yMin, float cellSize) const = 0;
+	virtual cv::Mat load2DMapQuery(float & xMin, float & yMin, float & cellSize) const = 0;
+	virtual void saveOptimizedMeshQuery(
+				const cv::Mat & cloud,
+				const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+				const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
+#else
+				const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
+#endif
+				const cv::Mat & textures) const = 0;
+	virtual cv::Mat loadOptimizedMeshQuery(
+				std::vector<std::vector<std::vector<unsigned int> > > * polygons,
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+				std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,
+#else
+				std::vector<std::vector<Eigen::Vector2f> > * texCoords,
+#endif
+				cv::Mat * textures) const = 0;
 
 	// Load objects
-	virtual void loadQuery(VWDictionary * dictionary) const = 0;
+	virtual void loadQuery(VWDictionary * dictionary, bool lastStateOnly = true) const = 0;
 	virtual void loadLastNodesQuery(std::list<Signature *> & signatures) const = 0;
 	virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const = 0;
 	virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const = 0;
@@ -192,7 +263,8 @@ private:
 
 	virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const = 0;
 	virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const = 0;
-	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose) const = 0;
+	virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const = 0;
+	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps) const = 0;
 	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const = 0;
 	virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks) const = 0;
 	virtual void getLastIdQuery(const std::string & tableName, int & id) const = 0;
@@ -202,7 +274,7 @@ private:
 
 private:
 	//non-abstract methods
-	void saveOrUpdate(const std::vector<Signature *> & signatures) const;
+	void saveOrUpdate(const std::vector<Signature *> & signatures);
 	void saveOrUpdate(const std::vector<VisualWord *> & words) const;
 
 	//thread stuff

corelib/include/rtabmap/core/DBReader.h

@@ -87,6 +87,8 @@ private:
 	UTimer _timer;
 	std::set<int> _ids;
 	std::set<int>::iterator _currentId;
+	int _previousMapId;
+	cv::Mat _previousInfMatrix;
 	double _previousStamp;
 	int _previousMapID;
 	bool _calibrated;

corelib/include/rtabmap/core/EpipolarGeometry.h

@@ -94,7 +94,8 @@ public:
 	static int findPairs(
 			const std::map<int, cv::KeyPoint> & wordsA,
 			const std::map<int, cv::KeyPoint> & wordsB,
-			std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs);
+			std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs,
+			bool ignoreNegativeIds = true);
 
 	/**
 	 * if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(1,1a) (2,2) (4,4) (6a,6a) (6b,6b)]
@@ -103,7 +104,8 @@ public:
 	static int findPairs(
 			const std::multimap<int, cv::KeyPoint> & wordsA,
 			const std::multimap<int, cv::KeyPoint> & wordsB,
-			std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs);
+			std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs,
+			bool ignoreNegativeIds = true);
 
 	/**
 	 * if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(2,2) (4,4)]
@@ -112,7 +114,8 @@ public:
 	static int findPairsUnique(
 			const std::multimap<int, cv::KeyPoint> & wordsA,
 			const std::multimap<int, cv::KeyPoint> & wordsB,
-			std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs);
+			std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs,
+			bool ignoreNegativeIds = true);
 
 	/**
 	 * if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(1,1a) (1,1b) (2,2) (4,4) (6a,6a) (6a,6b) (6b,6a) (6b,6b)]
@@ -121,7 +124,8 @@ public:
 	static int findPairsAll(
 			const std::multimap<int, cv::KeyPoint> & wordsA,
 			const std::multimap<int, cv::KeyPoint> & wordsB,
-			std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs);
+			std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs,
+			bool ignoreNegativeIds = true);
 
 	static cv::Mat linearLSTriangulation(
 			cv::Point3d u,    //homogenous image point (u,v,1)

corelib/include/rtabmap/core/Features2d.h

@@ -105,7 +105,7 @@ public:
 		kFeatureGfttBrief=6,
 		kFeatureBrisk=7,
 		kFeatureGfttOrb=8,  //new 0.10.11
-		kFeatureFreak=9};   //new 0.11.14
+		kFeatureKaze=9};    //new 0.13.2
 
 	static Feature2D * create(const ParametersMap & parameters = ParametersMap());
 	static Feature2D * create(Feature2D::Type type, const ParametersMap & parameters = ParametersMap()); // for convenience
@@ -135,6 +135,7 @@ public:
 	static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, int maxKeypoints);
 	static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, cv::Mat & descriptors, int maxKeypoints);
 	static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & keypoints3D, cv::Mat & descriptors, int maxKeypoints);
+	static void limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, std::vector<bool> & inliers, int maxKeypoints);
 
 	static cv::Rect computeRoi(const cv::Mat & image, const std::string & roiRatios);
 	static cv::Rect computeRoi(const cv::Mat & image, const std::vector<float> & roiRatios);
@@ -176,6 +177,8 @@ private:
 	int _subPixWinSize;
 	int _subPixIterations;
 	double _subPixEps;
+	int gridRows_;
+	int gridCols_;
 	// Stereo stuff
 	Stereo * _stereo;
 };
@@ -432,27 +435,31 @@ private:
 	cv::Ptr<CV_BRISK> brisk_;
 };
 
-//FREAK
-class RTABMAP_EXP FREAK : public Feature2D
+//KAZE
+class RTABMAP_EXP KAZE : public Feature2D
 {
 public:
-	FREAK(const ParametersMap & parameters = ParametersMap());
-	virtual ~FREAK();
+	KAZE(const ParametersMap & parameters = ParametersMap());
+	virtual ~KAZE();
 
 	virtual void parseParameters(const ParametersMap & parameters);
-	virtual Feature2D::Type getType() const { return kFeatureFreak; }
+	virtual Feature2D::Type getType() const { return kFeatureKaze; }
 
 private:
 	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
 	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
 
 private:
-	bool orientationNormalized_;
-	bool scaleNormalized_;
-	float patternScale_;
+	bool extended_;
+	bool upright_;
+	float threshold_;
 	int nOctaves_;
+	int nOctaveLayers_;
+	int diffusivity_;
 
-	cv::Ptr<CV_FREAK> _freak;
+#if CV_MAJOR_VERSION > 2
+	cv::Ptr<cv::KAZE> kaze_;
+#endif
 };
 
 

corelib/include/rtabmap/core/FlannIndex.h

@@ -49,21 +49,25 @@ public:
 	// Note that useDistanceL1 doesn't have any effect if LSH is used
 	void buildLinearIndex(
 			const cv::Mat & features,
-			bool useDistanceL1 = false);
+			bool useDistanceL1 = false,
+			float rebalancingFactor = 2.0f);
 	void buildKDTreeIndex(
 			const cv::Mat & features,
 			int trees = 4,
-			bool useDistanceL1 = false);
+			bool useDistanceL1 = false,
+			float rebalancingFactor = 2.0f);
 	void buildKDTreeSingleIndex(
 			const cv::Mat & features,
 			int leafMaxSize = 10,
 			bool reorder = true,
-			bool useDistanceL1 = false);
+			bool useDistanceL1 = false,
+			float rebalancingFactor = 2.0f);
 	void buildLSHIndex(
 			const cv::Mat & features,
 			unsigned int table_number = 12,
 			unsigned int key_size = 20,
-			unsigned int multi_probe_level = 2);
+			unsigned int multi_probe_level = 2,
+			float rebalancingFactor = 2.0f);
 
 	bool isBuilt();
 
@@ -74,7 +78,7 @@ public:
 
 	void removePoint(unsigned int index);
 
-	// return squared distances
+	// return squared distances (indices should be casted in size_t)
 	void knnSearch(
 			const cv::Mat & query,
 			cv::Mat & indices,
@@ -102,6 +106,7 @@ private:
 	int featuresDim_;
 	bool isLSH_;
 	bool useDistanceL1_; // true=EUCLEDIAN_L2 false=MANHATTAN_L1
+	float rebalancingFactor_;
 
 	// keep feature in memory until the tree is rebuilt
 	// (in case the word is deleted when removed from the VWDictionary)

corelib/include/rtabmap/core/GainCompensator.h

@@ -43,7 +43,7 @@ namespace rtabmap {
  */
 class RTABMAP_EXP GainCompensator {
 public:
-	GainCompensator(double maxCorrespondenceDistance = 0.02, double minOverlap = 0.05, double alpha = 0.01, double beta = 10);
+	GainCompensator(double maxCorrespondenceDistance = 0.02, double minOverlap = 0.0, double alpha = 0.01, double beta = 10);
 	virtual ~GainCompensator();
 
 	void feed(
@@ -73,20 +73,24 @@ public:
 
 	void apply(
 			int id,
-			pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud) const;
+			pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
+			bool rgb = true) const;
 	void apply(
 			int id,
 			pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
-			const pcl::IndicesPtr & indices) const;
+			const pcl::IndicesPtr & indices,
+			bool rgb = true) const;
 	void apply(
 			int id,
 			pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
-			const pcl::IndicesPtr & indices) const;
+			const pcl::IndicesPtr & indices,
+			bool rgb = true) const;
 	void apply(
 			int id,
-			cv::Mat & image) const;
+			cv::Mat & image,
+			bool rgb = true) const;
 
-	double getGain(int id) const;
+	double getGain(int id, double * r=0, double * g=0, double * b=0) const;
 	int getIndex(int id) const;
 
 private:

corelib/include/rtabmap/core/GeodeticCoords.h

@@ -25,6 +25,20 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
+/*
+ * The methods in this file were modified from the originals of the MRPT toolkit (see notice below):
+ * https://github.com/MRPT/mrpt/blob/master/libs/topography/src/conversions.cpp
+ */
+
+/* +---------------------------------------------------------------------------+
+   |                     Mobile Robot Programming Toolkit (MRPT)               |
+   |                          http://www.mrpt.org/                             |
+   |                                                                           |
+   | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file        |
+   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
+   | Released under BSD License. See details in http://www.mrpt.org/License    |
+   +---------------------------------------------------------------------------+ */
+
 
 #ifndef GEODETICCOORDS_H_
 #define GEODETICCOORDS_H_
@@ -52,12 +66,58 @@ public:
 	cv::Point3d toGeocentric_WGS84() const;
 	cv::Point3d toENU_WGS84(const GeodeticCoords & origin) const; // East=X, North=Y
 
+	void fromGeocentric_WGS84(const cv::Point3d& geocentric);
+	void fromENU_WGS84(const cv::Point3d & enu, const GeodeticCoords & origin);
+
+	static cv::Point3d ENU_WGS84ToGeocentric_WGS84(const cv::Point3d & enu, const GeodeticCoords & origin);
+
 private:
 	double latitude_;  // deg
 	double longitude_; // deg
 	double altitude_;  // m
 };
 
+class GPS
+{
+public:
+	GPS():
+		stamp_(0.0),
+		longitude_(0.0),
+		latitude_(0.0),
+		altitude_(0.0),
+		error_(0.0),
+		bearing_(0.0)
+	{}
+	GPS(const double & stamp,
+		const double & longitude,
+		const double & latitude,
+		const double & altitude,
+		const double & error,
+		const double & bearing):
+			stamp_(stamp),
+			longitude_(longitude),
+			latitude_(latitude),
+			altitude_(altitude),
+			error_(error),
+			bearing_(bearing)
+	{}
+	const double & stamp() const {return stamp_;}
+	const double & longitude() const {return longitude_;}
+	const double & latitude() const {return latitude_;}
+	const double & altitude() const {return altitude_;}
+	const double & error() const {return error_;}
+	const double & bearing() const {return bearing_;}
+
+	GeodeticCoords toGeodeticCoords() const {return GeodeticCoords(latitude_, longitude_, altitude_);}
+private:
+	double stamp_;     // in sec
+	double longitude_; // DD
+	double latitude_;  // DD
+	double altitude_;  // m
+	double error_;     // m
+	double bearing_;   // deg (North 0->360 clockwise)
+};
+
 }
 
 #endif /* GEODETICCOORDS_H_ */

corelib/include/rtabmap/core/Graph.h

@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <map>
 #include <list>
 #include <rtabmap/core/Link.h>
+#include <rtabmap/core/GeodeticCoords.h>
 
 namespace rtabmap {
 class Memory;
@@ -53,11 +54,54 @@ bool RTABMAP_EXP exportPoses(
 
 bool RTABMAP_EXP importPoses(
 		const std::string & filePath,
-		int format, // 0=Raw, 1=RGBD-SLAM, 2=KITTI, 3=TORO, 4=g2o, GPS (t,x,y)
+		int format, // 0=Raw, 1=RGBD-SLAM, 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe
 		std::map<int, Transform> & poses,
 		std::multimap<int, Link> * constraints = 0, // optional for formats 3 and 4
 		std::map<int, double> * stamps = 0); // optional for format 1
 
+bool RTABMAP_EXP exportGPS(
+		const std::string & filePath,
+		const std::map<int, GPS> & gpsValues,
+		unsigned int rgba = 0xFFFFFFFF);
+
+/**
+ * Compute translation and rotation errors for KITTI datasets.
+ * See http://www.cvlibs.net/datasets/kitti/eval_odometry.php.
+ * @param poses_gt, Ground Truth poses
+ * @param poses_result, Estimated poses
+ * @param t_err, Output translation error (%)
+ * @param r_err, Output rotation error (deg/m)
+ */
+void RTABMAP_EXP calcKittiSequenceErrors(
+		const std::vector<Transform> &poses_gt,
+		const std::vector<Transform> &poses_result,
+		float & t_err,
+		float & r_err);
+
+/**
+ * Compute root-mean-square error (RMSE) like the TUM RGBD
+ * dataset's evaluation tool (absolute trajectory error).
+ * See https://vision.in.tum.de/data/datasets/rgbd-dataset
+ * @param groundTruth, Ground Truth poses
+ * @param poses, Estimated poses
+ * @return Gt to Map transform
+ */
+Transform RTABMAP_EXP calcRMSE(
+		const std::map<int, Transform> &groundTruth,
+		const std::map<int, Transform> &poses,
+		float & translational_rmse,
+		float & translational_mean,
+		float & translational_median,
+		float & translational_std,
+		float & translational_min,
+		float & translational_max,
+		float & rotational_rmse,
+		float & rotational_mean,
+		float & rotational_median,
+		float & rotational_std,
+		float & rotational_min,
+		float & rotational_max);
+
 std::multimap<int, Link>::iterator RTABMAP_EXP findLink(
 		std::multimap<int, Link> & links,
 		int from,
@@ -79,6 +123,8 @@ std::multimap<int, int>::const_iterator RTABMAP_EXP findLink(
 		int to,
 		bool checkBothWays = true);
 
+std::multimap<int, Link> RTABMAP_EXP filterDuplicateLinks(
+		const std::multimap<int, Link> & links);
 std::multimap<int, Link> RTABMAP_EXP filterLinks(
 		const std::multimap<int, Link> & links,
 		Link::Type filteredType);
@@ -183,6 +229,11 @@ int RTABMAP_EXP findNearestNode(
 		const std::map<int, rtabmap::Transform> & nodes,
 		const rtabmap::Transform & targetPose);
 
+std::vector<int> RTABMAP_EXP findNearestNodes(
+		const std::map<int, rtabmap::Transform> & nodes,
+		const rtabmap::Transform & targetPose,
+		int k);
+
 /**
  * Get nodes near the query
  * @param nodeId the query id
@@ -205,6 +256,10 @@ float RTABMAP_EXP computePathLength(
 		unsigned int fromIndex = 0,
 		unsigned int toIndex = 0);
 
+// assuming they are all linked in map order
+float RTABMAP_EXP computePathLength(
+		const std::map<int, Transform> & path);
+
 std::list<std::map<int, Transform> > RTABMAP_EXP getPaths(
 		std::map<int, Transform> poses,
 		const std::multimap<int, Link> & links);

corelib/include/rtabmap/core/IMU.h

@@ -0,0 +1,109 @@
+/*
+ * IMU.h
+ *
+ *  Created on: 2018-03-05
+ *      Author: mathieu
+ */
+
+#ifndef IMU_H_
+#define IMU_H_
+
+#include <opencv2/core/core.hpp>
+#include <rtabmap/utilite/ULogger.h>
+
+namespace rtabmap {
+
+
+// Correspondence class to sensor_msgs/IMU
+class IMU
+{
+public:
+	IMU() {}
+	IMU(const cv::Vec4d & orientation,
+		const cv::Mat & orientationCovariance,
+		const cv::Vec3d & angularVelocity,
+		const cv::Mat & angularVelocityCovariance,
+		const cv::Vec3d & linearAcceleration,
+		const cv::Mat & linearAccelerationCovariance,
+		const Transform & localTransform = Transform::getIdentity()) :
+			orientation_(orientation),
+			orientationCovariance_(orientationCovariance),
+			angularVelocity_(angularVelocity),
+			angularVelocityCovariance_(angularVelocityCovariance),
+			linearAcceleration_(linearAcceleration),
+			linearAccelerationCovariance_(linearAccelerationCovariance),
+			localTransform_(localTransform)
+	{
+		UASSERT(!orientationCovariance.empty() && orientationCovariance.cols == 3 && orientationCovariance.rows == 3 && orientationCovariance.type() == CV_64FC1);
+		UASSERT(!angularVelocityCovariance.empty() && angularVelocityCovariance.cols == 3 && angularVelocityCovariance.rows == 3 && angularVelocityCovariance.type() == CV_64FC1);
+		UASSERT(!linearAccelerationCovariance.empty() && linearAccelerationCovariance.cols == 3 && linearAccelerationCovariance.rows == 3 && linearAccelerationCovariance.type() == CV_64FC1);
+	}
+	IMU(const cv::Vec3d & angularVelocity,
+		const cv::Mat & angularVelocityCovariance,
+		const cv::Vec3d & linearAcceleration,
+		const cv::Mat & linearAccelerationCovariance,
+		const Transform & localTransform = Transform::getIdentity()) :
+			angularVelocity_(angularVelocity),
+			angularVelocityCovariance_(angularVelocityCovariance),
+			linearAcceleration_(linearAcceleration),
+			linearAccelerationCovariance_(linearAccelerationCovariance),
+			localTransform_(localTransform)
+	{
+		UASSERT(!angularVelocityCovariance.empty() && angularVelocityCovariance.cols == 3 && angularVelocityCovariance.rows == 3 && angularVelocityCovariance.type() == CV_64FC1);
+		UASSERT(!linearAccelerationCovariance.empty() && linearAccelerationCovariance.cols == 3 && linearAccelerationCovariance.rows == 3 && linearAccelerationCovariance.type() == CV_64FC1);
+	}
+
+	const cv::Vec4d & orientation() const {return orientation_;}
+	const cv::Mat & orientationCovariance() const {return orientationCovariance_;} // 3x3 double Row major about x, y, z axes, empty if orientation is not set
+
+	const cv::Vec3d & angularVelocity() const {return angularVelocity_;}
+	const cv::Mat & angularVelocityCovariance() const {return angularVelocityCovariance_;} // 3x3 double Row major about x, y, z axes, empty if angularVelocity is not set
+
+	const cv::Vec3d linearAcceleration() const {return linearAcceleration_;}
+	const cv::Mat & linearAccelerationCovariance() const {return linearAccelerationCovariance_;} // 3x3 double Row major x, y z, empty if linearAcceleration is not set
+
+	const Transform & localTransform() const {return localTransform_;}
+
+	bool empty() const
+	{
+		return orientationCovariance_.empty() && angularVelocityCovariance_.empty() && linearAccelerationCovariance_.empty();
+	}
+
+
+private:
+	cv::Vec4d orientation_;
+	cv::Mat orientationCovariance_; // 3x3 double Row major about x, y, z axes, empty if orientation is not set
+
+	cv::Vec3d angularVelocity_;
+	cv::Mat angularVelocityCovariance_; // 3x3 double Row major about x, y, z axes, empty if angularVelocity is not set
+
+	cv::Vec3d linearAcceleration_;
+	cv::Mat linearAccelerationCovariance_; // 3x3 double Row major x, y z, empty if linearAcceleration is not set
+
+	Transform localTransform_;
+};
+
+class IMUEvent : public UEvent
+{
+public:
+	IMUEvent() :
+		stamp_(0.0)
+	{}
+	IMUEvent(const IMU & data, double stamp) :
+		data_(data),
+		stamp_(stamp)
+	{
+	}
+	virtual std::string getClassName() const {return "IMUEvent";}
+	const IMU & getData() const {return data_;}
+	double getStamp() const {return stamp_;}
+
+private:
+	IMU data_;
+	double stamp_;
+};
+
+}
+
+
+#endif /* IMU_H_ */

corelib/include/rtabmap/core/IMUThread.h

@@ -0,0 +1,70 @@
+/*
+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.
+*/
+
+#pragma once
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <rtabmap/core/Transform.h>
+#include <rtabmap/utilite/UThread.h>
+#include <rtabmap/utilite/UEventsSender.h>
+#include <rtabmap/utilite/UTimer.h>
+
+#include <fstream>
+
+namespace rtabmap
+{
+
+/**
+ * Class IMUThread
+ *
+ */
+class RTABMAP_EXP IMUThread :
+	public UThread,
+	public UEventsSender
+{
+public:
+	IMUThread(int rate, const Transform & localTransform);
+	virtual ~IMUThread();
+
+	bool init(const std::string & path);
+	void setRate(int rate);
+
+private:
+	virtual void mainLoopBegin();
+	virtual void mainLoop();
+
+private:
+	int rate_;
+	Transform localTransform_;
+	std::ifstream imuFile_;
+	UTimer frameRateTimer_;
+	double captureDelay_;
+	double previousStamp_;
+};
+
+} // namespace rtabmap

corelib/include/rtabmap/core/LaserScan.h

@@ -0,0 +1,95 @@
+/*
+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 CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_
+#define CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <rtabmap/core/Transform.h>
+
+namespace rtabmap {
+
+class RTABMAP_EXP LaserScan
+{
+public:
+	enum Format{kUnknown=0,
+		kXY=1,
+		kXYI=2,
+		kXYNormal=3,
+		kXYINormal=4,
+		kXYZ=5,
+		kXYZI=6,
+		kXYZRGB=7,
+		kXYZNormal=8,
+		kXYZINormal=9,
+		kXYZRGBNormal=10};
+
+	static int channels(Format format);
+	static bool isScan2d(const Format & format);
+	static bool isScanHasNormals(const Format & format);
+	static bool isScanHasRGB(const Format & format);
+	static bool isScanHasIntensity(const Format & format);
+	static LaserScan backwardCompatibility(const cv::Mat & oldScanFormat, int maxPoints = 0, int maxRange = 0, const Transform & localTransform = Transform::getIdentity());
+
+public:
+	LaserScan();
+	LaserScan(const cv::Mat & data, int maxPoints, float maxRange, Format format, const Transform & localTransform = Transform::getIdentity());
+
+	const cv::Mat & data() const {return data_;}
+	int maxPoints() const {return maxPoints_;}
+	float maxRange() const {return maxRange_;}
+	Format format() const {return format_;}
+	Transform localTransform() const {return localTransform_;}
+
+	bool isEmpty() const {return data_.empty();}
+	int size() const {return data_.cols;}
+	int dataType() const {return data_.type();}
+	bool is2d() const {return isScan2d(format_);}
+	bool hasNormals() const {return isScanHasNormals(format_);}
+	bool hasRGB() const {return isScanHasRGB(format_);}
+	bool hasIntensity() const {return isScanHasIntensity(format_);}
+	bool isCompressed() const {return !data_.empty() && data_.type()==CV_8UC1;}
+	LaserScan clone() const {return LaserScan(data_.clone(), maxPoints_, maxRange_, format_, localTransform_.clone());}
+
+	int getIntensityOffset() const {return hasIntensity()?(is2d()?2:3):-1;}
+	int getRGBOffset() const {return hasRGB()?(is2d()?2:3):-1;}
+	int getNormalsOffset() const {return hasNormals()?(2 + (is2d()?0:1) + ((hasRGB() || hasIntensity())?1:0)):-1;}
+
+	void clear() {data_ = cv::Mat();}
+
+private:
+	cv::Mat data_;
+	int maxPoints_;
+	float maxRange_;
+	Format format_;
+	Transform localTransform_;
+};
+
+}
+
+#endif /* CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_ */

corelib/include/rtabmap/core/Link.h

@@ -46,20 +46,14 @@ public:
 		kUserClosure,
 		kVirtualClosure,
 		kNeighborMerged,
-		kUndef};
+		kPosePrior,
+		kUndef = 99};
 	Link();
 	Link(int from,
 			int to,
 			Type type,
 			const Transform & transform,
-			const cv::Mat & infMatrix = cv::Mat::eye(6,6,CV_64FC1),
-			const cv::Mat & userData = cv::Mat());
-	Link(int from,
-			int to,
-			Type type,
-			const Transform & transform,
-			double rotVariance,
-			double transVariance,
+			const cv::Mat & infMatrix = cv::Mat::eye(6,6,CV_64FC1), // information matrix: inverse of covariance matrix
 			const cv::Mat & userData = cv::Mat());
 
 	bool isValid() const {return from_ > 0 && to_ > 0 && !transform_.isNull() && type_!=kUndef;}
@@ -87,7 +81,6 @@ public:
 
 private:
 	void setInfMatrix(const cv::Mat & infMatrix);
-	void setVariance(double rotVariance, double transVariance);
 
 private:
 	int from_;

corelib/include/rtabmap/core/Memory.h

@@ -42,6 +42,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UStl.h"
 #include <opencv2/core/core.hpp>
 #include <opencv2/features2d/features2d.hpp>
+#include <pcl/pcl_config.h>
 
 namespace rtabmap {
 
@@ -75,6 +76,7 @@ public:
 	bool update(const SensorData & data,
 			const Transform & pose,
 			const cv::Mat & covariance,
+			const std::vector<float> & velocity = std::vector<float>(), // vx,vy,vz,vroll,vpitch,vyaw
 			Statistics * stats = 0);
 	bool init(const std::string & dbUrl,
 			bool dbOverwritten = false,
@@ -91,6 +93,29 @@ public:
 
 	int cleanup();
 	void saveStatistics(const Statistics & statistics);
+	void savePreviewImage(const cv::Mat & image) const;
+	cv::Mat loadPreviewImage() const;
+	void saveOptimizedPoses(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
+	std::map<int, Transform> loadOptimizedPoses(Transform * lastlocalizationPose) const;
+	void save2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize) const;
+	cv::Mat load2DMap(float & xMin, float & yMin, float & cellSize) const;
+	void saveOptimizedMesh(
+			const cv::Mat & cloud,
+			const std::vector<std::vector<std::vector<unsigned int> > > & polygons = std::vector<std::vector<std::vector<unsigned int> > >(),      // Textures -> polygons -> vertices
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+			const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords = std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >(), // Textures -> uv coords for each vertex of the polygons
+#else
+			const std::vector<std::vector<Eigen::Vector2f> > & texCoords = std::vector<std::vector<Eigen::Vector2f> >(), // Textures -> uv coords for each vertex of the polygons
+#endif
+			const cv::Mat & textures = cv::Mat()) const; // concatenated textures (assuming square textures with all same size)
+	cv::Mat loadOptimizedMesh(
+			std::vector<std::vector<std::vector<unsigned int> > > * polygons = 0,
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+			std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,
+#else
+			std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,
+#endif
+			cv::Mat * textures = 0) const;
 	void emptyTrash();
 	void joinTrashThread();
 	bool addLink(const Link & link, bool addInDatabase = false);
@@ -104,6 +129,8 @@ public:
 			bool incrementMarginOnLoop = false,
 			bool ignoreLoopIds = false,
 			bool ignoreIntermediateNodes = false,
+			bool ignoreLocalSpaceLoopIds = false,
+			const std::set<int> & nodesSet = std::set<int>(),
 			double * dbAccessTime = 0) const;
 	std::map<int, float> getNeighborsIdRadius(
 			int signatureId,
@@ -111,6 +138,7 @@ public:
 			const std::map<int, Transform> & optimizedPoses,
 			int maxGraphDepth) const;
 	void deleteLocation(int locationId, std::list<int> * deletedWords = 0);
+	void saveLocationData(int locationId);
 	void removeLink(int idA, int idB);
 	void removeRawData(int id, bool image = true, bool scan = true, bool userData = true);
 
@@ -153,6 +181,8 @@ public:
 			std::string & label,
 			double & stamp,
 			Transform & groundTruth,
+			std::vector<float> & velocity,
+			GPS & gps,
 			bool lookInDatabase = false) const;
 	cv::Mat getImageCompressed(int signatureId) const;
 	SensorData getNodeData(int nodeId, bool uncompressedData = false) const;
@@ -195,7 +225,6 @@ public:
 
 	Transform computeTransform(Signature & fromS, Signature & toS, Transform guess, RegistrationInfo * info = 0, bool useKnownCorrespondencesIfPossible = false) const;
 	Transform computeTransform(int fromId, int toId, Transform guess, RegistrationInfo * info = 0, bool useKnownCorrespondencesIfPossible = false);
-	Transform computeIcpTransform(int fromId, int toId, Transform guess, RegistrationInfo * info = 0);
 	Transform computeIcpTransformMulti(
 			int newId,
 			int oldId,
@@ -244,6 +273,7 @@ private:
 	bool _rawDescriptorsKept;
 	bool _saveDepth16Format;
 	bool _notLinkedNodesKeptInDb;
+	bool _saveIntermediateNodeData;
 	bool _incrementalMemory;
 	bool _reduceGraph;
 	int _maxStMemSize;
@@ -253,16 +283,23 @@ private:
 	bool _generateIds;
 	bool _badSignaturesIgnored;
 	bool _mapLabelsAdded;
+	bool _depthAsMask;
 	int _imagePreDecimation;
 	int _imagePostDecimation;
+	bool _compressionParallelized;
 	float _laserScanDownsampleStepSize;
+	float _laserScanVoxelSize;
 	int _laserScanNormalK;
+	int _laserScanNormalRadius;
 	bool _reextractLoopClosureFeatures;
 	float _rehearsalMaxDistance;
 	float _rehearsalMaxAngle;
 	bool _rehearsalWeightIgnoredWhileMoving;
 	bool _useOdometryFeatures;
 	bool _createOccupancyGrid;
+	int _visMaxFeatures;
+	int _visCorType;
+	bool _imagesAlreadyRectified;
 
 	int _idCount;
 	int _idMapCount;
@@ -271,6 +308,7 @@ private:
 	bool _memoryChanged; // False by default, become true only when Memory::update() is called.
 	bool _linksChanged; // False by default, become true when links are modified.
 	int _signaturesAdded;
+	GPS _gpsOrigin;
 
 	std::map<int, Signature *> _signatures; // TODO : check if a signature is already added? although it is not supposed to occur...
 	std::set<int> _stMem; // id
@@ -284,7 +322,7 @@ private:
 	bool _parallelized;
 
 	Registration * _registrationPipeline;
-	RegistrationIcp * _registrationIcp;
+	RegistrationIcp * _registrationIcpMulti;
 
 	OccupancyGrid * _occupancy;
 };

corelib/include/rtabmap/core/OccupancyGrid.h

@@ -42,9 +42,17 @@ class RTABMAP_EXP OccupancyGrid
 public:
 	OccupancyGrid(const ParametersMap & parameters = ParametersMap());
 	void parseParameters(const ParametersMap & parameters);
+	void setMap(const cv::Mat & map, float xMin, float yMin, float cellSize, const std::map<int, Transform> & poses);
 	void setCellSize(float cellSize);
 	float getCellSize() const {return cellSize_;}
-	bool isGridFromDepth() const {return occupancyFromCloud_;}
+	void setCloudAssembling(bool enabled);
+	float getMinMapSize() const {return minMapSize_;}
+	bool isGridFromDepth() const {return occupancyFromDepth_;}
+	bool isFullUpdate() const {return fullUpdate_;}
+	float getUpdateError() const {return updateError_;}
+	bool isMapFrameProjection() const {return projMapFrame_;}
+	const std::map<int, Transform> & addedNodes() const {return addedNodes_;}
+	int cacheSize() const {return (int)cache_.size();}
 
 	template<typename PointT>
 	typename pcl::PointCloud<PointT>::Ptr segmentCloud(
@@ -58,22 +66,30 @@ public:
 
 	void createLocalMap(
 			const Signature & node,
-			cv::Mat & ground,
-			cv::Mat & obstacles,
+			cv::Mat & groundCells,
+			cv::Mat & obstacleCells,
+			cv::Mat & emptyCells,
 			cv::Point3f & viewPoint) const;
 
+	void createLocalMap(
+			const LaserScan & cloud,
+			const Transform & pose,
+			cv::Mat & groundCells,
+			cv::Mat & obstacleCells,
+			cv::Mat & emptyCells,
+			cv::Point3f & viewPointInOut) const;
+
 	void clear();
 	void addToCache(
 			int nodeId,
 			const cv::Mat & ground,
-			const cv::Mat & obstacles);
-	void update(const std::map<int, Transform> & poses, float minMapSize = 0.0f, float footprintRadius = 0.0f);
-	const cv::Mat & getMap(float & xMin, float & yMin) const
-	{
-		xMin = xMin_;
-		yMin = yMin_;
-		return map_;
-	}
+			const cv::Mat & obstacles,
+			const cv::Mat & empty);
+	void update(const std::map<int, Transform> & poses);
+	cv::Mat getMap(float & xMin, float & yMin) const;
+	const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapGround() const {return assembledGround_;}
+	const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapObstacles() const {return assembledObstacles_;}
+	const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapEmptyCells() const {return assembledEmptyCells_;}
 
 private:
 	ParametersMap parameters_;
@@ -86,7 +102,8 @@ private:
 	float footprintHeight_;
 	int scanDecimation_;
 	float cellSize_;
-	bool occupancyFromCloud_;
+	bool preVoxelFiltering_;
+	bool occupancyFromDepth_;
 	bool projMapFrame_;
 	float maxObstacleHeight_;
 	int normalKSearch_;
@@ -102,15 +119,25 @@ private:
 	float noiseFilteringRadius_;
 	int noiseFilteringMinNeighbors_;
 	bool scan2dUnknownSpaceFilled_;
-	double scan2dMaxUnknownSpaceFilledRange_;
+	bool rayTracing_;
+	bool fullUpdate_;
+	float minMapSize_;
+	bool erode_;
+	float footprintRadius_;
+	float updateError_;
 
-	std::map<int, std::pair<cv::Mat, cv::Mat> > cache_;
+	std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> > cache_; //<node id, < <ground, obstacles>, empty> >
 	cv::Mat map_;
 	cv::Mat mapInfo_;
 	std::map<int, std::pair<int, int> > cellCount_; //<node Id, cells>
 	float xMin_;
 	float yMin_;
 	std::map<int, Transform> addedNodes_;
+
+	bool cloudAssembling_;
+	pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledGround_;
+	pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledObstacles_;
+	pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledEmptyCells_;
 };
 
 }

corelib/include/rtabmap/core/OctoMap.h

@@ -37,66 +37,200 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/point_types.h>
 
 #include <rtabmap/core/Transform.h>
+#include <rtabmap/core/Parameters.h>
 
 #include <map>
 #include <string>
 
 namespace rtabmap {
 
-class OcTreeNodeInfo
+// forward declaraton for "friend"
+class RtabmapColorOcTree;
+
+class RtabmapColorOcTreeNode : public octomap::ColorOcTreeNode
 {
 public:
-	OcTreeNodeInfo(int nodeRefId, const octomap::OcTreeKey & key, bool isObstacle) :
-		nodeRefId_(nodeRefId),
-		key_(key),
-		isObstacle_(isObstacle) {}
+	enum OccupancyType {kTypeUnknown=-1, kTypeEmpty=0, kTypeGround=1, kTypeObstacle=100};
+
+public:
+	friend class RtabmapColorOcTree; // needs access to node children (inherited)
+
+	RtabmapColorOcTreeNode() : ColorOcTreeNode(), nodeRefId_(0), type_(kTypeUnknown) {}
+	RtabmapColorOcTreeNode(const RtabmapColorOcTreeNode& rhs) : ColorOcTreeNode(rhs), nodeRefId_(rhs.nodeRefId_), type_(rhs.type_) {}
+
+	void setNodeRefId(int nodeRefId) {nodeRefId_ = nodeRefId;}
+	void setOccupancyType(char type) {type_=type;}
+	void setPointRef(const octomap::point3d & point) {pointRef_ = point;}
+	int getNodeRefId() const {return nodeRefId_;}
+	int getOccupancyType() const {return type_;}
+	const octomap::point3d & getPointRef() const {return pointRef_;}
+
+	// following methods defined for octomap < 1.8 compatibility
+	RtabmapColorOcTreeNode* getChild(unsigned int i);
+	const RtabmapColorOcTreeNode* getChild(unsigned int i) const;
+	bool pruneNode();
+	void expandNode();
+	bool createChild(unsigned int i);
+
+private:
 	int nodeRefId_;
-	octomap::OcTreeKey key_;
-	bool isObstacle_;
+	int type_; // -1=undefined, 0=empty, 100=obstacle, 1=ground
+	octomap::point3d pointRef_;
 };
 
+// Same as official ColorOctree but using RtabmapColorOcTreeNode, which is inheriting ColorOcTreeNode
+class RtabmapColorOcTree : public octomap::OccupancyOcTreeBase <RtabmapColorOcTreeNode> {
+
+  public:
+    /// Default constructor, sets resolution of leafs
+	RtabmapColorOcTree(double resolution);
+
+    /// virtual constructor: creates a new object of same type
+    /// (Covariant return type requires an up-to-date compiler)
+	RtabmapColorOcTree* create() const {return new RtabmapColorOcTree(resolution); }
+
+    std::string getTreeType() const {return "ColorOcTree";} // same type as ColorOcTree to be compatible with ROS OctoMap msg
+
+     /**
+     * Prunes a node when it is collapsible. This overloaded
+     * version only considers the node occupancy for pruning,
+     * different colors of child nodes are ignored.
+     * @return true if pruning was successful
+     */
+    virtual bool pruneNode(RtabmapColorOcTreeNode* node);
+
+    virtual bool isNodeCollapsible(const RtabmapColorOcTreeNode* node) const;
+
+    // set node color at given key or coordinate. Replaces previous color.
+    RtabmapColorOcTreeNode* setNodeColor(const octomap::OcTreeKey& key, uint8_t r,
+                                 uint8_t g, uint8_t b);
+
+    RtabmapColorOcTreeNode* setNodeColor(float x, float y,
+                                 float z, uint8_t r,
+                                 uint8_t g, uint8_t b) {
+    	octomap::OcTreeKey key;
+      if (!this->coordToKeyChecked(octomap::point3d(x,y,z), key)) return NULL;
+      return setNodeColor(key,r,g,b);
+    }
+
+    // integrate color measurement at given key or coordinate. Average with previous color
+    RtabmapColorOcTreeNode* averageNodeColor(const octomap::OcTreeKey& key, uint8_t r,
+                                  uint8_t g, uint8_t b);
+
+    RtabmapColorOcTreeNode* averageNodeColor(float x, float y,
+                                      float z, uint8_t r,
+                                      uint8_t g, uint8_t b) {
+    	octomap:: OcTreeKey key;
+      if (!this->coordToKeyChecked(octomap::point3d(x,y,z), key)) return NULL;
+      return averageNodeColor(key,r,g,b);
+    }
+
+    // integrate color measurement at given key or coordinate. Average with previous color
+    RtabmapColorOcTreeNode* integrateNodeColor(const octomap::OcTreeKey& key, uint8_t r,
+                                  uint8_t g, uint8_t b);
+
+    RtabmapColorOcTreeNode* integrateNodeColor(float x, float y,
+                                      float z, uint8_t r,
+                                      uint8_t g, uint8_t b) {
+    	octomap::OcTreeKey key;
+      if (!this->coordToKeyChecked(octomap::point3d(x,y,z), key)) return NULL;
+      return integrateNodeColor(key,r,g,b);
+    }
+
+    // update inner nodes, sets color to average child color
+    void updateInnerOccupancy();
+
+  protected:
+    void updateInnerOccupancyRecurs(RtabmapColorOcTreeNode* node, unsigned int depth);
+
+    /**
+     * Static member object which ensures that this OcTree's prototype
+     * ends up in the classIDMapping only once. You need this as a
+     * static member in any derived octree class in order to read .ot
+     * files through the AbstractOcTree factory. You should also call
+     * ensureLinking() once from the constructor.
+     */
+    class StaticMemberInitializer{
+       public:
+         StaticMemberInitializer();
+
+         /**
+         * Dummy function to ensure that MSVC does not drop the
+         * StaticMemberInitializer, causing this tree failing to register.
+         * Needs to be called from the constructor of this octree.
+         */
+         void ensureLinking() {};
+    };
+    /// static member to ensure static initialization (only once)
+    static StaticMemberInitializer RtabmapColorOcTreeMemberInit;
+
+  };
+
 class RTABMAP_EXP OctoMap {
 public:
-	OctoMap(float voxelSize = 0.1f, float occupancyThr = 0.5f);
+	static void HSVtoRGB(float *r, float *g, float *b, float h, float s, float v);
+
+public:
+	OctoMap(const ParametersMap & parameters);
+	OctoMap(float cellSize = 0.1f, float occupancyThr = 0.5f, bool fullUpdate = false, float updateError=0.01f);
 
 	const std::map<int, Transform> & addedNodes() const {return addedNodes_;}
 	void addToCache(int nodeId,
-			pcl::PointCloud<pcl::PointXYZRGB>::Ptr & ground,
-			pcl::PointCloud<pcl::PointXYZRGB>::Ptr & obstacles,
+			const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & ground,
+			const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & obstacles,
 			const pcl::PointXYZ & viewPoint);
 	void addToCache(int nodeId,
 			const cv::Mat & ground,
 			const cv::Mat & obstacles,
+			const cv::Mat & empty,
 			const cv::Point3f & viewPoint);
 	void update(const std::map<int, Transform> & poses);
 
-	const octomap::ColorOcTree * octree() const {return octree_;}
+	const RtabmapColorOcTree * octree() const {return octree_;}
 
 	pcl::PointCloud<pcl::PointXYZRGB>::Ptr createCloud(
 			unsigned int treeDepth = 0,
 			std::vector<int> * obstacleIndices = 0,
-			std::vector<int> * emptyIndices = 0) const;
+			std::vector<int> * emptyIndices = 0,
+			std::vector<int> * groundIndices = 0,
+			bool originalRefPoints = true) const;
 
 	cv::Mat createProjectionMap(
 			float & xMin,
 			float & yMin,
 			float & gridCellSize,
-			float minGridSize);
+			float minGridSize = 0.0f,
+			unsigned int treeDepth = 0);
 
 	bool writeBinary(const std::string & path);
 
 	virtual ~OctoMap();
 	void clear();
 
+	void getGridMin(double & x, double & y, double & z) const {x=minValues_[0];y=minValues_[1];z=minValues_[2];}
+	void getGridMax(double & x, double & y, double & z) const {x=maxValues_[0];y=maxValues_[1];z=maxValues_[2];}
+
+	void setMaxRange(float value) {rangeMax_ = value;}
+	void setRayTracing(bool enabled) {rayTracing_ = enabled;}
+	bool hasColor() const {return hasColor_;}
+
 private:
-	std::map<int, std::pair<cv::Mat, cv::Mat> > cache_;
-	std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGB>::Ptr, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> > cacheClouds_;
+	void updateMinMax(const octomap::point3d & point);
+
+private:
+	std::map<int, std::pair<std::pair<cv::Mat, cv::Mat>, cv::Mat> > cache_; // [id: < <ground, obstacles>, empty>]
+	std::map<int, std::pair<const pcl::PointCloud<pcl::PointXYZRGB>::Ptr, const pcl::PointCloud<pcl::PointXYZRGB>::Ptr> > cacheClouds_; // [id: <ground, obstacles>]
 	std::map<int, cv::Point3f> cacheViewPoints_;
-	octomap::ColorOcTree * octree_;
-	std::map<octomap::ColorOcTreeNode*, OcTreeNodeInfo> occupiedCells_;
+	RtabmapColorOcTree * octree_;
 	std::map<int, Transform> addedNodes_;
 	octomap::KeyRay keyRay_;
 	bool hasColor_;
+	bool fullUpdate_;
+	float updateError_;
+	float rangeMax_;
+	bool rayTracing_;
+	double minValues_[3];
+	double maxValues_[3];
 };
 
 } /* namespace rtabmap */

corelib/include/rtabmap/core/Odometry.h

@@ -45,7 +45,12 @@ public:
 	enum Type {
 		kTypeUndef = -1,
 		kTypeF2M = 0,
-		kTypeF2F = 1
+		kTypeF2F = 1,
+		kTypeFovis = 2,
+		kTypeViso2 = 3,
+		kTypeDVO = 4,
+		kTypeORBSLAM2 = 5,
+		kTypeOkvis = 6
 	};
 
 public:
@@ -58,12 +63,15 @@ public:
 	Transform process(SensorData & data, const Transform & guess, OdometryInfo * info = 0);
 	virtual void reset(const Transform & initialPose = Transform::getIdentity());
 	virtual Odometry::Type getType() = 0;
+	virtual bool canProcessRawImages() const {return false;}
 
 	//getters
 	const Transform & getPose() const {return _pose;}
 	bool isInfoDataFilled() const {return _fillInfoData;}
 	const Transform & previousVelocityTransform() const {return previousVelocityTransform_;}
 	double previousStamp() const {return previousStamp_;}
+	unsigned int framesProcessed() const {return framesProcessed_;}
+	bool imagesAlreadyRectified() const {return _imagesAlreadyRectified;}
 
 private:
 	virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0) = 0;
@@ -88,12 +96,15 @@ private:
 	float _kalmanMeasurementNoise;
 	int _imageDecimation;
 	bool _alignWithGround;
+	bool _publishRAMUsage;
+	bool _imagesAlreadyRectified;
 	Transform _pose;
 	int _resetCurrentCount;
 	double previousStamp_;
 	Transform previousVelocityTransform_;
 	Transform previousGroundTruthPose_;
 	float distanceTravelled_;
+	unsigned int framesProcessed_;
 
 	std::vector<ParticleFilter *> particleFilters_;
 	cv::KalmanFilter kalmanFilter_;

corelib/include/rtabmap/core/OdometryDVO.h

@@ -0,0 +1,69 @@
+/*
+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 ODOMETRYDVO_H_
+#define ODOMETRYDVO_H_
+
+#include <rtabmap/core/Odometry.h>
+
+namespace dvo {
+class DenseTracker;
+namespace core {
+class RgbdImagePyramid;
+class RgbdCameraPyramid;
+}
+}
+
+namespace rtabmap {
+
+class RTABMAP_EXP OdometryDVO : public Odometry
+{
+public:
+	OdometryDVO(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+	virtual ~OdometryDVO();
+
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
+	virtual Odometry::Type getType() {return Odometry::kTypeDVO;}
+
+private:
+	virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
+private:
+#ifdef RTABMAP_DVO
+	dvo::DenseTracker * dvo_;
+	dvo::core::RgbdImagePyramid * reference_;
+	dvo::core::RgbdCameraPyramid * camera_;
+	bool lost_;
+#endif
+	Transform motionFromKeyFrame_;
+	Transform previousLocalTransform_;
+
+};
+
+}
+
+#endif /* ODOMETRYDVO_H_ */

corelib/include/rtabmap/core/OdometryEvent.h

@@ -39,53 +39,29 @@ namespace rtabmap {
 class OdometryEvent : public UEvent
 {
 public:
-	static cv::Mat generateCovarianceMatrix(float rotVariance, float transVariance)
-	{
-		UASSERT(uIsFinite(rotVariance) && rotVariance>0);
-		UASSERT(uIsFinite(transVariance) && transVariance>0);
-		cv::Mat covariance = cv::Mat::eye(6,6,CV_64FC1);
-		covariance.at<double>(0,0) = transVariance;
-		covariance.at<double>(1,1) = transVariance;
-		covariance.at<double>(2,2) = transVariance;
-		covariance.at<double>(3,3) = rotVariance;
-		covariance.at<double>(4,4) = rotVariance;
-		covariance.at<double>(5,5) = rotVariance;
-		return covariance;
-	}
-public:
-	OdometryEvent() :
-		_covariance(cv::Mat::eye(6,6,CV_64FC1))
+	OdometryEvent()
 	{
+		_info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1);
 	}
 	OdometryEvent(
 		const SensorData & data,
 		const Transform & pose,
-		const cv::Mat & covariance = cv::Mat::eye(6,6,CV_64FC1),
 		const OdometryInfo & info = OdometryInfo()) :
 			_data(data),
 			_pose(pose),
 			_info(info)
 	{
-		UASSERT(covariance.cols == 6 && covariance.rows == 6 && covariance.type() == CV_64FC1);
-		UASSERT_MSG(uIsFinite(covariance.at<double>(0,0)) && covariance.at<double>(0,0)>0, "Transitional variance should not be null! (set to 1 if unknown)");
-		UASSERT_MSG(uIsFinite(covariance.at<double>(1,1)) && covariance.at<double>(1,1)>0, "Transitional variance should not be null! (set to 1 if unknown)");
-		UASSERT_MSG(uIsFinite(covariance.at<double>(2,2)) && covariance.at<double>(2,2)>0, "Transitional variance should not be null! (set to 1 if unknown)");
-		UASSERT_MSG(uIsFinite(covariance.at<double>(3,3)) && covariance.at<double>(3,3)>0, "Rotational variance should not be null! (set to 1 if unknown)");
-		UASSERT_MSG(uIsFinite(covariance.at<double>(4,4)) && covariance.at<double>(4,4)>0, "Rotational variance should not be null! (set to 1 if unknown)");
-		UASSERT_MSG(uIsFinite(covariance.at<double>(5,5)) && covariance.at<double>(5,5)>0, "Rotational variance should not be null! (set to 1 if unknown)");
-		_covariance = covariance;
-	}
-	OdometryEvent(
-		const SensorData & data,
-		const Transform & pose,
-		double rotVariance = 1.0,
-		double transVariance = 1.0,
-		const OdometryInfo & info = OdometryInfo()) :
-			_data(data),
-			_pose(pose),
-			_covariance(generateCovarianceMatrix(rotVariance, transVariance)),
-			_info(info)
-	{
+		if(_info.reg.covariance.empty())
+		{
+			_info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1);
+		}
+		UASSERT(_info.reg.covariance.cols == 6 && _info.reg.covariance.rows == 6 && _info.reg.covariance.type() == CV_64FC1);
+		UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(0,0)) && _info.reg.covariance.at<double>(0,0)>0, "Transitional variance should not be null! (set to 1 if unknown)");
+		UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(1,1)) && _info.reg.covariance.at<double>(1,1)>0, "Transitional variance should not be null! (set to 1 if unknown)");
+		UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(2,2)) && _info.reg.covariance.at<double>(2,2)>0, "Transitional variance should not be null! (set to 1 if unknown)");
+		UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(3,3)) && _info.reg.covariance.at<double>(3,3)>0, "Rotational variance should not be null! (set to 1 if unknown)");
+		UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(4,4)) && _info.reg.covariance.at<double>(4,4)>0, "Rotational variance should not be null! (set to 1 if unknown)");
+		UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(5,5)) && _info.reg.covariance.at<double>(5,5)>0, "Rotational variance should not be null! (set to 1 if unknown)");
 	}
 	virtual ~OdometryEvent() {}
 	virtual std::string getClassName() const {return "OdometryEvent";}
@@ -93,24 +69,40 @@ public:
 	SensorData & data() {return _data;}
 	const SensorData & data() const {return _data;}
 	const Transform & pose() const {return _pose;}
-	const cv::Mat & covariance() const {return _covariance;}
+	const cv::Mat & covariance() const {return _info.reg.covariance;}
+	std::vector<float> velocity() const {
+		if(_info.interval>0.0)
+		{
+			std::vector<float> velocity(6,0);
+			float x,y,z,roll,pitch,yaw;
+			_info.transform.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
+			velocity[0] = x/_info.interval;
+			velocity[1] = y/_info.interval;
+			velocity[2] = z/_info.interval;
+			velocity[3] = roll/_info.interval;
+			velocity[4] = pitch/_info.interval;
+			velocity[5] = yaw/_info.interval;
+			return velocity;
+		}
+		return std::vector<float>();
+	}
 	const OdometryInfo & info() const {return _info;}
-	double rotVariance() const {return uMax3(_covariance.at<double>(3,3), _covariance.at<double>(4,4), _covariance.at<double>(5,5));}
-	double transVariance() const {return uMax3(_covariance.at<double>(0,0), _covariance.at<double>(1,1), _covariance.at<double>(2,2));}
 
 private:
 	SensorData _data;
 	Transform _pose;
-	cv::Mat _covariance;
 	OdometryInfo _info;
 };
 
 class OdometryResetEvent : public UEvent
 {
 public:
-	OdometryResetEvent(){}
+	OdometryResetEvent(const Transform & pose = Transform::getIdentity()){_pose = pose;}
 	virtual ~OdometryResetEvent() {}
 	virtual std::string getClassName() const {return "OdometryResetEvent";}
+	const Transform & getPose() const {return _pose;}
+private:
+	Transform _pose;
 };
 
 }

corelib/include/rtabmap/core/OdometryF2F.h

@@ -59,6 +59,7 @@ private:
 	Registration * registrationPipeline_;
 	Signature refFrame_;
 	Transform lastKeyFramePose_;
+	ParametersMap parameters_;
 };
 
 }

corelib/include/rtabmap/core/OdometryF2M.h

@@ -64,12 +64,14 @@ private:
 	float scanKeyFrameThr_;
 	int scanMaximumMapSize_;
 	float scanSubtractRadius_;
+	float scanSubtractAngle_;
 	int bundleAdjustment_;
 	int bundleMaxFrames_;
 
 	Registration * regPipeline_;
 	Signature * map_;
 	Signature * lastFrame_;
+	int lastFrameOldestNewId_;
 	std::vector<std::pair<pcl::PointCloud<pcl::PointNormal>::Ptr, pcl::IndicesPtr> > scansBuffer_;
 
 	std::map<int, std::map<int, cv::Point3f> > bundleWordReferences_; //<WordId, <FrameId, pt2D+depth>>
@@ -77,7 +79,9 @@ private:
 	std::multimap<int, Link> bundleLinks_;
 	std::map<int, CameraModel> bundleModels_;
 	std::map<int, int> bundlePoseReferences_;
+	int bundleSeq_;
 	Optimizer * sba_;
+	ParametersMap parameters_;
 };
 
 }

corelib/include/rtabmap/core/OdometryFovis.h

@@ -0,0 +1,70 @@
+/*
+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 ODOMETRYFOVIS_H_
+#define ODOMETRYFOVIS_H_
+
+#include <rtabmap/core/Odometry.h>
+
+namespace fovis {
+class VisualOdometry;
+class Rectification;
+class StereoCalibration;
+class DepthImage;
+class StereoDepth;
+}
+
+namespace rtabmap {
+
+class RTABMAP_EXP OdometryFovis : public Odometry
+{
+public:
+	OdometryFovis(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+	virtual ~OdometryFovis();
+
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
+	virtual Odometry::Type getType() {return Odometry::kTypeFovis;}
+
+private:
+	virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
+private:
+#ifdef RTABMAP_FOVIS
+	fovis::VisualOdometry * fovis_;
+	fovis::Rectification * rect_;
+	fovis::StereoCalibration * stereoCalib_;
+	fovis::DepthImage * depthImage_;
+	fovis::StereoDepth * stereoDepth_;
+	bool lost_;
+#endif
+	ParametersMap fovisParameters_;
+	Transform previousLocalTransform_;
+};
+
+}
+
+#endif /* ODOMETRYFOVIS_H_ */

corelib/include/rtabmap/core/OdometryInfo.h

@@ -30,6 +30,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <map>
 #include "rtabmap/core/Transform.h"
+#include "rtabmap/core/RegistrationInfo.h"
+#include "rtabmap/core/CameraModel.h"
+#include "rtabmap/core/LaserScan.h"
 #include <opencv2/features2d/features2d.hpp>
 
 namespace rtabmap {
@@ -39,11 +42,6 @@ class OdometryInfo
 public:
 	OdometryInfo() :
 		lost(true),
-		matches(0),
-		inliers(0),
-		icpInliersRatio(0.0f),
-		varianceLin(0.0f),
-		varianceAng(0.0f),
 		features(0),
 		localMapSize(0),
 		localScanMapSize(0),
@@ -57,6 +55,7 @@ public:
 		stamp(0),
 		interval(0),
 		distanceTravelled(0.0f),
+		memoryUsage(0),
 		type(0)
 	{}
 
@@ -64,11 +63,7 @@ public:
 	{
 		OdometryInfo output;
 		output.lost = lost;
-		output.matches = matches;
-		output.inliers = inliers;
-		output.icpInliersRatio = icpInliersRatio;
-		output.varianceLin = varianceLin;
-		output.varianceAng = varianceAng;
+		output.reg = reg.copyWithoutData();
 		output.features = features;
 		output.localMapSize = localMapSize;
 		output.localScanMapSize = localScanMapSize;
@@ -76,24 +71,24 @@ public:
 		output.localBundleOutliers = localBundleOutliers;
 		output.localBundleConstraints = localBundleConstraints;
 		output.localBundleTime = localBundleTime;
+		output.localBundlePoses = localBundlePoses;
+		output.localBundleModels = localBundleModels;
 		output.keyFrameAdded = keyFrameAdded;
 		output.timeEstimation = timeEstimation;
 		output.timeParticleFiltering = timeParticleFiltering;
 		output.stamp = stamp;
+		output.interval = interval;
 		output.transform = transform;
 		output.transformFiltered = transformFiltered;
 		output.transformGroundTruth = transformGroundTruth;
 		output.distanceTravelled = distanceTravelled;
+		output.memoryUsage = memoryUsage;
 		output.type = type;
 		return output;
 	}
 
 	bool lost;
-	int matches;
-	int inliers;
-	float icpInliersRatio;
-	float varianceLin;
-	float varianceAng;
+	RegistrationInfo reg;
 	int features;
 	int localMapSize;
 	int localScanMapSize;
@@ -101,6 +96,8 @@ public:
 	int localBundleOutliers;
 	int localBundleConstraints;
 	float localBundleTime;
+	std::map<int, Transform> localBundlePoses;
+	std::map<int, CameraModel> localBundleModels;
 	bool keyFrameAdded;
 	float timeEstimation;
 	float timeParticleFiltering;
@@ -110,15 +107,14 @@ public:
 	Transform transformFiltered;
 	Transform transformGroundTruth;
 	float distanceTravelled;
+	int memoryUsage; //MB
 
-	int type; // 0=F2M, 1=F2F
+	int type;
 
 	// F2M
 	std::multimap<int, cv::KeyPoint> words;
-	std::vector<int> wordMatches;
-	std::vector<int> wordInliers;
 	std::map<int, cv::Point3f> localMap;
-	cv::Mat localScanMap;
+	LaserScan localScanMap;
 
 	// F2F
 	std::vector<cv::Point2f> refCorners;

corelib/include/rtabmap/core/OdometryORBSLAM2.h

@@ -0,0 +1,64 @@
+/*
+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 ODOMETRYORBSLAM2_H_
+#define ODOMETRYORBSLAM2_H_
+
+#include <rtabmap/core/Odometry.h>
+
+namespace ORB_SLAM2 {
+class System;
+}
+
+class ORBSLAM2System;
+
+namespace rtabmap {
+
+class RTABMAP_EXP OdometryORBSLAM2 : public Odometry
+{
+public:
+	OdometryORBSLAM2(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+	virtual ~OdometryORBSLAM2();
+
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
+	virtual Odometry::Type getType() {return Odometry::kTypeORBSLAM2;}
+
+private:
+	virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
+private:
+#ifdef RTABMAP_ORB_SLAM2
+	ORBSLAM2System * orbslam2_;
+	bool firstFrame_;
+#endif
+	Transform originLocalTransform_;
+
+};
+
+}
+
+#endif /* ODOMETRYORBSLAM2_H_ */

corelib/include/rtabmap/core/OdometryOkvis.h

@@ -0,0 +1,66 @@
+/*
+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 ODOMETRYOKVIS_H_
+#define ODOMETRYOKVIS_H_
+
+#include <rtabmap/core/Odometry.h>
+
+namespace okvis {
+	class ThreadedKFVio;
+}
+
+namespace rtabmap {
+
+class OkvisCallbackHandler;
+class RTABMAP_EXP OdometryOkvis : public Odometry
+{
+public:
+	OdometryOkvis(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+	virtual ~OdometryOkvis();
+
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
+	virtual Odometry::Type getType() {return Odometry::kTypeOkvis;}
+	virtual bool canProcessRawImages() const {return true;}
+
+private:
+	virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
+private:
+	std::string configFilename_;
+#ifdef RTABMAP_OKVIS
+	OkvisCallbackHandler * okvisCallbackHandler_;
+	okvis::ThreadedKFVio * okvisEstimator_;
+#endif
+	ParametersMap okvisParameters_;
+	IMU lastImu_; // only used for initialization
+	int imagesProcessed_;
+};
+
+}
+
+#endif /* ODOMETRYOKVIS_H_ */

corelib/include/rtabmap/core/OdometryThread.h

@@ -45,7 +45,7 @@ public:
 	virtual ~OdometryThread();
 
 protected:
-	virtual void handleEvent(UEvent * event);
+	virtual bool handleEvent(UEvent * event);
 
 private:
 	virtual void mainLoopBegin();
@@ -62,9 +62,13 @@ private:
 	USemaphore _dataAdded;
 	UMutex _dataMutex;
 	std::list<SensorData> _dataBuffer;
+	std::list<SensorData> _imuBuffer;
 	Odometry * _odometry;
 	unsigned int _dataBufferMaxSize;
 	bool _resetOdometry;
+	Transform _resetPose;
+	double _lastImuStamp;
+	double _imuEstimatedDelay;
 };
 
 } // namespace rtabmap

corelib/include/rtabmap/core/OdometryViso2.h

@@ -0,0 +1,65 @@
+/*
+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 ODOMETRYVISO2_H_
+#define ODOMETRYVISO2_H_
+
+#include <rtabmap/core/Odometry.h>
+
+class VisualOdometryStereo;
+
+namespace rtabmap {
+
+class RTABMAP_EXP OdometryViso2 : public Odometry
+{
+public:
+	OdometryViso2(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+	virtual ~OdometryViso2();
+
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
+	virtual Odometry::Type getType() {return Odometry::kTypeViso2;}
+
+private:
+	virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
+private:
+#ifdef RTABMAP_VISO2
+	VisualOdometryStereo * viso2_;
+	int ref_frame_change_method_;       // Reference frame method (defautl 0): 0=under inliers threshold, 1=min pixel motion,
+	int ref_frame_inlier_threshold_;    // method 0. Change the reference frame if the number of inliers is low
+	double ref_frame_motion_threshold_; // method 1. Change the reference frame if last motion is small
+	bool lost_;
+	bool keep_reference_frame_;
+#endif
+	Transform reference_motion_;
+	Transform previousLocalTransform_;
+	ParametersMap viso2Parameters_;
+};
+
+}
+
+#endif /* ODOMETRYVISO2_H_ */

corelib/include/rtabmap/core/Optimizer.h

@@ -75,6 +75,7 @@ public:
 	bool isCovarianceIgnored() const {return covarianceIgnored_;}
 	double epsilon() const {return epsilon_;}
 	bool isRobust() const {return robust_;}
+	bool priorsIgnored() const {return priorsIgnored_;}
 
 	// setters
 	void setIterations(int iterations) {iterations_ = iterations;}
@@ -82,9 +83,18 @@ public:
 	void setCovarianceIgnored(bool enabled) {covarianceIgnored_ = enabled;}
 	void setEpsilon(double epsilon) {epsilon_ = epsilon;}
 	void setRobust(bool enabled) {robust_ = enabled;}
+	void setPriorsIgnored(bool enabled) {priorsIgnored_ = enabled;}
 
 	virtual void parseParameters(const ParametersMap & parameters);
 
+	std::map<int, Transform> optimizeIncremental(
+			int rootId,
+			const std::map<int, Transform> & poses,
+			const std::multimap<int, Link> & constraints,
+			std::list<std::map<int, Transform> > * intermediateGraphes = 0,
+			double * finalError = 0,
+			int * iterationsDone = 0);
+
 	// inherited classes should implement one of these methods
 	virtual std::map<int, Transform> optimize(
 			int rootId,
@@ -128,7 +138,8 @@ protected:
 			bool slam2d            = Parameters::defaultRegForce3DoF(),
 			bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),
 			double epsilon         = Parameters::defaultOptimizerEpsilon(),
-			bool robust            = Parameters::defaultOptimizerRobust());
+			bool robust            = Parameters::defaultOptimizerRobust(),
+			bool priorsIgnored     = Parameters::defaultOptimizerPriorsIgnored());
 	Optimizer(const ParametersMap & parameters);
 
 private:
@@ -137,6 +148,7 @@ private:
 	bool covarianceIgnored_;
 	double epsilon_;
 	bool robust_;
+	bool priorsIgnored_;
 };
 
 } /* namespace rtabmap */

corelib/include/rtabmap/core/OptimizerGTSAM.h

@@ -40,20 +40,18 @@ public:
 	static bool available();
 
 public:
-	OptimizerGTSAM(
-			int iterations         = Parameters::defaultOptimizerIterations(),
-			bool slam2d            = Parameters::defaultRegForce3DoF(),
-			bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),
-			double epsilon         = Parameters::defaultOptimizerEpsilon(),
-			bool robust            = Parameters::defaultOptimizerRobust()) :
-		Optimizer(iterations, slam2d, covarianceIgnored, epsilon, robust) {}
-
-	OptimizerGTSAM(const ParametersMap & parameters) :
-		Optimizer(parameters) {}
+	OptimizerGTSAM(const ParametersMap & parameters = ParametersMap()) :
+		Optimizer(parameters),
+		optimizer_(Parameters::defaultGTSAMOptimizer())
+	{
+		parseParameters(parameters);
+	}
 	virtual ~OptimizerGTSAM() {}
 
 	virtual Type type() const {return kTypeGTSAM;}
 
+	virtual void parseParameters(const ParametersMap & parameters);
+
 	virtual std::map<int, Transform> optimize(
 			int rootId,
 			const std::map<int, Transform> & poses,
@@ -61,6 +59,9 @@ public:
 			std::list<std::map<int, Transform> > * intermediateGraphes = 0,
 			double * finalError = 0,
 			int * iterationsDone = 0);
+
+private:
+	int optimizer_;
 };
 
 } /* namespace rtabmap */

corelib/include/rtabmap/core/ProgressState.h

@@ -25,41 +25,38 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef CORELIB_INCLUDE_RTABMAP_CORE_LASERSCANINFO_H_
-#define CORELIB_INCLUDE_RTABMAP_CORE_LASERSCANINFO_H_
+#ifndef CORELIB_INCLUDE_RTABMAP_CORE_PROGRESSSTATE_H_
+#define CORELIB_INCLUDE_RTABMAP_CORE_PROGRESSSTATE_H_
 
 #include <rtabmap/utilite/ULogger.h>
 
 namespace rtabmap {
 
-class LaserScanInfo
+class ProgressState
 {
 public:
-	LaserScanInfo() :
-		maxPoints_(0),
-		maxRange_(0),
-		localTransform_(Transform::getIdentity())
+	ProgressState():canceled_(false){}
+	virtual bool callback(const std::string & msg) const
 	{
+		if(!msg.empty())
+			UDEBUG("msg=%s", msg.c_str());
+		return true;
 	}
+	virtual ~ProgressState(){}
 
-	LaserScanInfo(int maxPoints, float maxRange, const Transform & localTransform = Transform::getIdentity()) :
-		maxPoints_(maxPoints),
-		maxRange_(maxRange),
-		localTransform_(localTransform)
+	void setCanceled(bool canceled)
 	{
-		UASSERT(!localTransform.isNull());
+		canceled_ = canceled;
+	}
+	bool isCanceled() const
+	{
+		return canceled_;
 	}
-
-	int maxPoints() const {return maxPoints_;}
-	float maxRange() const {return maxRange_;}
-	Transform localTransform() const {return localTransform_;}
 
 private:
-	int maxPoints_;
-	float maxRange_;
-	Transform localTransform_;
+	bool canceled_;
 };
 
 }
 
-#endif /* CORELIB_INCLUDE_RTABMAP_CORE_LASERSCANINFO_H_ */
+#endif /* CORELIB_INCLUDE_RTABMAP_CORE_PROGRESSSTATE_H_ */