package.xml: 0.20.7

* fixing slow convert after cnn

* restoring cmake

.appveyor.yml

@@ -35,7 +35,7 @@ install:
   # 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
-  - ps: wget 'http://kent.dl.sourceforge.net/project/opencvlibrary/opencv-win/2.4.13/opencv-2.4.13.6-vc14.exe' -outfile opencv-2.4.13.6-vc14.exe
+  - ps: $url = "https://downloads.sourceforge.net/project/opencvlibrary/opencv-win/2.4.13/opencv-2.4.13.6-vc14.exe?r=&ts="+([int64](([datetime]::UtcNow)-(get-date "1/1/1970")).TotalSeconds) ; wget $url -outfile opencv-2.4.13.6-vc14.exe
   - cmd: opencv-2.4.13.6-vc14.exe -o"C:\Program Files" -y
   - ECHO "Installed OpenCV:"
   - ps: "ls \"C:/Program Files/opencv/build\""
@@ -115,6 +115,20 @@ install:
   - cmd: yaml-cpp.exe -o"C:\Program Files" -y
   - ECHO "Installed yaml-cpp:"
   - ps: "ls \"C:/Program Files/yaml-cpp\""
+  # RealSense2
+  - ps: wget 'https://github.com/IntelRealSense/librealsense/releases/download/v2.40.0/Intel.RealSense.SDK-WIN10-2.40.0.2482.exe' -outfile realsense2.exe
+  - cmd: realsense2.exe /VERYSILENT
+  - ECHO "Installed RealSense2:"
+  - ps: "ls \"C:/Program Files (x86)/Intel RealSense SDK 2.0\""
+  - set PATH=%PATH%;C:\Program Files (x86)\Intel RealSense SDK 2.0\bin\x64
+  - set RealSense2_ROOT_DIR=C:\Program Files (x86)\Intel RealSense SDK 2.0
+  # Kinect 4 Azure
+  - ps: wget 'https://download.microsoft.com/download/3/d/6/3d6d9e99-a251-4cf3-8c6a-8e108e960b4b/Azure%20Kinect%20SDK%201.4.1.exe' -outfile azure.exe
+  - cmd: azure.exe /quiet
+  - ECHO "Installed Kinect For Azure:"
+  - ps: "ls \"C:/Program Files/Azure Kinect SDK v1.4.1\""
+  - set PATH=%PATH%;C:\Program Files\Azure Kinect SDK v1.4.1\tools
+  - set K4A_ROOT_DIR=C:\Program Files\Azure Kinect SDK v1.4.1
   
 before_build:
   - cd c:\projects\rtabmap\build

.gitignore

@@ -8,3 +8,5 @@ app/android/.classpath
 app/android/.project
 app/android/AndroidManifest.xml
 app/android/res/raw/
+compile_flags.txt
+tags

.travis.yml

@@ -1,33 +1,72 @@
 sudo: true
-dist: trusty
 language: cpp
 group: deprecated-2017Q3
 
 compiler:
   - gcc
-  - clang
 
-addons:
-  apt:
-    packages:
-      - cmake
-      - libopencv-dev
-      - libqt4-dev
-      - libsqlite3-dev
-      - libyaml-cpp-dev
+matrix:
+  include:
 
-install:
-    - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
-    - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-    - sudo apt-get update
-    - sudo apt-get update && sudo apt-get install dpkg
-    - sudo apt-get -y install libpcl-1.7-all libfreenect-dev ros-indigo-libg2o ros-indigo-octomap libopenni2-dev
+    - dist: trusty
+      install:
+        - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
+        - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+        - sudo apt-get update
+        - sudo apt-get update && sudo apt-get install dpkg
+        - sudo apt-get -y install ros-indigo-rtabmap-ros
+        - sudo apt-get -y remove ros-indigo-rtabmap
 
-script: 
-    - source /opt/ros/indigo/setup.bash
-    - mkdir -p build && cd build
-    - cmake .. 
-    - make
+      script: 
+        - source /opt/ros/indigo/setup.bash
+        - mkdir -p build && cd build
+        - cmake .. 
+        - make
+
+    - dist: xenial
+      install:
+        - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > /etc/apt/sources.list.d/ros-latest.list'
+        - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+        - sudo apt-get update
+        - sudo apt-get update && sudo apt-get install dpkg
+        - sudo apt-get -y install ros-kinetic-rtabmap-ros
+        - sudo apt-get -y remove ros-kinetic-rtabmap
+
+      script: 
+        - source /opt/ros/kinetic/setup.bash
+        - mkdir -p build && cd build
+        - cmake .. 
+        - make
+
+    - dist: bionic
+      install:
+        - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list'
+        - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+        - sudo apt-get update
+        - sudo apt-get update && sudo apt-get install dpkg
+        - sudo apt-get -y install ros-melodic-rtabmap-ros
+        - sudo apt-get -y remove ros-melodic-rtabmap
+
+      script: 
+        - source /opt/ros/melodic/setup.bash
+        - mkdir -p build && cd build
+        - cmake .. 
+        - make
+        
+    - dist: focal
+      install:
+        - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list'
+        - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+        - sudo apt-get update
+        - sudo apt-get update && sudo apt-get install dpkg
+        - sudo apt-get -y install ros-noetic-rtabmap-ros
+        - sudo apt-get -y remove ros-noetic-rtabmap
+
+      script: 
+        - source /opt/ros/noetic/setup.bash
+        - mkdir -p build && cd build
+        - cmake .. 
+        - make
 
 notifications:
   email:

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 19)
-SET(RTABMAP_PATCH_VERSION 3)
+SET(RTABMAP_MINOR_VERSION 20)
+SET(RTABMAP_PATCH_VERSION 7)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
   
@@ -61,7 +61,7 @@ ELSE ()
 ENDIF()
 
 if(POLICY CMP0020)
-    cmake_policy(SET CMP0020 OLD)
+    cmake_policy(SET CMP0020 NEW)
 endif()
 if(POLICY CMP0043)
     cmake_policy(SET CMP0043 OLD)
@@ -163,14 +163,18 @@ ELSE()
 option(WITH_QT            "Include Qt support"                   ON)
 ENDIF()
 option(WITH_ORB_OCTREE    "Include ORB Octree feature support"   ON)
+option(WITH_SUPERPOINT_TORCH  "Include SuperPoint Torch feature support"   ON)
+option(WITH_PYMATCHER     "Include Python3 matchers support"     OFF)
 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_K4A           "Include Kinect for Azure support"     ON)
 option(WITH_OPENNI2       "Include OpenNI2 support"              ON)
 option(WITH_DC1394        "Include dc1394 support"               ON)
 option(WITH_G2O           "Include g2o support"                  ON)
 option(WITH_GTSAM         "Include GTSAM support"                ON)
 option(WITH_TORO          "Include TORO support"                 ON)
+option(WITH_CERES         "Include Ceres support"                ON)
 option(WITH_VERTIGO       "Include Vertigo support"              ON)
 option(WITH_CVSBA         "Include cvsba support"                ON)
 option(WITH_POINTMATCHER  "Include libpointmatcher support"      ON)
@@ -180,9 +184,11 @@ 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_REALSENSE2    "Include RealSense support"            ON)
+option(WITH_MYNTEYE       "Include mynteye-s 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_ALICE_VISION  "Include AliceVision support"          OFF)
 option(WITH_FOVIS         "Include FOVIS support"                ON)
 option(WITH_VISO2         "Include VISO2 support"                ON)
 option(WITH_DVO           "Include DVO support"                  ON)
@@ -191,7 +197,15 @@ option(WITH_OKVIS         "Include OKVIS support"                ON)
 option(WITH_MSCKF_VIO     "Include MSCKF_VIO support"           OFF)
 option(WITH_VINS          "Include VINS-Fusion support"          ON)
 option(WITH_MADGWICK      "Include Madgwick IMU filtering support" ON)
+option(WITH_FASTCV        "Include FastCV support"               ON)
+IF(ANDROID)
+option(PCL_OMP            "With PCL OMP implementations"         OFF)
+ELSE()
 option(PCL_OMP            "With PCL OMP implementations"         ON)
+ENDIF()
+
+set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.")
+set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5)
 
 FIND_PACKAGE(OpenCV REQUIRED QUIET)
 
@@ -263,14 +277,18 @@ IF(WITH_QT)
     # If Qt is here, the GUI will be built
     # look for Qt5 (if vtk>5 is installed) before Qt4
     IF("${VTK_MAJOR_VERSION}" GREATER 5)
-        FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui QUIET)
-        IF(Qt5_FOUND)
-             FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui OPTIONAL_COMPONENTS Svg)
-        ENDIF(Qt5_FOUND)
+        if(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
+            FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui QUIET)
+            IF(Qt5_FOUND)
+                FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui OPTIONAL_COMPONENTS Svg)
+            ENDIF(Qt5_FOUND)
+        ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
     ENDIF("${VTK_MAJOR_VERSION}" GREATER 5)
 
     IF(NOT Qt5_FOUND)
-        FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
+        IF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "4")
+            FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
+        ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "4")
     ENDIF(NOT Qt5_FOUND)
         
     IF(QT4_FOUND OR Qt5_FOUND)
@@ -282,15 +300,42 @@ IF(WITH_QT)
                 SET(PCL_LIBRARIES "${PCL_LIBRARIES};vtkGUISupportQt")
                 SET(ADD_VTK_GUI_SUPPORT_QT_TO_CONF TRUE)
             ENDIF(value EQUAL -1)
-			MESSAGE(STATUS "VTK_RENDERING_BACKEND=${VTK_RENDERING_BACKEND}")
-			IF(VTK_RENDERING_BACKEND STREQUAL "OpenGL2")
-				ADD_DEFINITIONS("-DVTK_OPENGL2")
-			ENDIF(VTK_RENDERING_BACKEND STREQUAL "OpenGL2")
+            MESSAGE(STATUS "VTK_RENDERING_BACKEND=${VTK_RENDERING_BACKEND}")
+
+            IF(VTK_RENDERING_BACKEND STREQUAL "OpenGL2")
+                ADD_DEFINITIONS("-DVTK_OPENGL2")
+                # see issue #525
+                list(FIND PCL_LIBRARIES vtkRenderingVolumeOpenGL2 value)
+                IF(value EQUAL -1)
+                    SET(PCL_LIBRARIES "${PCL_LIBRARIES};vtkRenderingVolumeOpenGL2")
+                ENDIF(value EQUAL -1)
+            ELSEIF(VTK_RENDERING_BACKEND STREQUAL "OpenGL")
+                # PCL 1.9 not adding vtkRenderingVolumeOpenGL as dependency anymore, so add it for us
+                list(FIND PCL_LIBRARIES vtkRenderingVolumeOpenGL value)
+                IF(value EQUAL -1)
+                    SET(PCL_LIBRARIES "${PCL_LIBRARIES};vtkRenderingVolumeOpenGL")
+                ENDIF(value EQUAL -1)
+            ENDIF()
+
         ENDIF()
         ADD_DEFINITIONS(-DQT_NO_KEYWORDS) # To avoid conflicts with boost signals/foreach and Qt macros
     ENDIF(QT4_FOUND OR Qt5_FOUND)
 ENDIF(WITH_QT)
 
+IF(WITH_SUPERPOINT_TORCH)
+    FIND_PACKAGE(Torch QUIET)
+    IF(TORCH_FOUND)
+        MESSAGE(STATUS "Found Torch: ${TORCH_INCLUDE_DIRS}")
+    ENDIF(TORCH_FOUND)
+ENDIF(WITH_SUPERPOINT_TORCH)
+
+IF(WITH_PYMATCHER)
+    FIND_PACKAGE(Python3 COMPONENTS Interpreter Development)
+    IF(Python3_FOUND)
+        MESSAGE(STATUS "Found Python3")
+    ENDIF(Python3_FOUND)
+ENDIF(WITH_PYMATCHER)
+
 IF(WITH_FREENECT)
     FIND_PACKAGE(Freenect QUIET)
     IF(Freenect_FOUND)
@@ -323,6 +368,21 @@ IF(WITH_K4W2 AND WIN32)
     ENDIF(KinectSDK2_FOUND)
 ENDIF(WITH_K4W2 AND WIN32)
 
+IF(WITH_K4A)
+    IF(WIN32)
+        FIND_PACKAGE(K4A QUIET)
+    ELSE()
+        FIND_PACKAGE(k4a QUIET)
+        FIND_PACKAGE(k4arecord QUIET)
+        IF(NOT (k4a_FOUND AND k4arecord_FOUND))
+            SET(k4a_FOUND FALSE)
+        ENDIF(NOT (k4a_FOUND AND k4arecord_FOUND))
+    ENDIF()
+	IF(k4a_FOUND)
+       MESSAGE(STATUS "Found Kinect for Azure: ${k4a_INCLUDE_DIRS}")
+    ENDIF(k4a_FOUND)
+ENDIF(WITH_K4A)
+
 # IF PCL depends on OpenNI2 (already found), ignore WITH_OPENNI2
 IF(WITH_OPENNI2 OR OpenNI2_FOUND)
     FIND_PACKAGE(OpenNI2 QUIET)
@@ -367,6 +427,10 @@ ENDIF(WITH_CVSBA)
 IF(WITH_POINTMATCHER)
     find_package(libpointmatcher QUIET)
     IF(libpointmatcher_FOUND)
+       find_package(Boost COMPONENTS thread filesystem system program_options date_time REQUIRED)
+       if (Boost_MINOR_VERSION GREATER 47)
+           find_package(Boost COMPONENTS thread filesystem system program_options date_time chrono timer REQUIRED)
+       endif (Boost_MINOR_VERSION GREATER 47)
        MESSAGE(STATUS "Found libpointmatcher: ${libpointmatcher_INCLUDE_DIRS}")
     ENDIF(libpointmatcher_FOUND)
 ENDIF(WITH_POINTMATCHER)
@@ -411,7 +475,7 @@ ENDIF(WITH_REALSENSE)
 IF(WITH_REALSENSE2)
     IF(WIN32)
         FIND_PACKAGE(RealSense2 QUIET)
-	ELSE()
+    ELSE()
         FIND_PACKAGE(realsense2 QUIET)
     ENDIF()
     IF(realsense2_FOUND)
@@ -419,14 +483,21 @@ IF(WITH_REALSENSE2)
     ENDIF(realsense2_FOUND)
 ENDIF(WITH_REALSENSE2)
 
+IF(WITH_MYNTEYE)
+    FIND_PACKAGE(mynteye QUIET)
+    IF(mynteye_FOUND)
+       MESSAGE(STATUS "Found mynteye-s: ${mynteye_INCLUDE_DIRS}")
+    ENDIF(mynteye_FOUND)
+ENDIF(WITH_MYNTEYE)
+
 IF(WITH_OCTOMAP)
-    FIND_PACKAGE(OCTOMAP QUIET)
-    IF(OCTOMAP_FOUND)
-       MESSAGE(STATUS "Found octomap ${OCTOMAP_VERSION}: ${OCTOMAP_INCLUDE_DIRS}")
-       IF(OCTOMAP_VERSION VERSION_LESS 1.8)
+    FIND_PACKAGE(octomap QUIET)
+    IF(octomap_FOUND)
+       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(octomap_VERSION VERSION_LESS 1.8)
+    ENDIF(octomap_FOUND)
 ENDIF(WITH_OCTOMAP)
 
 IF(WITH_CPUTSDF)
@@ -443,6 +514,17 @@ IF(WITH_OPENCHISEL)
     endif(open_chisel_FOUND)
 ENDIF(WITH_OPENCHISEL)
 
+IF(WITH_ALICE_VISION)
+    find_package(AliceVision CONFIG QUIET)
+    IF(AliceVision_FOUND)
+        SET(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH};/usr/local/lib/cmake/modules")
+        find_package(Geogram REQUIRED QUIET)
+        add_definitions("-DRTABMAP_ALICE_VISION_MAJOR=${AliceVision_VERSION_MAJOR}")
+        add_definitions("-DRTABMAP_ALICE_VISION_MINOR=${AliceVision_VERSION_MINOR}")
+        add_definitions("-DRTABMAP_ALICE_VISION_PATCH=${AliceVision_VERSION_PATCH}")
+    ENDIF(AliceVision_FOUND)
+ENDIF(WITH_ALICE_VISION)
+
 IF(WITH_FOVIS)
     FIND_PACKAGE(libfovis QUIET)
     IF(libfovis_FOUND)
@@ -477,6 +559,11 @@ IF(WITH_OKVIS)
     ENDIF(okvis_FOUND)
 ENDIF(WITH_OKVIS)
 
+# If built with okvis, we found already ceres above
+IF(NOT okvis_FOUND AND WITH_CERES)
+    FIND_PACKAGE(Ceres QUIET)
+ENDIF(NOT okvis_FOUND AND WITH_CERES)
+
 IF(WITH_MSCKF_VIO)
     FIND_PACKAGE(msckf_vio QUIET)
     IF(msckf_vio_FOUND)
@@ -494,6 +581,12 @@ IF(WITH_VINS)
     ENDIF(vins_FOUND)
 ENDIF(WITH_VINS)
 
+IF(WITH_FASTCV)
+    FIND_PACKAGE(FastCV QUIET)
+    IF(FastCV_FOUND)
+       MESSAGE(STATUS "Found FastCV: ${FastCV_INCLUDE_DIRS}")
+    ENDIF(FastCV_FOUND)
+ENDIF(WITH_FASTCV)
 
 IF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
     FIND_PACKAGE(ORB_SLAM2 QUIET)
@@ -511,8 +604,8 @@ IF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
     ENDIF(ORB_SLAM2_FOUND)
 ENDIF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
 
-IF(loam_velodyne_FOUND)
-   #LOAM requires c++14
+IF(loam_velodyne_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND)
+   #LOAM and PCL>=1.10 require c++14
    IF(NOT MSVC)
      include(CheckCXXCompilerFlag)
       CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
@@ -524,6 +617,7 @@ IF(loam_velodyne_FOUND)
    ENDIF()
 ELSEIF(G2O_FOUND OR 
        GTSAM_FOUND OR 
+       CERES_FOUND OR
        ZED_FOUND OR 
        ANDROID OR 
        RealSense_FOUND OR 
@@ -532,7 +626,8 @@ ELSEIF(G2O_FOUND OR
        okvis_FOUND OR 
        open_chisel_FOUND OR 
        msckf_vio_FOUND OR 
-       vins_FOUND)
+       vins_FOUND OR 
+       libpointmatcher_FOUND)
    #Newest versions require std11
    IF(NOT MSVC)
      include(CheckCXXCompilerFlag)
@@ -582,6 +677,10 @@ ENDIF(APPLE AND BUILD_AS_BUNDLE)
 SET(CONF_DEPENDENCIES 
     ${ZLIB_LIBRARIES}
 )
+
+# OpenCV2 has nonfree if OPENCV_NONFREE_FOUND
+# OpenCV<=3.4.2 has nonfree if OPENCV_XFEATURES2D_FOUND
+# OpenCV>3.4.2 has nonfree if OPENCV_XFEATURES2D_FOUND and OPENCV_ENABLE_NONFREE is defined
 IF(NOT (OPENCV_NONFREE_FOUND OR OPENCV_XFEATURES2D_FOUND))
    SET(NONFREE "//")
 ELSEIF(OpenCV_VERSION VERSION_GREATER "3.4.2")
@@ -608,6 +707,9 @@ IF(NOT GTSAM_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${GTSAM_LIBRARIES})
 ENDIF()
+IF(NOT CERES_FOUND)
+   SET(CERES "//")
+ENDIF(NOT CERES_FOUND)
 IF(NOT WITH_TORO)
    SET(TORO "//")
 ENDIF(NOT WITH_TORO)
@@ -622,6 +724,9 @@ ENDIF()
 IF(NOT libpointmatcher_FOUND)
    SET(POINTMATCHER "//")
 ENDIF(NOT libpointmatcher_FOUND)
+IF(NOT FastCV_FOUND)
+   SET(FASTCV "//")
+ENDIF(NOT FastCV_FOUND)
 IF(NOT loam_velodyne_FOUND)
    SET(LOAM "//")
 ENDIF(NOT loam_velodyne_FOUND)
@@ -640,6 +745,11 @@ IF(NOT KinectSDK2_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${KinectSDK2_LIBRARIES})
 ENDIF()
+IF(NOT k4a_FOUND)
+   SET(K4A "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${k4a_LIBRARIES})
+ENDIF()
 IF(NOT OpenNI2_FOUND)
    SET(OPENNI2 "//")
 ELSE()
@@ -673,7 +783,10 @@ IF(NOT realsense2_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${realsense2_LIBRARIES}) 
 ENDIF()
-IF(NOT OCTOMAP_FOUND)
+IF(NOT mynteye_FOUND)
+   SET(MYNTEYE "//")
+ENDIF(NOT mynteye_FOUND)
+IF(NOT octomap_FOUND)
    SET(OCTOMAP "//")
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${OCTOMAP_LIBRARIES}) 
@@ -688,6 +801,9 @@ IF(NOT open_chisel_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${open_chisel_LIBRARIES}) 
 ENDIF()
+IF(NOT AliceVision_FOUND)
+   SET(ALICE_VISION "//")
+ENDIF(NOT AliceVision_FOUND)
 IF(NOT libfovis_FOUND)
    SET(FOVIS "//")
 ELSE()
@@ -726,6 +842,12 @@ ENDIF()
 IF(NOT WITH_ORB_OCTREE)
    SET(ORB_OCTREE "//")
 ENDIF()
+IF(NOT TORCH_FOUND)
+   SET(SUPERPOINT_TORCH "//")
+ENDIF()
+IF(NOT Python3_FOUND)
+   SET(PYMATCHER "//")
+ENDIF()
 IF(ADD_VTK_GUI_SUPPORT_QT_TO_CONF)
    SET(CONF_VTK_QT true)
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} vtkGUISupportQt)
@@ -739,9 +861,6 @@ IF(NOT WITH_MADGWICK)
    SET(MADGWICK "//")
 ENDIF()
 
-IF(NOT (OpenCV_FOUND AND NOT (OpenCV_VERSION_MAJOR LESS 3)))
-   SET(OPENCV3 "//")
-ENDIF(NOT (OpenCV_FOUND AND NOT (OpenCV_VERSION_MAJOR LESS 3)))
 CONFIGURE_FILE(Version.h.in ${PROJECT_SOURCE_DIR}/corelib/include/${PROJECT_PREFIX}/core/Version.h)
 
 ADD_SUBDIRECTORY( utilite )
@@ -928,10 +1047,12 @@ ENDIF(APPLE OR WIN32)
 MESSAGE(STATUS "  CMAKE_CXX_FLAGS = ${CMAKE_CXX_FLAGS}")
 MESSAGE(STATUS "  FLANN_KDTREE_MEM_OPT = ${FLANN_KDTREE_MEM_OPT}")
 MESSAGE(STATUS "  PCL_DEFINITIONS = ${PCL_DEFINITIONS}")
+MESSAGE(STATUS "  PCL_VERSION = ${PCL_VERSION}")
 IF(PCL_COMPILE_OPTIONS)
 MESSAGE(STATUS "  PCL_COMPILE_OPTIONS = ${PCL_COMPILE_OPTIONS}")
 ENDIF(PCL_COMPILE_OPTIONS)
 
+MESSAGE(STATUS "")
 MESSAGE(STATUS "Optional dependencies ('*' affects some default parameters) :")
 IF(OpenCV_FOUND)
   IF(OpenCV_VERSION_MAJOR EQUAL 2)
@@ -942,13 +1063,30 @@ IF(OpenCV_FOUND)
     ENDIF()
   ELSE()
     IF(OPENCV_XFEATURES2D_FOUND)
-      MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION_MAJOR} xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial)")
+      IF(NONFREE STREQUAL "//")
+        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = NO (License: BSD)")
+      ELSE()
+        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = YES (License: Non commercial)")
+      ENDIF()
     ELSE()
-      MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION_MAJOR} xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = NO (not found, License: BSD)")
+      MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = NO, nonfree = NO (License: BSD)")
     ENDIF()
   ENDIF()
 ENDIF(OpenCV_FOUND)
 
+IF(QT4_FOUND)
+MESSAGE(STATUS "  With Qt4                  = YES (License: Open Source or Commercial)")
+MESSAGE(STATUS "  With VTK ${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}              = YES (License: BSD)")
+ELSEIF(Qt5_FOUND)
+MESSAGE(STATUS "  With Qt ${Qt5_VERSION}            = YES (License: Open Source or Commercial)")
+MESSAGE(STATUS "  With VTK ${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}              = YES (License: BSD)")
+
+ELSEIF(NOT WITH_QT)
+MESSAGE(STATUS "  With Qt                   = NO (WITH_QT=OFF)")
+ELSE()
+MESSAGE(STATUS "  With Qt                   = NO (Qt not found)")
+ENDIF()
+
 IF(Sqlite3_FOUND)
 MESSAGE(STATUS "  With external SQLite3     = YES (License: Public Domain)")
 ELSE()
@@ -961,12 +1099,130 @@ ELSE()
 MESSAGE(STATUS "  With ORB OcTree           = NO (WITH_ORB_OCTREE=OFF)")
 ENDIF()
 
+IF(TORCH_FOUND)
+MESSAGE(STATUS "  With SupertPoint          = YES (License: GPLv3) libtorch=${Torch_VERSION}")
+ELSEIF(NOT WITH_SUPERPOINT_TORCH)
+MESSAGE(STATUS "  With SupertPoint          = NO (WITH_SUPERPOINT_TORCH=OFF)")
+ELSE()
+MESSAGE(STATUS "  With SupertPoint          = NO (libtorch not found)")
+ENDIF()
+
+IF(Python3_FOUND)
+MESSAGE(STATUS "  With Python3              = YES (License: PSF)")
+ELSEIF(NOT WITH_PYMATCHER)
+MESSAGE(STATUS "  With Python3              = NO (WITH_PYMATCHER=OFF)")
+ELSE()
+MESSAGE(STATUS "  With Python3              = NO (python3 not found)")
+ENDIF()
+
 IF(WITH_MADGWICK)
 MESSAGE(STATUS "  With Madgwick             = YES (License: GPL)")
 ELSE()
 MESSAGE(STATUS "  With Madgwick             = NO (WITH_MADGWICK=OFF)")
 ENDIF()
 
+IF(FastCV_FOUND)
+MESSAGE(STATUS "  With FastCV               = YES (License: Apache v2)")
+ELSEIF(NOT WITH_FASTCV)
+MESSAGE(STATUS "  With FastCV               = NO (WITH_FASTCV=OFF)")
+ELSE()
+MESSAGE(STATUS "  With FastCV               = NO (FastCV not found)")
+ENDIF()
+
+MESSAGE(STATUS "")
+MESSAGE(STATUS " Solvers:")
+IF(WITH_TORO)
+MESSAGE(STATUS "  With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])")
+ELSE()
+MESSAGE(STATUS "  With TORO                 = NO (WITH_TORO=OFF)")
+ENDIF()
+
+IF(G2O_FOUND)
+MESSAGE(STATUS " *With g2o                  = YES (License: BSD)")
+ELSEIF(NOT WITH_G2O)
+MESSAGE(STATUS " *With g2o                  = NO (WITH_G2O=OFF)")
+ELSE()
+MESSAGE(STATUS " *With g2o                  = NO (g2o not found)")
+ENDIF()
+
+IF(GTSAM_FOUND)
+MESSAGE(STATUS " *With GTSAM                = YES (License: BSD)")
+ELSEIF(NOT WITH_GTSAM)
+MESSAGE(STATUS " *With GTSAM                = NO (WITH_GTSAM=OFF)")
+ELSE()
+MESSAGE(STATUS " *With GTSAM                = NO (GTSAM not found)")
+ENDIF()
+
+IF(CERES_FOUND)
+MESSAGE(STATUS " *With Ceres                = YES (License: BSD)")
+ELSEIF(NOT WITH_CERES)
+MESSAGE(STATUS " *With Ceres                = NO (WITH_CERES=OFF)")
+ELSE()
+MESSAGE(STATUS " *With Ceres                = NO (Ceres 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)")
+ELSEIF(NOT WITH_CVSBA)
+MESSAGE(STATUS "  With cvsba                = NO (WITH_CVSBA=OFF)")
+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()
+
+MESSAGE(STATUS "")
+MESSAGE(STATUS " Reconstruction Approaches:")
+IF(octomap_FOUND)
+MESSAGE(STATUS "  With OCTOMAP              = YES (License: BSD)")
+ELSEIF(NOT WITH_OCTOMAP)
+MESSAGE(STATUS "  With OCTOMAP              = NO (WITH_OCTOMAP=OFF)")
+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(AliceVision_FOUND)
+MESSAGE(STATUS "  With AliceVision ${AliceVision_VERSION}    = YES (License: MPLv2)")
+ELSEIF(NOT WITH_ALICE_VISION)
+MESSAGE(STATUS "  With AliceVision          = NO (WITH_ALICE_VISION=OFF)")
+ELSE()
+MESSAGE(STATUS "  With AliceVision          = NO (AliceVision not found)")
+ENDIF()
+
+MESSAGE(STATUS "")
+MESSAGE(STATUS " Camera Drivers:")
 IF(Freenect_FOUND)
 MESSAGE(STATUS "  With Freenect             = YES (License: Apache v2 and/or GPLv2)")
 ELSEIF(NOT WITH_FREENECT)
@@ -999,6 +1255,14 @@ ELSE()
 MESSAGE(STATUS "  With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)")
 ENDIF()
 
+IF(k4a_FOUND)
+MESSAGE(STATUS "  With Kinect for Azure     = YES (License: MIT)")
+ELSEIF(NOT WITH_K4A)
+MESSAGE(STATUS "  With Kinect for Azure     = NO (WITH_K4A=OFF)")
+ELSE()
+MESSAGE(STATUS "  With Kinect for Azure     = NO (Kinect for Azure SDK not found)")
+ENDIF()
+
 IF(DC1394_FOUND)
 MESSAGE(STATUS "  With dc1394               = YES (License: LGPL)")
 ELSEIF(NOT WITH_DC1394)
@@ -1015,72 +1279,12 @@ ELSE()
 MESSAGE(STATUS "  With FlyCapture2/Triclops = NO (Point Grey SDK not found)")
 ENDIF()
 
-IF(WITH_TORO)
-MESSAGE(STATUS "  With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])")
-ELSE()
-MESSAGE(STATUS "  With TORO                 = NO (WITH_TORO=OFF)")
-ENDIF()
-
-IF(G2O_FOUND)
-MESSAGE(STATUS " *With g2o                  = YES (License: BSD)")
-ELSEIF(NOT WITH_G2O)
-MESSAGE(STATUS " *With g2o                  = NO (WITH_G2O=OFF)")
-ELSE()
-MESSAGE(STATUS " *With g2o                  = NO (g2o not found)")
-ENDIF()
-
-IF(GTSAM_FOUND)
-MESSAGE(STATUS " *With GTSAM                = YES (License: BSD)")
-ELSEIF(NOT WITH_GTSAM)
-MESSAGE(STATUS " *With GTSAM                = NO (WITH_GTSAM=OFF)")
-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)")
-ELSEIF(NOT WITH_CVSBA)
-MESSAGE(STATUS "  With cvsba                = NO (WITH_CVSBA=OFF)")
-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(loam_velodyne_FOUND)
-MESSAGE(STATUS "  With loam_velodyne        = YES (License: BSD)")
-ELSEIF(NOT WITH_LOAM)
-MESSAGE(STATUS "  With loam_velodyne        = NO (WITH_LOAM=OFF)")
-ELSE()
-MESSAGE(STATUS "  With loam_velodyne        = NO (loam_velodyne not found)")
-ENDIF()
-
-IF(ZED_FOUND)
-IF(CUDA_FOUND)
-MESSAGE(STATUS "  With ZED                  = YES (With CUDA)")
-ELSE()
-MESSAGE(STATUS "  With ZED                  = YES (Without CUDA)")
-ENDIF()
+IF(ZED_FOUND AND CUDA_FOUND)
+MESSAGE(STATUS "  With ZED                  = YES")
 ELSEIF(NOT WITH_ZED)
 MESSAGE(STATUS "  With ZED                  = NO (WITH_ZED=OFF)")
 ELSE()
-MESSAGE(STATUS "  With ZED                  = NO (ZED sdk not found)")
+MESSAGE(STATUS "  With ZED                  = NO (ZED sdk and/or cuda not found)")
 ENDIF()
 
 IF(RealSense_FOUND)
@@ -1106,28 +1310,22 @@ ELSE()
 MESSAGE(STATUS "  With RealSense2           = NO (librealsense2 not found)")
 ENDIF()
 
-IF(OCTOMAP_FOUND)
-MESSAGE(STATUS "  With OCTOMAP              = YES (License: BSD)")
-ELSEIF(NOT WITH_OCTOMAP)
-MESSAGE(STATUS "  With OCTOMAP              = NO (WITH_OCTOMAP=OFF)")
+IF(mynteye_FOUND)
+MESSAGE(STATUS "  With MyntEyeS             = YES (License: Apache-2)")
+ELSEIF(NOT WITH_MYNTEYE)
+MESSAGE(STATUS "  With MyntEyeS             = NO (WITH_MYNTEYE=OFF)")
 ELSE()
-MESSAGE(STATUS "  With OCTOMAP              = NO (octomap not found)")
+MESSAGE(STATUS "  With MyntEyeS             = NO (mynteye s sdk 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)")
+MESSAGE(STATUS "")
+MESSAGE(STATUS " Odometry Approaches:")
+IF(loam_velodyne_FOUND)
+MESSAGE(STATUS "  With loam_velodyne        = YES (License: BSD)")
+ELSEIF(NOT WITH_LOAM)
+MESSAGE(STATUS "  With loam_velodyne        = NO (WITH_LOAM=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)")
+MESSAGE(STATUS "  With loam_velodyne        = NO (loam_velodyne not found)")
 ENDIF()
 
 IF(libfovis_FOUND)
@@ -1188,23 +1386,15 @@ 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)
-MESSAGE(STATUS "  With Qt5                  = YES (License: Open Source or Commercial)")
-ELSEIF(NOT WITH_QT)
-MESSAGE(STATUS "  With Qt                   = NO (WITH_QT=OFF)")
-ELSE()
-MESSAGE(STATUS "  With Qt                   = NO (Qt not found)")
-ENDIF()
-
+MESSAGE(STATUS "Show all options with: cmake -LA | grep WITH_")
 MESSAGE(STATUS "--------------------------------------------")
 
-IF(NOT GTSAM_FOUND AND NOT G2O_FOUND AND NOT WITH_TORO)
+IF(NOT GTSAM_FOUND AND NOT G2O_FOUND AND NOT WITH_TORO AND NOT CERES_FOUND)
 MESSAGE(SEND_ERROR "No graph optimizer found! You should have at least one of these options:
        g2o (https://github.com/RainerKuemmerle/g2o)
        GTSAM (https://collab.cc.gatech.edu/borg/gtsam)
+       Ceres (http://ceres-solver.org)
        set -DWITH_TORO=ON")
-ENDIF(NOT GTSAM_FOUND AND NOT G2O_FOUND AND NOT WITH_TORO)
+ENDIF(NOT GTSAM_FOUND AND NOT G2O_FOUND AND NOT WITH_TORO AND NOT CERES_FOUND)
 
 # vim: set et ft=cmake fenc=utf-8 ff=unix sts=0 sw=2 ts=2 :

README.md

@@ -1,4 +1,4 @@
-rtabmap ![Analytics](https://ga-beacon.appspot.com/UA-56986679-3/github-main?pixel) 
+rtabmap ![Analytics](https://ga-beacon-279122.nn.r.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)
@@ -7,7 +7,7 @@ rtabmap ![Analytics](https://ga-beacon.appspot.com/UA-56986679-3/github-main?pix
 [![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-0.18.0-green.svg?style=flat
+[release-image]: https://img.shields.io/badge/release-0.20.2-green.svg?style=flat
 [releases]: https://github.com/introlab/rtabmap/releases
 
 [license-image]: https://img.shields.io/badge/license-BSD-green.svg?style=flat

RTABMapConfig.cmake.in

@@ -74,7 +74,7 @@ if(@CONF_WITH_GUI@ AND ${WITH_GUI})
    
    set(RTABMap_LIBRARIES ${RTABMap_LIBRARIES} ${RTABMap_GUI})
 elseif(${WITH_GUI})
-   MESSAGE(ERROR "Asked for \"gui\" module but RTABMap hasn't been built with gui support.")
+   MESSAGE(WARNING "Asked for \"gui\" module but RTABMap hasn't been built with gui support.")
 endif()
 
 # Dependencies

Version.h.in

@@ -42,14 +42,16 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @G2O@#define RTABMAP_G2O
 @G2O_CPP_CONF@#define RTABMAP_G2O_CPP11
 @GTSAM@#define RTABMAP_GTSAM
+@CERES@#define RTABMAP_CERES
 @VERTIGO@#define RTABMAP_VERTIGO
-@OPENCV3@#define RTABMAP_OPENCV3
 @OPENNI2@#define RTABMAP_OPENNI2
 @FREENECT@#define RTABMAP_FREENECT
 @FREENECT2@#define RTABMAP_FREENECT2
 @K4W2@#define RTABMAP_K4W2
+@K4A@#define RTABMAP_K4A
 @CVSBA@#define RTABMAP_CVSBA
 @POINTMATCHER@#define RTABMAP_POINTMATCHER
+@FASTCV@#define RTABMAP_FASTCV
 @LOAM@#define RTABMAP_LOAM
 @DC1394@#define RTABMAP_DC1394
 @FLYCAPTURE2@#define RTABMAP_FLYCAPTURE2
@@ -57,8 +59,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @REALSENSE@#define RTABMAP_REALSENSE
 @REALSENSESLAM@#define RTABMAP_REALSENSE_SLAM
 @REALSENSE2@#define RTABMAP_REALSENSE2
+@MYNTEYE@#define RTABMAP_MYNTEYE
 @OCTOMAP@#define RTABMAP_OCTOMAP
 @CPUTSDF@#define RTABMAP_CPUTSDF
+@ALICE_VISION@#define RTABMAP_ALICE_VISION
 @OPENCHISEL@#define RTABMAP_OPENCHISEL
 @FOVIS@#define RTABMAP_FOVIS
 @VISO2@#define RTABMAP_VISO2
@@ -68,8 +72,21 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @VINS@#define RTABMAP_VINS
 @ORB_SLAM2@#define RTABMAP_ORB_SLAM2
 @ORB_OCTREE@#define RTABMAP_ORB_OCTREE
+@SUPERPOINT_TORCH@#define RTABMAP_SUPERPOINT_TORCH
+@PYMATCHER@#define RTABMAP_PYMATCHER
 @MADGWICK@#define RTABMAP_MADGWICK
 
+#include <pcl/pcl_config.h>
+
+#if PCL_VERSION_COMPARE(>, 1, 11, 1)
+#include <pcl/types.h>
+#define RTABMAP_PCL_INDEX pcl::index_t
+#elif PCL_VERSION_COMPARE(>=, 1, 10, 0)
+#define RTABMAP_PCL_INDEX std::uint32_t
+#else
+#include <pcl/pcl_macros.h>
+#define RTABMAP_PCL_INDEX pcl::uint32_t
+#endif
 
 #endif /* VERSION_H_ */
 

app/android/.gitignore

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

app/android/AndroidManifest.xml.in

@@ -8,8 +8,6 @@
     <uses-permission android:name="android.permission.CAMERA" />
     <uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE" />
     <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
-    <uses-permission android:name="android.permission.READ_FRAME_BUFFER" />
-    <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" />
@@ -17,8 +15,8 @@
     <uses-feature android:name="android.hardware.location.gps" />
     <uses-feature android:glEsVersion="0x00020000" />
 
-    <!-- This is the platform API where NativeActivity was introduced. -->
-    <uses-sdk android:minSdkVersion="19" />
+    <!-- This is the platform API where depth16 support in android was introduced. -->
+    <uses-sdk android:minSdkVersion="@ANDROID_NATIVE_API_LEVEL@" />
 
     <!-- This .apk has no Java code itself, so set hasCode to false. -->
     <application 
@@ -26,7 +24,9 @@
         android:icon="@drawable/ic_launcher"
         android:debuggable="@ANDROID_DEBUGGABLE@">
         
-        <uses-library android:name="com.projecttango.libtango_device2" android:required="true" />
+        <uses-library android:name="com.projecttango.libtango_device2" android:required="false" />
+        <meta-data android:name="com.google.ar.core" android:value="optional" />
+        <meta-data android:name="com.huawei.ar.engine" android:value="optional" />
 
         <!-- Our activity is the built-in NativeActivity framework class.
              This will take care of integrating with our NDK code. -->
@@ -47,6 +47,27 @@
 
         <activity android:name="SettingsActivity" android:label="@string/settings" android:screenOrientation="fullSensor"/>
         <activity android:name="SketchfabActivity" android:label="@string/sketchfab" android:screenOrientation="fullSensor"/>
+    
+        <meta-data
+            android:name="com.google.ar.core.min_apk_version"
+            android:value="191106000" /> <!-- This activity is critical for installing ARCore when it is not already present. -->
+        <activity
+            android:name="com.google.ar.core.InstallActivity"
+            android:configChanges="keyboardHidden|orientation|screenSize"
+            android:excludeFromRecents="true"
+            android:exported="false"
+            android:launchMode="singleTop"
+            android:theme="@android:style/Theme.Material.Light.Dialog.Alert" />
+            
+        <provider
+            android:name="android.support.v4.content.FileProvider"
+            android:authorities="com.introlab.rtabmap.provider"
+            android:exported="false"
+            android:grantUriPermissions="true">
+            <meta-data
+                android:name="android.support.FILE_PROVIDER_PATHS"
+                android:resource="@xml/provider_paths"/>
+        </provider>
     </application>
 
 </manifest>

app/android/CMakeLists.txt

@@ -1,10 +1,95 @@
 
+option(WITH_TANGO         "Include Tango support"                ON)
+option(WITH_ARCORE        "Include ARCore support"               ON)
+option(WITH_ARENGINE      "Include AREngine support"             ON)
 option(DISABLE_LOG        "Disable Android logging (should be true in release)"    ON)
+option(DEPTH_TEST         "Enable depth test on ARCore"    OFF)
+
+# Google Tango needs access to system shared 
+# libraries (e.g. libbinder.so) that are not accessible 
+# with android >=24
+IF(WITH_TANGO AND ${ANDROID_NATIVE_API_LEVEL} LESS 24)
+    FIND_PACKAGE(Tango QUIET)
+    IF(Tango_FOUND)
+       MESSAGE(STATUS "Found Tango: ${Tango_INCLUDE_DIRS}")
+    ENDIF(Tango_FOUND)
+ENDIF(WITH_TANGO AND ${ANDROID_NATIVE_API_LEVEL} LESS 24)
+
+IF(WITH_ARCORE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 22)
+    FIND_PACKAGE(ARCore QUIET)
+    IF(ARCore_FOUND)
+       MESSAGE(STATUS "Found ARCore: ${ARCore_INCLUDE_DIRS}")
+    ENDIF(ARCore_FOUND)
+ENDIF(WITH_ARCORE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 22)
+
+IF(WITH_ARENGINE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 23)
+    FIND_PACKAGE(AREngine QUIET)
+    IF(AREngine_FOUND)
+       MESSAGE(STATUS "Found AREngine: ${AREngine_INCLUDE_DIRS}")
+    ENDIF(AREngine_FOUND)
+ENDIF(WITH_ARENGINE AND ${ANDROID_NATIVE_API_LEVEL} GREATER 23)
+
+IF(NOT Tango_FOUND)
+   SET(TANGO "//")
+ENDIF(NOT Tango_FOUND)
+IF(NOT ARCore_FOUND)
+   SET(ARCORE "//")
+ENDIF(NOT ARCore_FOUND)
+IF(NOT AREngine_FOUND)
+   SET(ARENGINE "//")
+ENDIF(NOT AREngine_FOUND)
+
+CONFIGURE_FILE(CameraAvailability.h.in ${CMAKE_CURRENT_SOURCE_DIR}/jni/CameraAvailability.h)
+
+
 IF(DISABLE_LOG)
   ADD_DEFINITIONS(-DDISABLE_LOG)
 ENDIF(DISABLE_LOG)
+IF(DEPTH_TEST)
+  ADD_DEFINITIONS(-DDEPTH_TEST)
+ENDIF(DEPTH_TEST)
+
+MESSAGE(STATUS "--------------------------------------------")
+MESSAGE(STATUS "Android build info:")
+MESSAGE(STATUS "  DISABLE_LOG    = ${DISABLE_LOG}")
+MESSAGE(STATUS "  DEPTH_TEST     = ${DEPTH_TEST}")
+IF(Tango_FOUND)
+  MESSAGE(STATUS "  With Tango     = YES")
+ELSEIF(NOT WITH_TANGO)
+  MESSAGE(STATUS "  With Tango     = NO (WITH_TANGO=OFF)")
+ELSE()
+  IF(${ANDROID_NATIVE_API_LEVEL} GREATER 23)
+    MESSAGE(STATUS "  With Tango     = NO (ANDROID_NATIVE_API_LEVEL should be <= 23)")
+  ELSE()
+    MESSAGE(STATUS "  With Tango     = NO (tango not found)")
+  ENDIF()
+ENDIF()
+IF(ARCore_FOUND)
+  MESSAGE(STATUS "  With ARCore    = YES")
+ELSEIF(NOT WITH_ARCORE)
+  MESSAGE(STATUS "  With ARCore    = NO (WITH_ARCORE=OFF)")
+ELSE()
+  IF(${ANDROID_NATIVE_API_LEVEL} LESS 23)
+    MESSAGE(STATUS "  With ARCore    = NO (ANDROID_NATIVE_API_LEVEL should be >= 23)")
+  ELSE()
+    MESSAGE(STATUS "  With ARCore    = NO (ARCore not found)")
+  ENDIF()
+ENDIF()
+IF(AREngine_FOUND)
+  MESSAGE(STATUS "  With AREngine  = YES")
+ELSEIF(NOT WITH_ARENGINE)
+  MESSAGE(STATUS "  With AREngine  = NO (WITH_ARENGINE=OFF)")
+ELSE()
+  IF(${ANDROID_NATIVE_API_LEVEL} LESS 24)
+    MESSAGE(STATUS "  With AREngine  = NO (ANDROID_NATIVE_API_LEVEL should be >= 24)")
+  ELSE()
+    MESSAGE(STATUS "  With AREngine  = NO (AREngine not found)")
+  ENDIF()
+ENDIF()
+MESSAGE(STATUS "  ANDROID_NATIVE_API_LEVEL       = ${ANDROID_NATIVE_API_LEVEL}")
+MESSAGE(STATUS "  ANDROID_COMPILER_FLAGS_RELEASE = ${ANDROID_COMPILER_FLAGS_RELEASE}")
+MESSAGE(STATUS "  ANDROID_TOOLCHAIN_PREFIX       = ${ANDROID_TOOLCHAIN_PREFIX}")
 
-MESSAGE(STATUS "DISABLE_LOG = ${DISABLE_LOG}")
 
 IF(DISABLE_LOG)
    SET(ANDROID_DEBUGGABLE false)
@@ -29,7 +114,8 @@ endif()
 
 configure_file(
   "${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml.in"
-  "${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml")
+  "${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml"
+  @ONLY)
   
 configure_file(
   "${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml"

app/android/CameraAvailability.h.in

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

app/android/custom_rules.xml

@@ -6,8 +6,8 @@
 		<copy todir="${native.libs.dir}/${android.abi}">
 			<fileset dir="${srcdir}/jni/third-party/lib" includes="*.so"/>
 		</copy>
-                <copy todir="${native.libs.dir}">
-                        <fileset dir="${srcdir}/jni/third-party/lib" includes="${android.abi}/*.so"/>
-                </copy>
+		<copy todir="${native.libs.dir}">
+			<fileset dir="${srcdir}/jni/third-party/lib" includes="${android.abi}/*.so"/>
+		</copy>
 	</target>
 </project>

app/android/info.txt.in

@@ -1,7 +1,7 @@
 <h3>Real-Time Appearance-Based Mapping</h3>
 Version @RTABMAP_VERSION@<br>
 Author: Mathieu Labb&eacute;<br>
-Copyright 2016-2018<br>
+Copyright 2016-2020<br>
 IntRoLab - Universit&eacute; de Sherbrooke<br>
 <b>http://introlab.github.io/rtabmap</b><br><br>
 

app/android/jni/.gitignore

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

app/android/jni/CMakeLists.txt

@@ -1,6 +1,4 @@
 
-find_package(Tango REQUIRED)
-
 SET(INCLUDE_DIRS
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${CMAKE_CURRENT_SOURCE_DIR}/tango-gl/include
@@ -9,27 +7,22 @@ SET(INCLUDE_DIRS
 	${PROJECT_SOURCE_DIR}/utilite/include
     ${OpenCV_INCLUDE_DIRS}
     ${PCL_INCLUDE_DIRS}
-    ${Tango_INCLUDE_DIRS}
     "${ANDROID_NDK}/platforms/android-${ANDROID_NATIVE_API_LEVEL}/arch-${ANDROID_ARCH_NAME}/usr/include"
 )
 
 SET(LIBRARIES
 	${OpenCV_LIBRARIES} 
 	${PCL_LIBRARIES}
-	${Tango_LIBRARIES}
 )
 
-add_definitions(${PCL_DEFINITIONS})
-
-INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
-
 set(sources
   jni_interface.cpp
-  CameraTango.cpp
+  CameraMobile.cpp
   RTABMapApp.cpp
   scene.cpp
   point_cloud_drawable.cpp
   graph_drawable.cpp
+  background_renderer.cc
   tango-gl/axis.cpp 
   tango-gl/camera.cpp 
   tango-gl/conversions.cpp 
@@ -44,6 +37,82 @@ set(sources
   tango-gl/util.cpp
 )
 
+IF(OPENMP_FOUND)
+file(COPY ${OpenMP_CXX_LIBRARIES}
+       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
+ENDIF(OPENMP_FOUND)
+
+IF(Tango_FOUND)
+
+  SET(sources
+    ${sources}
+    CameraTango.cpp
+  )
+  SET(INCLUDE_DIRS
+    ${INCLUDE_DIRS}
+    ${Tango_INCLUDE_DIRS}
+  )
+  SET(LIBRARIES
+    ${LIBRARIES}
+    ${Tango_LIBRARIES}
+  )
+  
+  file(COPY ${Tango_support_LIBRARY} 
+       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}) 
+ENDIF(Tango_FOUND)
+
+IF(ARCore_FOUND)
+
+  SET(sources
+    ${sources}
+    CameraARCore.cpp
+  )
+  SET(INCLUDE_DIRS
+    ${INCLUDE_DIRS}
+    ${ARCore_INCLUDE_DIRS}
+  )
+  SET(LIBRARIES
+    ${LIBRARIES}
+    ${ARCore_LIBRARIES}
+  )
+ 
+  file(COPY ${ARCore_c_LIBRARY} 
+       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
+  file(COPY ${ARCore_jni_LIBRARY} 
+       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
+    
+ENDIF(ARCore_FOUND)
+
+IF(AREngine_FOUND)
+
+  SET(sources
+    ${sources}
+    CameraAREngine.cpp
+  )
+  SET(INCLUDE_DIRS
+    ${INCLUDE_DIRS}
+    ${AREngine_INCLUDE_DIRS}
+  )
+  SET(LIBRARIES
+    ${LIBRARIES}
+    ${AREngine_LIBRARIES}
+    camera2ndk
+    mediandk
+  )
+ 
+  file(COPY ${AREngine_impl_LIBRARY} 
+       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
+  file(COPY ${AREngine_jni_LIBRARY} 
+       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
+  file(COPY ${AREngine_ndk_LIBRARY} 
+       DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME})
+    
+ENDIF(AREngine_FOUND)
+
+add_definitions(${PCL_DEFINITIONS})
+
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
 add_library(NativeRTABMap SHARED ${sources})        
 target_link_libraries(NativeRTABMap ${LIBRARIES}
   android
@@ -58,3 +127,10 @@ set_target_properties(NativeRTABMap PROPERTIES
          LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}"
          LIBRARY_OUTPUT_DIRECTORY_DEBUG "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}"
          LIBRARY_OUTPUT_DIRECTORY_RELEASE "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}")
+         
+IF(ANDROID_NATIVE_API_LEVEL GREATER 22)
+add_custom_command(TARGET NativeRTABMap POST_BUILD
+    COMMAND "${ANDROID_TOOLCHAIN_PREFIX}strip" -g -S -d --strip-debug --verbose
+    "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}/libNativeRTABMap.so"
+    COMMENT "Strip debug symbols done on final binary.")
+ENDIF(ANDROID_NATIVE_API_LEVEL GREATER 22)

app/android/jni/CameraARCore.cpp

@@ -0,0 +1,688 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "CameraARCore.h"
+#include "util.h"
+#include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/core/util3d_transforms.h"
+#include "rtabmap/core/OdometryEvent.h"
+#include "rtabmap/core/util2d.h"
+
+namespace rtabmap {
+
+//////////////////////////////
+// CameraARCore
+//////////////////////////////
+CameraARCore::CameraARCore(void* env, void* context, void* activity, bool depthFromMotion, bool smoothing):
+	CameraMobile(smoothing),
+	env_(env),
+	context_(context),
+	activity_(activity),
+	arInstallRequested_(false),
+	textureId_(9999),
+	uvs_initialized_(false),
+	updateOcclusionImage_(false),
+	depthFromMotion_(depthFromMotion)
+{
+}
+
+CameraARCore::~CameraARCore() {
+	// Disconnect ARCore service
+	close();
+
+	if(textureId_ != 9999)
+	{
+		glDeleteTextures(1, &textureId_);
+		textureId_ = 9999;
+	}
+}
+
+
+struct CameraConfig {
+  int32_t width = 0;
+  int32_t height = 0;
+  std::string config_label;
+  ArCameraConfig* config = nullptr;
+};
+
+void getCameraConfigLowestAndHighestResolutions(
+		std::vector<CameraConfig> & camera_configs,
+    CameraConfig** lowest_resolution_config,
+    CameraConfig** highest_resolution_config) {
+  if (camera_configs.empty()) {
+    return;
+  }
+
+  int low_resolution_config_idx = 0;
+  int high_resolution_config_idx = 0;
+  int32_t smallest_height = camera_configs[0].height;
+  int32_t largest_height = camera_configs[0].height;
+
+  for (int i = 1; i < camera_configs.size(); ++i) {
+    int32_t image_height = camera_configs[i].height;
+    if (image_height < smallest_height) {
+      smallest_height = image_height;
+      low_resolution_config_idx = i;
+    } else if (image_height > largest_height) {
+      largest_height = image_height;
+      high_resolution_config_idx = i;
+    }
+  }
+
+  if (low_resolution_config_idx == high_resolution_config_idx) {
+    *lowest_resolution_config = &camera_configs[low_resolution_config_idx];
+  } else {
+    *lowest_resolution_config = &camera_configs[low_resolution_config_idx];
+    *highest_resolution_config = &camera_configs[high_resolution_config_idx];
+  }
+}
+
+void copyCameraConfig(
+    const ArSession* ar_session, const ArCameraConfigList* all_configs,
+    int index, int num_configs, CameraConfig* camera_config) {
+  if (camera_config != nullptr && index >= 0 && index < num_configs) {
+    ArCameraConfig_create(ar_session, &camera_config->config);
+    ArCameraConfigList_getItem(ar_session, all_configs, index,
+                               camera_config->config);
+    ArCameraConfig_getImageDimensions(ar_session, camera_config->config,
+                                      &camera_config->width,
+                                      &camera_config->height);
+    camera_config->config_label = "(" + std::to_string(camera_config->width) +
+                                  "x" + std::to_string(camera_config->height) +
+                                  ")";
+  }
+}
+
+void destroyCameraConfigs(std::vector<CameraConfig> & camera_configs) {
+  for (int i = 0; i < camera_configs.size(); ++i) {
+    if (camera_configs[i].config != nullptr) {
+      ArCameraConfig_destroy(camera_configs[i].config);
+    }
+  }
+}
+
+std::string CameraARCore::getSerial() const
+{
+	return "ARCore";
+}
+
+bool CameraARCore::init(const std::string & calibrationFolder, const std::string & cameraName)
+{
+	close();
+
+	UScopeMutex lock(arSessionMutex_);
+
+	ArInstallStatus install_status;
+	// If install was not yet requested, that means that we are resuming the
+	// activity first time because of explicit user interaction (such as
+	// launching the application)
+	bool user_requested_install = !arInstallRequested_;
+
+	// === ATTENTION!  ATTENTION!  ATTENTION! ===
+	// This method can and will fail in user-facing situations.  Your
+	// application must handle these cases at least somewhat gracefully.  See
+	// HelloAR Java sample code for reasonable behavior.
+	ArCoreApk_requestInstall(env_, activity_, user_requested_install, &install_status);
+
+	switch (install_status)
+	{
+		case AR_INSTALL_STATUS_INSTALLED:
+			break;
+		case AR_INSTALL_STATUS_INSTALL_REQUESTED:
+			arInstallRequested_ = true;
+			return false;
+	}
+
+	// === ATTENTION!  ATTENTION!  ATTENTION! ===
+	// This method can and will fail in user-facing situations.  Your
+	// application must handle these cases at least somewhat gracefully.  See
+	// HelloAR Java sample code for reasonable behavior.
+	UASSERT(ArSession_create(env_, context_, &arSession_) == AR_SUCCESS);
+	UASSERT(arSession_);
+
+	int32_t is_depth_supported = 0;
+	ArSession_isDepthModeSupported(arSession_, AR_DEPTH_MODE_AUTOMATIC, &is_depth_supported);
+
+	ArConfig_create(arSession_, &arConfig_);
+	UASSERT(arConfig_);
+
+	if (is_depth_supported!=0) {
+	  ArConfig_setDepthMode(arSession_, arConfig_, AR_DEPTH_MODE_AUTOMATIC);
+	} else {
+	  ArConfig_setDepthMode(arSession_, arConfig_, AR_DEPTH_MODE_DISABLED);
+	}
+
+	ArConfig_setFocusMode(arSession_, arConfig_, AR_FOCUS_MODE_AUTO);
+	UASSERT(ArSession_configure(arSession_, arConfig_) == AR_SUCCESS);
+
+	ArFrame_create(arSession_, &arFrame_);
+	UASSERT(arFrame_);
+
+	ArCameraIntrinsics_create(arSession_, &arCameraIntrinsics_);
+	UASSERT(arCameraIntrinsics_);
+
+	ArPose_create(arSession_, nullptr, &arPose_);
+	UASSERT(arPose_);
+
+	ArCameraConfigList* all_camera_configs = nullptr;
+	int32_t num_configs = 0;
+	ArCameraConfigList_create(arSession_, &all_camera_configs);
+	// Create filter first to get both 30 and 60 fps.
+	ArCameraConfigFilter* camera_config_filter = nullptr;
+	ArCameraConfigFilter_create(arSession_, &camera_config_filter);
+	ArCameraConfigFilter_setTargetFps(arSession_, camera_config_filter, AR_CAMERA_CONFIG_TARGET_FPS_30 | AR_CAMERA_CONFIG_TARGET_FPS_60);
+	ArSession_getSupportedCameraConfigsWithFilter(arSession_, camera_config_filter, all_camera_configs);
+	ArCameraConfigList_getSize(arSession_, all_camera_configs, &num_configs);
+
+	if (num_configs < 1) {
+		UERROR("No camera config found");
+		close();
+		return false;
+	}
+
+	std::vector<CameraConfig> camera_configs;
+	CameraConfig* cpu_low_resolution_camera_config_ptr = nullptr;
+	CameraConfig* cpu_high_resolution_camera_config_ptr = nullptr;
+	camera_configs.resize(num_configs);
+	for (int i = 0; i < num_configs; ++i) {
+		copyCameraConfig(arSession_, all_camera_configs, i, num_configs,
+						 &camera_configs[i]);
+	}
+	// Determine the highest and lowest CPU resolutions.
+	cpu_low_resolution_camera_config_ptr = nullptr;
+	cpu_high_resolution_camera_config_ptr = nullptr;
+	getCameraConfigLowestAndHighestResolutions(
+			camera_configs,
+			&cpu_low_resolution_camera_config_ptr,
+			&cpu_high_resolution_camera_config_ptr);
+
+	// Cleanup the list obtained as it is safe to destroy the list as camera
+	// config instances were explicitly created and copied. Refer to the
+	// previous comment.
+	ArCameraConfigList_destroy(all_camera_configs);
+	ArSession_setCameraConfig(arSession_, cpu_low_resolution_camera_config_ptr->config);
+
+	/// Sets the behavior of @ref ArSession_update(). See
+	/// ::ArUpdateMode for available options.
+	ArConfig_setUpdateMode(arSession_, arConfig_, AR_UPDATE_MODE_BLOCKING);
+
+	deviceTColorCamera_ = opticalRotation;
+
+	if (ArSession_resume(arSession_) != ArStatus::AR_SUCCESS)
+	{
+		UERROR("Cannot resume camera!");
+		// In a rare case (such as another camera app launching) the camera may be
+		// given to a different app and so may not be available to this app. Handle
+		// this properly and recreate the session at the next iteration.
+		close();
+		return false;
+	}
+
+	return true;
+}
+
+void CameraARCore::close()
+{
+	UScopeMutex lock(arSessionMutex_);
+	if(arSession_!= nullptr)
+	{
+		ArSession_destroy(arSession_);
+	}
+	arSession_ = nullptr;
+
+	if(arConfig_!= nullptr)
+	{
+		ArConfig_destroy(arConfig_);
+	}
+	arConfig_ = nullptr;
+
+	if (arFrame_ != nullptr)
+	{
+		ArFrame_destroy(arFrame_);
+	}
+	arFrame_ = nullptr;
+
+	if (arCameraIntrinsics_ != nullptr)
+	{
+		ArCameraIntrinsics_destroy(arCameraIntrinsics_);
+	}
+	arCameraIntrinsics_ = nullptr;
+
+	if (arPose_ != nullptr)
+	{
+		ArPose_destroy(arPose_);
+	}
+	arPose_ = nullptr;
+
+	CameraMobile::close();
+	occlusionImage_ = cv::Mat();
+}
+
+LaserScan CameraARCore::scanFromPointCloudData(
+		const float * pointCloudData,
+		int points,
+		const Transform & pose,
+		const CameraModel & model,
+		const cv::Mat & rgb,
+		std::vector<cv::KeyPoint> * kpts,
+		std::vector<cv::Point3f> * kpts3D)
+{
+	if(pointCloudData && points>0)
+	{
+		cv::Mat scanData(1, points, CV_32FC4);
+		float * ptr = scanData.ptr<float>();
+		for(unsigned int i=0;i<points; ++i)
+		{
+			cv::Point3f pt(pointCloudData[i*4], pointCloudData[i*4 + 1], pointCloudData[i*4 + 2]);
+			pt = util3d::transformPoint(pt, pose.inverse()*rtabmap_world_T_opengl_world);
+			ptr[i*4] = pt.x;
+			ptr[i*4 + 1] = pt.y;
+			ptr[i*4 + 2] = pt.z;
+
+			//get color from rgb image
+			cv::Point3f org= pt;
+			pt = util3d::transformPoint(pt, opticalRotationInv);
+			int u,v;
+			model.reproject(pt.x, pt.y, pt.z, u, v);
+			unsigned char r=255,g=255,b=255;
+			if(model.inFrame(u, v))
+			{
+				b=rgb.at<cv::Vec3b>(v,u).val[0];
+				g=rgb.at<cv::Vec3b>(v,u).val[1];
+				r=rgb.at<cv::Vec3b>(v,u).val[2];
+				if(kpts)
+					kpts->push_back(cv::KeyPoint(u,v,3));
+				if(kpts3D)
+					kpts3D->push_back(org);
+			}
+			*(int*)&ptr[i*4 + 3] = int(b) | (int(g) << 8) | (int(r) << 16);
+
+			//confidence
+			//*(int*)&ptr[i*4 + 3] = (int(pointCloudData[i*4 + 3] * 255.0f) << 8) | (int(255) << 16);
+
+		}
+		return LaserScan::backwardCompatibility(scanData, 0, 10, rtabmap::Transform::getIdentity());
+	}
+	return LaserScan();
+}
+
+void CameraARCore::setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height)
+{
+	CameraMobile::setScreenRotationAndSize(colorCameraToDisplayRotation, width, height);
+	if(arSession_)
+	{
+		int ret = static_cast<int>(colorCameraToDisplayRotation) + 1; // remove 90deg camera rotation
+		  if (ret > 3) {
+		    ret -= 4;
+		  }
+
+		ArSession_setDisplayGeometry(arSession_, ret, width, height);
+	}
+}
+
+SensorData CameraARCore::captureImage(CameraInfo * info)
+{
+	UScopeMutex lock(arSessionMutex_);
+	//LOGI("Capturing image...");
+
+	SensorData data;
+	if(!arSession_)
+	{
+		return data;
+	}
+
+	if(textureId_ == 9999)
+	{
+		glGenTextures(1, &textureId_);
+		glBindTexture(GL_TEXTURE_EXTERNAL_OES, textureId_);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+	}
+	ArSession_setCameraTextureName(arSession_, textureId_);
+
+	// Update session to get current frame and render camera background.
+	if (ArSession_update(arSession_, arFrame_) != AR_SUCCESS) {
+		LOGE("CameraARCore::captureImage() ArSession_update error");
+		return data;
+	}
+
+	// If display rotation changed (also includes view size change), we need to
+	// re-query the uv coordinates for the on-screen portion of the camera image.
+	int32_t geometry_changed = 0;
+	ArFrame_getDisplayGeometryChanged(arSession_, arFrame_, &geometry_changed);
+	if (geometry_changed != 0 || !uvs_initialized_) {
+		ArFrame_transformCoordinates2d(
+				arSession_, arFrame_, AR_COORDINATES_2D_OPENGL_NORMALIZED_DEVICE_COORDINATES,
+				BackgroundRenderer::kNumVertices, BackgroundRenderer_kVertices, AR_COORDINATES_2D_TEXTURE_NORMALIZED,
+				transformed_uvs_);
+		UASSERT(transformed_uvs_);
+		uvs_initialized_ = true;
+	}
+
+	ArCamera* ar_camera;
+	ArFrame_acquireCamera(arSession_, arFrame_, &ar_camera);
+
+	ArCamera_getViewMatrix(arSession_, ar_camera, glm::value_ptr(viewMatrix_));
+	ArCamera_getProjectionMatrix(arSession_, ar_camera,
+							   /*near=*/0.1f, /*far=*/100.f,
+							   glm::value_ptr(projectionMatrix_));
+
+	ArTrackingState camera_tracking_state;
+	ArCamera_getTrackingState(arSession_, ar_camera, &camera_tracking_state);
+
+	Transform pose;
+	CameraModel model;
+	if(camera_tracking_state == AR_TRACKING_STATE_TRACKING)
+	{
+		// pose in OpenGL coordinates
+		float pose_raw[7];
+		ArCamera_getPose(arSession_, ar_camera, arPose_);
+		ArPose_getPoseRaw(arSession_, arPose_, pose_raw);
+		pose = Transform(pose_raw[4], pose_raw[5], pose_raw[6], pose_raw[0], pose_raw[1], pose_raw[2], pose_raw[3]);
+		pose = rtabmap::rtabmap_world_T_opengl_world * pose * rtabmap::opengl_world_T_rtabmap_world;
+
+		// Get calibration parameters
+		float fx,fy, cx, cy;
+		int32_t width, height;
+		ArCamera_getImageIntrinsics(arSession_, ar_camera, arCameraIntrinsics_);
+		ArCameraIntrinsics_getFocalLength(arSession_, arCameraIntrinsics_, &fx, &fy);
+		ArCameraIntrinsics_getPrincipalPoint(arSession_, arCameraIntrinsics_, &cx, &cy);
+		ArCameraIntrinsics_getImageDimensions(arSession_, arCameraIntrinsics_, &width, &height);
+#ifndef DISABLE_LOG
+		LOGI("%f %f %f %f %d %d", fx, fy, cx, cy, width, height);
+#endif
+
+		if(fx > 0 && fy > 0 && width > 0 && height > 0 && cx > 0 && cy > 0)
+		{
+			model = CameraModel(fx, fy, cx, cy, deviceTColorCamera_, 0, cv::Size(width, height));
+
+			ArPointCloud * pointCloud = nullptr;
+			ArFrame_acquirePointCloud(arSession_, arFrame_, &pointCloud);
+
+			int32_t is_depth_supported = 0;
+			ArSession_isDepthModeSupported(arSession_, AR_DEPTH_MODE_AUTOMATIC, &is_depth_supported);
+
+			ArImage * image = nullptr;
+			ArStatus status = ArFrame_acquireCameraImage(arSession_, arFrame_, &image);
+			if(status == AR_SUCCESS)
+			{
+				if(is_depth_supported && (updateOcclusionImage_||depthFromMotion_))
+				{
+					LOGD("Acquire depth image!");
+					ArImage * depthImage = nullptr;
+					ArFrame_acquireDepthImage(arSession_, arFrame_, &depthImage);
+
+					ArImageFormat format;
+					ArImage_getFormat(arSession_, depthImage, &format);
+					if(format == AR_IMAGE_FORMAT_DEPTH16)
+					{
+						LOGD("Depth format detected!");
+						int planeCount;
+						ArImage_getNumberOfPlanes(arSession_, depthImage, &planeCount);
+						LOGD("planeCount=%d", planeCount);
+						UASSERT_MSG(planeCount == 1, uFormat("Error: getNumberOfPlanes() planceCount = %d", planeCount).c_str());
+						const uint8_t *data = nullptr;
+						int len = 0;
+						int stride;
+						int depth_width;
+						int depth_height;
+						ArImage_getWidth(arSession_, depthImage, &depth_width);
+						ArImage_getHeight(arSession_, depthImage, &depth_height);
+						ArImage_getPlaneRowStride(arSession_, depthImage, 0, &stride);
+						ArImage_getPlaneData(arSession_, depthImage, 0, &data, &len);
+
+						LOGD("width=%d, height=%d, bytes=%d stride=%d", depth_width, depth_height, len, stride);
+
+						occlusionImage_ = cv::Mat(depth_height, depth_width, CV_16UC1, (void*)data).clone();
+
+						float scaleX = (float)depth_width / (float)width;
+						float scaleY = (float)depth_height / (float)height;
+						occlusionModel_ = CameraModel(fx*scaleX, fy*scaleY, cx*scaleX, cy*scaleY, pose*deviceTColorCamera_, 0, cv::Size(depth_width, depth_height));
+					}
+					ArImage_release(depthImage);
+				}
+
+				int64_t timestamp_ns;
+				ArImageFormat format;
+				ArImage_getTimestamp(arSession_, image, &timestamp_ns);
+				ArImage_getFormat(arSession_, image, &format);
+				if(format == AR_IMAGE_FORMAT_YUV_420_888)
+				{
+#ifndef DISABLE_LOG
+					int32_t num_planes;
+					ArImage_getNumberOfPlanes(arSession_, image, &num_planes);
+					for(int i=0;i<num_planes; ++i)
+					{
+						int32_t pixel_stride;
+						int32_t row_stride;
+						ArImage_getPlanePixelStride(arSession_, image, i, &pixel_stride);
+						ArImage_getPlaneRowStride(arSession_, image, i, &row_stride);
+						LOGI("Plane %d/%d: pixel stride=%d, row stride=%d", i+1, num_planes, pixel_stride, row_stride);
+					}
+#endif
+					const uint8_t * plane_data;
+					const uint8_t * plane_uv_data;
+					int32_t data_length;
+					ArImage_getPlaneData(arSession_, image, 0, &plane_data, &data_length);
+					int32_t uv_data_length;
+					ArImage_getPlaneData(arSession_, image, 2, &plane_uv_data, &uv_data_length);
+
+					if(plane_data != nullptr && data_length == height*width)
+					{
+						double stamp = double(timestamp_ns)/10e8;
+#ifndef DISABLE_LOG
+						LOGI("data_length=%d stamp=%f", data_length, stamp);
+#endif
+						cv::Mat rgb;
+						if((long)plane_uv_data-(long)plane_data != data_length)
+						{
+							// The uv-plane is not concatenated to y plane in memory, so concatenate them
+							cv::Mat yuv(height+height/2, width, CV_8UC1);
+							memcpy(yuv.data, plane_data, data_length);
+							memcpy(yuv.data+data_length, plane_uv_data, height/2*width);
+							cv::cvtColor(yuv, rgb, CV_YUV2BGR_NV21);
+						}
+						else
+						{
+							cv::cvtColor(cv::Mat(height+height/2, width, CV_8UC1, (void*)plane_data), rgb, CV_YUV2BGR_NV21);
+						}
+
+						std::vector<cv::KeyPoint> kpts;
+						std::vector<cv::Point3f> kpts3;
+						LaserScan scan;
+						if(pointCloud)
+						{
+							int32_t points = 0;
+							ArPointCloud_getNumberOfPoints(arSession_, pointCloud, &points);
+							const float * pointCloudData = 0;
+							ArPointCloud_getData(arSession_, pointCloud, &pointCloudData);
+#ifndef DISABLE_LOG
+							LOGI("pointCloudData=%d size=%d", pointCloudData?1:0, points);
+#endif
+							if(pointCloudData && points>0)
+							{
+								scan = scanFromPointCloudData(pointCloudData, points, pose, model, rgb, &kpts, &kpts3);
+							}
+						}
+						else
+						{
+							LOGI("pointCloud empty");
+						}
+
+						data = SensorData(scan, rgb, depthFromMotion_?occlusionImage_:cv::Mat(), model, 0, stamp);
+						data.setFeatures(kpts,  kpts3, cv::Mat());
+					}
+				}
+				else
+				{
+					LOGE("CameraARCore: cannot convert image format %d", format);
+				}
+			}
+			else
+			{
+				LOGE("CameraARCore: failed to get rgb image (status=%d)", (int)status);
+			}
+
+			ArImage_release(image);
+			ArPointCloud_release(pointCloud);
+		}
+	}
+
+	ArCamera_release(ar_camera);
+
+	if(pose.isNull())
+	{
+		LOGE("CameraARCore: Pose is null");
+	}
+	else
+	{
+		this->poseReceived(pose);
+		info->odomPose = pose;
+	}
+	return data;
+
+}
+
+void CameraARCore::capturePoseOnly()
+{
+	UScopeMutex lock(arSessionMutex_);
+	//LOGI("Capturing image...");
+
+	if(!arSession_)
+	{
+		return;
+	}
+
+	if(textureId_ == 9999)
+	{
+		glGenTextures(1, &textureId_);
+		glBindTexture(GL_TEXTURE_EXTERNAL_OES, textureId_);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+	}
+	ArSession_setCameraTextureName(arSession_, textureId_);
+
+	// Update session to get current frame and render camera background.
+	if (ArSession_update(arSession_, arFrame_) != AR_SUCCESS) {
+		LOGE("CameraARCore::capturePoseOnly() ArSession_update error");
+		return;
+	}
+
+	// If display rotation changed (also includes view size change), we need to
+	// re-query the uv coordinates for the on-screen portion of the camera image.
+	int32_t geometry_changed = 0;
+	ArFrame_getDisplayGeometryChanged(arSession_, arFrame_, &geometry_changed);
+	if (geometry_changed != 0 || !uvs_initialized_) {
+		ArFrame_transformCoordinates2d(
+				arSession_, arFrame_, AR_COORDINATES_2D_OPENGL_NORMALIZED_DEVICE_COORDINATES,
+				BackgroundRenderer::kNumVertices, BackgroundRenderer_kVertices, AR_COORDINATES_2D_TEXTURE_NORMALIZED,
+				transformed_uvs_);
+		UASSERT(transformed_uvs_);
+		uvs_initialized_ = true;
+	}
+
+	ArCamera* ar_camera;
+	ArFrame_acquireCamera(arSession_, arFrame_, &ar_camera);
+
+	ArCamera_getViewMatrix(arSession_, ar_camera, glm::value_ptr(viewMatrix_));
+	ArCamera_getProjectionMatrix(arSession_, ar_camera,
+							   /*near=*/0.1f, /*far=*/100.f,
+							   glm::value_ptr(projectionMatrix_));
+
+	ArTrackingState camera_tracking_state;
+	ArCamera_getTrackingState(arSession_, ar_camera, &camera_tracking_state);
+
+	Transform pose;
+	CameraModel model;
+	if(camera_tracking_state == AR_TRACKING_STATE_TRACKING)
+	{
+		// pose in OpenGL coordinates
+		float pose_raw[7];
+		ArCamera_getPose(arSession_, ar_camera, arPose_);
+		ArPose_getPoseRaw(arSession_, arPose_, pose_raw);
+		pose = Transform(pose_raw[4], pose_raw[5], pose_raw[6], pose_raw[0], pose_raw[1], pose_raw[2], pose_raw[3]);
+		if(!pose.isNull())
+		{
+			pose = rtabmap::rtabmap_world_T_opengl_world * pose * rtabmap::opengl_world_T_rtabmap_world;
+			this->poseReceived(pose);
+		}
+
+		int32_t is_depth_supported = 0;
+		ArSession_isDepthModeSupported(arSession_, AR_DEPTH_MODE_AUTOMATIC, &is_depth_supported);
+
+		if(is_depth_supported && updateOcclusionImage_)
+		{
+			LOGD("Acquire depth image!");
+			ArImage * depthImage = nullptr;
+			ArFrame_acquireDepthImage(arSession_, arFrame_, &depthImage);
+
+			ArImageFormat format;
+			ArImage_getFormat(arSession_, depthImage, &format);
+			if(format == AR_IMAGE_FORMAT_DEPTH16)
+			{
+				LOGD("Depth format detected!");
+				int planeCount;
+				ArImage_getNumberOfPlanes(arSession_, depthImage, &planeCount);
+				LOGD("planeCount=%d", planeCount);
+				UASSERT_MSG(planeCount == 1, uFormat("Error: getNumberOfPlanes() planceCount = %d", planeCount).c_str());
+				const uint8_t *data = nullptr;
+				int len = 0;
+				int stride;
+				int width;
+				int height;
+				ArImage_getWidth(arSession_, depthImage, &width);
+				ArImage_getHeight(arSession_, depthImage, &height);
+				ArImage_getPlaneRowStride(arSession_, depthImage, 0, &stride);
+				ArImage_getPlaneData(arSession_, depthImage, 0, &data, &len);
+
+				LOGD("width=%d, height=%d, bytes=%d stride=%d", width, height, len, stride);
+
+				occlusionImage_ = cv::Mat(height, width, CV_16UC1, (void*)data).clone();
+
+				float fx,fy, cx, cy;
+				int32_t rgb_width, rgb_height;
+				ArCamera_getImageIntrinsics(arSession_, ar_camera, arCameraIntrinsics_);
+				ArCameraIntrinsics_getFocalLength(arSession_, arCameraIntrinsics_, &fx, &fy);
+				ArCameraIntrinsics_getPrincipalPoint(arSession_, arCameraIntrinsics_, &cx, &cy);
+				ArCameraIntrinsics_getImageDimensions(arSession_, arCameraIntrinsics_, &rgb_width, &rgb_height);
+
+				float scaleX = (float)width / (float)rgb_width;
+				float scaleY = (float)height / (float)rgb_height;
+				occlusionModel_ = CameraModel(fx*scaleX, fy*scaleY, cx*scaleX, cy*scaleY, pose*deviceTColorCamera_, 0, cv::Size(width, height));
+			}
+			ArImage_release(depthImage);
+		}
+	}
+
+	ArCamera_release(ar_camera);
+}
+
+} /* namespace rtabmap */

app/android/jni/CameraARCore.h

@@ -0,0 +1,115 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef CAMERAARCORE_H_
+#define CAMERAARCORE_H_
+
+#include "CameraMobile.h"
+#include <rtabmap/core/Camera.h>
+#include <rtabmap/core/GeodeticCoords.h>
+#include <rtabmap/utilite/UMutex.h>
+#include <rtabmap/utilite/USemaphore.h>
+#include <rtabmap/utilite/UEventsSender.h>
+#include <rtabmap/utilite/UThread.h>
+#include <rtabmap/utilite/UEvent.h>
+#include <rtabmap/utilite/UTimer.h>
+#include <boost/thread/mutex.hpp>
+#include <background_renderer.h>
+
+#include <arcore_c_api.h>
+#include <camera/NdkCameraDevice.h>
+#include <camera/NdkCameraManager.h>
+#include <media/NdkImageReader.h>
+#include <android/native_window.h>
+
+namespace rtabmap {
+
+class CameraARCore : public CameraMobile {
+public:
+	static LaserScan scanFromPointCloudData(
+			const float * pointCloudData,
+			int points,
+			const Transform & pose,
+			const CameraModel & model,
+			const cv::Mat & rgb,
+			std::vector<cv::KeyPoint> * kpts = 0,
+			std::vector<cv::Point3f> * kpts3D = 0);
+
+public:
+	CameraARCore(void* env, void* context, void* activity, bool depthFromMotion = false, bool smoothing = false);
+	virtual ~CameraARCore();
+
+	bool uvsInitialized() const {return uvs_initialized_;}
+	const float* uvsTransformed() const {return transformed_uvs_;}
+	void getVPMatrices(glm::mat4 & view, glm::mat4 & projection) const {view=viewMatrix_; projection=projectionMatrix_;}
+
+	void updateOcclusionImage(bool enabled) {updateOcclusionImage_ = enabled;}
+	const cv::Mat & getOcclusionImage(CameraModel * model=0) const {if(model)*model=occlusionModel_; return occlusionImage_; }
+
+	virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height);
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	void setupGL();
+	virtual void close(); // close Tango connection
+	virtual std::string getSerial() const;
+	GLuint getTextureId() const {return textureId_;}
+
+	void imageCallback(AImageReader *reader);
+
+protected:
+	virtual SensorData captureImage(CameraInfo * info = 0); // should be called in opengl thread
+	virtual void capturePoseOnly();
+
+private:
+	rtabmap::Transform getPoseAtTimestamp(double timestamp);
+
+private:
+	void * env_;
+	void * context_;
+	void * activity_;
+	ArSession* arSession_ = nullptr;
+	ArConfig* arConfig_ = nullptr;
+	ArFrame* arFrame_ = nullptr;
+	ArCameraIntrinsics *arCameraIntrinsics_ = nullptr;
+	ArPose * arPose_ = nullptr;
+	bool arInstallRequested_;
+	GLuint textureId_;
+	UMutex arSessionMutex_;
+
+	float transformed_uvs_[BackgroundRenderer::kNumVertices*2];
+	bool uvs_initialized_ = false;
+	glm::mat4 viewMatrix_;
+	glm::mat4 projectionMatrix_;
+
+	bool updateOcclusionImage_;
+	cv::Mat occlusionImage_;
+	CameraModel occlusionModel_;
+	bool depthFromMotion_;
+};
+
+} /* namespace rtabmap */
+#endif /* CAMERAARCORE_H_ */

app/android/jni/CameraAREngine.cpp

@@ -0,0 +1,351 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "CameraAREngine.h"
+#include "util.h"
+#include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/core/util3d_transforms.h"
+#include "rtabmap/core/OdometryEvent.h"
+#include "rtabmap/core/util2d.h"
+
+#include <media/NdkImage.h>
+
+namespace rtabmap {
+
+
+//////////////////////////////
+// CameraAREngine
+//////////////////////////////
+CameraAREngine::CameraAREngine(void* env, void* context, void* activity, bool smoothing):
+	CameraMobile(smoothing),
+	env_(env),
+	context_(context),
+	activity_(activity),
+	arInstallRequested_(false)
+{
+	glGenTextures(1, &textureId_);
+}
+
+CameraAREngine::~CameraAREngine() {
+	// Disconnect ARCore service
+	close();
+
+	glDeleteTextures(1, &textureId_);
+}
+
+std::string CameraAREngine::getSerial() const
+{
+	return "AREngine";
+}
+
+bool CameraAREngine::init(const std::string & calibrationFolder, const std::string & cameraName)
+{
+	close();
+
+	UScopeMutex lock(arSessionMutex_);
+
+	HwArInstallStatus install_status;
+	// If install was not yet requested, that means that we are resuming the
+	// activity first time because of explicit user interaction (such as
+	// launching the application)
+	bool user_requested_install = !arInstallRequested_;
+
+	// === ATTENTION!  ATTENTION!  ATTENTION! ===
+	// This method can and will fail in user-facing situations.  Your
+	// application must handle these cases at least somewhat gracefully.  See
+	// HelloAR Java sample code for reasonable behavior.
+	HwArEnginesApk_requestInstall(env_, activity_, user_requested_install, &install_status);
+
+	switch (install_status)
+	{
+		case HWAR_INSTALL_STATUS_INSTALLED:
+			break;
+		case HWAR_INSTALL_STATUS_INSTALL_REQUESTED:
+			arInstallRequested_ = true;
+			return false;
+	}
+
+	// === ATTENTION!  ATTENTION!  ATTENTION! ===
+	// This method can and will fail in user-facing situations.  Your
+	// application must handle these cases at least somewhat gracefully.  See
+	// HelloAR Java sample code for reasonable behavior.
+	UASSERT(HwArSession_create(env_, context_, &arSession_) == HWAR_SUCCESS);
+	UASSERT(arSession_);
+
+	HwArConfig_create(arSession_, &arConfig_);
+	UASSERT(arConfig_);
+
+	HwArConfig_setFocusMode(arSession_, arConfig_, HWAR_FOCUS_MODE_FIXED);
+	UASSERT(HwArSession_configure(arSession_, arConfig_) == HWAR_SUCCESS);
+
+	HwArFrame_create(arSession_, &arFrame_);
+	UASSERT(arFrame_);
+
+	HwArCameraIntrinsics_create(arSession_, &arCameraIntrinsics_); // May fail?!
+	//UASSERT(arCameraIntrinsics_);
+
+	HwArPose_create(arSession_, nullptr, &arPose_);
+	UASSERT(arPose_);
+
+	/// Sets the behavior of @ref ArSession_update(). See
+	/// ::ArUpdateMode for available options.
+	HwArConfig_setUpdateMode(arSession_, arConfig_, HWAR_UPDATE_MODE_BLOCKING);
+
+	deviceTColorCamera_ = opticalRotation;
+
+	// Required as ArSession_update does some off-screen OpenGL stuff...
+	HwArSession_setCameraTextureName(arSession_, textureId_);
+
+	if (HwArSession_resume(arSession_) != HWAR_SUCCESS)
+	{
+		UERROR("Cannot resume camera!");
+		// In a rare case (such as another camera app launching) the camera may be
+		// given to a different app and so may not be available to this app. Handle
+		// this properly and recreate the session at the next iteration.
+		close();
+		return false;
+	}
+
+	return true;
+}
+
+void CameraAREngine::close()
+{
+	UScopeMutex lock(arSessionMutex_);
+	if (arCameraIntrinsics_ != nullptr)
+	{
+		HwArCameraIntrinsics_destroy(arSession_, arCameraIntrinsics_);
+	}
+	arCameraIntrinsics_ = nullptr;
+
+	if(arSession_!= nullptr)
+	{
+		HwArSession_destroy(arSession_);
+	}
+	arSession_ = nullptr;
+
+	if(arConfig_!= nullptr)
+	{
+		HwArConfig_destroy(arConfig_);
+	}
+	arConfig_ = nullptr;
+
+	if (arFrame_ != nullptr)
+	{
+		HwArFrame_destroy(arFrame_);
+	}
+	arFrame_ = nullptr;
+
+	if (arPose_ != nullptr)
+	{
+		HwArPose_destroy(arPose_);
+	}
+	arPose_ = nullptr;
+
+	CameraMobile::close();
+}
+
+SensorData CameraAREngine::captureImage(CameraInfo * info)
+{
+	UScopeMutex lock(arSessionMutex_);
+	//LOGI("Capturing image...");
+
+	SensorData data;
+	if(!arSession_)
+	{
+		return data;
+	}
+
+	// Update session to get current frame and render camera background.
+	if (HwArSession_update(arSession_, arFrame_) != HWAR_SUCCESS) {
+		LOGE("CameraAREngine::captureImage() ArSession_update error");
+		return data;
+	}
+
+	HwArCamera* ar_camera;
+	HwArFrame_acquireCamera(arSession_, arFrame_, &ar_camera);
+
+	HwArTrackingState camera_tracking_state;
+	HwArCamera_getTrackingState(arSession_, ar_camera, &camera_tracking_state);
+
+	Transform pose;
+	if(camera_tracking_state == HWAR_TRACKING_STATE_TRACKING)
+	{
+		// pose in OpenGL coordinates
+		float pose_raw[7];
+		HwArCamera_getPose(arSession_, ar_camera, arPose_);
+		HwArPose_getPoseRaw(arSession_, arPose_, pose_raw);
+		pose = Transform(pose_raw[4], pose_raw[5], pose_raw[6], pose_raw[0], pose_raw[1], pose_raw[2], pose_raw[3]);
+
+		// Get calibration parameters
+		// FIXME: Hard-coded as getting intrinsics with the api fails
+		float fx=492.689667,fy=492.606201, cx=323.594849, cy=234.659744;
+		int32_t camWidth=640, camHeight=480;
+		//HwArCamera_getImageIntrinsics(arSession_, ar_camera, arCameraIntrinsics_);
+		//HwArCameraIntrinsics_getFocalLength(arSession_, arCameraIntrinsics_, &fx, &fy);
+		//HwArCameraIntrinsics_getPrincipalPoint(arSession_, arCameraIntrinsics_, &cx, &cy);
+		//HwArCameraIntrinsics_getImageDimensions(arSession_, arCameraIntrinsics_, &camWidth, &camHeight);
+		LOGI("%f %f %f %f %d %d", fx, fy, cx, cy, camWidth, camHeight);
+
+		if(fx > 0 && fy > 0 && camWidth > 0 && camHeight > 0 && cx > 0 && cy > 0)
+		{
+			//ArPointCloud * point_cloud;
+			//ArFrame_acquirePointCloud(ar_session_, ar_frame_, &point_cloud);
+
+			HwArImage * image = nullptr;
+			HwArImage * depthImage = nullptr;
+			HwArStatus statusRgb = HwArFrame_acquireCameraImage(arSession_, arFrame_, &image);
+			HwArStatus statusDepth = HwArFrame_acquireDepthImage(arSession_, arFrame_, &depthImage);
+			if(statusRgb == HWAR_SUCCESS && statusDepth == HWAR_SUCCESS)
+			{
+				int64_t timestamp_ns;
+				HwArFrame_getTimestamp(arSession_, arFrame_, &timestamp_ns);
+
+				int planeCount;
+				uint8_t *imageData = nullptr;
+				int len = 0;
+				int stride;
+				int width;
+				int height;
+				const AImage* ndkImageRGB;
+				HwArImage_getNdkImage(image, &ndkImageRGB);
+
+				AImage_getNumberOfPlanes(ndkImageRGB, &planeCount);
+				AImage_getWidth(ndkImageRGB, &width);
+				AImage_getHeight(ndkImageRGB, &height);
+				AImage_getPlaneRowStride(ndkImageRGB, 0, &stride);
+				AImage_getPlaneData(ndkImageRGB, 0, &imageData, &len);
+				LOGI("RGB: width=%d, height=%d, bytes=%d stride=%d planeCount=%d", width, height, len, stride, planeCount);
+
+				cv::Mat outputRGB;
+				if(imageData != nullptr && len>0)
+				{
+					cv::cvtColor(cv::Mat(height+height/2, width, CV_8UC1, (void*)imageData), outputRGB, CV_YUV2BGR_NV21);
+				}
+
+				//Depth
+				const AImage* ndkImageDepth;
+				HwArImage_getNdkImage(depthImage, &ndkImageDepth);
+				AImage_getNumberOfPlanes(ndkImageDepth, &planeCount);
+				AImage_getWidth(ndkImageDepth, &width);
+				AImage_getHeight(ndkImageDepth, &height);
+				AImage_getPlaneRowStride(ndkImageDepth, 0, &stride);
+				AImage_getPlaneData(ndkImageDepth, 0, &imageData, &len);
+				LOGI("Depth: width=%d, height=%d, bytes=%d stride=%d planeCount=%d", width, height, len, stride, planeCount);
+
+				cv::Mat outputDepth(height, width, CV_16UC1);
+				uint16_t *dataShort = (uint16_t *)imageData;
+				for (int y = 0; y < outputDepth.rows; ++y)
+				{
+					for (int x = 0; x < outputDepth.cols; ++x)
+					{
+						uint16_t depthSample = dataShort[y*outputDepth.cols + x];
+						uint16_t depthRange = (depthSample & 0x1FFF); // first 3 bits are confidence
+						outputDepth.at<uint16_t>(y,x) = depthRange;
+					}
+				}
+
+				if(!outputRGB.empty() && !outputDepth.empty())
+				{
+					double stamp = double(timestamp_ns)/10e8;
+					CameraModel model = CameraModel(fx, fy, cx, cy, deviceTColorCamera_, 0, cv::Size(camWidth, camHeight));
+					data = SensorData(outputRGB, outputDepth, model, 0, stamp);
+				}
+			}
+			else
+			{
+				LOGE("CameraAREngine: failed to get rgb image (status=%d %d)", (int)statusRgb, (int)statusDepth);
+			}
+
+			HwArImage_release(image);
+			HwArImage_release(depthImage);
+		}
+		else
+		{
+			LOGE("Invalid intrinsics!");
+		}
+	}
+
+	HwArCamera_release(ar_camera);
+
+	if(pose.isNull())
+	{
+		LOGE("CameraAREngine: Pose is null");
+	}
+	else
+	{
+		pose = rtabmap::rtabmap_world_T_opengl_world * pose * rtabmap::opengl_world_T_rtabmap_world;
+		this->poseReceived(pose);
+		info->odomPose = pose;
+	}
+	return data;
+
+}
+
+void CameraAREngine::capturePoseOnly()
+{
+	UScopeMutex lock(arSessionMutex_);
+	//LOGI("Capturing image...");
+
+	SensorData data;
+	if(!arSession_)
+	{
+		return;
+	}
+
+	// Update session to get current frame and render camera background.
+	if (HwArSession_update(arSession_, arFrame_) != HWAR_SUCCESS) {
+		LOGE("CameraARCore::captureImage() ArSession_update error");
+		return;
+	}
+
+	HwArCamera* ar_camera;
+	HwArFrame_acquireCamera(arSession_, arFrame_, &ar_camera);
+
+	HwArTrackingState camera_tracking_state;
+	HwArCamera_getTrackingState(arSession_, ar_camera, &camera_tracking_state);
+
+	Transform pose;
+	CameraModel model;
+	if(camera_tracking_state == HWAR_TRACKING_STATE_TRACKING)
+	{
+		// pose in OpenGL coordinates
+		float pose_raw[7];
+		HwArCamera_getPose(arSession_, ar_camera, arPose_);
+		HwArPose_getPoseRaw(arSession_, arPose_, pose_raw);
+		pose = Transform(pose_raw[4], pose_raw[5], pose_raw[6], pose_raw[0], pose_raw[1], pose_raw[2], pose_raw[3]);
+		if(!pose.isNull())
+		{
+			pose = rtabmap::rtabmap_world_T_opengl_world * pose * rtabmap::opengl_world_T_rtabmap_world;
+			this->poseReceived(pose);
+		}
+	}
+
+	HwArCamera_release(ar_camera);
+}
+
+} /* namespace rtabmap */

app/android/jni/CameraAREngine.h

@@ -0,0 +1,78 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef CAMERAARENGINE_H_
+#define CAMERAARENGINE_H_
+
+#include "CameraMobile.h"
+#include <rtabmap/core/Camera.h>
+#include <rtabmap/core/GeodeticCoords.h>
+#include <rtabmap/utilite/UMutex.h>
+#include <rtabmap/utilite/USemaphore.h>
+#include <rtabmap/utilite/UEventsSender.h>
+#include <rtabmap/utilite/UThread.h>
+#include <rtabmap/utilite/UEvent.h>
+#include <rtabmap/utilite/UTimer.h>
+#include <boost/thread/mutex.hpp>
+
+#include <huawei_arengine_interface.h>
+
+namespace rtabmap {
+
+class CameraAREngine : public CameraMobile {
+public:
+	CameraAREngine(void* env, void* context, void* activity, bool smoothing = false);
+	virtual ~CameraAREngine();
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	virtual void close(); // close Tango connection
+	virtual std::string getSerial() const;
+
+protected:
+	virtual SensorData captureImage(CameraInfo * info = 0);
+	virtual void capturePoseOnly();
+
+private:
+	rtabmap::Transform getPoseAtTimestamp(double timestamp);
+
+private:
+	void * env_;
+	void * context_;
+	void * activity_;
+	HwArSession* arSession_ = nullptr;
+	HwArConfig* arConfig_ = nullptr;
+	HwArFrame* arFrame_ = nullptr;
+	HwArCameraIntrinsics *arCameraIntrinsics_ = nullptr;
+	HwArPose * arPose_ = nullptr;
+	bool arInstallRequested_;
+	GLuint textureId_;
+	UMutex arSessionMutex_;
+
+};
+
+} /* namespace rtabmap */
+#endif /* CAMERAARENGINE_H_ */

app/android/jni/CameraMobile.cpp

@@ -0,0 +1,341 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "CameraMobile.h"
+#include "util.h"
+#include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/core/util3d_transforms.h"
+#include "rtabmap/core/OdometryEvent.h"
+#include "rtabmap/core/util2d.h"
+
+namespace rtabmap {
+
+#define nullptr 0
+
+//////////////////////////////
+// CameraMobile
+//////////////////////////////
+const float CameraMobile::bilateralFilteringSigmaS = 2.0f;
+const float CameraMobile::bilateralFilteringSigmaR = 0.075f;
+
+const rtabmap::Transform CameraMobile::opticalRotation = Transform(
+		0.0f,  0.0f,  1.0f, 0.0f,
+	   -1.0f,  0.0f,  0.0f, 0.0f,
+		0.0f, -1.0f,  0.0f, 0.0f);
+const rtabmap::Transform CameraMobile::opticalRotationInv = Transform(
+		0.0f, -1.0f,  0.0f, 0.0f,
+	    0.0f,  0.0f, -1.0f, 0.0f,
+		1.0f,  0.0f,  0.0f, 0.0f);
+
+CameraMobile::CameraMobile(bool smoothing) :
+		Camera(10),
+		deviceTColorCamera_(Transform::getIdentity()),
+		spinOncePreviousStamp_(0.0),
+		previousStamp_(0.0),
+		stampEpochOffset_(0.0),
+		smoothing_(smoothing),
+		colorCameraToDisplayRotation_(ROTATION_0),
+		originUpdate_(false)
+{
+}
+
+CameraMobile::~CameraMobile() {
+	// Disconnect camera service
+	close();
+}
+
+bool CameraMobile::init(const std::string &, const std::string &)
+{
+	deviceTColorCamera_ = opticalRotation;
+	return true;
+}
+
+void CameraMobile::close()
+{
+	previousPose_.setNull();
+	previousStamp_ = 0.0;
+	lastKnownGPS_ = GPS();
+	lastEnvSensors_.clear();
+	originOffset_ = Transform();
+	originUpdate_ = false;
+	pose_ = Transform();
+	data_ = SensorData();
+}
+
+void CameraMobile::resetOrigin()
+{
+	originUpdate_ = true;
+}
+
+void CameraMobile::poseReceived(const Transform & pose)
+{
+	if(!pose.isNull())
+	{
+		// send pose of the camera (without optical rotation)
+		Transform p = pose*deviceTColorCamera_;
+		if(originUpdate_)
+		{
+			originOffset_ = p.translation().inverse();
+			originUpdate_ = false;
+		}
+
+		if(!originOffset_.isNull())
+		{
+			this->post(new PoseEvent(originOffset_*p));
+		}
+		else
+		{
+			this->post(new PoseEvent(p));
+		}
+	}
+}
+
+bool CameraMobile::isCalibrated() const
+{
+	return model_.isValidForProjection();
+}
+
+void CameraMobile::setGPS(const GPS & gps)
+{
+	lastKnownGPS_ = gps;
+}
+
+void CameraMobile::setData(const SensorData & data, const Transform & pose)
+{
+	LOGD("CameraMobile::setData pose=%s stamp=%f", pose.prettyPrint().c_str(), data.stamp());
+	data_ = data;
+	pose_ = pose;
+}
+
+void CameraMobile::addEnvSensor(int type, float value)
+{
+	lastEnvSensors_.insert(std::make_pair((EnvSensor::Type)type, EnvSensor((EnvSensor::Type)type, value)));
+}
+
+void CameraMobile::spinOnce()
+{
+	if(!this->isRunning())
+	{
+		bool ignoreFrame = false;
+		float rate = 10.0f; // maximum 10 FPS for image data
+		double now = UTimer::now();
+		if(rate>0.0f)
+		{
+			if((spinOncePreviousStamp_>=0.0 && now>spinOncePreviousStamp_ && now - spinOncePreviousStamp_ < 1.0f/rate) ||
+				((spinOncePreviousStamp_<=0.0 || now<=spinOncePreviousStamp_) && spinOnceFrameRateTimer_.getElapsedTime() < 1.0f/rate))
+			{
+				ignoreFrame = true;
+			}
+		}
+
+		if(!ignoreFrame)
+		{
+			spinOnceFrameRateTimer_.start();
+			spinOncePreviousStamp_ = now;
+			mainLoop();
+		}
+		else
+		{
+			// just send pose
+			capturePoseOnly();
+		}
+	}
+}
+
+void CameraMobile::mainLoopBegin()
+{
+	double t = cameraStartedTime_.elapsed();
+	if(t < 5.0)
+	{
+		uSleep((5.0-t)*1000); // just to make sure that the camera is started
+	}
+}
+
+void CameraMobile::mainLoop()
+{
+	CameraInfo info;
+	SensorData data = this->captureImage(&info);
+
+	if(data.isValid() && !info.odomPose.isNull())
+	{
+		if(lastKnownGPS_.stamp() > 0.0 && data.stamp()-lastKnownGPS_.stamp()<1.0)
+		{
+			data.setGPS(lastKnownGPS_);
+		}
+		else if(lastKnownGPS_.stamp()>0.0)
+		{
+			LOGD("GPS too old (current time=%f, gps time = %f)", data.stamp(), lastKnownGPS_.stamp());
+		}
+
+		if(lastEnvSensors_.size())
+		{
+			data.setEnvSensors(lastEnvSensors_);
+			lastEnvSensors_.clear();
+		}
+
+		if(smoothing_ && !data.depthRaw().empty())
+		{
+			//UTimer t;
+			data.setDepthOrRightRaw(rtabmap::util2d::fastBilateralFiltering(data.depthRaw(), bilateralFilteringSigmaS, bilateralFilteringSigmaR));
+			//LOGD("Bilateral filtering, time=%fs", t.ticks());
+		}
+
+		// Rotate image depending on the camera orientation
+		if(colorCameraToDisplayRotation_ == ROTATION_90)
+		{
+			UDEBUG("ROTATION_90");
+			cv::Mat rgb, depth;
+			cv::Mat rgbt(data.imageRaw().cols, data.imageRaw().rows, data.imageRaw().type());
+			cv::flip(data.imageRaw(),rgb,1);
+			cv::transpose(rgb,rgbt);
+			rgb = rgbt;
+			cv::Mat deptht(data.depthRaw().cols, data.depthRaw().rows, data.depthRaw().type());
+			cv::flip(data.depthRaw(),depth,1);
+			cv::transpose(depth,deptht);
+			depth = deptht;
+			CameraModel model = data.cameraModels()[0];
+			cv::Size sizet(model.imageHeight(), model.imageWidth());
+			model = CameraModel(
+					model.fy(),
+					model.fx(),
+					model.cy(),
+					model.cx()>0?model.imageWidth()-model.cx():0,
+					model.localTransform()*rtabmap::Transform(0,-1,0,0, 1,0,0,0, 0,0,1,0));
+			model.setImageSize(sizet);
+			data.setRGBDImage(rgb, depth, model);
+
+			std::vector<cv::KeyPoint> keypoints = data.keypoints();
+			for(size_t i=0; i<keypoints.size(); ++i)
+			{
+				keypoints[i].pt.x = data.keypoints()[i].pt.y;
+				keypoints[i].pt.y = rgb.rows - data.keypoints()[i].pt.x;
+			}
+			data.setFeatures(keypoints, data.keypoints3D(), cv::Mat());
+		}
+		else if(colorCameraToDisplayRotation_ == ROTATION_180)
+		{
+			UDEBUG("ROTATION_180");
+			cv::Mat rgb, depth;
+			cv::flip(data.imageRaw(),rgb,1);
+			cv::flip(rgb,rgb,0);
+			cv::flip(data.depthOrRightRaw(),depth,1);
+			cv::flip(depth,depth,0);
+			CameraModel model = data.cameraModels()[0];
+			cv::Size sizet(model.imageWidth(), model.imageHeight());
+			model = CameraModel(
+					model.fx(),
+					model.fy(),
+					model.cx()>0?model.imageWidth()-model.cx():0,
+					model.cy()>0?model.imageHeight()-model.cy():0,
+					model.localTransform()*rtabmap::Transform(0,0,0,0,0,1,0));
+			model.setImageSize(sizet);
+			data.setRGBDImage(rgb, depth, model);
+
+			std::vector<cv::KeyPoint> keypoints = data.keypoints();
+			for(size_t i=0; i<keypoints.size(); ++i)
+			{
+				keypoints[i].pt.x = rgb.cols - data.keypoints()[i].pt.x;
+				keypoints[i].pt.y = rgb.rows - data.keypoints()[i].pt.y;
+			}
+			data.setFeatures(keypoints, data.keypoints3D(), cv::Mat());
+		}
+		else if(colorCameraToDisplayRotation_ == ROTATION_270)
+		{
+			UDEBUG("ROTATION_270");
+			cv::Mat rgb(data.imageRaw().cols, data.imageRaw().rows, data.imageRaw().type());
+			cv::transpose(data.imageRaw(),rgb);
+			cv::flip(rgb,rgb,1);
+			cv::Mat depth(data.depthOrRightRaw().cols, data.depthOrRightRaw().rows, data.depthOrRightRaw().type());
+			cv::transpose(data.depthOrRightRaw(),depth);
+			cv::flip(depth,depth,1);
+			CameraModel model = data.cameraModels()[0];
+			cv::Size sizet(model.imageHeight(), model.imageWidth());
+			model = CameraModel(
+					model.fy(),
+					model.fx(),
+					model.cy()>0?model.imageHeight()-model.cy():0,
+					model.cx(),
+					model.localTransform()*rtabmap::Transform(0,1,0,0, -1,0,0,0, 0,0,1,0));
+			model.setImageSize(sizet);
+			data.setRGBDImage(rgb, depth, model);
+
+			std::vector<cv::KeyPoint> keypoints = data.keypoints();
+			for(size_t i=0; i<keypoints.size(); ++i)
+			{
+				keypoints[i].pt.x = rgb.cols - data.keypoints()[i].pt.y;
+				keypoints[i].pt.y = data.keypoints()[i].pt.x;
+			}
+			data.setFeatures(keypoints, data.keypoints3D(), cv::Mat());
+		}
+
+		rtabmap::Transform pose = info.odomPose;
+		data.setGroundTruth(Transform());
+
+		// convert stamp to epoch
+		bool firstFrame = previousPose_.isNull();
+		if(firstFrame)
+		{
+			stampEpochOffset_ = UTimer::now()-data.stamp();
+		}
+		data.setStamp(stampEpochOffset_ + data.stamp());
+		OdometryInfo info;
+		if(!firstFrame)
+		{
+			info.interval = data.stamp()-previousStamp_;
+			info.transform = previousPose_.inverse() * pose;
+		}
+		// linear cov = 0.0001
+		info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.0001);
+		if(!firstFrame)
+		{
+			// angular cov = 0.000001
+			info.reg.covariance.at<double>(3,3) *= 0.01;
+			info.reg.covariance.at<double>(4,4) *= 0.01;
+			info.reg.covariance.at<double>(5,5) *= 0.01;
+		}
+		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())
+	{
+		LOGW("Odometry lost");
+		this->post(new OdometryEvent());
+	}
+}
+
+SensorData CameraMobile::captureImage(CameraInfo * info)
+{
+	if(info)
+	{
+		info->odomPose = pose_;
+	}
+	return data_;
+}
+
+} /* namespace rtabmap */

app/android/jni/CameraMobile.h

@@ -0,0 +1,134 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef CAMERAMOBILE_H_
+#define CAMERAMOBILE_H_
+
+#include <rtabmap/core/Camera.h>
+#include <rtabmap/core/GeodeticCoords.h>
+#include <rtabmap/utilite/UMutex.h>
+#include <rtabmap/utilite/USemaphore.h>
+#include <rtabmap/utilite/UEventsSender.h>
+#include <rtabmap/utilite/UThread.h>
+#include <rtabmap/utilite/UEvent.h>
+#include <rtabmap/utilite/UTimer.h>
+#include <boost/thread/mutex.hpp>
+#include "util.h"
+
+namespace rtabmap {
+
+class CameraInfoEvent: public UEvent
+{
+public:
+	CameraInfoEvent(int type, const std::string & key, const std::string & value) : type_(type), key_(key), value_(value) {}
+	virtual std::string getClassName() const {return "CameraInfoEvent";}
+	int type() const {return type_;}
+	const std::string & key() const {return key_;}
+	const std::string & value() const {return value_;}
+
+private:
+	int type_;
+	std::string key_;
+	std::string value_;
+
+};
+
+class PoseEvent: public UEvent
+{
+public:
+	PoseEvent(const Transform & pose) : pose_(pose) {}
+	virtual std::string getClassName() const {return "PoseEvent";}
+	const Transform & pose() const {return pose_;}
+
+private:
+	Transform pose_;
+};
+
+class CameraMobile : public Camera, public UThread, public UEventsSender {
+public:
+	static const float bilateralFilteringSigmaS;
+	static const float bilateralFilteringSigmaR;
+
+	static const rtabmap::Transform opticalRotation;
+	static const rtabmap::Transform opticalRotationInv;
+
+public:
+	CameraMobile(bool smoothing = false);
+	virtual ~CameraMobile();
+
+	// abstract functions
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	virtual void close(); // inherited classes should call its parent in their close().
+	virtual std::string getSerial() const {return "CameraMobile";}
+
+	const Transform & getOriginOffset() const {return originOffset_;} // in rtabmap frame
+	void resetOrigin();
+	virtual bool isCalibrated() const;
+
+	void poseReceived(const Transform & pose); // in rtabmap frame
+
+	const CameraModel & getCameraModel() const {return model_;}
+	const Transform & getDeviceTColorCamera() const {return deviceTColorCamera_;}
+	void setSmoothing(bool enabled) {smoothing_ = enabled;}
+	virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height) {colorCameraToDisplayRotation_ = colorCameraToDisplayRotation;}
+	void setGPS(const GPS & gps);
+	void addEnvSensor(int type, float value);
+	void setData(const SensorData & data, const Transform & pose);
+
+	void spinOnce(); // Should only be called if not thread is not running, otherwise it does nothing
+
+protected:
+	virtual SensorData captureImage(CameraInfo * info = 0);
+	virtual void capturePoseOnly() {}
+
+	virtual void mainLoopBegin();
+	virtual void mainLoop();
+
+protected:
+	CameraModel model_; // local transform is the device to camera optical rotation in rtabmap frame
+	Transform deviceTColorCamera_; // device to camera optical rotation in rtabmap frame
+	UTimer spinOnceFrameRateTimer_;
+	double spinOncePreviousStamp_;
+
+private:
+	Transform previousPose_;
+	double previousStamp_;
+	UTimer cameraStartedTime_;
+	double stampEpochOffset_;
+	bool smoothing_;
+	ScreenRotation colorCameraToDisplayRotation_;
+	GPS lastKnownGPS_;
+	EnvSensors lastEnvSensors_;
+	Transform originOffset_;
+	bool originUpdate_;
+
+	SensorData data_;
+	Transform pose_;
+};
+
+} /* namespace rtabmap */
+#endif /* CAMERATANGO_H_ */

app/android/jni/CameraTango.cpp

@@ -91,7 +91,7 @@ void onPoseAvailableRouter(void* context, const TangoPoseData* pose)
 	if(pose->status_code == TANGO_POSE_VALID)
 	{
 		CameraTango* app = static_cast<CameraTango*>(context);
-		app->poseReceived(app->tangoPoseToTransform(pose));
+		app->poseReceived(rtabmap_world_T_tango_world * app->tangoPoseToTransform(pose) * tango_device_T_rtabmap_world);
 	}
 }
 
@@ -104,23 +104,15 @@ void onTangoEventAvailableRouter(void* context, const TangoEvent* event)
 //////////////////////////////
 // CameraTango
 //////////////////////////////
-const float CameraTango::bilateralFilteringSigmaS = 2.0f;
-const float CameraTango::bilateralFilteringSigmaR = 0.075f;
-
 CameraTango::CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing) :
-		Camera(0),
+		CameraMobile(smoothing),
 		tango_config_(0),
-		previousStamp_(0.0),
-		stampEpochOffset_(0.0),
 		colorCamera_(colorCamera),
 		decimation_(decimation),
 		rawScanPublished_(publishRawScan),
-		smoothing_(smoothing),
 		cloudStamp_(0),
 		tangoColorType_(0),
-		tangoColorStamp_(0),
-		colorCameraToDisplayRotation_(ROTATION_0),
-		originUpdate_(false)
+		tangoColorStamp_(0)
 {
 	UASSERT(decimation >= 1);
 }
@@ -350,6 +342,7 @@ bool CameraTango::init(const std::string & calibrationFolder, const std::string
 			pose_data.orientation[1],
 			pose_data.orientation[2],
 			pose_data.orientation[3]);
+	deviceTColorCamera_ = rtabmap_world_T_opengl_world * deviceTColorCamera_;
 
 	// camera intrinsic
 	TangoCameraIntrinsics color_camera_intrinsics;
@@ -408,18 +401,14 @@ bool CameraTango::init(const std::string & calibrationFolder, const std::string
 	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
+			deviceTColorCamera_);
 
 	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());
-
-	cameraStartedTime_.restart();
-
+	LOGI("deviceTColorCameraRtabmap  =%s", deviceTColorCamera_.prettyPrint().c_str());
 	return true;
 }
 
@@ -433,19 +422,10 @@ void CameraTango::close()
 		TangoService_disconnect();
 		LOGI("TangoService_disconnect() done.");
 	}
-	previousPose_.setNull();
-	previousStamp_ = 0.0;
 	fisheyeRectifyMapX_ = cv::Mat();
 	fisheyeRectifyMapY_ = cv::Mat();
-	lastKnownGPS_ = GPS();
-	lastEnvSensors_.clear();
-	originOffset_ = Transform();
-	originUpdate_ = false;
-}
 
-void CameraTango::resetOrigin()
-{
-	originUpdate_ = true;
+	CameraMobile::close();
 }
 
 void CameraTango::cloudReceived(const cv::Mat & cloud, double timestamp)
@@ -500,40 +480,9 @@ void CameraTango::rgbReceived(const cv::Mat & tangoImage, int type, double times
 	}
 }
 
-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())
-	{
-		// send pose of the camera (without optical rotation), not the device
-		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));
-		}
-	}
-}
-
 void CameraTango::tangoEventReceived(int type, const char * key, const char * value)
 {
-	this->post(new CameraTangoEvent(type, key, value));
-}
-
-bool CameraTango::isCalibrated() const
-{
-	return model_.isValidForProjection();
+	this->post(new CameraInfoEvent(type, key, value));
 }
 
 std::string CameraTango::getSerial() const
@@ -541,16 +490,6 @@ std::string CameraTango::getSerial() const
 	return "Tango";
 }
 
-void CameraTango::setGPS(const GPS & gps)
-{
-	lastKnownGPS_ = gps;
-}
-
-void CameraTango::addEnvSensor(int type, float value)
-{
-	lastEnvSensors_.insert(std::make_pair((EnvSensor::Type)type, EnvSensor((EnvSensor::Type)type, value)));
-}
-
 rtabmap::Transform CameraTango::tangoPoseToTransform(const TangoPoseData * tangoPose) const
 {
 	UASSERT(tangoPose);
@@ -594,7 +533,7 @@ rtabmap::Transform CameraTango::getPoseAtTimestamp(double timestamp)
 	else
 	{
 
-		pose = tangoPoseToTransform(&pose_start_service_T_device);
+		pose = rtabmap_world_T_tango_world * tangoPoseToTransform(&pose_start_service_T_device) * tango_device_T_rtabmap_world;
 	}
 
 	return pose;
@@ -610,7 +549,7 @@ SensorData CameraTango::captureImage(CameraInfo * info)
 		if(this->isRunning())
 		{
 			LOGE("Not received any frames since 2 seconds, try to restart the camera again.");
-			this->post(new CameraTangoEvent(0, "CameraTango", "No frames received since 2 seconds."));
+			this->post(new CameraInfoEvent(0, "CameraTango", "No frames received since 2 seconds."));
 
 			boost::mutex::scoped_lock  lock(dataMutex_);
 			if(!cloud_.empty() && !tangoColor_.empty())
@@ -804,7 +743,7 @@ SensorData CameraTango::captureImage(CameraInfo * info)
 
 			if(closePoints > 100)
 			{
-				this->post(new CameraTangoEvent(0, "TooClose", ""));
+				this->post(new CameraInfoEvent(0, "TooClose", ""));
 			}
 
 			if(oi)
@@ -822,78 +761,23 @@ SensorData CameraTango::captureImage(CameraInfo * info)
 		{
 			depth = rtabmap::util2d::fillDepthHoles(depth, holeSize, maxDepthError);
 
-			Transform poseDevice = getPoseAtTimestamp(rgbStamp);
-
-			// adjust origin
-			if(!originOffset_.isNull())
-			{
-				poseDevice = originOffset_ * poseDevice;
-			}
+			Transform odom = getPoseAtTimestamp(rgbStamp);
 
 			//LOGD("Local    = %s", model.localTransform().prettyPrint().c_str());
 			//LOGD("tango    = %s", poseDevice.prettyPrint().c_str());
 			//LOGD("opengl(t)= %s", (opengl_world_T_tango_world * poseDevice).prettyPrint().c_str());
 
-			//Rotate in RTAB-Map's coordinate
-			Transform odom = rtabmap_world_T_tango_world * poseDevice * tango_device_T_rtabmap_device;
+			// adjust origin
+			if(!getOriginOffset().isNull())
+			{
+				odom = getOriginOffset() * odom;
+			}
 
 			//LOGD("rtabmap  = %s", odom.prettyPrint().c_str());
 			//LOGD("opengl(r)= %s", (opengl_world_T_rtabmap_world * odom * rtabmap_device_T_opengl_device).prettyPrint().c_str());
 
 			Transform scanLocalTransform = model.localTransform();
 
-			// 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);
-				//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);
@@ -902,22 +786,7 @@ SensorData CameraTango::captureImage(CameraInfo * info)
 			{
 				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());
-			}
-
-			if(lastEnvSensors_.size())
-			{
-				data.setEnvSensors(lastEnvSensors_);
-				lastEnvSensors_.clear();
-			}
+			info->odomPose = odom;
 		}
 		else
 		{
@@ -928,64 +797,4 @@ SensorData CameraTango::captureImage(CameraInfo * info)
 
 }
 
-void CameraTango::mainLoopBegin()
-{
-	double t = cameraStartedTime_.elapsed();
-	if(t < 5.0)
-	{
-		uSleep((5.0-t)*1000); // just to make sure that the camera is started
-	}
-}
-
-void CameraTango::mainLoop()
-{
-	if(tango_config_)
-	{
-		SensorData data = this->captureImage();
-
-		if(!data.groundTruth().isNull())
-		{
-			rtabmap::Transform pose = data.groundTruth();
-			data.setGroundTruth(Transform());
-
-			// convert stamp to epoch
-			bool firstFrame = previousPose_.isNull();
-			if(firstFrame)
-			{
-				stampEpochOffset_ = UTimer::now()-data.stamp();
-			}
-			data.setStamp(stampEpochOffset_ + data.stamp());
-			OdometryInfo info;
-			if(!firstFrame)
-			{
-				info.interval = data.stamp()-previousStamp_;
-				info.transform = previousPose_.inverse() * pose;
-			}
-			// linear cov = 0.0001
-			info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.0001);
-			if(!firstFrame)
-			{
-				// angular cov = 0.000001
-				info.reg.covariance.at<double>(3,3) *= 0.01;
-				info.reg.covariance.at<double>(4,4) *= 0.01;
-				info.reg.covariance.at<double>(5,5) *= 0.01;
-			}
-			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())
-		{
-			LOGW("Odometry lost");
-			this->post(new OdometryEvent());
-		}
-	}
-	else
-	{
-		UERROR("Camera not initialized, cannot start thread.");
-		this->kill();
-	}
-}
-
 } /* namespace rtabmap */

app/android/jni/CameraTango.h

@@ -28,6 +28,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef CAMERATANGO_H_
 #define CAMERATANGO_H_
 
+#include "CameraMobile.h"
 #include <rtabmap/core/Camera.h>
 #include <rtabmap/core/GeodeticCoords.h>
 #include <rtabmap/utilite/UMutex.h>
@@ -37,66 +38,26 @@ 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_client_api.h>
 #include <tango_support_api.h>
 
-class TangoPoseData;
-
 namespace rtabmap {
 
-class PoseEvent: public UEvent
-{
-public:
-	PoseEvent(const Transform & pose) : pose_(pose) {}
-	virtual std::string getClassName() const {return "PoseEvent";}
-	const Transform & pose() const {return pose_;}
-
-private:
-	Transform pose_;
-};
-
-class CameraTangoEvent: public UEvent
-{
-public:
-	CameraTangoEvent(int type, const std::string & key, const std::string & value) : type_(type), key_(key), value_(value) {}
-	virtual std::string getClassName() const {return "CameraTangoEvent";}
-	int type() const {return type_;}
-	const std::string & key() const {return key_;}
-	const std::string & value() const {return value_;}
-
-private:
-	int type_;
-	std::string key_;
-	std::string value_;
-
-};
-
-class CameraTango : public Camera, public UThread, public UEventsSender {
-public:
-	static const float bilateralFilteringSigmaS;
-	static const float bilateralFilteringSigmaR;
-
+class CameraTango : public CameraMobile {
 public:
 	CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing);
 	virtual ~CameraTango();
 
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
-	void close(); // close Tango connection
-	void resetOrigin();
-	virtual bool isCalibrated() const;
+	virtual void close(); // close Tango connection
 	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 setSmoothing(bool enabled) {smoothing_ = enabled;}
 	void setRawScanPublished(bool enabled) {rawScanPublished_ = enabled;}
-	void setScreenRotation(TangoSupportRotation colorCameraToDisplayRotation) {colorCameraToDisplayRotation_ = colorCameraToDisplayRotation;}
-	void setGPS(const GPS & gps);
-	void addEnvSensor(int type, float value);
 
 	void cloudReceived(const cv::Mat & cloud, double timestamp);
 	void rgbReceived(const cv::Mat & tangoImage, int type, double timestamp);
-	void poseReceived(const Transform & pose);
 	void tangoEventReceived(int type, const char * key, const char * value);
 
 protected:
@@ -105,19 +66,11 @@ protected:
 private:
 	rtabmap::Transform getPoseAtTimestamp(double timestamp);
 
-	virtual void mainLoopBegin();
-	virtual void mainLoop();
-
 private:
 	void * tango_config_;
-	Transform previousPose_;
-	double previousStamp_;
-	UTimer cameraStartedTime_;
-	double stampEpochOffset_;
 	bool colorCamera_;
 	int decimation_;
 	bool rawScanPublished_;
-	bool smoothing_;
 	cv::Mat cloud_;
 	double cloudStamp_;
 	cv::Mat tangoColor_;
@@ -125,15 +78,8 @@ private:
 	double tangoColorStamp_;
 	boost::mutex dataMutex_;
 	USemaphore dataReady_;
-	CameraModel model_;
-	Transform deviceTColorCamera_;
-	TangoSupportRotation colorCameraToDisplayRotation_;
 	cv::Mat fisheyeRectifyMapX_;
 	cv::Mat fisheyeRectifyMapY_;
-	GPS lastKnownGPS_;
-	EnvSensors lastEnvSensors_;
-	Transform originOffset_;
-	bool originUpdate_;
 };
 
 } /* namespace rtabmap */

app/android/jni/RTABMapApp.h

@@ -31,11 +31,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <jni.h>
 #include <memory>
 
-#include <tango_client_api.h>  // NOLINT
 #include <tango-gl/util.h>
 
 #include "scene.h"
-#include "CameraTango.h"
+#include "CameraMobile.h"
 #include "util.h"
 #include "ProgressionStatus.h"
 
@@ -45,43 +44,20 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/pcl_base.h>
 #include <pcl/TextureMesh.h>
 
+
 // RTABMapApp handles the application lifecycle and resources.
 class RTABMapApp : public UEventsHandler {
  public:
   // Constructor and deconstructor.
-  RTABMapApp();
+  RTABMapApp(JNIEnv* env, jobject caller_activity);
   ~RTABMapApp();
 
-  void onCreate(JNIEnv* env, jobject caller_activity);
-
   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);
-
-  // Explicitly reset motion tracking and restart the pipeline.
-  // Note that this will cause motion tracking to re-initialize.
-  void TangoResetMotionTracking();
-
-  // Tango Service point cloud callback function for depth data. Called when new
-  // new point cloud data is available from the Tango Service.
-  //
-  // @param pose: The current point cloud returned by the service,
-  //              caller allocated.
-  void onPointCloudAvailable(const TangoXYZij* xyz_ij);
-
-  // Tango service pose callback function for pose data. Called when new
-  // information about device pose is available from the Tango Service.
-  //
-  // @param pose: The current pose returned by the service, caller allocated.
-  void onPoseAvailable(const TangoPoseData* pose);
-
-  // Tango service event callback function for event data. Called when new events
-  // are available from the Tango Service.
-  //
-  // @param event: Tango event, caller allocated.
-  void onTangoEventAvailable(const TangoEvent* event);
+  bool isBuiltWith(int cameraDriver) const;
+  bool startCamera(JNIEnv* env, jobject iBinder, jobject context, jobject activity, int driver);
 
   // Allocate OpenGL resources for rendering, mainly for initializing the Scene.
   void InitializeGLContent();
@@ -92,8 +68,7 @@ class RTABMapApp : public UEventsHandler {
   // Main render loop.
   int Render();
 
-  // Release all non-OpenGL allocated resources.
-  void onPause();
+  void stopCamera();
 
   // Set render camera's viewing angle, first person, third person or top down.
   //
@@ -135,6 +110,7 @@ class RTABMapApp : public UEventsHandler {
   void setCameraColor(bool enabled);
   void setFullResolution(bool enabled);
   void setSmoothing(bool enabled);
+  void setDepthFromMotion(bool enabled);
   void setAppendMode(bool enabled);
   void setDataRecorderMode(bool enabled);
   void setMaxCloudDepth(float value);
@@ -150,7 +126,6 @@ class RTABMapApp : public UEventsHandler {
   void setGPS(const rtabmap::GPS & gps);
   void addEnvSensor(int type, float value);
 
-  void resetMapping();
   void save(const std::string & databasePath);
   void cancelProcessing();
   bool exportMesh(
@@ -174,21 +149,33 @@ class RTABMapApp : public UEventsHandler {
   bool writeExportedMesh(const std::string & directory, const std::string & name);
   int postProcessing(int approach);
 
+  void postCameraPoseEvent(
+  		float x, float y, float z, float qx, float qy, float qz, float qw);
+
+  void postOdometryEvent(
+  		float x, float y, float z, float qx, float qy, float qz, float qw,
+  		float fx, float fy, float cx, float cy,
+  		double stamp,
+		void * yPlane, void * uPlane, void * vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
+  		void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
+		float * points, int pointsLen);
+
  protected:
   virtual bool handleEvent(UEvent * event);
 
  private:
   rtabmap::ParametersMap getRtabmapParameters();
-  bool smoothMesh(int id, Mesh & mesh);
+  bool smoothMesh(int id, rtabmap::Mesh & mesh);
   void gainCompensation(bool full = false);
   std::vector<pcl::Vertices> filterOrganizedPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
   std::vector<pcl::Vertices> filterPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
 
  private:
-  rtabmap::CameraTango * camera_;
+  int cameraDriver_;
+  rtabmap::CameraMobile * camera_;
   rtabmap::RtabmapThread * rtabmapThread_;
   rtabmap::Rtabmap * rtabmap_;
-  LogHandler * logHandler_;
+  rtabmap::LogHandler * logHandler_;
 
   bool odomCloudShown_;
   bool graphOptimization_;
@@ -197,6 +184,7 @@ class RTABMapApp : public UEventsHandler {
   bool trajectoryMode_;
   bool rawScanSaved_;
   bool smoothing_;
+  bool depthFromMotion_;
   bool cameraColor_;
   bool fullResolution_;
   bool appendMode_;
@@ -212,7 +200,6 @@ class RTABMapApp : public UEventsHandler {
 
   rtabmap::ParametersMap mappingParameters_;
 
-  bool paused_;
   bool dataRecorderMode_;
   bool clearSceneOnNextRender_;
   bool openingDatabase_;
@@ -244,14 +231,13 @@ class RTABMapApp : public UEventsHandler {
   Scene main_scene_;
 
 	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 cameraMutex_;
 	boost::mutex rtabmapMutex_;
-	boost::mutex visLocalizationMutex_;
 	boost::mutex meshesMutex_;
 	boost::mutex odomMutex_;
 	boost::mutex poseMutex_;
@@ -259,7 +245,7 @@ class RTABMapApp : public UEventsHandler {
 
 	USemaphore screenshotReady_;
 
-	std::map<int, Mesh> createdMeshes_;
+	std::map<int, rtabmap::Mesh> createdMeshes_;
 	std::map<int, rtabmap::Transform> rawPoses_;
 
 	std::pair<rtabmap::RtabmapEventInit::Status, std::string> status_;

app/android/jni/background_renderer.cc

@@ -0,0 +1,92 @@
+/*
+ * Copyright 2018 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+// This modules handles drawing the passthrough camera image into the OpenGL
+// scene.
+
+#include "background_renderer.h"
+
+#include <type_traits>
+
+namespace {
+
+const std::string kVertexShader =
+		"attribute vec4 a_Position;\n"
+		"attribute vec2 a_TexCoord;\n"
+
+		"varying vec2 v_TexCoord;\n"
+
+		"void main() {\n"
+		"   gl_Position = a_Position;\n"
+		"   v_TexCoord = a_TexCoord;\n"
+		"}\n";
+
+const std::string kFragmentShader =
+	"#extension GL_OES_EGL_image_external : require\n"
+
+	"precision mediump float;\n"
+	"varying vec2 v_TexCoord;\n"
+	"uniform samplerExternalOES sTexture;\n"
+
+	"void main() {\n"
+	"    vec4 sample = texture2D(sTexture, v_TexCoord);\n"
+	"    float grey = 0.21 * sample.r + 0.71 * sample.g + 0.07 * sample.b;\n"
+	"    gl_FragColor = vec4(grey, grey, grey, 0.5);\n"
+	"}\n";
+
+}  // namespace
+
+void BackgroundRenderer::InitializeGlContent(GLuint textureId)
+{
+  texture_id_ = textureId;
+
+  shader_program_ = tango_gl::util::CreateProgram(kVertexShader.c_str(), kFragmentShader.c_str());
+  if (!shader_program_) {
+    LOGE("Could not create program.");
+  }
+  glUseProgram(shader_program_);
+  attribute_vertices_ = glGetAttribLocation(shader_program_, "a_Position");
+  attribute_uvs_ = glGetAttribLocation(shader_program_, "a_TexCoord");
+  glUseProgram(0);
+}
+
+void BackgroundRenderer::Draw(const float * transformed_uvs) {
+  static_assert(std::extent<decltype(BackgroundRenderer_kVertices)>::value == kNumVertices * 2, "Incorrect kVertices length");
+
+  glUseProgram(shader_program_);
+  glDepthMask(GL_FALSE);
+  glEnable (GL_BLEND);
+
+  glActiveTexture(GL_TEXTURE0);
+  glBindTexture(GL_TEXTURE_EXTERNAL_OES, texture_id_);
+
+  glVertexAttribPointer(attribute_vertices_, 2, GL_FLOAT, GL_FALSE, 0, BackgroundRenderer_kVertices);
+  glVertexAttribPointer(attribute_uvs_, 2, GL_FLOAT, GL_FALSE, 0, transformed_uvs);
+
+  glEnableVertexAttribArray(attribute_vertices_);
+  glEnableVertexAttribArray(attribute_uvs_);
+
+  glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
+
+  glDisableVertexAttribArray(attribute_vertices_);
+  glDisableVertexAttribArray(attribute_uvs_);
+
+  glUseProgram(0);
+  glDepthMask(GL_TRUE);
+  glDisable (GL_BLEND);
+  tango_gl::util::CheckGlError("BackgroundRenderer::Draw() error");
+}
+

app/android/jni/background_renderer.h

@@ -0,0 +1,58 @@
+/*
+ * Copyright 2018 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_
+#define C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_
+
+#include <GLES2/gl2.h>
+#include <GLES2/gl2ext.h>
+#include <cstdlib>
+
+#include "util.h"
+
+static const GLfloat BackgroundRenderer_kVertices[] = {
+	-1.0f, -1.0f, +1.0f, -1.0f, -1.0f, +1.0f, +1.0f, +1.0f,
+};
+
+// This class renders the passthrough camera image into the OpenGL frame.
+class BackgroundRenderer {
+public:
+	// Positions of the quad vertices in clip space (X, Y).
+
+	static constexpr int kNumVertices = 4;
+
+ public:
+  BackgroundRenderer() = default;
+  ~BackgroundRenderer() = default;
+
+  // Sets up OpenGL state.  Must be called on the OpenGL thread and before any
+  // other methods below.
+  void InitializeGlContent(GLuint textureId);
+
+  // Draws the background image.  This methods must be called for every ArFrame
+  // returned by ArSession_update() to catch display geometry change events.
+  void Draw(const float * transformed_uvs);
+
+ private:
+
+  GLuint shader_program_;
+  GLuint texture_id_;
+
+  GLuint attribute_vertices_;
+  GLuint attribute_uvs_;
+};
+
+#endif  // C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_

app/android/jni/point_cloud_drawable.cpp

@@ -318,7 +318,7 @@ PointCloudDrawable::PointCloudDrawable(
 }
 
 PointCloudDrawable::PointCloudDrawable(
-		const Mesh & mesh,
+		const rtabmap::Mesh & mesh,
 		bool createWireframe) :
 				vertex_buffers_(0),
 				textures_(0),
@@ -525,7 +525,7 @@ void PointCloudDrawable::updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Pt
 	nPoints_ = totalPoints;
 }
 
-void PointCloudDrawable::updateMesh(const Mesh & mesh, bool createWireframe)
+void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWireframe)
 {
 	UASSERT(mesh.cloud.get() && !mesh.cloud->empty());
 	nPoints_ = 0;

app/android/jni/point_cloud_drawable.h

@@ -55,13 +55,13 @@ private:
 		  float gainG = 1.0f,
 		  float gainB = 1.0f);
   PointCloudDrawable(
-    	  const Mesh & mesh,
+    	  const rtabmap::Mesh & mesh,
 		  bool createWireframe = false);
   virtual ~PointCloudDrawable();
 
   void updatePolygons(const std::vector<pcl::Vertices> & polygons, const std::vector<pcl::Vertices> & polygonsLowRes = std::vector<pcl::Vertices>(), bool createWireframe = false);
   void updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const pcl::IndicesPtr & indices);
-  void updateMesh(const Mesh & mesh, bool createWireframe = false);
+  void updateMesh(const rtabmap::Mesh & mesh, bool createWireframe = false);
   void setPose(const rtabmap::Transform & pose);
   void setVisible(bool visible) {visible_=visible;}
   void setGains(float gainR, float gainG, float gainB) {gainR_ = gainR; gainG_ = gainG; gainB_ = gainB;}

app/android/jni/scene.cpp

@@ -69,6 +69,7 @@ const std::string kGraphFragmentShader =
 
 
 Scene::Scene() :
+		background_renderer_(0),
 		gesture_camera_(0),
 		axis_(0),
 		frustum_(0),
@@ -79,7 +80,8 @@ Scene::Scene() :
 		graphVisible_(true),
 		gridVisible_(true),
 		traceVisible_(true),
-		color_camera_to_display_rotation_(ROTATION_0),
+		frustumVisible_(true),
+		color_camera_to_display_rotation_(rtabmap::ROTATION_0),
 		currentPose_(0),
 		graph_shader_program_(0),
 		blending_(true),
@@ -108,6 +110,7 @@ Scene::Scene() :
 Scene::~Scene() {
 	DeleteResources();
 	delete gesture_camera_;
+	delete currentPose_;
 }
 
 //Should only be called in OpenGL thread!
@@ -126,7 +129,6 @@ void Scene::InitGLContent()
 	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));
@@ -158,8 +160,9 @@ void Scene::DeleteResources() {
 		delete frustum_;
 		delete trace_;
 		delete grid_;
-		delete currentPose_;
 		delete box_;
+		delete background_renderer_;
+		background_renderer_ = 0;
 	}
 
 	PointCloudDrawable::releaseShaderPrograms();
@@ -364,9 +367,13 @@ bool intersectFrustumAABB(
 }
 
 //Should only be called in OpenGL thread!
-int Scene::Render() {
+int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat4 arProjectionMatrix, const rtabmap::Mesh & occlusionMesh) {
 	UASSERT(gesture_camera_ != 0);
 
+	if(currentPose_ == 0)
+	{
+		currentPose_ = new rtabmap::Transform(0,0,0,0,0,-M_PI/2.0f);
+	}
 	glm::vec3 position(currentPose_->x(), currentPose_->y(), currentPose_->z());
 	Eigen::Quaternionf quat = currentPose_->getQuaternionf();
 	glm::quat rotation(quat.w(), quat.x(), quat.y(), quat.z());
@@ -391,6 +398,17 @@ int Scene::Render() {
 	glm::mat4 projectionMatrix = gesture_camera_->GetProjectionMatrix();
 	glm::mat4 viewMatrix = gesture_camera_->GetViewMatrix();
 
+	bool renderBackgroundCamera =
+			background_renderer_ &&
+			gesture_camera_->GetCameraType() == tango_gl::GestureCamera::kFirstPerson &&
+			!rtabmap::glmToTransform(arProjectionMatrix).isNull() &&
+			uvsTransformed;
+	if(renderBackgroundCamera)
+	{
+		projectionMatrix = arProjectionMatrix;
+		viewMatrix = arViewMatrix;
+	}
+
 	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(
@@ -440,7 +458,7 @@ int Scene::Render() {
 
 	UTimer timer;
 
-	bool onlineBlending = blending_ && gesture_camera_->GetCameraType()!=tango_gl::GestureCamera::kTopOrtho && mapRendering_ && meshRendering_ && cloudsToDraw.size()>1;
+	bool onlineBlending = (renderBackgroundCamera && occlusionMesh.cloud.get() && occlusionMesh.cloud->size()) || (blending_ && gesture_camera_->GetCameraType()!=tango_gl::GestureCamera::kTopOrtho && mapRendering_ && meshRendering_ && cloudsToDraw.size()>1);
 	if(onlineBlending && fboId_)
 	{
 		// set the rendering destination to FBO
@@ -450,11 +468,19 @@ int Scene::Render() {
 		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(renderBackgroundCamera)
 		{
-			// set large distance to cam to use low res polygons for fast processing
-			(*iter)->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, false, false, 999.0f);
+			PointCloudDrawable drawable(occlusionMesh);
+			drawable.Render(projectionMatrix, viewMatrix, true, pointSize_, false, false, 999.0f);
+		}
+		else
+		{
+			// Draw scene
+			for(std::vector<PointCloudDrawable*>::const_iterator iter=cloudsToDraw.begin(); iter!=cloudsToDraw.end(); ++iter)
+			{
+				// set large distance to cam to use low res polygons for fast processing
+				(*iter)->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, false, false, 999.0f);
+			}
 		}
 
 		// back to normal window-system-provided framebuffer
@@ -491,9 +517,18 @@ int Scene::Render() {
 	glClearColor(r_, g_, b_, 1.0f);
 	glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 
+	if(renderBackgroundCamera)
+	{
+		background_renderer_->Draw(uvsTransformed);
+
+		//To debug occlusion image:
+		//PointCloudDrawable drawable(occlusionMesh);
+		//drawable.Render(projectionMatrix, viewMatrix, true, pointSize_, false, false, 999.0f);
+	}
+
 	if(!currentPose_->isNull())
 	{
-		if (gesture_camera_->GetCameraType() != tango_gl::GestureCamera::kFirstPerson)
+		if (frustumVisible_ && gesture_camera_->GetCameraType() != tango_gl::GestureCamera::kFirstPerson)
 		{
 			frustum_->SetPosition(position);
 			frustum_->SetRotation(rotation);
@@ -502,8 +537,13 @@ int Scene::Render() {
 			frustum_->SetScale(kFrustumScale);
 			frustum_->Render(projectionMatrix, viewMatrix);
 
-			axis_->SetPosition(position);
-			axis_->SetRotation(rotation);
+			rtabmap::Transform cameraFrame = *currentPose_*rtabmap::optical_T_opengl*rtabmap::CameraMobile::opticalRotationInv;
+			glm::vec3 positionCamera(cameraFrame.x(), cameraFrame.y(), cameraFrame.z());
+			Eigen::Quaternionf quatCamera = cameraFrame.getQuaternionf();
+			glm::quat rotationCamera(quatCamera.w(), quatCamera.x(), quatCamera.y(), quatCamera.z());
+
+			axis_->SetPosition(positionCamera);
+			axis_->SetRotation(rotationCamera);
 			axis_->Render(projectionMatrix, viewMatrix);
 		}
 
@@ -512,11 +552,11 @@ int Scene::Render() {
 		{
 			trace_->Render(projectionMatrix, viewMatrix);
 		}
+	}
 
-		if(gridVisible_)
-		{
-			grid_->Render(projectionMatrix, viewMatrix);
-		}
+	if(gridVisible_ && !renderBackgroundCamera)
+	{
+		grid_->Render(projectionMatrix, viewMatrix);
 	}
 
 	if(graphVisible_ && graph_)
@@ -571,8 +611,11 @@ void Scene::SetCameraType(tango_gl::GestureCamera::CameraType camera_type) {
 
 void Scene::SetCameraPose(const rtabmap::Transform & pose)
 {
-	UASSERT(currentPose_ != 0);
 	UASSERT(!pose.isNull());
+	if(currentPose_ ==0)
+	{
+		currentPose_ = new rtabmap::Transform(0,0,0,0,0,-M_PI/2.0f);
+	}
 	*currentPose_ = pose;
 }
 
@@ -600,7 +643,7 @@ rtabmap::Transform Scene::GetOpenGLCameraPose(float * fov) const
 	{
 		*fov = gesture_camera_->getFOV();
 	}
-	return glmToTransform(gesture_camera_->GetTransformationMatrix());
+	return rtabmap::glmToTransform(gesture_camera_->GetTransformationMatrix());
 }
 
 void Scene::OnTouchEvent(int touch_count,
@@ -658,6 +701,11 @@ void Scene::setTraceVisible(bool visible)
 	traceVisible_ = visible;
 }
 
+void Scene::setFrustumVisible(bool visible)
+{
+	frustumVisible_ = visible;
+}
+
 //Should only be called in OpenGL thread!
 void Scene::addMarker(
 		int id,
@@ -728,7 +776,7 @@ void Scene::addCloud(
 
 void Scene::addMesh(
 		int id,
-		const Mesh & mesh,
+		const rtabmap::Mesh & mesh,
 		const rtabmap::Transform & pose,
 		bool createWireframe)
 {
@@ -847,7 +895,7 @@ void Scene::updateCloudPolygons(int id, const std::vector<pcl::Vertices> & polyg
 	}
 }
 
-void Scene::updateMesh(int id, const Mesh & mesh)
+void Scene::updateMesh(int id, const rtabmap::Mesh & mesh)
 {
 	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
 	if(iter != pointClouds_.end())

app/android/jni/scene.h

@@ -21,7 +21,7 @@
 #include <memory>
 #include <set>
 
-#include <tango_client_api.h>  // NOLINT
+#include "CameraMobile.h"
 #include <tango-gl/axis.h>
 #include <tango-gl/camera.h>
 #include <tango-gl/color.h>
@@ -38,6 +38,7 @@
 #include <point_cloud_drawable.h>
 #include <graph_drawable.h>
 #include <bounding_box_drawable.h>
+#include <background_renderer.h>
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -60,7 +61,8 @@ class Scene {
   int getViewPortWidth() const {return screenWidth_;}
   int getViewPortHeight() const {return screenHeight_;}
 
-  void setScreenRotation(TangoSupportRotation colorCameraToDisplayRotation) {color_camera_to_display_rotation_ = colorCameraToDisplayRotation;}
+  rtabmap::ScreenRotation getScreenRotation() const {return color_camera_to_display_rotation_;}
+  void setScreenRotation(rtabmap::ScreenRotation colorCameraToDisplayRotation) {color_camera_to_display_rotation_ = colorCameraToDisplayRotation;}
 
   void clear(); // removed all point clouds
 
@@ -70,15 +72,16 @@ class Scene {
   //         frame's timestamp.
   // @param: point_cloud_vertices, point cloud's vertices of the current point
   //         frame.
-  int Render();
+  int Render(const float * uvsTransformed = 0, glm::mat4 arViewMatrix = glm::mat4(0), glm::mat4 arProjectionMatrix=glm::mat4(0), const rtabmap::Mesh & occlusionMesh=rtabmap::Mesh());
 
   // Set render camera's viewing angle, first person, third person or top down.
   //
   // @param: camera_type, camera type includes first person, third person and
   //         top down
   void SetCameraType(tango_gl::GestureCamera::CameraType camera_type);
+  tango_gl::GestureCamera::CameraType GetCameraType() const {return gesture_camera_->GetCameraType();}
 
-  void SetCameraPose(const rtabmap::Transform & pose);
+  void SetCameraPose(const rtabmap::Transform & pose); // opengl camera
   rtabmap::Transform GetCameraPose() const {return currentPose_!=0?*currentPose_:rtabmap::Transform();}
   rtabmap::Transform GetOpenGLCameraPose(float * fov = 0) const;
 
@@ -101,6 +104,7 @@ class Scene {
   void setGraphVisible(bool visible);
   void setGridVisible(bool visible);
   void setTraceVisible(bool visible);
+  void setFrustumVisible(bool visible);
 
   void addMarker(int id, const rtabmap::Transform & pose);
   void setMarkerPose(int id, const rtabmap::Transform & pose);
@@ -115,7 +119,7 @@ class Scene {
   		  const rtabmap::Transform & pose);
   void addMesh(
   		int id,
-  		const Mesh & mesh,
+  		const rtabmap::Mesh & mesh,
   		const rtabmap::Transform & pose,
 		bool createWireframe = false);
 
@@ -126,7 +130,7 @@ 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);
+  void updateMesh(int id, const rtabmap::Mesh & mesh);
   void updateGains(int id, float gainR, float gainG, float gainB);
 
   void setBlending(bool enabled) {blending_ = enabled;}
@@ -150,6 +154,8 @@ class Scene {
   bool isLighting() const {return lighting_;}
   bool isBackfaceCulling() const {return backfaceCulling_;}
 
+  BackgroundRenderer * background_renderer_;
+
  private:
   // Camera object that allows user to use touch input to interact with.
   tango_gl::GestureCamera* gesture_camera_;
@@ -172,10 +178,11 @@ class Scene {
   bool graphVisible_;
   bool gridVisible_;
   bool traceVisible_;
+  bool frustumVisible_;
 
   std::map<int, tango_gl::Axis*> markers_;
 
-  TangoSupportRotation color_camera_to_display_rotation_;
+  rtabmap::ScreenRotation color_camera_to_display_rotation_;
 
   std::map<int, PointCloudDrawable*> pointClouds_;
 

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

@@ -18,11 +18,14 @@
 namespace tango_gl {
 
 static const float float_vertices[] = {
-    0.0f,  0.0f,  0.0f,  -1.0f, 1.0f,  -1.0f, 0.0f,  0.0f,  0.0f,  1.0f,
-    1.0f,  -1.0f, 0.0f,  0.0f,  0.0f,  -1.0f, -1.0f, -1.0f, 0.0f,  0.0f,
-    0.0f,  1.0f,  -1.0f, -1.0f, -1.0f, 1.0f,  -1.0f, 1.0f,  1.0f,  -1.0f,
-    1.0f,  1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, 1.0f,  -1.0f, -1.0f, -1.0f,
-    -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f,  -1.0f};
+    0.0f,  0.0f,  0.0f,  -1.0f, 1.0f,  -1.0f,
+	0.0f,  0.0f,  0.0f,  1.0f, 1.0f,  -1.0f,
+	0.0f,  0.0f,  0.0f,  -1.0f, -1.0f, -1.0f,
+	0.0f,  0.0f,  0.0f,  1.0f,  -1.0f, -1.0f,
+	-1.0f, 1.0f,  -1.0f, 1.0f,  1.0f,  -1.0f,
+    1.0f,  1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f,
+	1.0f,  -1.0f, -1.0f, -1.0f, -1.0f, -1.0f,
+	-1.0f, -1.0f, -1.0f, -1.0f, 1.0f,  -1.0f};
 
 Frustum::Frustum() : Line(3.0f, GL_LINES) {
   SetShader();

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

@@ -199,8 +199,8 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
       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 / 6.0f;
-      cam_cur_angle_.y = kThirdPersonFollow?0:M_PI / 4.0f;
+      cam_cur_angle_.x = -M_PI / 12.0f;
+      cam_cur_angle_.y = kThirdPersonFollow?0:M_PI / 2.0f;
       cam_cur_target_rot_ = glm::quat(1,0,0,0);
       StartCameraToCurrentTransform();
       break;

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

@@ -31,13 +31,17 @@ Grid::Grid(float density, int qx, int qy) : Line(1.0f, GL_LINES) {
 
   // Horizontal line.
   for (int i = 0; i < (qy + 1); i++) {
-    vec_vertices_.push_back(glm::vec3(-width, 0.0f, -height + i * density));
-    vec_vertices_.push_back(glm::vec3(width, 0.0f, -height + i * density));
+	  for (int j = 0; j < (qx + 1); j++) {
+		vec_vertices_.push_back(glm::vec3(-width + j*density, 0.0f, -height + i * density));
+		vec_vertices_.push_back(glm::vec3(-width+ + (j+1)*density, 0.0f, -height + i * density));
+	  }
   }
 
   for (int i = 0; i < (qx + 1); i++) {
-    vec_vertices_.push_back(glm::vec3(-width + i * density, 0.0f, -height));
-    vec_vertices_.push_back(glm::vec3(-width + i * density, 0.0f, height));
+	  for (int j = 0; j < (qy + 1); j++) {
+		vec_vertices_.push_back(glm::vec3(-width + i * density, 0.0f, -height + j*density));
+		vec_vertices_.push_back(glm::vec3(-width + i * density, 0.0f, -height + (j+1)*density));
+	  }
   }
 }
 }  // namespace tango_gl

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

@@ -25,7 +25,6 @@
 #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"
@@ -44,6 +43,7 @@
 #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__)
+#define LOGF(...) __android_log_print(ANDROID_LOG_FATAL,LOG_TAG,__VA_ARGS__)
 
 #ifndef M_PI
 #define M_PI 3.1415926f
@@ -84,32 +84,6 @@ namespace util {
 
   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

@@ -238,23 +238,4 @@ 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/util.h

@@ -39,6 +39,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/Vertices.h>
 #include <pcl/pcl_base.h>
 
+namespace rtabmap {
+
 class LogHandler : public UEventsHandler
 {
 public:
@@ -58,19 +60,23 @@ protected:
 			ULogEvent * logEvent = (ULogEvent*)event;
 			if(logEvent->getCode() == ULogger::kDebug)
 			{
-				LOGD(logEvent->getMsg().c_str());
+				LOGD("%s", logEvent->getMsg().c_str());
 			}
 			else if(logEvent->getCode() == ULogger::kInfo)
 			{
-				LOGI(logEvent->getMsg().c_str());
+				LOGI("%s", logEvent->getMsg().c_str());
 			}
 			else if(logEvent->getCode() == ULogger::kWarning)
 			{
-				LOGW(logEvent->getMsg().c_str());
+				LOGW("%s", logEvent->getMsg().c_str());
 			}
 			else if(logEvent->getCode() >= ULogger::kError)
 			{
-				LOGE(logEvent->getMsg().c_str());
+				LOGE("%s", logEvent->getMsg().c_str());
+			}
+			else if(logEvent->getCode() >= ULogger::kFatal)
+			{
+				LOGF("%s", logEvent->getMsg().c_str());
 			}
 
 		}
@@ -78,6 +84,11 @@ protected:
 	}
 };
 
+static const rtabmap::Transform optical_T_opengl(
+		1.0f,  0.0f,  0.0f, 0.0f,
+		0.0f, -1.0f,  0.0f, 0.0f,
+		0.0f,  0.0f, -1.0f, 0.0f);
+
 static const rtabmap::Transform opengl_world_T_tango_world(
 		1.0f,  0.0f,  0.0f, 0.0f,
 		0.0f,  0.0f,  1.0f, 0.0f,
@@ -88,20 +99,25 @@ static const rtabmap::Transform rtabmap_world_T_tango_world(
 	    -1.0f, 0.0f, 0.0f, 0.0f,
 		 0.0f, 0.0f, 1.0f, 0.0f);
 
-static const rtabmap::Transform tango_device_T_rtabmap_device(
+static const rtabmap::Transform tango_device_T_rtabmap_world(
 		 0.0f, -1.0f, 0.0f, 0.0f,
 	     0.0f,  0.0f, 1.0f, 0.0f,
 		-1.0f,  0.0f, 0.0f, 0.0f);
 
+static const rtabmap::Transform tango_world_T_rtabmap_world(
+		 0.0f, -1.0f, 0.0f, 0.0f,
+	     1.0f, 0.0f, 0.0f, 0.0f,
+		 0.0f, 0.0f, 1.0f, 0.0f);
+
 static const rtabmap::Transform opengl_world_T_rtabmap_world(
 		 0.0f, -1.0f, 0.0f, 0.0f,
 		 0.0f,  0.0f, 1.0f, 0.0f,
 		-1.0f,  0.0f, 0.0f, 0.0f);
 
-static const rtabmap::Transform rtabmap_device_T_opengl_device(
-		 0.0f, 0.0f, -1.0f, 0.0f,
-		-1.0f, 0.0f,  0.0f, 0.0f,
-		 0.0f, 1.0f,  0.0f, 0.0f);
+static const rtabmap::Transform rtabmap_world_T_opengl_world(
+		 0.0f,  0.0f,-1.0f, 0.0f,
+		-1.0f,  0.0f, 0.0f, 0.0f,
+		 0.0f,  1.0f, 0.0f, 0.0f);
 
 inline glm::mat4 glmFromTransform(const rtabmap::Transform & transform)
 {
@@ -173,4 +189,81 @@ public:
 	cv::Mat texture;
 };
 
+typedef enum {
+  /// Not apply any rotation.
+  ROTATION_IGNORED = -1,
+
+  /// 0 degree rotation (natural orientation)
+  ROTATION_0 = 0,
+
+  /// 90 degree rotation.
+  ROTATION_90 = 1,
+
+  /// 180 degree rotation.
+  ROTATION_180 = 2,
+
+  /// 270 degree rotation.
+  ROTATION_270 = 3
+} ScreenRotation;
+
+inline 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;
+}
+
+// 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
+inline ScreenRotation GetAndroidRotationFromColorCameraToDisplay(
+		ScreenRotation 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<ScreenRotation>(ret % 4);
+}
+
+// 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 orientation, values
+// available are 0, 90, 180, 270. Followed by Android camera orientation
+// standard:
+// https://developer.android.com/reference/android/hardware/Camera.CameraInfo.html#orientation
+inline ScreenRotation GetAndroidRotationFromColorCameraToDisplay(
+    int display_rotation, int color_camera_rotation) {
+	ScreenRotation r =
+      static_cast<ScreenRotation>(display_rotation);
+  return GetAndroidRotationFromColorCameraToDisplay(
+      r, color_camera_rotation);
+}
+
+}
+
 #endif /* UTIL_H_ */

app/android/libs/.gitignore

@@ -0,0 +1 @@
+*.jar

app/android/res/layout/activity_rtabmap.xml

@@ -27,6 +27,26 @@
         android:layout_width="wrap_content"
         android:layout_height="match_parent"
         android:fitsSystemWindows="true">
+        
+    <ImageButton
+        android:id="@+id/start_button"
+        android:layout_width="100dp"
+        android:layout_height="wrap_content"
+        android:layout_alignParentBottom="true"
+        android:layout_centerHorizontal="true"
+        android:src="@drawable/start96"
+        android:background="@null"
+        android:layout_marginBottom="10dp" />
+
+    <ImageButton
+        android:id="@+id/stop_button"
+        android:layout_width="100dp"
+        android:layout_height="wrap_content"
+        android:layout_alignParentBottom="true"
+        android:layout_centerHorizontal="true"
+        android:src="@drawable/stop96"
+        android:background="@null"
+        android:layout_marginBottom="10dp" />
     
     <ToggleButton
         android:id="@+id/wireframe_button"
@@ -80,16 +100,6 @@
         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_marginRight="5dp"
-        android:layout_alignParentTop="true"
-        android:layout_marginTop="10dp"
-        android:layout_alignParentRight="true"
-        android:textOff="@string/pause"
-        android:textOn="@string/resume" />
 
     <Button
         android:id="@+id/button_shareToSketchfab"
@@ -138,7 +148,23 @@
         android:paddingBottom="10dp"
         android:progressDrawable="@drawable/custom_seekbar" />
 
+    <Button
+        android:id="@+id/button_library"
+        android:layout_width="match_parent"
+        android:layout_height="100dp"
+        android:layout_centerHorizontal="true"
+        android:layout_gravity="top"
+        android:layout_marginTop="100dp"
+        android:text="@string/library" />
 
+    <Button
+        android:id="@+id/button_new_scan"
+        android:layout_width="match_parent"
+        android:layout_height="100dp"
+        android:layout_alignLeft="@+id/button_library"
+        android:layout_below="@+id/button_library"
+        android:layout_marginTop="20dp"
+        android:text="@string/new_scan" />
 
 </RelativeLayout>        
 </RelativeLayout>

app/android/res/layout/activity_settings.xml

@@ -1,5 +1,13 @@
 <PreferenceScreen xmlns:android="http://schemas.android.com/apk/res/android">
     
+    <ListPreference 
+            android:key="@string/pref_key_camera_driver"
+    		android:title="@string/pref_title_camera_driver"
+    		android:summary="@string/pref_summary_camera_driver"
+   			android:entries="@array/pref_camera_driver_keys"
+   			android:entryValues="@array/pref_camera_driver_values"
+   			android:defaultValue="@string/pref_default_camera_driver"/>
+        
     <PreferenceCategory
         android:title="@string/pref_title_rendering">
         <ListPreference 
@@ -78,7 +86,7 @@
             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"
@@ -89,6 +97,11 @@
 	            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_depth_from_motion"
+                android:title="@string/pref_title_depth_from_motion"
+                android:summary="@string/pref_summary_depth_from_motion"
+                android:defaultValue="@string/pref_default_depth_from_motion"/>
 		    <com.introlab.rtabmap.CustomSwitchPreference
 		        android:key="@string/pref_key_smoothing"
 		        android:title="@string/pref_title_smoothing"

app/android/res/layout/activity_sketchfab.xml

@@ -62,20 +62,11 @@
         android:checked="true"
         android:text="Draft Mode" />
 
-    <LinearLayout
+    <Button
+        android:id="@+id/button_ok"
         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>
+        android:layout_height="wrap_content"
+        android:text="Upload" />
 
 </LinearLayout>
 </ScrollView>

app/android/res/menu/optionmenu.xml

@@ -7,9 +7,12 @@
 		  <item android:id="@+id/mesh" android:title="Mesh" />
 		  <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/new_scan" android:title="New Scan"/>
+       <item android:id="@+id/open" android:title="Library" android:showAsAction="ifRoom"/>
+	   <item android:id="@+id/save" android:title="Save"/>
                      
-       <item android:id="@+id/export" android:showAsAction="ifRoom" android:title="Export">
+       <item android:id="@+id/export" android:title="Export">
           <menu>
               <item android:id="@+id/export_point_cloud_menu" android:title="Point Cloud">
                   <menu>
@@ -26,7 +29,7 @@
           </menu>
        </item>
        
-        <item android:id="@+id/post_processing" android:title="Optimize" android:showAsAction="ifRoom">
+        <item android:id="@+id/post_processing" android:title="Optimize">
           <menu>
              <item android:id="@+id/post_processing_standard" android:title="Standard Optimization" />
              <item android:id="@+id/post_processing_advanced" android:title="Advanced..." >
@@ -43,8 +46,6 @@
           </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">
@@ -68,7 +69,7 @@
 	       </menu>
 	   </item>
 	   <item android:id="@+id/settings" android:title="Settings"/>
-       <item android:id="@+id/reset" android:title="Reset"/>
+       <item android:id="@+id/resume" android:title="Resume"/>
        <item android:id="@+id/about" android:title="About"/>
     </group>
 </menu>

app/android/res/values/dimens.xml

@@ -1,4 +1,3 @@
-
-    <resources>
-        <dimen name="image_width">150dp</dimen>
-    </resources>
+<resources>
+    <dimen name="image_width">150dp</dimen>
+</resources>

app/android/res/values/strings.xml

@@ -9,8 +9,10 @@
     <string name="status">"Status: "</string>
     <string name="words">"Words: "</string>
     <string name="camera_button">First View</string>
-    <string name="pause">Pause</string>
-    <string name="resume">Resume</string>
+    <string name="library">Library</string>
+    <string name="new_scan">New Scan</string>
+    <string name="pause">Stop</string>
+    <string name="resume">Start</string>
     <string name="backface_on">Backface</string>
     <string name="backface_off">Backface</string>
     <string name="light_on">Lighting</string>
@@ -63,7 +65,7 @@
     <string name="pref_key_rendering_texture_decimation">pref_key_rendering_texture_decimation</string>
     <string name="pref_default_rendering_texture_decimation">4</string>
     <string name="pref_key_blending">pref_key_blending</string>
-    <string name="pref_default_blending">true</string>
+    <string name="pref_default_blending">false</string>
     <string name="pref_key_background_color">pref_key_background_color</string>
     <string name="pref_default_background_color">0.2</string>
     <string name="pref_key_nodes_filtering">pref_key_nodes_filtering</string>
@@ -77,6 +79,10 @@
     <string name="pref_key_fisheye">pref_key_fisheye</string>
     <string name="pref_default_fisheye">false</string>
     
+    <string name="pref_key_camera_driver">pref_key_camera_driver</string>
+    <string name="pref_default_camera_driver">0</string>
+    <string name="pref_key_depth_from_motion">pref_key_depth_from_motion</string>
+    <string name="pref_default_depth_from_motion">false</string>
     <string name="pref_key_update_rate">pref_key_update_rate</string>
     <string name="pref_default_update_rate">1</string>
     <string name="pref_key_max_speed">pref_key_max_speed</string>
@@ -317,6 +323,10 @@
     <string name="pref_summary_mapping">Advanced mapping parameters for fine tuning.</string>
     <string name="pref_title_mapping_core">Core</string>
     <string name="pref_title_mapping_database">Database</string>
+    <string name="pref_title_camera_driver">Camera Driver</string>
+    <string name="pref_summary_camera_driver">AR sdk use for capturing 6DoF poses and images. A TOF camera is required to record a 3D model.</string>
+    <string name="pref_title_depth_from_motion">Depth From Motion</string>
+    <string name="pref_summary_depth_from_motion">Use ARCore\'s depth API to compute depth image from motion. If the phone has a TOF camera and is supported by ARCore, results should be better. Currently supported only with ARCore NDK driver.</string>
     <string name="pref_title_append">Append Mode</string>
     <string name="pref_summary_append">When resuming mapping, wait for a relocalization on the current map before starting a new map.</string>
     <string name="pref_title_resolution">HD Mode</string>
@@ -366,6 +376,18 @@
     <string name="pref_title_db_in_memory">Database In Memory</string>
     <string name="pref_summary_db_in_memory">The database is kept in RAM for fast access. Set to false to reduce RAM used at the cost of slower access. This parameter is applied on reset or when a database is opened.</string>
 
+    <string-array name="pref_camera_driver_keys">
+        <item>"Google Tango NDK"</item>
+        <item>"ARCore NDK"</item>
+        <item>"AREngine NDK"</item>
+        <item>"ARCore Java"</item>
+    </string-array>
+    <string-array name="pref_camera_driver_values">
+        <item>"0"</item>
+        <item>"1"</item>
+        <item>"2"</item>
+        <item>"3"</item>
+    </string-array>
     <string-array name="pref_update_rate_keys">
         <item>"Max"</item>
         <item>"5 Hz"</item>

app/android/res/xml/provider_paths.xml

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<paths xmlns:android="http://schemas.android.com/apk/res/android">
+    <external-path name="external_files" path="."/>
+</paths>

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

@@ -0,0 +1,588 @@
+package com.introlab.rtabmap;
+
+import java.nio.ByteBuffer;
+import java.nio.FloatBuffer;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.EnumSet;
+import java.util.List;
+import java.util.concurrent.atomic.AtomicBoolean;
+
+import com.google.ar.core.Camera;
+import com.google.ar.core.CameraIntrinsics;
+import com.google.ar.core.Config;
+import com.google.ar.core.Frame;
+import com.google.ar.core.ImageMetadata;
+import com.google.ar.core.PointCloud;
+import com.google.ar.core.Pose;
+import com.google.ar.core.Session;
+import com.google.ar.core.SharedCamera;
+import com.google.ar.core.TrackingState;
+import com.google.ar.core.exceptions.CameraNotAvailableException;
+import com.google.ar.core.exceptions.NotYetAvailableException;
+import com.google.ar.core.exceptions.UnavailableException;
+
+import android.content.Context;
+import android.graphics.ImageFormat;
+import android.hardware.camera2.CameraAccessException;
+import android.hardware.camera2.CameraCaptureSession;
+import android.hardware.camera2.CameraCharacteristics;
+import android.hardware.camera2.CameraDevice;
+import android.hardware.camera2.CameraManager;
+import android.hardware.camera2.CaptureFailure;
+import android.hardware.camera2.CaptureRequest;
+import android.hardware.camera2.TotalCaptureResult;
+import android.media.Image;
+import android.opengl.GLES20;
+import android.opengl.GLSurfaceView;
+import android.os.Handler;
+import android.os.HandlerThread;
+import android.support.annotation.NonNull;
+import android.util.Log;
+import android.view.Surface;
+
+public class ARCoreSharedCamera {
+
+	public static final String TAG = ARCoreSharedCamera.class.getSimpleName();
+
+
+	private static RTABMapActivity mActivity;
+	public ARCoreSharedCamera(RTABMapActivity c) {
+		mActivity = c;
+	}
+
+	// Depth TOF Image.
+	// Use 240 * 180 for now, hardcoded for Huawei P30 Pro
+	private static final int DEPTH_WIDTH = 240;
+	private static final int DEPTH_HEIGHT = 180;
+
+	// GL Surface used to draw camera preview image.
+	public GLSurfaceView surfaceView;
+
+	// ARCore session that supports camera sharing.
+	private Session sharedSession;
+
+	// Camera capture session. Used by both non-AR and AR modes.
+	private CameraCaptureSession captureSession;
+
+	// Reference to the camera system service.
+	private CameraManager cameraManager;
+
+	// Camera device. Used by both non-AR and AR modes.
+	private CameraDevice cameraDevice;
+
+	// Looper handler thread.
+	private HandlerThread backgroundThread;
+	// Looper handler.
+	private Handler backgroundHandler;
+
+	// ARCore shared camera instance, obtained from ARCore session that supports sharing.
+	private SharedCamera sharedCamera;
+
+	// Camera ID for the camera used by ARCore.
+	private String cameraId;
+	
+	private AtomicBoolean mReady = new AtomicBoolean(false);
+
+	// Camera preview capture request builder
+	private CaptureRequest.Builder previewCaptureRequestBuilder;
+
+	private int cameraTextureId = -1;
+
+	// Image reader that continuously processes CPU images.
+	public TOF_ImageReader mTOFImageReader = new TOF_ImageReader();
+	private boolean mTOFAvailable = false;
+	
+	public boolean isDepthSupported() {return mTOFAvailable;}
+
+	// Camera device state callback.
+	private final CameraDevice.StateCallback cameraDeviceCallback =
+			new CameraDevice.StateCallback() {
+		@Override
+		public void onOpened(@NonNull CameraDevice cameraDevice) {
+			Log.d(TAG, "Camera device ID " + cameraDevice.getId() + " opened.");
+			ARCoreSharedCamera.this.cameraDevice = cameraDevice;
+			createCameraPreviewSession();
+		}
+
+		@Override
+		public void onClosed(@NonNull CameraDevice cameraDevice) {
+			Log.d(TAG, "Camera device ID " + cameraDevice.getId() + " closed.");
+			ARCoreSharedCamera.this.cameraDevice = null;
+		}
+
+		@Override
+		public void onDisconnected(@NonNull CameraDevice cameraDevice) {
+			Log.w(TAG, "Camera device ID " + cameraDevice.getId() + " disconnected.");
+			cameraDevice.close();
+			ARCoreSharedCamera.this.cameraDevice = null;
+		}
+
+		@Override
+		public void onError(@NonNull CameraDevice cameraDevice, int error) {
+			Log.e(TAG, "Camera device ID " + cameraDevice.getId() + " error " + error);
+			cameraDevice.close();
+			ARCoreSharedCamera.this.cameraDevice = null;
+		}
+	};
+
+	// Repeating camera capture session state callback.
+	CameraCaptureSession.StateCallback cameraCaptureCallback =
+			new CameraCaptureSession.StateCallback() {
+
+		// Called when the camera capture session is first configured after the app
+		// is initialized, and again each time the activity is resumed.
+		@Override
+		public void onConfigured(@NonNull CameraCaptureSession session) {
+			Log.d(TAG, "Camera capture session configured.");
+			captureSession = session;
+			setRepeatingCaptureRequest();
+		}
+
+		@Override
+		public void onSurfacePrepared(
+				@NonNull CameraCaptureSession session, @NonNull Surface surface) {
+			Log.d(TAG, "Camera capture surface prepared.");
+		}
+
+		@Override
+		public void onReady(@NonNull CameraCaptureSession session) {
+			Log.d(TAG, "Camera capture session ready.");
+		}
+
+		@Override
+		public void onActive(@NonNull CameraCaptureSession session) {
+			Log.d(TAG, "Camera capture session active.");
+			resumeARCore();
+		}
+
+		@Override
+		public void onClosed(@NonNull CameraCaptureSession session) {
+			Log.d(TAG, "Camera capture session closed.");
+		}
+
+		@Override
+		public void onConfigureFailed(@NonNull CameraCaptureSession session) {
+			Log.e(TAG, "Failed to configure camera capture session.");
+		}
+	};
+
+	// Repeating camera capture session capture callback.
+	private final CameraCaptureSession.CaptureCallback captureSessionCallback =
+			new CameraCaptureSession.CaptureCallback() {
+
+		@Override
+		public void onCaptureCompleted(
+				@NonNull CameraCaptureSession session,
+				@NonNull CaptureRequest request,
+				@NonNull TotalCaptureResult result) {
+			Log.i(TAG, "onCaptureCompleted");
+		}
+
+		//@Override // android 23 
+		public void onCaptureBufferLost(
+				@NonNull CameraCaptureSession session,
+				@NonNull CaptureRequest request,
+				@NonNull Surface target,
+				long frameNumber) {
+			Log.e(TAG, "onCaptureBufferLost: " + frameNumber);
+		}
+
+		@Override
+		public void onCaptureFailed(
+				@NonNull CameraCaptureSession session,
+				@NonNull CaptureRequest request,
+				@NonNull CaptureFailure failure) {
+			Log.e(TAG, "onCaptureFailed: " + failure.getFrameNumber() + " " + failure.getReason());
+		}
+
+		@Override
+		public void onCaptureSequenceAborted(
+				@NonNull CameraCaptureSession session, int sequenceId) {
+			Log.e(TAG, "onCaptureSequenceAborted: " + sequenceId + " " + session);
+		}
+	};
+
+	private void resumeARCore() {
+		// Ensure that session is valid before triggering ARCore resume. Handles the case where the user
+		// manually uninstalls ARCore while the app is paused and then resumes.
+		if (sharedSession == null) {
+			return;
+		}
+
+		try {
+			Log.i(TAG, "Resume ARCore.");
+			// Resume ARCore.
+			sharedSession.resume();
+			// Set capture session callback while in AR mode.
+			sharedCamera.setCaptureCallback(captureSessionCallback, backgroundHandler);
+		} catch (CameraNotAvailableException e) {
+			Log.e(TAG, "Failed to resume ARCore session", e);
+			return;
+		}
+
+	}
+
+
+	// Called when starting non-AR mode or switching to non-AR mode.
+	// Also called when app starts in AR mode, or resumes in AR mode.
+	private void setRepeatingCaptureRequest() {
+		try {
+			captureSession.setRepeatingRequest(
+					previewCaptureRequestBuilder.build(), captureSessionCallback, backgroundHandler);
+		} catch (CameraAccessException e) {
+			Log.e(TAG, "Failed to set repeating request", e);
+		}
+	}
+
+
+	private void createCameraPreviewSession() {
+		Log.e(TAG, "createCameraPreviewSession: " + "starting camera preview session.");
+		try {
+			// Note that isGlAttached will be set to true in AR mode in onDrawFrame().
+			sharedSession.setCameraTextureName(cameraTextureId);
+
+			// Create an ARCore compatible capture request using `TEMPLATE_RECORD`.
+			previewCaptureRequestBuilder = cameraDevice.createCaptureRequest(CameraDevice.TEMPLATE_RECORD);
+
+			// Build surfaces list, starting with ARCore provided surfaces.
+			List<Surface> surfaceList = sharedCamera.getArCoreSurfaces();
+			Log.e(TAG, " createCameraPreviewSession: " + "surfaceList: sharedCamera.getArCoreSurfaces(): " + surfaceList.size());
+
+			// Add a CPU image reader surface. On devices that don't support CPU image access, the image
+			// may arrive significantly later, or not arrive at all.
+			if (mTOFAvailable) surfaceList.add(mTOFImageReader.imageReader.getSurface());
+			// Surface list should now contain three surfacemReadymReadys:
+			// 0. sharedCamera.getSurfaceTexture()
+			// 1. …
+			// 2. depthImageReader.getSurface()
+
+			// Add ARCore surfaces and CPU image surface targets.
+			for (Surface surface : surfaceList) {
+				previewCaptureRequestBuilder.addTarget(surface);
+			}
+
+			// Wrap our callback in a shared camera callback.
+			CameraCaptureSession.StateCallback wrappedCallback = sharedCamera.createARSessionStateCallback(cameraCaptureCallback, backgroundHandler);
+
+			// Create camera capture session for camera preview using ARCore wrapped callback.
+			cameraDevice.createCaptureSession(surfaceList, wrappedCallback, backgroundHandler);
+			
+			mReady.set(true);
+		} catch (CameraAccessException e) {
+			Log.e(TAG, "CameraAccessException", e);
+		}
+
+
+	}
+
+	// Start background handler thread, used to run callbacks without blocking UI thread.
+	private void startBackgroundThread() {
+		backgroundThread = new HandlerThread("sharedCameraBackground");
+		backgroundThread.start();
+		backgroundHandler = new Handler(backgroundThread.getLooper());
+		mTOFImageReader.startBackgroundThread();
+	}
+
+	// Stop background handler thread.
+	private void stopBackgroundThread() {
+		if (backgroundThread != null) {
+			backgroundThread.quitSafely();
+			try {
+				backgroundThread.join();
+				backgroundThread = null;
+				backgroundHandler = null;
+			} catch (InterruptedException e) {
+				Log.e(TAG, "Interrupted while trying to join background handler thread", e);
+			}
+		}
+		mTOFImageReader.stopBackgroundThread();
+	}
+	
+	private long mPreviousTime = 0;
+
+	// Perform various checks, then open camera device and create CPU image reader.
+	public boolean openCamera() {
+
+		close();
+		
+		startBackgroundThread();
+		
+		mPreviousTime = System.currentTimeMillis();
+
+		if(cameraTextureId == -1)
+		{
+			int[] textures = new int[1];
+			GLES20.glGenTextures(1, textures, 0);
+			cameraTextureId = textures[0];
+		}
+
+		Log.v(TAG + " opencamera: ", "Perform various checks, then open camera device and create CPU image reader.");
+		// Don't open camera if already opened.
+		if (cameraDevice != null) {
+			return false;
+		}
+
+		if (sharedSession == null) {
+			try {
+				// Create ARCore session that supports camera sharing.
+				sharedSession = new Session(mActivity, EnumSet.of(Session.Feature.SHARED_CAMERA));
+			} catch (UnavailableException e) {
+				Log.e(TAG, "Failed to create ARCore session that supports camera sharing", e);
+				return false;
+			}
+
+			// Enable auto focus mode while ARCore is running.
+			Config config = sharedSession.getConfig();
+			config.setFocusMode(Config.FocusMode.FIXED);
+			config.setUpdateMode(Config.UpdateMode.LATEST_CAMERA_IMAGE);
+			config.setPlaneFindingMode(Config.PlaneFindingMode.DISABLED);
+			config.setLightEstimationMode(Config.LightEstimationMode.DISABLED);
+			//config.setCloudAnchorMode(Config.CloudAnchorMode.ENABLED);
+			sharedSession.configure(config);
+
+		}
+
+		// Store the ARCore shared camera reference.
+		sharedCamera = sharedSession.getSharedCamera();
+		// Store the ID of the camera used by ARCore.
+		cameraId = sharedSession.getCameraConfig().getCameraId();
+		initCamera(mActivity, cameraId, 1);
+		ArrayList<String> resolutions;
+
+		mTOFAvailable = false;
+
+		resolutions = getResolutions(mActivity, cameraId, ImageFormat.DEPTH16);
+		if (resolutions != null) {
+			for( String temp : resolutions) {
+				Log.e(TAG + "DEPTH16 resolution: ", temp);
+			};
+			if (resolutions.size()>0) mTOFAvailable = true;
+		}
+
+		// Color CPU Image.
+		// Use the currently configured CPU image size.
+		//Size desiredCPUImageSize = sharedSession.getCameraConfig().getImageSize();
+
+		if (mTOFAvailable) mTOFImageReader.createImageReader(DEPTH_WIDTH, DEPTH_HEIGHT);
+
+		// When ARCore is running, make sure it also updates our CPU image surface.
+		if (mTOFAvailable) {
+			sharedCamera.setAppSurfaces(this.cameraId, Arrays.asList(mTOFImageReader.imageReader.getSurface()));
+		}
+
+		try {
+
+			// Wrap our callback in a shared camera callback.
+			CameraDevice.StateCallback wrappedCallback = sharedCamera.createARDeviceStateCallback(cameraDeviceCallback, backgroundHandler);
+
+			// Store a reference to the camera system service.
+			cameraManager = (CameraManager) mActivity.getSystemService(Context.CAMERA_SERVICE);
+
+			// Get the characteristics for the ARCore camera.
+			//CameraCharacteristics characteristics = cameraManager.getCameraCharacteristics(this.cameraId);
+
+			// Open the camera device using the ARCore wrapped callback.
+			cameraManager.openCamera(cameraId, wrappedCallback, backgroundHandler);
+			
+		} catch (CameraAccessException e) {
+			Log.e(TAG, "Failed to open camera", e);
+			return false;
+		} catch (IllegalArgumentException e) {
+			Log.e(TAG, "Failed to open camera", e);
+			return false;
+		} catch (SecurityException e) {
+			Log.e(TAG, "Failed to open camera", e);
+			return false;
+		} 
+
+		Log.i(TAG, " opencamera: TOF_available: " + mTOFAvailable);
+		return true;
+	}
+
+
+	// Close the camera device.
+	public void close() {
+		
+		if (sharedSession != null)  {
+			sharedSession.pause();
+		}
+
+		if (captureSession != null) {
+			captureSession.close();
+			captureSession = null;
+		}
+		if (cameraDevice != null) {
+			cameraDevice.close();
+		}
+
+		if (mTOFImageReader.imageReader != null) {
+			mTOFImageReader.imageReader.close();
+			mTOFImageReader.imageReader = null;
+		}
+
+		if(cameraTextureId>=0)
+		{
+			GLES20.glDeleteTextures(1, new int[] {cameraTextureId}, 0);
+		}
+		
+		stopBackgroundThread();
+	}
+
+	/*************************************************** ONDRAWFRAME ARCORE ************************************************************* */
+
+	// Draw frame when in AR mode. Called on the GL thread.
+	public void updateGL() throws CameraNotAvailableException {
+
+		if(!mReady.get())
+		{
+			return;
+		}
+		
+		if (mTOFAvailable && mTOFImageReader.frameCount == 0) return;
+		
+		// Perform ARCore per-frame update.
+		Frame frame = null;
+		try {
+			frame = sharedSession.update();
+		} catch (Exception e) {
+			e.printStackTrace();
+			return;
+		}
+
+		Camera camera = null;
+		if (frame != null) {
+			camera = frame.getCamera();
+		}else
+		{
+			return;
+		}
+
+		if (camera == null) return;
+		// If not tracking, don't draw 3D objects.
+		if (camera.getTrackingState() == TrackingState.PAUSED) return;
+
+		if (frame.getTimestamp() != 0) {
+			
+			Pose pose = camera.getPose();
+			if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("pose=%f %f %f q=%f %f %f %f", pose.tx(), pose.ty(), pose.tz(), pose.qx(), pose.qy(), pose.qz(), pose.qw()));
+			RTABMapLib.postCameraPoseEvent(RTABMapActivity.nativeApplication, pose.tx(), pose.ty(), pose.tz(), pose.qx(), pose.qy(), pose.qz(), pose.qw());
+			
+			int rateMs = 100; // send images at most 10 Hz
+			if(System. currentTimeMillis() - mPreviousTime < rateMs)
+			{
+				return;
+			}
+			mPreviousTime = System. currentTimeMillis();
+			
+			CameraIntrinsics intrinsics = camera.getImageIntrinsics();
+			try{
+				Image image = frame.acquireCameraImage();
+				PointCloud cloud = frame.acquirePointCloud();
+				FloatBuffer points = cloud.getPoints();
+
+				if (image.getFormat() != ImageFormat.YUV_420_888) {
+					throw new IllegalArgumentException(
+							"Expected image in YUV_420_888 format, got format " + image.getFormat());
+				}
+				
+				if(!RTABMapActivity.DISABLE_LOG)
+				{
+					for(int i =0;i<image.getPlanes().length;++i)
+					{
+						Log.d(TAG, String.format("Plane[%d] pixel stride = %d,  row stride = %d", i, image.getPlanes()[i].getPixelStride(), image.getPlanes()[i].getRowStride()));
+					}
+				}
+				
+				float[] fl = intrinsics.getFocalLength();
+				float[] pp = intrinsics.getPrincipalPoint();
+				if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("fx=%f fy=%f cx=%f cy=%f", fl[0], fl[1], pp[0], pp[1]));
+				
+				ByteBuffer y = image.getPlanes()[0].getBuffer().asReadOnlyBuffer();
+				ByteBuffer u = image.getPlanes()[1].getBuffer().asReadOnlyBuffer();
+				ByteBuffer v = image.getPlanes()[2].getBuffer().asReadOnlyBuffer();
+
+				double stamp = (double)image.getTimestamp()/10e8;
+				if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("RGB %dx%d len=%dbytes format=%d =%f",
+						image.getWidth(), image.getHeight(), y.limit(), image.getFormat(), stamp));
+
+				if(mTOFAvailable)
+				{
+					if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("Depth %dx%d len=%dbytes format=%d stamp=%f",
+							mTOFImageReader.WIDTH, mTOFImageReader.HEIGHT, mTOFImageReader.depth16_raw.limit(), ImageFormat.DEPTH16, (double)mTOFImageReader.timestamp/10e9));
+					
+					RTABMapLib.postOdometryEvent(
+							RTABMapActivity.nativeApplication,
+							pose.tx(), pose.ty(), pose.tz(), pose.qx(), pose.qy(), pose.qz(), pose.qw(), 
+							fl[0], fl[1], pp[0], pp[1], stamp, 
+							y, u, v, y.limit(), image.getWidth(), image.getHeight(), image.getFormat(), 
+							mTOFImageReader.depth16_raw, mTOFImageReader.depth16_raw.limit(), mTOFImageReader.WIDTH, mTOFImageReader.HEIGHT, ImageFormat.DEPTH16,
+							points, points.limit()/4);
+				}
+				else
+				{
+					ByteBuffer bb = ByteBuffer.allocate(0);
+					RTABMapLib.postOdometryEvent(
+							RTABMapActivity.nativeApplication,
+							pose.tx(), pose.ty(), pose.tz(), pose.qx(), pose.qy(), pose.qz(), pose.qw(), 
+							fl[0], fl[1], pp[0], pp[1], stamp, 
+							y, u, v, y.limit(), image.getWidth(), image.getHeight(), image.getFormat(), 
+							bb, 0, 0, 0, ImageFormat.DEPTH16,
+							points, points.limit()/4);
+				}
+				
+				image.close();
+				cloud.close();
+				
+			} catch (NotYetAvailableException e) {
+
+			}
+		}
+	}
+
+	/********************************************************************************************************************* */
+	/*************************************************** End ************************************************************* */
+	/********************************************************************************************************************* */
+
+
+	public ArrayList<String> getResolutions (Context context, String cameraId,int imageFormat){
+		Log.v(TAG + "getResolutions:", " cameraId:" + cameraId + " imageFormat: " + imageFormat);
+
+		ArrayList<String> output = new ArrayList<String>();
+		try {
+			CameraManager manager = (CameraManager) context.getSystemService(Context.CAMERA_SERVICE);
+			CameraCharacteristics characteristics = manager.getCameraCharacteristics(cameraId);
+
+			for (android.util.Size s : characteristics.get(CameraCharacteristics.SCALER_STREAM_CONFIGURATION_MAP).getOutputSizes(imageFormat)) {
+				output.add(s.getWidth() + "x" + s.getHeight());
+			}
+		} catch (Exception e) {
+			e.printStackTrace();
+		}
+		return output;
+	}
+
+
+	public void initCamera (Context context, String cameraId,int index){
+		boolean ok = false;
+		try {
+			int current = 0;
+			CameraManager manager = (CameraManager) context.getSystemService(Context.CAMERA_SERVICE);
+			CameraCharacteristics characteristics = manager.getCameraCharacteristics(cameraId);
+			for (android.util.Size s : characteristics.get(CameraCharacteristics.SCALER_STREAM_CONFIGURATION_MAP).getOutputSizes(ImageFormat.DEPTH16)) {
+				ok = true;
+				if (current == index)
+					break;
+				else ;
+				current++;
+			}
+		} catch (Exception e) {
+			e.printStackTrace();
+		}
+		if (!ok) {
+			Log.e(TAG + " initCamera", "Depth sensor not found!");
+		}
+	}
+
+
+}

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

@@ -0,0 +1,79 @@
+/*
+ * Copyright 2018 Google Inc. All Rights Reserved.
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package com.introlab.rtabmap;
+
+import android.Manifest;
+
+import android.app.Activity;
+import android.content.Intent;
+import android.content.pm.PackageManager;
+import android.net.Uri;
+import android.provider.Settings;
+import android.support.v4.app.ActivityCompat;
+import android.support.v4.content.ContextCompat;
+
+/** Helper to ask camera permission. */
+public class PermissionHelper {
+	public static final int CAMERA_CODE = 0;
+	public static final int READ_EXTERNAL_STORAGE_CODE = 1;
+	public static final int WRITE_EXTERNAL_STORAGE_CODE = 2;
+	public static final int INTERNET_CODE = 3;
+	public static final int ACCESS_NETWORK_STATE_CODE = 4;
+	public static final int ACCESS_FINE_LOCATION_CODE = 5;
+	public static final int ACCESS_WIFI_STATE_CODE = 6;
+
+	/** Check to see we have the necessary permissions for this app. */
+	public static boolean hasPermission(Activity activity, String permission) {
+		return ContextCompat.checkSelfPermission(activity, permission) == PackageManager.PERMISSION_GRANTED;
+	}
+
+	/** Check to see we have the necessary permissions for this app, and ask for them if we don't. */
+	public static void requestPermission(Activity activity, String permission) {
+		int requestCode = -1;
+		if (permission == Manifest.permission.CAMERA) {
+			requestCode = CAMERA_CODE;
+		} else if(permission == Manifest.permission.READ_EXTERNAL_STORAGE) {
+			requestCode = READ_EXTERNAL_STORAGE_CODE;
+		} else if(permission == Manifest.permission.WRITE_EXTERNAL_STORAGE) {
+			requestCode = WRITE_EXTERNAL_STORAGE_CODE;
+		} else if(permission == Manifest.permission.INTERNET) {
+			requestCode = INTERNET_CODE;
+		} else if(permission == Manifest.permission.ACCESS_NETWORK_STATE) {
+			requestCode = ACCESS_NETWORK_STATE_CODE;
+		} else if(permission == Manifest.permission.ACCESS_FINE_LOCATION) {
+			requestCode = ACCESS_FINE_LOCATION_CODE;
+		} else if(permission == Manifest.permission.ACCESS_WIFI_STATE) {
+			requestCode = ACCESS_WIFI_STATE_CODE;
+		}
+		if(requestCode >=0)
+		{
+			ActivityCompat.requestPermissions(
+					activity, new String[] {permission}, requestCode);
+		}
+	}
+
+	/** Check to see if we need to show the rationale for this permission. */
+	public static boolean shouldShowRequestPermissionRationale(Activity activity, String permission) {
+		return ActivityCompat.shouldShowRequestPermissionRationale(activity, permission);
+	}
+
+	/** Launch Application Setting to grant permission. */
+	public static void launchPermissionSettings(Activity activity) {
+		Intent intent = new Intent();
+		intent.setAction(Settings.ACTION_APPLICATION_DETAILS_SETTINGS);
+		intent.setData(Uri.fromParts("package", activity.getPackageName(), null));
+		activity.startActivity(intent);
+	}
+}

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

@@ -1,5 +1,10 @@
 
 package com.introlab.rtabmap;
+import java.nio.ByteBuffer;
+import java.nio.FloatBuffer;
+
+import android.app.Activity;
+import android.content.Context;
 import android.os.IBinder;
 import android.view.KeyEvent;
 import android.util.Log;
@@ -15,7 +20,7 @@ public class RTABMapLib
         // the correct library first.
         if (TangoInitializationHelper.loadTangoSharedLibrary() ==
                 TangoInitializationHelper.ARCH_ERROR) {
-            Log.e(RTABMapActivity.class.getSimpleName(), "ERROR! Unable to load libtango_client_api.so!");
+            Log.w(RTABMapActivity.class.getSimpleName(), "WArning! Unable to load libtango_client_api.so! This can be safely ignored if RTAB-Map NDK is not build with tango support.");
         }
         System.loadLibrary("NativeRTABMap");
     }
@@ -23,88 +28,85 @@ public class RTABMapLib
  // Initialize the Tango Service, this function starts the communication
     // between the application and Tango Service.
     // The activity object is used for checking if the API version is outdated.
-    public static native void onCreate(RTABMapActivity activity);
+    public static native long createNativeApplication(RTABMapActivity activity);
     
-    public static native void setScreenRotation(int displayRotation, int cameraRotation);
+    public static native void destroyNativeApplication(long nativeApplication);
     
-    public static native int openDatabase(String databasePath, boolean databaseInMemory, boolean optimize);
-    public static native int openDatabase2(String databaseSource, String databasePath, boolean databaseInMemory, boolean optimize);
+    public static native void setScreenRotation(long nativeApplication, int displayRotation, int cameraRotation);
     
-    /*
-     * Called when the Tango service is connected.
-     *
-     * @param binder The native binder object.
-     */
-    public static native boolean onTangoServiceConnected(IBinder binder);
-
-    // Release all non OpenGl resources that are allocated from the program.
-    public static native void onPause();
+    public static native int openDatabase(long nativeApplication, String databasePath, boolean databaseInMemory, boolean optimize);
+    public static native int openDatabase2(long nativeApplication, String databaseSource, String databasePath, boolean databaseInMemory, boolean optimize);
+    
+    public static native boolean isBuiltWith(long nativeApplication, int cameraDriver);
+    public static native boolean startCamera(long nativeApplication, IBinder binder, Context context, Activity activity, int driver);
+    public static native void stopCamera(long nativeApplication);
 
     // Allocate OpenGL resources for rendering.
-    public static native void initGlContent();
+    public static native void initGlContent(long nativeApplication);
 
     // Setup the view port width and height.
-    public static native void setupGraphic(int width, int height);
+    public static native void setupGraphic(long nativeApplication, int width, int height);
 
     // Main render loop.
-    public static native int render();
+    public static native int render(long nativeApplication);
 
     // Set the render camera's viewing angle:
     //   first person, third person, or top down.
-    public static native void setCamera(int cameraIndex);
+    public static native void setCamera(long nativeApplication, int cameraIndex);
     
     // Pass touch events to the native layer.
-    public static native void onTouchEvent(int touchCount, int event0,
+    public static native void onTouchEvent(long nativeApplication, int touchCount, int event0,
                                            float x0, float y0, float x1, float y1);
     
-
-    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);
-    public static native void setLocalizationMode(boolean enabled);
-    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 setGraphVisible(boolean visible);
-    public static native void setGridVisible(boolean visible);
-    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 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 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 setPausedMapping(long nativeApplication, boolean paused);
+    public static native void setOnlineBlending(long nativeApplication, boolean enabled);
+    public static native void setMapCloudShown(long nativeApplication, boolean shown);
+    public static native void setOdomCloudShown(long nativeApplication, boolean shown);
+    public static native void setMeshRendering(long nativeApplication, boolean enabled, boolean withTexture);
+    public static native void setLocalizationMode(long nativeApplication, boolean enabled);
+    public static native void setTrajectoryMode(long nativeApplication, boolean enabled);
+    public static native void setGraphOptimization(long nativeApplication, boolean enabled);
+    public static native void setNodesFiltering(long nativeApplication, boolean enabled);
+    public static native void setGraphVisible(long nativeApplication, boolean visible);
+    public static native void setGridVisible(long nativeApplication, boolean visible);
+    public static native void setRawScanSaved(long nativeApplication, boolean enabled);
+    public static native void setFullResolution(long nativeApplication, boolean enabled);
+    public static native void setSmoothing(long nativeApplication, boolean enabled);
+    public static native void setDepthFromMotion(long nativeApplication, boolean enabled);
+    public static native void setCameraColor(long nativeApplication, boolean enabled);
+    public static native void setAppendMode(long nativeApplication, boolean enabled);
+    public static native void setDataRecorderMode(long nativeApplication, boolean enabled);
+    public static native void setMaxCloudDepth(long nativeApplication, float value);
+    public static native void setMinCloudDepth(long nativeApplication, float value);
+    public static native void setPointSize(long nativeApplication, float value);
+    public static native void setFOV(long nativeApplication, float value);
+    public static native void setOrthoCropFactor(long nativeApplication, float value);
+    public static native void setGridRotation(long nativeApplication, float value);
+    public static native void setLighting(long nativeApplication, boolean enabled);
+    public static native void setBackfaceCulling(long nativeApplication, boolean enabled);
+    public static native void setWireframe(long nativeApplication, boolean enabled);
+    public static native void setCloudDensityLevel(long nativeApplication, int value);
+    public static native void setMeshAngleTolerance(long nativeApplication, float value);
+    public static native void setMeshTriangleSize(long nativeApplication, int value);
+    public static native void setClusterRatio(long nativeApplication, float value);
+    public static native void setMaxGainRadius(long nativeApplication, float value);
+    public static native void setRenderingTextureDecimation(long nativeApplication, int value);
+    public static native void setBackgroundColor(long nativeApplication, float gray);
+    public static native int setMappingParameter(long nativeApplication, String key, String value);
     public static native void setGPS(
+    		long nativeApplication, 
 			double stamp,
 			double longitude, 
 			double latitude, 
 			double altitude,  
 			double accuracy,
 			double bearing);
-    public static native void addEnvSensor(int type, float value);
+    public static native void addEnvSensor(long nativeApplication, int type, float value);
 
-    public static native void resetMapping();
-    public static native void save(String outputDatabasePath);
-    public static native void cancelProcessing();
+    public static native void save(long nativeApplication, String outputDatabasePath);
+    public static native void cancelProcessing(long nativeApplication);
     public static native boolean exportMesh(
+    		long nativeApplication, 
     		float cloudVoxelSize,
     		boolean regenerateCloud,
     		boolean meshing,
@@ -121,15 +123,24 @@ public class RTABMapLib
     		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);
+    public static native boolean writeExportedMesh(long nativeApplication, String directory, String name);
+    public static native boolean postExportation(long nativeApplication, boolean visualize);
+    public static native int postProcessing(long nativeApplication, int approach);
     
-    public static native String getStatus();
-    public static native int getTotalNodes();
-    public static native int getTotalWords();
-    public static native int getTotalPoints();
-    public static native float getUpdateTime();
-    public static native int getLoopClosureId();
+    public static native String getStatus(long nativeApplication);
+    public static native int getTotalNodes(long nativeApplication);
+    public static native int getTotalWords(long nativeApplication);
+    public static native int getTotalPoints(long nativeApplication);
+    public static native float getUpdateTime(long nativeApplication);
+    public static native int getLoopClosureId(long nativeApplication);
+    
+    public static native void postCameraPoseEvent(long nativeApplication, float x, float y, float z, float qx, float qy, float qz, float qw);
+    public static native void postOdometryEvent(long nativeApplication,
+    		float x, float y, float z, float qx, float qy, float qz, float qw,
+    		float fx, float fy, float cx, float cy,
+    		double stamp, 
+    		ByteBuffer yPlane, ByteBuffer uPlane, ByteBuffer vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
+    		ByteBuffer depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
+    		FloatBuffer points, int pointsLen);
     
 }

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

@@ -43,6 +43,7 @@ public class Renderer implements GLSurfaceView.Renderer {
 	private float mSurfaceHeight = 0.0f;
 	private float mTextColor = 1.0f;
 	private int mOffset = 0;
+	private ARCoreSharedCamera mCamera = null;
 	
 	private Vector<TextObject> mTexts;
 
@@ -71,91 +72,109 @@ public class Renderer implements GLSurfaceView.Renderer {
 	{
 		mOffset = offset;
 	}
+	
+	public void setCamera(ARCoreSharedCamera camera)
+	{
+		mCamera = camera;
+	}
 
 	// Render loop of the Gl context.
 	public void onDrawFrame(GL10 useGLES20instead) {
 
-		try
-		{
-			final int value = RTABMapLib.render();
-
-			if(mTextManager!=null)
+		synchronized (this) {
+			if(mActivity.nativeApplication != 0)
 			{
-				if(mTextChanged)
+				try
 				{
-					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)
+					if(mCamera!=null)
 					{
-						mToast.makeText(mActivity, String.format("Rendering error! %s", e.getMessage()), Toast.LENGTH_SHORT).show();
+						mCamera.updateGL();
+					}
+					
+					final int value = RTABMapLib.render(mActivity.nativeApplication);
+		
+					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);
+		if(mActivity.nativeApplication!=0)
+		{
+			RTABMapLib.setupGraphic(mActivity.nativeApplication, width, height);
+		}
 		
 		mSurfaceHeight = (float)height;
 
@@ -180,7 +199,10 @@ public class Renderer implements GLSurfaceView.Renderer {
 	// Called when the surface is created or recreated.
 	public void onSurfaceCreated(GL10 useGLES20instead, EGLConfig config) {
 
-		RTABMapLib.initGlContent();
+		if(mActivity.nativeApplication != 0)
+		{
+			RTABMapLib.initGlContent(mActivity.nativeApplication);
+		}
 		
 		// Create our text manager
 		mTextManager = new TextManager(mActivity);

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

@@ -7,11 +7,14 @@ import java.util.Arrays;
 import java.util.Iterator;
 import java.util.Map.Entry;
 
+import android.Manifest;
 import android.app.AlertDialog;
 import android.content.DialogInterface;
 import android.content.SharedPreferences;
 import android.content.SharedPreferences.OnSharedPreferenceChangeListener;
+import android.content.pm.PackageManager;
 import android.os.Bundle;
+import android.preference.CheckBoxPreference;
 import android.preference.ListPreference;
 import android.preference.Preference;
 import android.preference.PreferenceActivity;
@@ -19,6 +22,7 @@ import android.text.InputType;
 import android.view.WindowManager;
 import android.view.inputmethod.EditorInfo;
 import android.widget.EditText;
+import android.widget.Toast;
 
 public class SettingsActivity extends PreferenceActivity implements OnSharedPreferenceChangeListener {
 	
@@ -34,7 +38,7 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
         	@Override
         	public boolean onPreferenceClick(Preference preference) {   
         		getPreferenceScreen().getSharedPreferences().edit().clear().commit();
-        		
+        	
                 recreate();
         		
         		return true;
@@ -184,7 +188,31 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
         	}
         });
         
+        Preference buttonGPS = findPreference(getString(R.string.pref_key_gps_saved));
+        buttonGPS.setOnPreferenceClickListener(new Preference.OnPreferenceClickListener() {
+        	@Override
+        	public boolean onPreferenceClick(Preference preference) {  
+        		if(((CustomSwitchPreference)preference).isChecked())
+        		{
+	        		if (!PermissionHelper.hasPermission(getActivity(), Manifest.permission.ACCESS_FINE_LOCATION)) {
+	        			((CustomSwitchPreference)preference).setChecked(false);
+	        			PermissionHelper.requestPermission(getActivity(), Manifest.permission.ACCESS_FINE_LOCATION);
+	        			return false;
+	        		}
+        		}
+        		return true;
+        	}
+        });
+        if(((CustomSwitchPreference)buttonGPS).isChecked())
+		{
+    		if (!PermissionHelper.hasPermission(this, Manifest.permission.ACCESS_FINE_LOCATION)) {
+    			((CustomSwitchPreference)buttonGPS).setChecked(false);
+    			PermissionHelper.requestPermission(this, Manifest.permission.ACCESS_FINE_LOCATION);
+    		}
+		}
         
+        
+        ((Preference)findPreference(getString(R.string.pref_key_camera_driver))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_camera_driver))).getEntry() + ") "+getString(R.string.pref_summary_camera_driver));
         ((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));
@@ -228,6 +256,7 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
         Preference pref = findPreference(key);
 
         if (pref instanceof ListPreference) {
+        	if(key.compareTo(getString(R.string.pref_key_camera_driver))==0) pref.setSummary("("+ ((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_camera_driver));
         	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) 
     		{
@@ -331,4 +360,28 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
 		}
 		ed.commit(); //save it.
     }
+    
+    @Override
+	public void onRequestPermissionsResult(int requestCode, String[] permissions, int[] results) {
+
+		switch (requestCode) {
+			case PermissionHelper.ACCESS_FINE_LOCATION_CODE: {
+				// If request is cancelled, the result arrays are empty.
+				if (results.length > 0 && results[0] == PackageManager.PERMISSION_GRANTED) {
+					// permission was granted, yay! Do the
+					// contacts-related task you need to do.
+					Preference buttonGPS = findPreference(getString(R.string.pref_key_gps_saved));
+					((CustomSwitchPreference)buttonGPS).setChecked(true);
+				} else {
+					// permission denied, boo! Disable the
+					// functionality that depends on this permission.
+					Toast.makeText(this, "Location permission is needed to use GPS functionality", Toast.LENGTH_LONG).show();
+					if (!PermissionHelper.shouldShowRequestPermissionRationale(this, Manifest.permission.ACCESS_FINE_LOCATION)) {
+						PermissionHelper.launchPermissionSettings(this); // Permission denied with checking "Do not ask again".
+					}
+				}
+				return;
+			}
+		}
+	}
 }

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

@@ -169,8 +169,8 @@ public class SketchfabActivity extends Activity implements OnClickListener {
 
 			WebView web;
 			mAuthDialog = new Dialog(this);
-			mAuthDialog.setCancelable(false);
-			mAuthDialog.setCanceledOnTouchOutside(false);
+			mAuthDialog.setCancelable(true);
+			mAuthDialog.setCanceledOnTouchOutside(true);
 			mAuthDialog.setContentView(R.layout.auth_dialog);
 			web = (WebView)mAuthDialog.findViewById(R.id.webv);
 			web.setWebContentsDebuggingEnabled(!RTABMapActivity.DISABLE_LOG);
@@ -245,7 +245,7 @@ public class SketchfabActivity extends Activity implements OnClickListener {
 					File exportDir = new File(mWorkingDirectory + RTABMapActivity.RTABMAP_EXPORT_DIR);
 					exportDir.mkdirs();
 					
-					if(RTABMapLib.writeExportedMesh(mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR, RTABMapActivity.RTABMAP_TMP_FILENAME))
+					if(RTABMapLib.writeExportedMesh(RTABMapActivity.nativeApplication, mWorkingDirectory + RTABMapActivity.RTABMAP_TMP_DIR, RTABMapActivity.RTABMAP_TMP_FILENAME))
 					{
 						String[] files = new String[0];
 						// verify if we have all files

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

@@ -0,0 +1,87 @@
+package com.introlab.rtabmap;
+
+
+import android.graphics.ImageFormat;
+import android.media.Image;
+import android.media.ImageReader;
+import android.os.Handler;
+import android.os.HandlerThread;
+import android.util.Log;
+
+import java.nio.ByteBuffer;
+
+public class TOF_ImageReader implements ImageReader.OnImageAvailableListener {
+
+    public int WIDTH;
+    public int HEIGHT;
+    public ImageReader imageReader;
+    public int frameCount = 0;
+    public long timestamp;
+    
+    // Looper handler thread.
+    private HandlerThread backgroundThread;
+    // Looper handler.
+    private Handler backgroundHandler;
+
+    public ByteBuffer depth16_raw;
+
+    TOF_ImageReader(){
+    }
+
+    public void createImageReader(int width, int height){
+        this.WIDTH = width;
+        this.HEIGHT = height;
+        this.imageReader =
+                ImageReader.newInstance(
+                        width,
+                        height,
+                        ImageFormat.DEPTH16,
+                        2);
+        this.imageReader.setOnImageAvailableListener(this, this.backgroundHandler);
+    }
+
+    // CPU image reader callback.
+    @Override
+    public void onImageAvailable(ImageReader imageReader) {
+        Image image  = imageReader.acquireLatestImage();
+        if (image == null) {
+            Log.w("RTABMapActivity", "onImageAvailable: Skipping null image.");
+            return;
+        }
+        else{
+            if(image.getFormat() == ImageFormat.DEPTH16){
+                this.timestamp = image.getTimestamp();
+                depth16_raw = image.getPlanes()[0].getBuffer().asReadOnlyBuffer();
+                // copy raw undecoded DEPTH16 format depth data to NativeBuffer
+                frameCount++;
+            }
+            else{
+                Log.w("RTABMapActivity", "onImageAvailable: depth image not in DEPTH16 format, skipping image");
+            }
+        }
+        image.close();
+    }
+    
+ // Start background handler thread, used to run callbacks without blocking UI thread.
+    public void startBackgroundThread() {
+        this.backgroundThread = new HandlerThread("DepthDecoderThread");
+        this.backgroundThread.start();
+        this.backgroundHandler = new Handler(backgroundThread.getLooper());
+    }
+
+    // Stop background handler thread.
+    public void stopBackgroundThread() {
+        if (this.backgroundThread != null) {
+            this.backgroundThread.quitSafely();
+            try {
+                this.backgroundThread.join();
+                this.backgroundThread = null;
+                this.backgroundHandler = null;
+            } catch (InterruptedException e) {
+                Log.e("RTABMapActivity", "Interrupted while trying to join depth background handler thread", e);
+            }
+        }
+    }
+
+}
+

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

@@ -17,6 +17,7 @@ import android.graphics.Typeface;
 import android.opengl.GLES20;
 import android.opengl.GLUtils;
 import android.text.TextPaint;
+import android.util.Log;
 
 public class TextManager {
 	
@@ -336,6 +337,8 @@ public class TextManager {
 		float y = val.y;
 		String text = val.text;
 		
+		Log.i("RTABMapActivity", String.format("convertTextToTriangleInfo() set status=%s", text));
+		
 		// Create 
 		for(int j=0; j<text.length(); j++)
 		{

app/src/CMakeLists.txt

@@ -137,6 +137,16 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
           DESTINATION ${openni2_dest_dir} 
           COMPONENT runtime)
   ENDIF(OpenNI2_FOUND)
+  
+  IF(k4a_FOUND)
+	# Install needed depthengine_2_0.dll
+    IF(WIN32)
+		file(TO_CMAKE_PATH "$ENV{K4A_ROOT_DIR}" ENV_K4A_ROOT_DIR)
+		INSTALL(FILES "${ENV_K4A_ROOT_DIR}/tools/depthengine_2_0.dll" 
+          DESTINATION ${plugin_dest_dir} 
+          COMPONENT runtime)
+	ENDIF(WIN32)
+  ENDIF(k4a_FOUND)
 
   # Install needed Qt plugins by copying directories from the qt installation
   # One can cull what gets copied by using 'REGEX "..." EXCLUDE'
@@ -156,26 +166,28 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
 		list(GET loc_list 1 plugin_type)
 		IF(NOT plugin_root)
 			get_filename_component(plugin_root ${plugin_dir} DIRECTORY)
-		ENDIF(NOT plugin_root)
-	    #MESSAGE(STATUS "Qt5 plugin \"${plugin_loc}\" installed in \"${plugin_dest_dir}/plugins${plugin_type}\"")
+		ENDIF(NOT plugin_root)
+		#MESSAGE(STATUS "Qt5 plugin \"${plugin_loc}\" installed in \"${plugin_dest_dir}/plugins${plugin_type}\"")
 		INSTALL(FILES ${plugin_loc}
           DESTINATION ${plugin_dest_dir}/plugins${plugin_type}
           COMPONENT runtime)
-	endforeach()
-	IF(WIN32)
-		IF(NOT Qt5Widgets_VERSION VERSION_LESS 5.10.0)
-			SET(plugin_loc "${plugin_root}/styles/qwindowsvistastyle.dll")
-			IF(EXISTS ${plugin_loc})
-				get_filename_component(plugin_dir ${plugin_loc} DIRECTORY)
-				string(REPLACE "plugins" ";" loc_list ${plugin_dir})
-				list(GET loc_list 1 plugin_type)
-				INSTALL(FILES ${plugin_loc}
-					DESTINATION ${plugin_dest_dir}/plugins${plugin_type}
-					COMPONENT runtime)
-				#MESSAGE(STATUS "Qt5 plugin \"${plugin_loc}\" installed in \"${plugin_dest_dir}/plugins${plugin_type}\"")
-			ENDIF(EXISTS ${plugin_loc})
-		ENDIF(NOT Qt5Widgets_VERSION VERSION_LESS 5.10.0)
-	ENDIF(WIN32)
+	endforeach()
+	IF(NOT Qt5Widgets_VERSION VERSION_LESS 5.10.0)
+		IF(WIN32)
+			SET(plugin_loc "${plugin_root}/styles/qwindowsvistastyle.dll")
+		ELSEIF(APPLE)
+			SET(plugin_loc "${plugin_root}/styles/libqmacstyle.dylib")
+		ENDIF()
+		IF(EXISTS ${plugin_loc})
+			get_filename_component(plugin_dir ${plugin_loc} DIRECTORY)
+			string(REPLACE "plugins" ";" loc_list ${plugin_dir})
+			list(GET loc_list 1 plugin_type)
+			INSTALL(FILES ${plugin_loc}
+				DESTINATION ${plugin_dest_dir}/plugins${plugin_type}
+				COMPONENT runtime)
+			#MESSAGE(STATUS "Qt5 plugin \"${plugin_loc}\" installed in \"${plugin_dest_dir}/plugins${plugin_type}\"")
+		ENDIF(EXISTS ${plugin_loc})
+	ENDIF(NOT Qt5Widgets_VERSION VERSION_LESS 5.10.0)
   ENDIF()
   
   # install a qt.conf file

cmake_modules/FindARCore.cmake

@@ -0,0 +1,31 @@
+# - Find ARCore
+# This module finds an installed ARCore client C-API package.
+#
+# It sets the following variables:
+#  ARCore_FOUND       - Set to false, or undefined, if ARCore isn't found.
+#  ARCore_INCLUDE_DIRS - The ARCore include directory.
+#  ARCore_LIBRARIES     - The ARCore library to link against.
+
+FIND_PATH(ARCore_INCLUDE_DIR arcore_c_api.h)
+
+FIND_LIBRARY(ARCore_c_LIBRARY NAMES arcore_sdk_c PATH_SUFFIXES ${ANDROID_ABI})
+FIND_LIBRARY(ARCore_jni_LIBRARY NAMES arcore_sdk_jni PATH_SUFFIXES ${ANDROID_ABI})
+
+IF (ARCore_INCLUDE_DIR AND ARCore_c_LIBRARY AND ARCore_jni_LIBRARY)
+   SET(ARCore_FOUND TRUE)
+   SET(ARCore_INCLUDE_DIRS ${ARCore_INCLUDE_DIR})
+   SET(ARCore_LIBRARIES ${ARCore_c_LIBRARY} ${ARCore_jni_LIBRARY})
+ENDIF (ARCore_INCLUDE_DIR AND ARCore_c_LIBRARY AND ARCore_jni_LIBRARY)
+
+IF (ARCore_FOUND)
+   # show which ARCore was found only if not quiet
+   IF (NOT ARCore_FIND_QUIETLY)
+      MESSAGE(STATUS "Found ARCore: ${ARCore_INCLUDE_DIRS}")
+   ENDIF (NOT ARCore_FIND_QUIETLY)
+ELSE (ARCore_FOUND)
+   # fatal error if ARCore is required but not found
+   IF (ARCore_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find ARCore (client and/or support libraries)")
+   ENDIF (ARCore_FIND_REQUIRED)
+ENDIF (ARCore_FOUND)
+

cmake_modules/FindAREngine.cmake

@@ -0,0 +1,32 @@
+# - Find AREngine
+# This module finds an installed AREngine client C-API package.
+#
+# It sets the following variables:
+#  AREngine_FOUND       - Set to false, or undefined, if AREngine isn't found.
+#  AREngine_INCLUDE_DIRS - The AREngine include directory.
+#  AREngine_LIBRARIES     - The AREngine library to link against.
+
+FIND_PATH(AREngine_INCLUDE_DIR huawei_arengine_interface.h)
+
+FIND_LIBRARY(AREngine_impl_LIBRARY NAMES huawei_arengine_impl PATH_SUFFIXES ${ANDROID_ABI})
+FIND_LIBRARY(AREngine_jni_LIBRARY NAMES huawei_arengine_jni PATH_SUFFIXES ${ANDROID_ABI})
+FIND_LIBRARY(AREngine_ndk_LIBRARY NAMES huawei_arengine_ndk PATH_SUFFIXES ${ANDROID_ABI})
+
+IF (AREngine_INCLUDE_DIR AND AREngine_impl_LIBRARY AND AREngine_jni_LIBRARY AND AREngine_ndk_LIBRARY)
+   SET(AREngine_FOUND TRUE)
+   SET(AREngine_INCLUDE_DIRS ${AREngine_INCLUDE_DIR})
+   SET(AREngine_LIBRARIES ${AREngine_impl_LIBRARY} ${AREngine_jni_LIBRARY} ${AREngine_ndk_LIBRARY})
+ENDIF (AREngine_INCLUDE_DIR AND AREngine_impl_LIBRARY AND AREngine_jni_LIBRARY AND AREngine_ndk_LIBRARY)
+
+IF (AREngine_FOUND)
+   # show which AREngine was found only if not quiet
+   IF (NOT AREngine_FIND_QUIETLY)
+      MESSAGE(STATUS "Found AREngine: ${AREngine_INCLUDE_DIRS}")
+   ENDIF (NOT AREngine_FIND_QUIETLY)
+ELSE (AREngine_FOUND)
+   # fatal error if AREngine is required but not found
+   IF (AREngine_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find AREngine's impl, jni and ndk libraries)")
+   ENDIF (AREngine_FIND_REQUIRED)
+ENDIF (AREngine_FOUND)
+

cmake_modules/FindFastCV.cmake

@@ -0,0 +1,37 @@
+# - Find FastCV (https://developer.qualcomm.com/software/fastcv-sdk)
+#
+# It sets the following variables:
+#  FastCV_FOUND         - Set to false, or undefined, if FastCV isn't found.
+#  FastCV_INCLUDE_DIRS  - The FastCV include directory.
+#  FastCV_LIBRARIES     - The FastCV library to link against.
+
+IF(NOT WIN32 AND NOT APPLE)
+
+   EXECUTE_PROCESS( COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE )
+   MESSAGE( STATUS "Architecture: ${ARCHITECTURE}" )
+
+   # Currently only tested on aarch64!
+   IF(${ARCHITECTURE} STREQUAL "aarch64")
+      find_path(FastCV_INCLUDE_DIRS NAMES fastcv.h PATH_SUFFIXES fastcv)
+      find_library(FastCV_LIBRARY NAMES fastcvopt fastcv)
+   ENDIF(${ARCHITECTURE} STREQUAL "aarch64")
+ENDIF(NOT WIN32 AND NOT APPLE)
+
+IF (FastCV_INCLUDE_DIRS AND FastCV_LIBRARY)
+   SET(FastCV_FOUND TRUE)
+ENDIF (FastCV_INCLUDE_DIRS AND FastCV_LIBRARY)
+
+IF (FastCV_FOUND)
+   SET(FastCV_LIBRARIES ${FastCV_LIBRARY})
+     
+   # show which RealSense was found only if not quiet
+   IF (NOT FastCV_FIND_QUIETLY)
+      MESSAGE(STATUS "Found FastCV: ${FastCV_LIBRARIES}")
+   ENDIF (NOT FastCV_FIND_QUIETLY)
+ELSE (FastCV_FOUND)
+   # fatal error if RealSense is required but not found
+   IF (FastCV_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find FastCV")
+   ENDIF (FastCV_FIND_REQUIRED)
+ENDIF (FastCV_FOUND)
+

cmake_modules/FindK4A.cmake

@@ -0,0 +1,34 @@
+# - Find K4A 
+# This module finds an kinect 4 azure SDK
+#
+# It sets the following variables:
+#  K4A_FOUND       - Set to false, or undefined, if K4A isn't found.
+#  K4A_INCLUDE_DIRS - The K4A include directory.
+#  K4A_LIBRARIES     - The K4A library to link against.
+
+find_library(K4A_LIBRARY NAMES k4a NO_DEFAULT_PATH PATHS $ENV{K4A_ROOT_DIR}/sdk/windows-desktop/amd64/release/lib)
+find_library(K4ARECORD_LIBRARY NAMES k4arecord NO_DEFAULT_PATH PATHS $ENV{K4A_ROOT_DIR}/sdk/windows-desktop/amd64/release/lib)
+find_path(K4A_INCLUDE_DIR NAMES k4a/k4a.h PATHS $ENV{K4A_ROOT_DIR}/sdk/include)
+
+IF (K4A_INCLUDE_DIR AND K4A_LIBRARY AND K4ARECORD_LIBRARY)
+   SET(K4A_FOUND TRUE)
+   SET(K4A_INCLUDE_DIRS ${K4A_INCLUDE_DIR})
+   SET(K4A_LIBRARIES ${K4A_LIBRARY} ${K4ARECORD_LIBRARY})
+
+   # Compatibility with linux names
+   SET(k4a_LIBRARIES ${K4A_LIBRARIES})
+   SET(k4a_INCLUDE_DIRS ${K4A_INCLUDE_DIRS})
+   SET(k4a_FOUND ${K4A_FOUND})
+ENDIF (K4A_INCLUDE_DIR AND K4A_LIBRARY AND K4ARECORD_LIBRARY)
+
+IF (K4A_FOUND)
+   # show which K4A was found only if not quiet
+   IF (NOT K4A_FIND_QUIETLY)
+      MESSAGE(STATUS "Found K4A: ${K4A_LIBRARIES}")
+   ENDIF (NOT K4A_FIND_QUIETLY)
+ELSE (K4A_FOUND)
+   # fatal error if K4A is required but not found
+   IF (K4A_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find K4A (Kinect for Azure SDK)")
+   ENDIF (K4A_FIND_REQUIRED)
+ENDIF (K4A_FOUND)

corelib/include/rtabmap/core/BayesFilter.h

@@ -61,6 +61,8 @@ public:
 
 	cv::Mat generatePrediction(const Memory * memory, const std::vector<int> & ids);
 
+	unsigned long getMemoryUsed() const;
+
 private:
 	cv::Mat updatePrediction(const cv::Mat & oldPrediction,
 			const Memory * memory,

corelib/include/rtabmap/core/Camera.h

@@ -53,6 +53,7 @@ public:
 	virtual ~Camera();
 	SensorData takeImage(CameraInfo * info = 0);
 
+	bool initFromFile(const std::string & calibrationPath);
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "") = 0;
 	virtual bool isCalibrated() const = 0;
 	virtual std::string getSerial() const = 0;
@@ -73,7 +74,7 @@ protected:
 	 *
 	 * @param imageRate : image/second , 0 for fast as the camera can
 	 */
-	Camera(float imageRate = 0, const Transform & localTransform = Transform::getIdentity());
+	Camera(float imageRate = 0, const Transform & localTransform = CameraModel::opticalRotation());
 
 	/**
 	 * returned rgb and depth images should be already rectified if calibration was loaded

corelib/include/rtabmap/core/CameraModel.h

@@ -37,6 +37,13 @@ namespace rtabmap {
 
 class RTABMAP_EXP CameraModel
 {
+public:
+	/**
+	 * Optical rotation used to transform image coordinate frame (x->right, y->down, z->forward)
+	 * to robot coordinate frame (x->forward, y->left, z->up).
+	 */
+	static Transform opticalRotation() {return Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0);}
+
 public:
 	CameraModel();
 	// K is the camera intrinsic 3x3 CV_64FC1
@@ -50,7 +57,7 @@ public:
 			const cv::Mat & D,
 			const cv::Mat & R,
 			const cv::Mat & P,
-			const Transform & localTransform = Transform::getIdentity());
+			const Transform & localTransform = opticalRotation());
 
 	// minimal
 	CameraModel(
@@ -58,7 +65,7 @@ public:
 			double fy,
 			double cx,
 			double cy,
-			const Transform & localTransform = Transform::getIdentity(),
+			const Transform & localTransform = opticalRotation(),
 			double Tx = 0.0f,
 			const cv::Size & imageSize = cv::Size(0,0));
 	// minimal to be saved
@@ -68,14 +75,14 @@ public:
 			double fy,
 			double cx,
 			double cy,
-			const Transform & localTransform = Transform::getIdentity(),
+			const Transform & localTransform = opticalRotation(),
 			double Tx = 0.0f,
 			const cv::Size & imageSize = cv::Size(0,0));
 
 	virtual ~CameraModel() {}
 
 	void initRectificationMap();
-	bool isRectificationMapInitialized() {return !mapX_.empty() && !mapY_.empty();}
+	bool isRectificationMapInitialized() const {return !mapX_.empty() && !mapY_.empty();}
 
 	bool isValidForProjection() const {return fx()>0.0 && fy()>0.0 && cx()>0.0 && cy()>0.0;}
 	bool isValidForReprojection() const {return fx()>0.0 && fy()>0.0 && cx()>0.0 && cy()>0.0 && imageWidth()>0 && imageHeight()>0;}
@@ -113,6 +120,12 @@ public:
 	int imageWidth() const {return imageSize_.width;}
 	int imageHeight() const {return imageSize_.height;}
 
+	double fovX() const; // in radians
+	double fovY() const; // in radians
+	double horizontalFOV() const; // in degrees
+	double verticalFOV() const;   // in degrees
+
+	bool load(const std::string & filePath);
 	bool load(const std::string & directory, const std::string & cameraName);
 	bool save(const std::string & directory) const;
 	std::vector<unsigned char> serialize() const;
@@ -122,9 +135,6 @@ public:
 	CameraModel scaled(double scale) const;
 	CameraModel roi(const cv::Rect & roi) const;
 
-	double horizontalFOV() const; // in degrees
-	double verticalFOV() const;   // in degrees
-
 	// For depth images, your should use cv::INTER_NEAREST
 	cv::Mat rectifyImage(const cv::Mat & raw, int interpolation = cv::INTER_LINEAR) const;
 	cv::Mat rectifyDepth(const cv::Mat & raw) const;
@@ -148,5 +158,7 @@ private:
 	Transform localTransform_;
 };
 
+RTABMAP_EXP std::ostream& operator<<(std::ostream& os, const CameraModel& model);
+
 } /* namespace rtabmap */
 #endif /* CAMERAMODEL_H_ */

corelib/include/rtabmap/core/CameraRGBD.h

@@ -36,4 +36,5 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/camera/CameraRealSense.h>
 #include <rtabmap/core/camera/CameraRealSense2.h>
 #include <rtabmap/core/camera/CameraRGBDImages.h>
+#include <rtabmap/core/camera/CameraK4A.h>
 

corelib/include/rtabmap/core/CameraStereo.h

@@ -33,3 +33,4 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/camera/CameraStereoVideo.h>
 #include <rtabmap/core/camera/CameraStereoZed.h>
 #include <rtabmap/core/camera/CameraStereoTara.h>
+#include <rtabmap/core/camera/CameraMyntEye.h>

corelib/include/rtabmap/core/CameraThread.h

@@ -72,6 +72,15 @@ public:
 	void enableIMUFiltering(int filteringStrategy=1, const ParametersMap & parameters = ParametersMap());
 	void disableIMUFiltering();
 
+	RTABMAP_DEPRECATED(void setScanParameters(
+			bool fromDepth,
+			int downsampleStep, // decimation of the depth image in case the scan is from depth image
+			float rangeMin,
+			float rangeMax,
+			float voxelSize,
+			int normalsK,
+			int normalsRadius,
+			bool forceGroundNormalsUp) , "Use new version of this function with groundNormalsUp=0.8 for forceGroundNormalsUp=True and groundNormalsUp=0.0 for forceGroundNormalsUp=False.");
 	void setScanParameters(
 			bool fromDepth,
 			int downsampleStep=1, // decimation of the depth image in case the scan is from depth image
@@ -80,17 +89,7 @@ public:
 			float voxelSize = 0.0f,
 			int normalsK = 0,
 			int normalsRadius = 0.0f,
-			bool forceGroundNormalsUp = false)
-	{
-		_scanFromDepth = fromDepth;
-		_scanDownsampleStep=downsampleStep;
-		_scanRangeMin = rangeMin;
-		_scanRangeMax = rangeMax;
-		_scanVoxelSize = voxelSize;
-		_scanNormalsK = normalsK;
-		_scanNormalsRadius = normalsRadius;
-		_scanForceGroundNormalsUp = forceGroundNormalsUp;
-	}
+			float groundNormalsUp = 0.0f);
 
 	void postUpdate(SensorData * data, CameraInfo * info = 0) const;
 
@@ -119,7 +118,7 @@ private:
 	float _scanVoxelSize;
 	int _scanNormalsK;
 	float _scanNormalsRadius;
-	bool _scanForceGroundNormalsUp;
+	float _scanForceGroundNormalsUp;
 	StereoDense * _stereoDense;
 	clams::DiscreteDepthDistortionModel * _distortionModel;
 	bool _bilateralFiltering;

corelib/include/rtabmap/core/DBDriver.h

@@ -70,6 +70,7 @@ public:
 	virtual void parseParameters(const ParametersMap & parameters);
 	virtual bool isInMemory() const {return _url.empty();}
 	const std::string & getUrl() const {return _url;}
+	const std::string & getTargetVersion() const {return _targetVersion;}
 
 	void beginTransaction() const;
 	void commit() const;
@@ -96,10 +97,11 @@ public:
 				float cellSize,
 				const cv::Point3f & viewpoint);
 	void updateDepthImage(int nodeId, const cv::Mat & image);
+	void updateLaserScan(int nodeId, const LaserScan & scan);
 
 public:
 	void addInfoAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap & parameters) const;
-	void addStatistics(const Statistics & statistics) const;
+	void addStatistics(const Statistics & statistics, bool saveWmState) const;
 	void savePreviewImage(const cv::Mat & image) const;
 	cv::Mat loadPreviewImage() const;
 	void saveOptimizedPoses(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
@@ -108,7 +110,7 @@ public:
 	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
+			const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons = std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > >(),      // 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
@@ -116,7 +118,7 @@ public:
 #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,
+			std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons = 0,
 #if PCL_VERSION_COMPARE(>=, 1, 8, 0)
 			std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,
 #else
@@ -130,7 +132,7 @@ public:
 	bool openConnection(const std::string & url, bool overwritten = false);
 	void closeConnection(bool save = true, const std::string & outputUrl = "");
 	bool isConnected() const;
-	long getMemoryUsed() const; // In bytes
+	unsigned long getMemoryUsed() const; // In bytes
 	std::string getDatabaseVersion() const;
 	long getNodesMemoryUsed() const;
 	long getLinksMemoryUsed() const;
@@ -156,11 +158,13 @@ public:
 
 	// Load objects
 	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);
+	void loadLastNodes(std::list<Signature *> & signatures) const; // returned signatures must be freed after usage
+	Signature * loadSignature(int id, bool * loadedFromTrash = 0); // returned signature must be freed after usage, call loadSignatures() instead if more than one signature should be loaded
+	void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0); // returned signatures must be freed after usage
+	void loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws); // returned words must be freed after usage
 
 	// Specific queries...
+	void loadNodeData(Signature * signature, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
 	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;
@@ -172,6 +176,7 @@ public:
 	void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false, bool ignoreBadSignatures = false) const;
 	void getAllLinks(std::multimap<int, Link> & links, bool ignoreNullLinks = true, bool withLandmarks = false) const;
 	void getLastNodeId(int & id) const;
+	void getLastMapId(int & mapId) const;
 	void getLastWordId(int & id) const;
 	void getInvertedIndexNi(int signatureId, int & ni) const;
 	void getNodesObservingLandmark(int landmarkId, std::map<int, Link> & nodes) const;
@@ -184,7 +189,7 @@ protected:
 	virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false) = 0;
 	virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "") = 0;
 	virtual bool isConnectedQuery() const = 0;
-	virtual long getMemoryUsedQuery() const = 0; // In bytes
+	virtual unsigned long getMemoryUsedQuery() const = 0; // In bytes
 	virtual bool getDatabaseVersionQuery(std::string & version) const = 0;
 	virtual long getNodesMemoryUsedQuery() const = 0;
 	virtual long getLinksMemoryUsedQuery() const = 0;
@@ -219,18 +224,22 @@ protected:
 	virtual void updateLinkQuery(const Link & link) const = 0;
 
 	virtual void updateOccupancyGridQuery(
-				int nodeId,
-				const cv::Mat & ground,
-				const cv::Mat & obstacles,
-				const cv::Mat & empty,
-				float cellSize,
-				const cv::Point3f & viewpoint) const = 0;
+			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;
+			int nodeId,
+			const cv::Mat & image) const = 0;
 
-	virtual void addStatisticsQuery(const Statistics & statistics) const = 0;
+	virtual void updateLaserScanQuery(
+			int nodeId,
+			const LaserScan & scan) const = 0;
+
+	virtual void addStatisticsQuery(const Statistics & statistics, bool saveWmState) 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;
@@ -239,7 +248,7 @@ protected:
 	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,
+				const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,
 #if PCL_VERSION_COMPARE(>=, 1, 8, 0)
 				const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
 #else
@@ -247,7 +256,7 @@ protected:
 #endif
 				const cv::Mat & textures) const = 0;
 	virtual cv::Mat loadOptimizedMeshQuery(
-				std::vector<std::vector<std::vector<unsigned int> > > * polygons,
+				std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons,
 #if PCL_VERSION_COMPARE(>=, 1, 8, 0)
 				std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,
 #else
@@ -269,7 +278,7 @@ protected:
 	virtual void getLastNodeIdsQuery(std::set<int> & ids) 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, bool withLandmarks) const = 0;
-	virtual void getLastIdQuery(const std::string & tableName, int & id) const = 0;
+	virtual void getLastIdQuery(const std::string & tableName, int & id, const std::string & fieldName="id") const = 0;
 	virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const = 0;
 	virtual void getNodesObservingLandmarkQuery(int landmarkId, std::map<int, Link> & nodes) const = 0;
 	virtual void getNodeIdByLabelQuery(const std::string & label, int & id) const = 0;
@@ -292,6 +301,7 @@ private:
 	USemaphore _addSem;
 	double _emptyTrashesTime;
 	std::string _url;
+	std::string _targetVersion;
 	bool _timestampUpdate;
 };
 

corelib/include/rtabmap/core/DBDriverSqlite3.h

@@ -54,7 +54,7 @@ protected:
 	virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false);
 	virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "");
 	virtual bool isConnectedQuery() const;
-	virtual long getMemoryUsedQuery() const; // In bytes
+	virtual unsigned long getMemoryUsedQuery() const; // In bytes
 	virtual bool getDatabaseVersionQuery(std::string & version) const;
 	virtual long getNodesMemoryUsedQuery() const;
 	virtual long getLinksMemoryUsedQuery() const;
@@ -100,7 +100,11 @@ protected:
 			int nodeId,
 			const cv::Mat & image) const;
 
-	virtual void addStatisticsQuery(const Statistics & statistics) const;
+	void updateLaserScanQuery(
+			int nodeId,
+			const LaserScan & scan) const;
+
+	virtual void addStatisticsQuery(const Statistics & statistics, bool saveWmState) const;
 	virtual void savePreviewImageQuery(const cv::Mat & image) const;
 	virtual cv::Mat loadPreviewImageQuery() const;
 	virtual void saveOptimizedPosesQuery(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
@@ -109,7 +113,7 @@ protected:
 	virtual cv::Mat load2DMapQuery(float & xMin, float & yMin, float & cellSize) const;
 	virtual void saveOptimizedMeshQuery(
 			const cv::Mat & cloud,
-			const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
+			const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,
 #if PCL_VERSION_COMPARE(>=, 1, 8, 0)
 			const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
 #else
@@ -117,7 +121,7 @@ protected:
 #endif
 			const cv::Mat & textures) const;
 	virtual cv::Mat loadOptimizedMeshQuery(
-			std::vector<std::vector<std::vector<unsigned int> > > * polygons,
+			std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons,
 #if PCL_VERSION_COMPARE(>=, 1, 8, 0)
 			std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,
 #else
@@ -139,7 +143,7 @@ protected:
 	virtual void getLastNodeIdsQuery(std::set<int> & ids) const;
 	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const;
 	virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks, bool withLandmarks) const;
-	virtual void getLastIdQuery(const std::string & tableName, int & id) const;
+	virtual void getLastIdQuery(const std::string & tableName, int & id, const std::string & fieldName="id") const;
 	virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const;
 	virtual void getNodesObservingLandmarkQuery(int landmarkId, std::map<int, Link> & nodes) const;
 	virtual void getNodeIdByLabelQuery(const std::string & label, int & id) const;
@@ -150,20 +154,24 @@ private:
 	std::string queryStepImage() const;
 	std::string queryStepDepth() const;
 	std::string queryStepDepthUpdate() const;
+	std::string queryStepScanUpdate() const;
 	std::string queryStepSensorData() const;
 	std::string queryStepLinkUpdate() const;
 	std::string queryStepLink() const;
 	std::string queryStepWordsChanged() const;
 	std::string queryStepKeypoint() const;
+	std::string queryStepGlobalDescriptor() const;
 	std::string queryStepOccupancyGridUpdate() const;
 	void stepNode(sqlite3_stmt * ppStmt, const Signature * s) const;
 	void stepImage(sqlite3_stmt * ppStmt, int id, const cv::Mat & imageBytes) const;
 	void stepDepth(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
 	void stepDepthUpdate(sqlite3_stmt * ppStmt, int nodeId, const cv::Mat & imageCompressed) const;
+	void stepScanUpdate(sqlite3_stmt * ppStmt, int nodeId, const LaserScan & image) const;
 	void stepSensorData(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
 	void stepLink(sqlite3_stmt * ppStmt, const Link & link) const;
 	void stepWordsChanged(sqlite3_stmt * ppStmt, int signatureId, int oldWordId, int newWordId) const;
-	void stepKeypoint(sqlite3_stmt * ppStmt, int signatureId, int wordId, const cv::KeyPoint & kp, const cv::Point3f & pt, const cv::Mat & descriptor) const;
+	void stepKeypoint(sqlite3_stmt * ppStmt, int nodeID, int wordId, const cv::KeyPoint & kp, const cv::Point3f & pt, const cv::Mat & descriptor) const;
+	void stepGlobalDescriptor(sqlite3_stmt * ppStmt, int nodeId, const GlobalDescriptor & descriptor) const;
 	void stepOccupancyGridUpdate(sqlite3_stmt * ppStmt,
 			int nodeId,
 			const cv::Mat & ground,
@@ -181,7 +189,7 @@ protected:
 	std::string _version;
 
 private:
-	long _memoryUsedEstimate;
+	unsigned long _memoryUsedEstimate;
 	bool _dbInMemory;
 	unsigned int _cacheSize;
 	int _journalMode;

corelib/include/rtabmap/core/DBReader.h

@@ -50,17 +50,17 @@ public:
 			 bool odometryIgnored = false,
 			 bool ignoreGoalDelay = false,
 			 bool goalsIgnored = false,
-			 int startIndex = 0,
+			 int startId = 0,
 			 int cameraIndex = -1,
-			 int maxFrames = 0);
+			 int stopId = 0);
 	DBReader(const std::list<std::string> & databasePaths,
 			 float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
 			 bool odometryIgnored = false,
 			 bool ignoreGoalDelay = false,
 			 bool goalsIgnored = false,
-			 int startIndex = 0,
+			 int startId = 0,
 			 int cameraIndex = -1,
-			 int maxFrames = 0);
+			 int stopId = 0);
 	virtual ~DBReader();
 
 	virtual bool init(
@@ -82,8 +82,8 @@ private:
 	bool _odometryIgnored;
 	bool _ignoreGoalDelay;
 	bool _goalsIgnored;
-	int _startIndex;
-	int _maxFrames;
+	int _startId;
+	int _stopId;
 	int _cameraIndex;
 
 	DBDriver * _dbDriver;
@@ -95,7 +95,6 @@ private:
 	double _previousStamp;
 	int _previousMapID;
 	bool _calibrated;
-	int _framesPublished;
 };
 
 } /* namespace rtabmap */

corelib/include/rtabmap/core/EpipolarGeometry.h

@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
 #include "rtabmap/core/Parameters.h"
+#include "rtabmap/utilite/UStl.h"
 #include <opencv2/core/core.hpp>
 #include <opencv2/features2d/features2d.hpp>
 #include <pcl/point_cloud.h>
@@ -75,8 +76,8 @@ public:
 	static cv::Mat findFFromWords(
 			const std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs, // id, kpt1, kpt2
 			std::vector<uchar> & status,
-			double ransacParam1 = 3.0,
-			double ransacParam2 = 0.99);
+			double ransacReprojThreshold = 3.0,
+			double ransacConfidence = 0.99);
 
 	// assume a canonical camera (without K)
 	static void findRTFromP(
@@ -91,41 +92,133 @@ public:
 	 * if a=[1 2 3 4 6], b=[1 2 4 5 6], results= [(1,1) (2,2) (4,4) (6,6)]
 	 * realPairsCount = 4
 	 */
+	template<typename T>
 	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,
-			bool ignoreNegativeIds = true);
+			const std::map<int, T> & wordsA,
+			const std::map<int, T> & wordsB,
+			std::list<std::pair<int, std::pair<T, T> > > & pairs,
+			bool ignoreNegativeIds = true)
+	{
+		int realPairsCount = 0;
+		pairs.clear();
+		for(typename std::map<int, T>::const_iterator i=wordsA.begin(); i!=wordsA.end(); ++i)
+		{
+			if(!ignoreNegativeIds || (ignoreNegativeIds && i->first>=0))
+			{
+				std::map<int, cv::KeyPoint>::const_iterator ptB = wordsB.find(i->first);
+				if(ptB != wordsB.end())
+				{
+					pairs.push_back(std::pair<int, std::pair<T, T> >(i->first, std::make_pair(i->second, ptB->second)));
+					++realPairsCount;
+				}
+			}
+		}
+		return realPairsCount;
+	}
 
 	/**
 	 * 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)]
 	 * realPairsCount = 5
 	 */
+	template<typename T>
 	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,
-			bool ignoreNegativeIds = true);
+			const std::multimap<int, T> & wordsA,
+			const std::multimap<int, T> & wordsB,
+			std::list<std::pair<int, std::pair<T, T> > > & pairs,
+			bool ignoreNegativeIds = true)
+	{
+		const std::list<int> & ids = uUniqueKeys(wordsA);
+		typename std::multimap<int, T>::const_iterator iterA;
+		typename std::multimap<int, T>::const_iterator iterB;
+		pairs.clear();
+		int realPairsCount = 0;
+		for(std::list<int>::const_iterator i=ids.begin(); i!=ids.end(); ++i)
+		{
+			if(!ignoreNegativeIds || (ignoreNegativeIds && *i >= 0))
+			{
+				iterA = wordsA.find(*i);
+				iterB = wordsB.find(*i);
+				while(iterA != wordsA.end() && iterB != wordsB.end() && (*iterA).first == (*iterB).first && (*iterA).first == *i)
+				{
+					pairs.push_back(std::pair<int, std::pair<T, T> >(*i, std::make_pair((*iterA).second, (*iterB).second)));
+					++iterA;
+					++iterB;
+					++realPairsCount;
+				}
+			}
+		}
+		return realPairsCount;
+	}
 
 	/**
 	 * if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(2,2) (4,4)]
 	 * realPairsCount = 5
 	 */
+	template<typename T>
 	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,
-			bool ignoreNegativeIds = true);
+			const std::multimap<int, T> & wordsA,
+			const std::multimap<int, T> & wordsB,
+			std::list<std::pair<int, std::pair<T, T> > > & pairs,
+			bool ignoreNegativeIds = true)
+	{
+		const std::list<int> & ids = uUniqueKeys(wordsA);
+		int realPairsCount = 0;
+		pairs.clear();
+		for(std::list<int>::const_iterator i=ids.begin(); i!=ids.end(); ++i)
+		{
+			if(!ignoreNegativeIds || (ignoreNegativeIds && *i>=0))
+			{
+				std::list<T> ptsA = uValues(wordsA, *i);
+				std::list<T> ptsB = uValues(wordsB, *i);
+				if(ptsA.size() == 1 && ptsB.size() == 1)
+				{
+					pairs.push_back(std::pair<int, std::pair<T, T> >(*i, std::pair<T, T>(ptsA.front(), ptsB.front())));
+					++realPairsCount;
+				}
+				else if(ptsA.size()>1 && ptsB.size()>1)
+				{
+					// just update the count
+					realPairsCount += ptsA.size() > ptsB.size() ? ptsB.size() : ptsA.size();
+				}
+			}
+		}
+		return realPairsCount;
+	}
 
 	/**
 	 * 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)]
 	 * realPairsCount = 5
 	 */
+	template<typename T>
 	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,
-			bool ignoreNegativeIds = true);
+			const std::multimap<int, T> & wordsA,
+			const std::multimap<int, T> & wordsB,
+			std::list<std::pair<int, std::pair<T, T> > > & pairs,
+			bool ignoreNegativeIds = true)
+	{
+		const std::list<int> & ids = uUniqueKeys(wordsA);
+		pairs.clear();
+		int realPairsCount = 0;;
+		for(std::list<int>::const_iterator iter=ids.begin(); iter!=ids.end(); ++iter)
+		{
+			if(!ignoreNegativeIds || (ignoreNegativeIds && *iter>=0))
+			{
+				std::list<T> ptsA = uValues(wordsA, *iter);
+				std::list<T> ptsB = uValues(wordsB, *iter);
+
+				realPairsCount += ptsA.size() > ptsB.size() ? ptsB.size() : ptsA.size();
+
+				for(typename std::list<T>::iterator jter=ptsA.begin(); jter!=ptsA.end(); ++jter)
+				{
+					for(typename std::list<T>::iterator kter=ptsB.begin(); kter!=ptsB.end(); ++kter)
+					{
+						pairs.push_back(std::pair<int, std::pair<T, T> >(*iter, std::pair<T, T>(*jter, *kter)));
+					}
+				}
+			}
+		}
+		return realPairsCount;
+	}
 
 	static cv::Mat linearLSTriangulation(
 			cv::Point3d u,    //homogenous image point (u,v,1)

corelib/include/rtabmap/core/Features2d.h

@@ -61,8 +61,11 @@ typedef cv::gpu::FAST_GPU CV_FAST_GPU;
 namespace cv{
 namespace xfeatures2d {
 class FREAK;
+class DAISY;
 class BriefDescriptorExtractor;
+#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
 class SIFT;
+#endif
 class SURF;
 }
 namespace cuda {
@@ -71,10 +74,15 @@ class ORB;
 class SURF_CUDA;
 }
 }
+#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
 typedef cv::xfeatures2d::SIFT CV_SIFT;
+#else
+typedef cv::SIFT CV_SIFT; // SIFT is back in features2d since 4.4.0 / 3.4.11
+#endif
 typedef cv::xfeatures2d::SURF CV_SURF;
 typedef cv::FastFeatureDetector CV_FAST;
 typedef cv::xfeatures2d::FREAK CV_FREAK;
+typedef cv::xfeatures2d::DAISY CV_DAISY;
 typedef cv::GFTTDetector CV_GFTT;
 typedef cv::xfeatures2d::BriefDescriptorExtractor CV_BRIEF;
 typedef cv::BRISK CV_BRISK;
@@ -87,6 +95,7 @@ typedef cv::cuda::FastFeatureDetector CV_FAST_GPU;
 namespace rtabmap {
 
 class ORBextractor;
+class SPDetector;
 
 class Stereo;
 #if CV_MAJOR_VERSION < 3
@@ -107,7 +116,49 @@ public:
 		kFeatureBrisk=7,
 		kFeatureGfttOrb=8,  //new 0.10.11
 		kFeatureKaze=9,     //new 0.13.2
-		kFeatureOrbOctree=10};   //new 0.19.2
+		kFeatureOrbOctree=10, //new 0.19.2
+		kFeatureSuperPointTorch=11, //new 0.19.7
+		kFeatureSurfFreak=12, //new 0.20.4
+		kFeatureGfttDaisy=13, //new 0.20.6
+		kFeatureSurfDaisy=14};  //new 0.20.6
+
+	static std::string typeName(Type type)
+	{
+		switch(type){
+		case kFeatureSurf:
+			return "SURF";
+		case kFeatureSift:
+			return "SIFT";
+		case kFeatureOrb:
+			return "ORB";
+		case kFeatureFastFreak:
+			return "FAST+FREAK";
+		case kFeatureFastBrief:
+			return "FAST+BRIEF";
+		case kFeatureGfttFreak:
+			return "GFTT+Freak";
+		case kFeatureGfttBrief:
+			return "GFTT+Brief";
+		case kFeatureBrisk:
+			return "BRISK";
+		case kFeatureGfttOrb:
+			return "GFTT+ORB";
+		case kFeatureKaze:
+			return "KAZE";
+		case kFeatureOrbOctree:
+			return "ORB-OCTREE";
+		case kFeatureSuperPointTorch:
+			return "SUPERPOINT";
+		case kFeatureSurfFreak:
+			return "SURF+Freak";
+		case kFeatureGfttDaisy:
+			return "GFTT+Daisy";
+		case kFeatureSurfDaisy:
+			return "SURF+Daisy";
+		default:
+			return "Unknown";
+		}
+	}
 
 	static Feature2D * create(const ParametersMap & parameters = ParametersMap());
 	static Feature2D * create(Feature2D::Type type, const ParametersMap & parameters = ParametersMap()); // for convenience
@@ -123,6 +174,12 @@ public:
 			const cv::Mat & depth,
 			float minDepth,
 			float maxDepth);
+	static void filterKeypointsByDepth(
+			std::vector<cv::KeyPoint> & keypoints,
+			cv::Mat & descriptors,
+			std::vector<cv::Point3f> & keypoints3D,
+			float minDepth,
+			float maxDepth);
 
 	static void filterKeypointsByDisparity(
 				std::vector<cv::KeyPoint> & keypoints,
@@ -138,6 +195,7 @@ public:
 	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 void limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, std::vector<bool> & inliers, int maxKeypoints, const cv::Size & imageSize, int gridRows, int gridCols);
 
 	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);
@@ -145,6 +203,8 @@ public:
 	int getMaxFeatures() const {return maxFeatures_;}
 	float getMinDepth() const {return _minDepth;}
 	float getMaxDepth() const {return _maxDepth;}
+	int getGridRows() const {return gridRows_;}
+	int getGridCols() const {return gridCols_;}
 
 public:
 	virtual ~Feature2D();
@@ -231,6 +291,7 @@ private:
 	double contrastThreshold_;
 	double edgeThreshold_;
 	double sigma_;
+	bool rootSIFT_;
 
 	cv::Ptr<CV_SIFT> _sift;
 };
@@ -278,7 +339,7 @@ public:
 
 private:
 	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
-	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const {return cv::Mat();}
+	virtual cv::Mat generateDescriptorsImpl(const cv::Mat &, std::vector<cv::KeyPoint> &) const {return cv::Mat();}
 
 private:
 	int threshold_;
@@ -289,6 +350,14 @@ private:
 	int maxThreshold_;
 	int gridRows_;
 	int gridCols_;
+	int fastCV_;
+
+	bool fastCVinit_;
+	int fastCVMaxFeatures_;
+	int fastCVLastImageHeight_;
+	uint32_t* fastCVCorners_= NULL;
+	uint32_t* fastCVCornerScores_ = NULL;
+	void* fastCVTempBuf_ = NULL;
 
 	cv::Ptr<cv::FeatureDetector> _fast;
 	cv::Ptr<CV_FAST_GPU> _gpuFast;
@@ -398,6 +467,28 @@ private:
 	cv::Ptr<CV_FREAK> _freak;
 };
 
+//SURF_FREAK
+class RTABMAP_EXP SURF_FREAK : public SURF
+{
+public:
+	SURF_FREAK(const ParametersMap & parameters = ParametersMap());
+	virtual ~SURF_FREAK();
+
+	virtual void parseParameters(const ParametersMap & parameters);
+	virtual Feature2D::Type getType() const {return kFeatureSurfFreak;}
+
+private:
+	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
+
+private:
+	bool orientationNormalized_;
+	bool scaleNormalized_;
+	float patternScale_;
+	int nOctaves_;
+
+	cv::Ptr<CV_FREAK> _freak;
+};
+
 //GFTT_ORB
 class RTABMAP_EXP GFTT_ORB : public GFTT
 {
@@ -481,6 +572,8 @@ private:
 private:
 	float scaleFactor_;
 	int nLevels_;
+	int patchSize_;
+	int edgeThreshold_;
 	int fastThreshold_;
 	int fastMinThreshold_;
 
@@ -488,6 +581,76 @@ private:
 	cv::Mat descriptors_;
 };
 
+//SuperPointTorch
+class RTABMAP_EXP SuperPointTorch : public Feature2D
+{
+public:
+	SuperPointTorch(const ParametersMap & parameters = ParametersMap());
+	virtual ~SuperPointTorch();
+
+	virtual void parseParameters(const ParametersMap & parameters);
+	virtual Feature2D::Type getType() const { return kFeatureSuperPointTorch; }
+
+private:
+	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
+	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
+
+	cv::Ptr<SPDetector> superPoint_;
+
+	std::string path_;
+	float threshold_;
+	bool nms_;
+	int minDistance_;
+	bool cuda_;
+};
+
+//GFTT_DAISY
+class RTABMAP_EXP GFTT_DAISY : public GFTT
+{
+public:
+	GFTT_DAISY(const ParametersMap & parameters = ParametersMap());
+	virtual ~GFTT_DAISY();
+
+	virtual void parseParameters(const ParametersMap & parameters);
+	virtual Feature2D::Type getType() const {return kFeatureGfttDaisy;}
+
+private:
+	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
+
+private:
+	bool orientationNormalized_;
+	bool scaleNormalized_;
+	float patternScale_;
+	int nOctaves_;
+
+#if CV_MAJOR_VERSION > 2
+	cv::Ptr<CV_DAISY> _daisy;
+#endif
+};
+
+//SURF_DAISY
+class RTABMAP_EXP SURF_DAISY : public SURF
+{
+public:
+	SURF_DAISY(const ParametersMap & parameters = ParametersMap());
+	virtual ~SURF_DAISY();
+
+	virtual void parseParameters(const ParametersMap & parameters);
+	virtual Feature2D::Type getType() const {return kFeatureSurfDaisy;}
+
+private:
+	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
+
+private:
+	bool orientationNormalized_;
+	bool scaleNormalized_;
+	float patternScale_;
+	int nOctaves_;
+
+#if CV_MAJOR_VERSION > 2
+	cv::Ptr<CV_DAISY> _daisy;
+#endif
+};
 
 }
 

corelib/include/rtabmap/core/FlannIndex.h

@@ -43,8 +43,8 @@ public:
 	void release();
 	unsigned int indexedFeatures() const;
 
-	// return KB
-	unsigned int memoryUsed() const;
+	// return Bytes
+	unsigned long memoryUsed() const;
 
 	// Note that useDistanceL1 doesn't have any effect if LSH is used
 	void buildLinearIndex(
@@ -74,7 +74,7 @@ public:
 	int featuresType() const {return featuresType_;}
 	int featuresDim() const {return featuresDim_;}
 
-	unsigned int addPoints(const cv::Mat & features);
+	std::vector<unsigned int> addPoints(const cv::Mat & features);
 
 	void removePoint(unsigned int index);
 

corelib/include/rtabmap/core/GlobalDescriptor.h

@@ -0,0 +1,59 @@
+/*
+Copyright (c) 2010-2020, 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 <opencv2/core/core.hpp>
+
+namespace rtabmap
+{
+
+class GlobalDescriptor
+{
+
+public:
+	GlobalDescriptor(int type, const cv::Mat & data, const cv::Mat & info = cv::Mat()) :
+		type_(type),
+		info_(info),
+		data_(data)
+	{}
+	GlobalDescriptor() :
+		type_(-1) // Not set
+	{}
+	virtual ~GlobalDescriptor() {}
+
+	int type() const {return type_;}
+	const cv::Mat info() const {return info_;}
+	const cv::Mat data() const {return data_;}
+
+private:
+	int type_;
+	cv::Mat info_;
+	cv::Mat data_;
+};
+
+} // namespace rtabmap

corelib/include/rtabmap/core/Graph.h

@@ -35,6 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/Parameters.h>
 #include <rtabmap/core/Link.h>
 #include <rtabmap/core/GPS.h>
+#include <rtabmap/core/CameraModel.h>
 
 namespace rtabmap {
 class Memory;
@@ -55,10 +56,10 @@ namespace graph {
 
 bool RTABMAP_EXP importPoses(
 		const std::string & filePath,
-		int format, // 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame), 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe
+		int format, // 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame), 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe, 9=EuRoC MAV
 		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
+		std::map<int, double> * stamps = 0); // optional for format 1 and 9
 
 bool RTABMAP_EXP exportGPS(
 		const std::string & filePath,
@@ -155,12 +156,20 @@ std::list<Link> RTABMAP_EXP findLinks(
 
 std::multimap<int, Link> RTABMAP_EXP filterDuplicateLinks(
 		const std::multimap<int, Link> & links);
+/**
+ * Return links not of type "filteredType". If inverted=true, return links of of type "filteredType".
+ */
 std::multimap<int, Link> RTABMAP_EXP filterLinks(
 		const std::multimap<int, Link> & links,
-		Link::Type filteredType);
+		Link::Type filteredType,
+		bool inverted = false);
+/**
+ * Return links not of type "filteredType". If inverted=true, return links of of type "filteredType".
+ */
 std::map<int, Link> RTABMAP_EXP filterLinks(
 		const std::map<int, Link> & links,
-		Link::Type filteredType);
+		Link::Type filteredType,
+		bool inverted = false);
 
 //Note: This assumes a coordinate system where X is forward, * Y is up, and Z is right.
 std::map<int, Transform> RTABMAP_EXP frustumPosesFiltering(
@@ -255,11 +264,26 @@ std::list<std::pair<int, Transform> > RTABMAP_EXP computePath(
 		float linearVelocity = 0.0f,   // m/sec
 		float angularVelocity = 0.0f); // rad/sec
 
+/**
+ * Get the nearest node of the target pose
+ * @param nodes the nodes to search for
+ * @param targetPose the target pose to search around
+ * @param distance squared distance of the nearest node found (optional)
+ * @return the node id.
+ */
 int RTABMAP_EXP findNearestNode(
 		const std::map<int, rtabmap::Transform> & nodes,
-		const rtabmap::Transform & targetPose);
+		const rtabmap::Transform & targetPose,
+		float * distance = 0);
 
-std::vector<int> RTABMAP_EXP findNearestNodes(
+/**
+ * Get K nearest nodes of the target pose
+ * @param nodes the nodes to search for
+ * @param targetPose the target pose to search around
+ * @param k number of nearest neighbors to search for
+ * @return the node ids with squared distance to target pose.
+ */
+std::map<int, float> RTABMAP_EXP findNearestNodes(
 		const std::map<int, rtabmap::Transform> & nodes,
 		const rtabmap::Transform & targetPose,
 		int k);
@@ -275,11 +299,20 @@ std::map<int, float> RTABMAP_EXP getNodesInRadius(
 		int nodeId,
 		const std::map<int, Transform> & nodes,
 		float radius);
+std::map<int, float> RTABMAP_EXP getNodesInRadius(
+		const Transform & targetPose,
+		const std::map<int, Transform> & nodes,
+		float radius);
 std::map<int, Transform> RTABMAP_EXP getPosesInRadius(
 		int nodeId,
 		const std::map<int, Transform> & nodes,
 		float radius,
 		float angle = 0.0f);
+std::map<int, Transform> RTABMAP_EXP getPosesInRadius(
+		const Transform & targetPose,
+		const std::map<int, Transform> & nodes,
+		float radius,
+		float angle = 0.0f);
 
 float RTABMAP_EXP computePathLength(
 		const std::vector<std::pair<int, Transform> > & path,

corelib/include/rtabmap/core/LaserScan.h

@@ -97,6 +97,7 @@ public:
 	float angleIncrement() const {return angleIncrement_;}
 	Transform localTransform() const {return localTransform_;}
 
+	bool empty() const {return data_.empty();}
 	bool isEmpty() const {return data_.empty();}
 	int size() const {return data_.cols;}
 	int dataType() const {return data_.type();}

corelib/include/rtabmap/core/Link.h

@@ -54,6 +54,8 @@ public:
 		kAllWithLandmarks = 98,
 		kAllWithoutLandmarks = 99,
 		kUndef = 99};
+	static std::string typeName(Type type);
+
 	Link();
 	Link(int from,
 			int to,
@@ -68,9 +70,10 @@ public:
 	int to() const {return to_;}
 	const Transform & transform() const {return transform_;}
 	Type type() const {return type_;}
+	std::string typeName() const {return typeName(type_);}
 	const cv::Mat & infMatrix() const {return infMatrix_;}
-	double rotVariance() const;
-	double transVariance() const;
+	double rotVariance(bool minimum = true) const;
+	double transVariance(bool minimum = true) const;
 
 	void setFrom(int from) {from_ = from;}
 	void setTo(int to) {to_ = to;}

corelib/include/rtabmap/core/MarkerDetector.h

@@ -50,6 +50,8 @@ private:
 	cv::Ptr<cv::aruco::DetectorParameters> detectorParams_;
 	float markerLength_;
 	float maxDepthError_;
+	float maxRange_;
+	float minRange_;
 	int dictionaryId_;
 	cv::Ptr<cv::aruco::Dictionary> dictionary_;
 #endif

corelib/include/rtabmap/core/Memory.h

@@ -93,7 +93,7 @@ public:
 	std::set<int> reactivateSignatures(const std::list<int> & ids, unsigned int maxLoaded, double & timeDbAccess);
 
 	int cleanup();
-	void saveStatistics(const Statistics & statistics);
+	void saveStatistics(const Statistics & statistics, bool saveWMState);
 	void savePreviewImage(const cv::Mat & image) const;
 	cv::Mat loadPreviewImage() const;
 	void saveOptimizedPoses(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
@@ -102,7 +102,7 @@ public:
 	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
+			const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons = std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > >(),      // 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
@@ -110,7 +110,7 @@ public:
 #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,
+			std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons = 0,
 #if PCL_VERSION_COMPARE(>=, 1, 8, 0)
 			std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,
 #else
@@ -197,18 +197,20 @@ public:
 			EnvSensors & sensors,
 			bool lookInDatabase = false) const;
 	cv::Mat getImageCompressed(int signatureId) const;
-	SensorData getNodeData(int nodeId, bool uncompressedData = false) const;
-	void getNodeWords(int nodeId,
-			std::multimap<int, cv::KeyPoint> & words,
-			std::multimap<int, cv::Point3f> & words3,
-			std::multimap<int, cv::Mat> & wordsDescriptors);
+	SensorData getNodeData(int locationId, bool images, bool scan, bool userData, bool occupancyGrid) const;
+	void getNodeWordsAndGlobalDescriptors(int nodeId,
+			std::multimap<int, int> & words,
+			std::vector<cv::KeyPoint> & wordsKpts,
+			std::vector<cv::Point3f> & words3,
+			cv::Mat & wordsDescriptors,
+			std::vector<GlobalDescriptor> & globalDescriptors) const;
 	void getNodeCalibration(int nodeId,
 			std::vector<CameraModel> & models,
-			StereoCameraModel & stereoModel);
-	SensorData getSignatureDataConst(int locationId, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
-	std::set<int> getAllSignatureIds() const;
+			StereoCameraModel & stereoModel) const;
+	std::set<int> getAllSignatureIds(bool ignoreChildren = true) const;
 	bool memoryChanged() const {return _memoryChanged;}
 	bool isIncremental() const {return _incrementalMemory;}
+	bool isLocalizationDataSaved() const {return _localizationDataSaved;}
 	const Signature * getSignature(int id) const;
 	bool isInSTM(int signatureId) const {return _stMem.find(signatureId) != _stMem.end();}
 	bool isInWM(int signatureId) const {return _workingMem.find(signatureId) != _workingMem.end();}
@@ -218,11 +220,13 @@ public:
 	const Feature2D * getFeature2D() const {return _feature2D;}
 	bool isGraphReduced() const {return _reduceGraph;}
 	const std::vector<double> & getOdomMaxInf() const {return _odomMaxInf;}
+	bool isOdomGravityUsed() const {return _useOdometryGravity;}
 
 	void dumpMemoryTree(const char * fileNameTree) const;
 	virtual void dumpMemory(std::string directory) const;
 	virtual void dumpSignatures(const char * fileNameSign, bool words3D) const;
 	void dumpDictionary(const char * fileNameRef, const char * fileNameDesc) const;
+	unsigned long getMemoryUsed() const; //Bytes
 
 	void generateGraph(const std::string & fileName, const std::set<int> & ids = std::set<int>());
 
@@ -290,6 +294,7 @@ private:
 	bool _saveIntermediateNodeData;
 	std::string _rgbCompressionFormat;
 	bool _incrementalMemory;
+	bool _localizationDataSaved;
 	bool _reduceGraph;
 	int _maxStMemSize;
 	float _recentWmRatio;
@@ -299,6 +304,7 @@ private:
 	bool _badSignaturesIgnored;
 	bool _mapLabelsAdded;
 	bool _depthAsMask;
+	bool _stereoFromMotion;
 	int _imagePreDecimation;
 	int _imagePostDecimation;
 	bool _compressionParallelized;
@@ -346,7 +352,7 @@ private:
 	//Keypoint stuff
 	VWDictionary * _vwd;
 	Feature2D * _feature2D;
-	float _badSignRatio;;
+	float _badSignRatio;
 	bool _tfIdfLikelihoodUsed;
 	bool _parallelized;
 

corelib/include/rtabmap/core/OccupancyGrid.h

@@ -104,6 +104,8 @@ public:
 	const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapObstacles() const {return assembledObstacles_;}
 	const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapEmptyCells() const {return assembledEmptyCells_;}
 
+	unsigned long getMemoryUsed() const;
+
 private:
 	ParametersMap parameters_;
 	int cloudDecimation_;

corelib/include/rtabmap/core/OctoMap.h

@@ -168,9 +168,6 @@ class RtabmapColorOcTree : public octomap::OccupancyOcTreeBase <RtabmapColorOcTr
   };
 
 class RTABMAP_EXP OctoMap {
-public:
-	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);
@@ -194,7 +191,9 @@ public:
 			std::vector<int> * obstacleIndices = 0,
 			std::vector<int> * emptyIndices = 0,
 			std::vector<int> * groundIndices = 0,
-			bool originalRefPoints = true) const;
+			bool originalRefPoints = true,
+			std::vector<int> * frontierIndices = 0,
+			std::vector<double> * cloudProb = 0) const;
 
 	cv::Mat createProjectionMap(
 			float & xMin,

corelib/include/rtabmap/core/Odometry.h

@@ -78,6 +78,9 @@ public:
 	unsigned int framesProcessed() const {return framesProcessed_;}
 	bool imagesAlreadyRectified() const {return _imagesAlreadyRectified;}
 
+protected:
+	const std::map<double, Transform> & imus() const {return imus_;}
+
 private:
 	virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0) = 0;
 
@@ -90,7 +93,7 @@ private:
 	bool _force3DoF;
 	bool _holonomic;
 	bool guessFromMotion_;
-	bool guessSmoothingDelay_;
+	float guessSmoothingDelay_;
 	int _filteringStrategy;
 	int _particleSize;
 	float _particleNoiseT;
@@ -109,12 +112,15 @@ private:
 	double previousStamp_;
 	std::list<std::pair<std::vector<float>, double> > previousVelocities_;
 	Transform velocityGuess_;
+	Transform imuLastTransform_;
 	Transform previousGroundTruthPose_;
 	float distanceTravelled_;
 	unsigned int framesProcessed_;
 
 	std::vector<ParticleFilter *> particleFilters_;
 	cv::KalmanFilter kalmanFilter_;
+	StereoCameraModel stereoModel_;
+	std::map<double, Transform> imus_;
 
 protected:
 	Odometry(const rtabmap::ParametersMap & parameters);

corelib/include/rtabmap/core/OdometryInfo.h

@@ -56,6 +56,8 @@ public:
 		interval(0),
 		distanceTravelled(0.0f),
 		memoryUsage(0),
+		gravityRollError(0.0),
+		gravityPitchError(0.0),
 		type(0)
 	{}
 
@@ -81,8 +83,11 @@ public:
 		output.transform = transform;
 		output.transformFiltered = transformFiltered;
 		output.transformGroundTruth = transformGroundTruth;
+		output.guessVelocity = guessVelocity;
 		output.distanceTravelled = distanceTravelled;
 		output.memoryUsage = memoryUsage;
+		output.gravityRollError = gravityRollError;
+		output.gravityPitchError = gravityPitchError;
 		output.type = type;
 		return output;
 	}
@@ -109,6 +114,8 @@ public:
 	Transform guessVelocity;
 	float distanceTravelled;
 	int memoryUsage; //MB
+	double gravityRollError;
+	double gravityPitchError;
 
 	int type;
 

corelib/include/rtabmap/core/Optimizer.h

@@ -62,7 +62,8 @@ public:
 		kTypeTORO = 0,
 		kTypeG2O = 1,
 		kTypeGTSAM = 2,
-		kTypeCVSBA = 3
+		kTypeCeres = 3,
+		kTypeCVSBA = 4
 	};
 	static bool isAvailable(Optimizer::Type type);
 	static Optimizer * create(const ParametersMap & parameters);

corelib/include/rtabmap/core/Parameters.h

@@ -32,6 +32,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
 #include "rtabmap/core/Version.h" // DLL export/import defines
 #include <rtabmap/utilite/UConversion.h>
+#include <opencv2/core/version.hpp>
+#include <opencv2/opencv_modules.hpp>
 #include <string>
 #include <map>
 
@@ -62,7 +64,7 @@ typedef std::pair<std::string, std::string> ParametersPair;
 #define RTABMAP_PARAM(PREFIX, NAME, TYPE, DEFAULT_VALUE, DESCRIPTION) \
     public: \
         static std::string k##PREFIX##NAME() {return std::string(#PREFIX "/" #NAME);} \
-        static TYPE default##PREFIX##NAME() {return DEFAULT_VALUE;} \
+        static TYPE default##PREFIX##NAME() {return (TYPE)DEFAULT_VALUE;} \
         static std::string type##PREFIX##NAME() {return std::string(#TYPE);} \
     private: \
         class Dummy##PREFIX##NAME { \
@@ -71,7 +73,7 @@ typedef std::pair<std::string, std::string> ParametersPair;
                                    parametersType_.insert(ParametersPair(#PREFIX "/" #NAME, #TYPE)); \
                                    descriptions_.insert(ParametersPair(#PREFIX "/" #NAME, DESCRIPTION));} \
         }; \
-        Dummy##PREFIX##NAME dummy##PREFIX##NAME;
+        Dummy##PREFIX##NAME dummy##PREFIX##NAME
 // end define PARAM
 
 /**
@@ -105,7 +107,7 @@ typedef std::pair<std::string, std::string> ParametersPair;
                                    parametersType_.insert(ParametersPair(#PREFIX "/" #NAME, "string")); \
                                    descriptions_.insert(ParametersPair(#PREFIX "/" #NAME, DESCRIPTION));} \
         }; \
-        Dummy##PREFIX##NAME dummy##PREFIX##NAME;
+        Dummy##PREFIX##NAME dummy##PREFIX##NAME
 // end define PARAM
 
 /**
@@ -138,7 +140,7 @@ typedef std::pair<std::string, std::string> ParametersPair;
                                    parametersType_.insert(ParametersPair(#PREFIX "/" #NAME, #TYPE)); \
                                    descriptions_.insert(ParametersPair(#PREFIX "/" #NAME, DESCRIPTION));} \
         }; \
-        Dummy##PREFIX##NAME dummy##PREFIX##NAME;
+        Dummy##PREFIX##NAME dummy##PREFIX##NAME
 // end define PARAM
 
 /**
@@ -207,6 +209,7 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM_STR(Mem, ImageCompressionFormat,   ".jpg",        "RGB image compression format. It should be \".jpg\" or \".png\".");
     RTABMAP_PARAM(Mem, STMSize,                   unsigned int, 10, "Short-term memory size.");
     RTABMAP_PARAM(Mem, IncrementalMemory,           bool, true,     "SLAM mode, otherwise it is Localization mode.");
+    RTABMAP_PARAM(Mem, LocalizationDataSaved,       bool, false,     uFormat("Save localization data during localization session (when %s=false). When enabled, the database will then also grow in localization mode. This mode would be used only for debugging purpose.", kMemIncrementalMemory().c_str()).c_str());
     RTABMAP_PARAM(Mem, ReduceGraph,                 bool, false,    "Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set).");
     RTABMAP_PARAM(Mem, RecentWmRatio,               float, 0.2,     "Ratio of locations after the last loop closure in WM that cannot be transferred.");
     RTABMAP_PARAM(Mem, TransferSortingByWeightId,   bool, false,    "On transfer, signatures are sorted by weight->ID only (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight->Age->ID (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID.");
@@ -216,8 +219,9 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(Mem, BadSignaturesIgnored,        bool, false,    "Bad signatures are ignored.");
     RTABMAP_PARAM(Mem, InitWMWithAllNodes,          bool, false,    "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
     RTABMAP_PARAM(Mem, DepthAsMask,                 bool, true,     "Use depth image as mask when extracting features for vocabulary.");
-    RTABMAP_PARAM(Mem, ImagePreDecimation,          int, 1,         "Image decimation (>=1) before features extraction. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).");
-    RTABMAP_PARAM(Mem, ImagePostDecimation,         int, 1,         "Image decimation (>=1) of saved data in created signatures (after features extraction). Decimation is done from the original image. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).");
+    RTABMAP_PARAM(Mem, StereoFromMotion,            bool, false,    uFormat("Triangulate features without depth using stereo from motion (odometry). It would be ignored if %s is true and the feature detector used supports masking.", kMemDepthAsMask().c_str()));
+    RTABMAP_PARAM(Mem, ImagePreDecimation,          int, 1,         "Image decimation (>=1) before features extraction.");
+    RTABMAP_PARAM(Mem, ImagePostDecimation,         int, 1,         "Image decimation (>=1) of saved data in created signatures (after features extraction). Decimation is done from the original image.");
     RTABMAP_PARAM(Mem, CompressionParallelized,     bool, true,     "Compression of sensor data is multi-threaded.");
     RTABMAP_PARAM(Mem, LaserScanDownsampleStepSize, int, 1,         "If > 1, downsample the laser scans when creating a signature.");
     RTABMAP_PARAM(Mem, LaserScanVoxelSize,          float, 0.0,     uFormat("If > 0 m, voxel filtering is done on laser scans when creating a signature. If the laser scan had normals, they will be removed. To recompute the normals, make sure to use \"%s\" or \"%s\" parameters.", kMemLaserScanNormalK().c_str(), kMemLaserScanNormalRadius().c_str()));
@@ -232,20 +236,17 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(Kp, IncrementalDictionary,    bool, true,   "");
     RTABMAP_PARAM(Kp, IncrementalFlann,         bool, true,   uFormat("When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary increases of the factor \"%s\" in size).", kKpFlannRebalancingFactor().c_str()));
     RTABMAP_PARAM(Kp, FlannRebalancingFactor,   float, 2.0,   uFormat("Factor used when rebuilding the incremental FLANN index (see \"%s\"). Set <=1 to disable.", kKpIncrementalFlann().c_str()));
+    RTABMAP_PARAM(Kp, ByteToFloat,              bool, false,  uFormat("For %s=1, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching.", kKpNNStrategy().c_str()));
     RTABMAP_PARAM(Kp, MaxDepth,                 float, 0,     "Filter extracted keypoints by depth (0=inf).");
     RTABMAP_PARAM(Kp, MinDepth,                 float, 0,     "Filter extracted keypoints by depth.");
     RTABMAP_PARAM(Kp, MaxFeatures,              int, 500,     "Maximum features extracted from the images (0 means not bounded, <0 means no extraction).");
     RTABMAP_PARAM(Kp, BadSignRatio,             float, 0.5,   "Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).");
     RTABMAP_PARAM(Kp, NndrRatio,                float, 0.8,   "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
-#ifndef RTABMAP_NONFREE
-#ifdef RTABMAP_OPENCV3
-    // OpenCV 3 without xFeatures2D module doesn't have BRIEF
-    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 8,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE.");
+#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
+    // OpenCV>2 without xFeatures2D module doesn't have BRIEF
+    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 8,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY");
 #else
-    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 6,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE.");
-#endif
-#else
-    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 6,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE.");
+    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 6,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY");
 #endif
     RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed,      bool, true,   "Use of the td-idf strategy to compute the likelihood.");
     RTABMAP_PARAM(Kp, Parallelized,             bool, true,   "If the dictionary update and signature creation were parallelized.");
@@ -264,6 +265,7 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(DbSqlite3, JournalMode,  int, 3,           "0=DELETE, 1=TRUNCATE, 2=PERSIST, 3=MEMORY, 4=OFF (see sqlite3 doc : \"PRAGMA journal_mode\")");
     RTABMAP_PARAM(DbSqlite3, Synchronous,  int, 0,           "0=OFF, 1=NORMAL, 2=FULL (see sqlite3 doc : \"PRAGMA synchronous\")");
     RTABMAP_PARAM(DbSqlite3, TempStore,    int, 2,           "0=DEFAULT, 1=FILE, 2=MEMORY (see sqlite3 doc : \"PRAGMA temp_store\")");
+    RTABMAP_PARAM_STR(Db, TargetVersion,   "",               "Target database version for backward compatibility purpose. Only Major and minor versions are used and should be set (e.g., 0.19 vs 0.20 or 1.0 vs 2.0). Patch version is ignored (e.g., 0.20.1 and 0.20.3 will generate a 0.20 database).");
 
     // Keypoints descriptors/detectors
     RTABMAP_PARAM(SURF, Extended,          bool, false,  "Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors).");
@@ -279,6 +281,7 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(SIFT, ContrastThreshold, double, 0.04, "The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector.");
     RTABMAP_PARAM(SIFT, EdgeThreshold,     double, 10,   "The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained).");
     RTABMAP_PARAM(SIFT, Sigma,             double, 1.6,  "The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number.");
+    RTABMAP_PARAM(SIFT, RootSIFT,          bool,  false, "Apply RootSIFT normalization of the descriptors.");
 
     RTABMAP_PARAM(BRIEF, Bytes,            int, 32,      "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");
 
@@ -290,6 +293,7 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(FAST, MaxThreshold,       int, 200,     "Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
     RTABMAP_PARAM(FAST, GridRows,           int, 0,       "Grid rows (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
     RTABMAP_PARAM(FAST, GridCols,           int, 0,       "Grid cols (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
+    RTABMAP_PARAM(FAST, CV,                 int, 0,       "Enable FastCV implementation if non-zero (and RTAB-Map is built with FastCV support). Values should be 9 and 10.");
 
     RTABMAP_PARAM(GFTT, QualityLevel,      double, 0.001, "");
     RTABMAP_PARAM(GFTT, MinDistance,       double, 3,    "");
@@ -297,9 +301,9 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(GFTT, UseHarrisDetector, bool, false,  "");
     RTABMAP_PARAM(GFTT, K,                 double, 0.04, "");
 
-    RTABMAP_PARAM(ORB, ScaleFactor,   float, 1.2,  "Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer.");
-    RTABMAP_PARAM(ORB, NLevels,       int, 8,      "The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels).");
-    RTABMAP_PARAM(ORB, EdgeThreshold, int, 31,     "This is size of the border where the features are not detected. It should roughly match the patchSize parameter.");
+    RTABMAP_PARAM(ORB, ScaleFactor,   float, 2,  "Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer.");
+    RTABMAP_PARAM(ORB, NLevels,       int, 3,      "The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels).");
+    RTABMAP_PARAM(ORB, EdgeThreshold, int, 19,     "This is size of the border where the features are not detected. It should roughly match the patchSize parameter.");
     RTABMAP_PARAM(ORB, FirstLevel,    int, 0,      "It should be 0 in the current implementation.");
     RTABMAP_PARAM(ORB, WTA_K,         int, 2,      "The number of points that produce each element of the oriented BRIEF descriptor. The default value 2 means the BRIEF where we take a random point pair and compare their brightnesses, so we get 0/1 response. Other possible values are 3 and 4. For example, 3 means that we take 3 random points (of course, those point coordinates are random, but they are generated from the pre-defined seed, so each element of BRIEF descriptor is computed deterministically from the pixel rectangle), find point of maximum brightness and output index of the winner (0, 1 or 2). Such output will occupy 2 bits, and therefore it will need a special variant of Hamming distance, denoted as NORM_HAMMING2 (2 bits per bin). When WTA_K=4, we take 4 random points to compute each bin (that will also occupy 2 bits with possible values 0, 1, 2 or 3).");
     RTABMAP_PARAM(ORB, ScoreType,     int, 0,      "The default HARRIS_SCORE=0 means that Harris algorithm is used to rank features (the score is written to KeyPoint::score and is used to retain best nfeatures features); FAST_SCORE=1 is alternative value of the parameter that produces slightly less stable keypoints, but it is a little faster to compute.");
@@ -317,11 +321,17 @@ class RTABMAP_EXP Parameters
 
     RTABMAP_PARAM(KAZE, Extended,       bool, false,   "Set to enable extraction of extended (128-byte) descriptor.");
     RTABMAP_PARAM(KAZE, Upright,        bool, false,   "Set to enable use of upright descriptors (non rotation-invariant).");
-    RTABMAP_PARAM(KAZE, Threshold,      float, 0.001,  "Detector response threshold to accept point.");
+    RTABMAP_PARAM(KAZE, Threshold,      float, 0.001,  "Detector response threshold to accept keypoint.");
     RTABMAP_PARAM(KAZE, NOctaves,       int, 4,        "Maximum octave evolution of the image.");
     RTABMAP_PARAM(KAZE, NOctaveLayers,  int, 4,        "Default number of sublevels per scale level.");
     RTABMAP_PARAM(KAZE, Diffusivity,    int, 1,        "Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER.");
 
+    RTABMAP_PARAM_STR(SuperPoint, ModelPath, "",           "[Required] Path to pre-trained weights Torch file of SuperPoint (*.pt).");
+    RTABMAP_PARAM(SuperPoint, Threshold,     float, 0.010, "Detector response threshold to accept keypoint.");
+    RTABMAP_PARAM(SuperPoint, NMS,           bool,  true,  "If true, non-maximum suppression is applied to detected keypoints.");
+    RTABMAP_PARAM(SuperPoint, NMSRadius,     int,  4,      uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointNMS().c_str()));
+    RTABMAP_PARAM(SuperPoint, Cuda,          bool, true,   "Use Cuda device for Torch, otherwise CPU device is used by default.");
+
     // BayesFilter
     RTABMAP_PARAM(Bayes, VirtualPlacePriorThr, float, 0.9,  "Virtual place prior");
     RTABMAP_PARAM_STR(Bayes, PredictionLC, "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23", "Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}.");
@@ -342,6 +352,7 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(RGBD, NewMapOdomChangeDistance, float, 0,    "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled).");
     RTABMAP_PARAM(RGBD, OptimizeFromGraphEnd,     bool, false, "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).");
     RTABMAP_PARAM(RGBD, OptimizeMaxError,         float, 3.0,   uFormat("Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. Not compatible with \"%s\" if enabled.", kOptimizerRobust().c_str()));
+    RTABMAP_PARAM(RGBD, MaxLoopClosureDistance,   float, 0.0,   "Reject loop closures/localizations if the distance from the map is over this distance (0=disabled).");
     RTABMAP_PARAM(RGBD, SavedLocalizationIgnored, bool, false, "Ignore last saved localization pose from previous session. If true, RTAB-Map won't assume it is restarting from the same place than where it shut down previously.");
     RTABMAP_PARAM(RGBD, GoalReachedRadius,        float, 0.5,  "Goal reached radius (m).");
     RTABMAP_PARAM(RGBD, PlanStuckIterations,      int, 0,      "Mark the current goal node on the path as unreachable if it is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails.");
@@ -369,28 +380,35 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(RGBD, ProximityPathMaxNeighbors,    int, 0,      "Maximum neighbor nodes compared on each path. Set to 0 to disable merging the laser scans.");
     RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed,    bool, true,  "When comparing to a local path, merge the scan using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
     RTABMAP_PARAM(RGBD, ProximityAngle,               float, 45,   "Maximum angle (degrees) for visual proximity detection.");
+    RTABMAP_PARAM(RGBD, ProximityOdomGuess,           bool, false, "Use odometry as motion guess for visual proximity detection.");
 
     // Graph optimization
 #ifdef RTABMAP_GTSAM
-    RTABMAP_PARAM(Optimizer, Strategy,        int, 2,          "Graph optimization strategy: 0=TORO, 1=g2o and 2=GTSAM.");
+    RTABMAP_PARAM(Optimizer, Strategy,        int, 2,          "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
     RTABMAP_PARAM(Optimizer, Iterations,      int, 20,         "Optimization iterations.");
     RTABMAP_PARAM(Optimizer, Epsilon,         double, 0.00001, "Stop optimizing when the error improvement is less than this value.");
 #else
 #ifdef RTABMAP_G2O
-    RTABMAP_PARAM(Optimizer, Strategy,        int, 1,          "Graph optimization strategy: 0=TORO, 1=g2o and 2=GTSAM.");
+    RTABMAP_PARAM(Optimizer, Strategy,        int, 1,          "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
     RTABMAP_PARAM(Optimizer, Iterations,      int, 20,         "Optimization iterations.");
     RTABMAP_PARAM(Optimizer, Epsilon,         double, 0.0,     "Stop optimizing when the error improvement is less than this value.");
 #else
-    RTABMAP_PARAM(Optimizer, Strategy,        int, 0,          "Graph optimization strategy: 0=TORO, 1=g2o and 2=GTSAM.");
+#ifdef RTABMAP_CERES
+    RTABMAP_PARAM(Optimizer, Strategy,        int, 3,          "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
+    RTABMAP_PARAM(Optimizer, Iterations,      int, 20,         "Optimization iterations.");
+    RTABMAP_PARAM(Optimizer, Epsilon,         double, 0.000001, "Stop optimizing when the error improvement is less than this value.");
+#else
+    RTABMAP_PARAM(Optimizer, Strategy,        int, 0,          "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
     RTABMAP_PARAM(Optimizer, Iterations,      int, 100,        "Optimization iterations.");
     RTABMAP_PARAM(Optimizer, Epsilon,         double, 0.00001, "Stop optimizing when the error improvement is less than this value.");
 #endif
+#endif
 #endif
     RTABMAP_PARAM(Optimizer, VarianceIgnored, bool, false,     "Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links.");
     RTABMAP_PARAM(Optimizer, Robust,          bool, false,     uFormat("Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies). Not compatible with \"%s\" if enabled.", kRGBDOptimizeMaxError().c_str()));
     RTABMAP_PARAM(Optimizer, PriorsIgnored,   bool, true,      "Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this.");
     RTABMAP_PARAM(Optimizer, LandmarksIgnored,   bool, false,  "Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this.");
-    RTABMAP_PARAM(Optimizer, GravitySigma,    float, 0.0,      uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with GTSAM optimization strategy (see %s).", kOptimizerStrategy().c_str()));
+    RTABMAP_PARAM(Optimizer, GravitySigma,    float, 0.0,      uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()));
 
 #ifdef RTABMAP_ORB_SLAM2
     RTABMAP_PARAM(g2o, Solver,            int, 3,          "0=csparse 1=pcg 2=cholmod 3=Eigen");
@@ -405,7 +423,7 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(GTSAM, Optimizer,       int, 1,          "0=Levenberg 1=GaussNewton 2=Dogleg");
 
     // Odometry
-    RTABMAP_PARAM(Odom, Strategy,               int, 0,       "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM2 6=OKVIS 7=LOAM 8=MSCKF_VIO");
+    RTABMAP_PARAM(Odom, Strategy,               int, 0,       "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM2 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion");
     RTABMAP_PARAM(Odom, ResetCountdown,         int, 0,       "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).");
     RTABMAP_PARAM(Odom, Holonomic,              bool, true,   "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).");
     RTABMAP_PARAM(Odom, FillInfoData,           bool, true,   "Fill info with data (inliers/outliers features).");
@@ -432,11 +450,12 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(OdomF2M, ScanMaxSize,         int, 2000,    "[Geometry] Maximum local scan map size.");
     RTABMAP_PARAM(OdomF2M, ScanSubtractRadius,  float, 0.05,  "[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans.");
     RTABMAP_PARAM(OdomF2M, ScanSubtractAngle,   float, 45,    uFormat("[Geometry] Max angle (degrees) used to filter points of a new added scan to local map (when \"%s\">0). 0 means any angle.", kOdomF2MScanSubtractRadius().c_str()).c_str());
+    RTABMAP_PARAM(OdomF2M, ScanRange,           float, 0,     "[Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range.");
     RTABMAP_PARAM(OdomF2M, ValidDepthRatio,     float, 0.75,  "If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map.");
 #if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM2)
-    RTABMAP_PARAM(OdomF2M, BundleAdjustment,          int, 1, "Local bundle adjustment: 0=disabled, 1=g2o, 2=cvsba.");
+    RTABMAP_PARAM(OdomF2M, BundleAdjustment,          int, 1, "Local bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
 #else
-    RTABMAP_PARAM(OdomF2M, BundleAdjustment,          int, 0, "Local bundle adjustment: 0=disabled, 1=g2o, 2=cvsba.");
+    RTABMAP_PARAM(OdomF2M, BundleAdjustment,          int, 0, "Local bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
 #endif
     RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxFrames, int, 10, "Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).");
 
@@ -561,18 +580,17 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(Vis, PnPRefineIterations,      int, 1,        uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()));
 #endif
 
-    RTABMAP_PARAM(Vis, EpipolarGeometryVar,      float, 0.02,   uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
+    RTABMAP_PARAM(Vis, EpipolarGeometryVar,      float, 0.1,    uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
     RTABMAP_PARAM(Vis, MinInliers,               int, 20,       "Minimum feature correspondences to compute/accept the transformation.");
+    RTABMAP_PARAM(Vis, MeanInliersDistance,      float, 0.0,    "Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled.");
+    RTABMAP_PARAM(Vis, MinInliersDistribution,   float, 0.0,    "Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. The value would be between 0 and 0.5. 0 means disabled.");
+
     RTABMAP_PARAM(Vis, Iterations,               int, 300,      "Maximum iterations to compute the transform.");
-#ifndef RTABMAP_NONFREE
-#ifdef RTABMAP_OPENCV3
-    // OpenCV 3 without xFeatures2D module doesn't have BRIEF
-    RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE.");
+#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
+    // OpenCV>2 without xFeatures2D module doesn't have BRIEF
+    RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY");
 #else
-    RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE.");
-#endif
-#else
-    RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE.");
+    RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY");
 #endif
     RTABMAP_PARAM(Vis, MaxFeatures,              int, 1000,   "0 no limits.");
     RTABMAP_PARAM(Vis, MaxDepth,                  float, 0,   "Max depth of the features (0 means no limit).");
@@ -585,8 +603,8 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(Vis, GridRows,                 int, 1,      uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()));
     RTABMAP_PARAM(Vis, GridCols,                 int, 1,      uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()));
     RTABMAP_PARAM(Vis, CorType,                  int, 0,      "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
-    RTABMAP_PARAM(Vis, CorNNType,                int, 1,    uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4. Used for features matching approach.", kVisCorType().c_str()));
-    RTABMAP_PARAM(Vis, CorNNDR,                  float, 0.6,  uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for features matching approach.", kVisCorType().c_str()));
+    RTABMAP_PARAM(Vis, CorNNType,                int, 1,    uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7. Used for features matching approach.", kVisCorType().c_str()));
+    RTABMAP_PARAM(Vis, CorNNDR,                  float, 0.8,  uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()));
     RTABMAP_PARAM(Vis, CorGuessWinSize,          int, 20,     uFormat("[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.", kVisCorType().c_str()));
     RTABMAP_PARAM(Vis, CorGuessMatchToProjection, bool, false, uFormat("[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.", kVisCorType().c_str()));
     RTABMAP_PARAM(Vis, CorFlowWinSize,           int, 16,     uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
@@ -594,16 +612,29 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(Vis, CorFlowEps,               float, 0.01, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
     RTABMAP_PARAM(Vis, CorFlowMaxLevel,          int, 3,      uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
 #if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM2)
-    RTABMAP_PARAM(Vis, BundleAdjustment,         int, 1,      "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba.");
+    RTABMAP_PARAM(Vis, BundleAdjustment,         int, 1,      "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
 #else
-    RTABMAP_PARAM(Vis, BundleAdjustment,         int, 0,      "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba.");
+    RTABMAP_PARAM(Vis, BundleAdjustment,         int, 0,      "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
 #endif
 
+    // Features matching approaches
+    RTABMAP_PARAM_STR(PyMatcher, Path,       "",           "Path to python script file (see available ones in rtabmap/corelib/src/pymatcher/*). See the header to see where the script should be copied.");
+	RTABMAP_PARAM(PyMatcher, Iterations,     int, 20,      "Sinkhorn iterations. Used by SuperGlue.");
+	RTABMAP_PARAM(PyMatcher, Threshold,      float, 0.2,   "Used by SuperGlue.");
+	RTABMAP_PARAM(PyMatcher, Cuda,           bool, true,   "Used by SuperGlue.");
+	RTABMAP_PARAM_STR(PyMatcher, Model,        "indoor",   "For SuperGlue, set only \"indoor\" or \"outdoor\". For OANet, set path to one of the pth file (e.g., \"OANet/model/gl3d/sift-4000/model_best.pth\").");
+
+	RTABMAP_PARAM(GMS, WithRotation,         bool, false,   "Take rotation transformation into account.");
+	RTABMAP_PARAM(GMS, WithScale,            bool, false,   "Take scale transformation into account.");
+	RTABMAP_PARAM(GMS, ThresholdFactor,      double, 6.0,   "The higher, the less matches.");
+
     // ICP registration parameters
     RTABMAP_PARAM(Icp, MaxTranslation,            float, 0.2,   "Maximum ICP translation correction accepted (m).");
     RTABMAP_PARAM(Icp, MaxRotation,               float, 0.78,  "Maximum ICP rotation correction accepted (rad).");
     RTABMAP_PARAM(Icp, VoxelSize,                 float, 0.0,   "Uniform sampling voxel size (0=disabled).");
     RTABMAP_PARAM(Icp, DownsamplingStep,          int, 1,       "Downsampling step size (1=no sampling). This is done before uniform sampling.");
+    RTABMAP_PARAM(Icp, RangeMin,                  float, 0,     "Minimum range filtering (0=disabled).");
+    RTABMAP_PARAM(Icp, RangeMax,                  float, 0,     "Maximum range filtering (0=disabled).");
 #ifdef RTABMAP_POINTMATCHER
     RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.1,   "Max distance for point correspondences.");
 #else
@@ -613,13 +644,15 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(Icp, Epsilon,                   float, 0,     "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.");
     RTABMAP_PARAM(Icp, CorrespondenceRatio,       float, 0.1,   "Ratio of matching correspondences to accept the transform.");
 #ifdef RTABMAP_POINTMATCHER
-    RTABMAP_PARAM(Icp, PointToPlane,              bool, true,   "Use point to plane ICP.");
+    RTABMAP_PARAM(Icp, PointToPlane,                bool, true,   "Use point to plane ICP.");
 #else
-    RTABMAP_PARAM(Icp, PointToPlane,              bool, false,  "Use point to plane ICP.");
+    RTABMAP_PARAM(Icp, PointToPlane,                bool, false,  "Use point to plane ICP.");
 #endif
-    RTABMAP_PARAM(Icp, PointToPlaneK,             int, 5,       "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals.");
-    RTABMAP_PARAM(Icp, PointToPlaneRadius,        float, 1.0,   "Search radius to compute normals for point to plane if the cloud doesn't have already normals.");
-    RTABMAP_PARAM(Icp, PointToPlaneMinComplexity, float, 0.02,  "Minimum structural complexity (0.0=low, 1.0=high) of the scan to do point to plane registration, otherwise point to point registration is done instead.");
+    RTABMAP_PARAM(Icp, PointToPlaneK,               int, 5,       "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals.");
+    RTABMAP_PARAM(Icp, PointToPlaneRadius,          float, 1.0,   "Search radius to compute normals for point to plane if the cloud doesn't have already normals.");
+    RTABMAP_PARAM(Icp, PointToPlaneGroundNormalsUp, float, 0.0,   "Invert normals on ground if they are pointing down (useful for ring-like 3D LiDARs). 0 means disabled, 1 means only normals perfectly aligned with -z axis. This is only done with 3D scans.");
+    RTABMAP_PARAM(Icp, PointToPlaneMinComplexity,   float, 0.02,  uFormat("Minimum structural complexity (0.0=low, 1.0=high) of the scan to do PointToPlane registration, otherwise PointToPoint registration is done instead and strategy from %s is used. This check is done only when %s=true.", kIcpPointToPlaneLowComplexityStrategy().c_str(), kIcpPointToPlane().c_str()));
+    RTABMAP_PARAM(Icp, PointToPlaneLowComplexityStrategy, int, 1, uFormat("If structural complexity is below %s: set to 0 to so that the transform is automatically rejected, set to 1 to limit ICP correction in axes with most constraints (e.g., for a corridor-like environment, the resulting transform will be limited in y and yaw, x will taken from the guess), set to 2 to accept \"as is\" the transform computed by PointToPoint.", kIcpPointToPlaneMinComplexity().c_str()));
 
     // libpointmatcher
 #ifdef RTABMAP_POINTMATCHER
@@ -630,6 +663,7 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM_STR(Icp, PMConfig,             "",            uFormat("Configuration file (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., %s, %s), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Parameters %s, %s and %s are also ignored if configuration file is set.", kIcpVoxelSize().c_str(), kIcpDownsamplingStep().c_str(), kIcpIterations().c_str(), kIcpEpsilon().c_str(), kIcpMaxCorrespondenceDistance().c_str()).c_str());
     RTABMAP_PARAM(Icp, PMMatcherKnn,             int, 1,        "KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set.");
     RTABMAP_PARAM(Icp, PMMatcherEpsilon,         float, 0.0,    "KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set.");
+    RTABMAP_PARAM(Icp, PMMatcherIntensity,       bool, false,   uFormat("KDTreeMatcher:  among nearest neighbors, keep only the one with the most similar intensity. This only work with %s>1.", kIcpPMMatcherKnn().c_str()));
     RTABMAP_PARAM(Icp, PMOutlierRatio,           float, 0.95,   "TrimmedDistOutlierFilter/ratio: For convenience when configuration file is not set. For kinect-like point cloud, use 0.65.");
 
     // Stereo disparity
@@ -723,6 +757,8 @@ class RTABMAP_EXP Parameters
     RTABMAP_PARAM(Marker, VarianceLinear,         float, 0.001, "Linear variance to set on marker detections.");
     RTABMAP_PARAM(Marker, VarianceAngular,        float, 0.01,  "Angular variance to set on marker detections. Set to >=9999 to use only position (xyz) constraint in graph optimization.");
     RTABMAP_PARAM(Marker, CornerRefinementMethod, int,   0,     "Corner refinement method (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true.");
+    RTABMAP_PARAM(Marker, MaxRange,               float, 0.0,    "Maximum range in which markers will be detected. <=0 for unlimited range.");
+    RTABMAP_PARAM(Marker, MinRange,               float, 0.0,    "Miniminum range in which markers will be detected. <=0 for unlimited range.");
 
     RTABMAP_PARAM(ImuFilter, MadgwickGain,                  double, 0.1,  "Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal, belongs in [0, 1].");
     RTABMAP_PARAM(ImuFilter, MadgwickZeta,                  double, 0.0,  "Gyro drift gain (approx. rad/s), belongs in [-1, 1].");
@@ -810,4 +846,3 @@ private:
 }
 
 #endif /* PARAMETERS_H_ */
-

corelib/include/rtabmap/core/RegistrationIcp.h

@@ -60,6 +60,8 @@ private:
 	float _maxRotation;
 	float _voxelSize;
 	int _downsamplingStep;
+	float _rangeMin;
+	float _rangeMax;
 	float _maxCorrespondenceDistance;
 	int _maxIterations;
 	float _epsilon;
@@ -67,11 +69,14 @@ private:
 	bool _pointToPlane;
 	int _pointToPlaneK;
 	float _pointToPlaneRadius;
+	float _pointToPlaneGroundNormalsUp;
 	float _pointToPlaneMinComplexity;
+	int _pointToPlaneLowComplexityStrategy;
 	bool _libpointmatcher;
 	std::string _libpointmatcherConfig;
 	int _libpointmatcherKnn;
 	float _libpointmatcherEpsilon;
+	bool _libpointmatcherIntensity;
 	float _libpointmatcherOutlierRatio;
 	void * _libpointmatcherICP;
 };

corelib/include/rtabmap/core/RegistrationInfo.h

@@ -37,11 +37,15 @@ public:
 	RegistrationInfo() :
 		totalTime(0.0),
 		inliers(0),
+		inliersMeanDistance(0.0f),
+		inliersDistribution(0.0f),
 		matches(0),
 		icpInliersRatio(0),
 		icpTranslation(0.0f),
 		icpRotation(0.0f),
-		icpStructuralComplexity(0.0f)
+		icpStructuralComplexity(0.0f),
+		icpStructuralDistribution(0.0f),
+		icpCorrespondences(0)
 
 	{
 	}
@@ -53,11 +57,15 @@ public:
 		output.covariance = covariance.clone();
 		output.rejectedMsg = rejectedMsg;
 		output.inliers = inliers;
+		output.inliersMeanDistance = inliersMeanDistance;
+		output.inliersDistribution = inliersDistribution;
 		output.matches = matches;
 		output.icpInliersRatio = icpInliersRatio;
 		output.icpTranslation = icpTranslation;
 		output.icpRotation = icpRotation;
 		output.icpStructuralComplexity = icpStructuralComplexity;
+		output.icpStructuralDistribution = icpStructuralDistribution;
+		output.icpCorrespondences = icpCorrespondences;
 		return output;
 	}
 
@@ -67,6 +75,9 @@ public:
 
 	// RegistrationVis
 	int inliers;
+	float inliersRatio;
+	float inliersMeanDistance;
+	float inliersDistribution;
 	std::vector<int> inliersIDs;
 	int matches;
 	std::vector<int> matchesIDs;
@@ -77,6 +88,8 @@ public:
 	float icpTranslation;
 	float icpRotation;
 	float icpStructuralComplexity;
+	float icpStructuralDistribution;
+	int   icpCorrespondences;
 };
 
 }

corelib/include/rtabmap/core/RegistrationVis.h

@@ -37,6 +37,10 @@ namespace rtabmap {
 
 class Feature2D;
 
+#ifdef RTABMAP_PYMATCHER
+class PyMatcher;
+#endif
+
 // Visual registration
 class RTABMAP_EXP RegistrationVis : public Registration
 {
@@ -50,8 +54,11 @@ public:
 	float getInlierDistance() const {return _inlierDistance;}
 	int getIterations() const {return _iterations;}
 	int getMinInliers() const {return _minInliers;}
+	int getNNType() const {return _nnType;}
+	float getNNDR() const {return _nndr;}
+	int getEstimationType() const {return _estimationType;}
 
-	Feature2D * createFeatureDetector() const; // for convenience
+	const Feature2D * getDetector() const {return _detectorFrom;}
 
 protected:
 	virtual Transform computeTransformationImpl(
@@ -81,13 +88,26 @@ private:
 	float _flowEps;
 	int _flowMaxLevel;
 	float _nndr;
+	int _nnType;
+	bool _gmsWithRotation;
+	bool _gmsWithScale;
+	double _gmsThresholdFactor;
 	int _guessWinSize;
 	bool _guessMatchToProjection;
 	int _bundleAdjustment;
 	bool _depthAsMask;
+	float _minInliersDistributionThr;
+	float _maxInliersMeanDistance;
 
 	ParametersMap _featureParameters;
 	ParametersMap _bundleParameters;
+
+	Feature2D * _detectorFrom;
+	Feature2D * _detectorTo;
+
+#ifdef RTABMAP_PYMATCHER
+	PyMatcher * _pyMatcher;
+#endif
 };
 
 }

corelib/include/rtabmap/core/Rtabmap.h

@@ -86,8 +86,32 @@ public:
 			const cv::Mat & image,
 			int id=0, const std::map<std::string, float> & externalStats = std::map<std::string, float>());
 
-	void init(const ParametersMap & parameters, const std::string & databasePath = "");
-	void init(const std::string & configFile = "", const std::string & databasePath = "");
+	/**
+	 * Initialize Rtabmap with parameters and a database
+	 * @param parameters Parameters overriding default parameters and database parameters
+	 *                   (@see loadDatabaseParameters)
+	 * @param databasePath The database input/output path. If not set, an
+	 *                     empty database is used in RAM. If set and the file doesn't exist,
+	 *                     it will be created empty. If the database exists, nodes and
+	 *                     vocabulary will be loaded in working memory.
+	 * @param loadDatabaseParameters If an existing database is used (@see databasePath),
+	 *                               the parameters inside are loaded and set to current
+	 *                               Rtabmap instance.
+	 */
+	void init(const ParametersMap & parameters, const std::string & databasePath = "", bool loadDatabaseParameters = false);
+	/**
+	 * Initialize Rtabmap with parameters from a configuration file and a database
+	 * @param configFile Configuration file (*.ini) overriding default parameters and database parameters
+	 *                   (@see loadDatabaseParameters)
+	 * @param databasePath The database input/output path. If not set, an
+	 *                     empty database is used in RAM. If set and the file doesn't exist,
+	 *                     it will be created empty. If the database exists, nodes and
+	 *                     vocabulary will be loaded in working memory.
+	 * @param loadDatabaseParameters If an existing database is used (@see databasePath),
+	 *                               the parameters inside are loaded and set to current
+	 *                               Rtabmap instance.
+	 */
+	void init(const std::string & configFile = "", const std::string & databasePath = "", bool loadDatabaseParameters = false);
 
 	/**
 	 * Close rtabmap. This will delete rtabmap object if set.
@@ -112,11 +136,9 @@ public:
 	std::map<int, int> getWeights() const;
 	int getTotalMemSize() const;
 	double getLastProcessTime() const {return _lastProcessTime;};
-	std::multimap<int, cv::KeyPoint> getWords(int locationId) const;
 	bool isInSTM(int locationId) const;
 	bool isIDsGenerated() const;
 	const Statistics & getStatistics() const;
-	//bool getMetricData(int locationId, cv::Mat & rgb, cv::Mat & depth, float & depthConstant, Transform & pose, Transform & localTransform) const;
 	const std::map<int, Transform> & getLocalOptimizedPoses() const {return _optimizedPoses;}
 	const std::multimap<int, Link> & getLocalConstraints() const {return _constraints;}
 	Transform getPose(int locationId) const;
@@ -156,16 +178,26 @@ public:
 	void rejectLastLoopClosure();
 	void deleteLastLocation();
 	void setOptimizedPoses(const std::map<int, Transform> & poses);
-	void get3DMap(std::map<int, Signature> & signatures,
-			std::map<int, Transform> & poses,
-			std::multimap<int, Link> & constraints,
-			bool optimized,
-			bool global) const;
+	Signature getSignatureCopy(int id, bool images, bool scan, bool userData, bool occupancyGrid, bool withWords, bool withGlobalDescriptors) const;
+	RTABMAP_DEPRECATED(
+		void get3DMap(std::map<int, Signature> & signatures,
+				std::map<int, Transform> & poses,
+				std::multimap<int, Link> & constraints,
+				bool optimized,
+				bool global) const, "Use getGraph() instead with withImages=true, withScan=true, withUserData=true and withGrid=true.");
 	void getGraph(std::map<int, Transform> & poses,
 			std::multimap<int, Link> & constraints,
 			bool optimized,
 			bool global,
-			std::map<int, Signature> * signatures = 0);
+			std::map<int, Signature> * signatures = 0,
+			bool withImages = false,
+			bool withScan = false,
+			bool withUserData = false,
+			bool withGrid = false,
+			bool withWords = true,
+			bool withGlobalDescriptors = true) const;
+	std::map<int, Transform> getNodesInRadius(const Transform & pose, float radius); // If radius=0, RGBD/LocalRadius is used. Can return landmarks.
+	std::map<int, Transform> getNodesInRadius(int nodeId, float radius); // If nodeId==0, return poses around latest node. If radius=0, RGBD/LocalRadius is used. Can return landmarks and use landmark id (negative) as request.
 	int detectMoreLoopClosures(
 			float clusterRadius = 0.5f,
 			float clusterAngle = M_PI/6.0f,
@@ -174,6 +206,7 @@ public:
 			bool interSession = true,
 			const ProgressState * state = 0);
 	int refineLinks();
+	bool addLink(const Link & link);
 	cv::Mat getInformation(const cv::Mat & covariance) const;
 
 	int getPathStatus() const {return _pathStatus;} // -1=failed 0=idle/executing 1=success
@@ -230,6 +263,7 @@ private:
 	unsigned int _maxMemoryAllowed; // signatures count in WM
 	float _loopThr;
 	float _loopRatio;
+	float _maxLoopClosureDistance;
 	bool _verifyLoopClosureHypothesis;
 	unsigned int _maxRetrieved;
 	unsigned int _maxLocalRetrieved;
@@ -255,6 +289,7 @@ private:
 	float _proximityFilteringRadius;
 	bool _proximityRawPosesUsed;
 	float _proximityAngle;
+	bool _proximityOdomGuess;
 	std::string _databasePath;
 	bool _optimizeFromGraphEnd;
 	float _optimizationMaxError;
@@ -275,6 +310,8 @@ private:
 	double _lastProcessTime;
 	bool _someNodesHaveBeenTransferred;
 	float _distanceTravelled;
+	float _distanceTravelledSinceLastLocalization;
+	bool _optimizeFromGraphEndChanged;
 
 	// Abstract classes containing all loop closure
 	// strategies for a type of signature or configuration.
@@ -304,6 +341,8 @@ private:
 	bool _currentSessionHasGPS;
 	std::map<int, Transform> _odomCachePoses;       // used in localization mode to reject loop closures
 	std::multimap<int, Link> _odomCacheConstraints; // used in localization mode to reject loop closures
+	std::map<int, Transform> _odomCacheAddLink; // used in localization mode when adding external link
+	std::vector<float> _odomCorrectionAcc;
 
 	// Planning stuff
 	int _pathStatus;

corelib/include/rtabmap/core/SensorData.h

@@ -40,6 +40,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/GPS.h>
 #include <rtabmap/core/EnvSensor.h>
 #include <rtabmap/core/Landmark.h>
+#include <rtabmap/core/GlobalDescriptor.h>
 
 namespace rtabmap
 {
@@ -249,6 +250,11 @@ public:
 	const std::vector<cv::Point3f> & keypoints3D() const {return _keypoints3D;}
 	const cv::Mat & descriptors() const {return _descriptors;}
 
+	void addGlobalDescriptor(const GlobalDescriptor & descriptor) {_globalDescriptors.push_back(descriptor);}
+	void setGlobalDescriptors(const std::vector<GlobalDescriptor> & descriptors) {_globalDescriptors = descriptors;}
+	void clearGlobalDescriptors() {_globalDescriptors.clear();}
+	const std::vector<GlobalDescriptor> & globalDescriptors() const {return _globalDescriptors;}
+
 	void setGroundTruth(const Transform & pose) {groundTruth_ = pose;}
 	const Transform & groundTruth() const {return groundTruth_;}
 
@@ -269,7 +275,7 @@ public:
 	void setLandmarks(const Landmarks & landmarks) {_landmarks = landmarks;}
 	const Landmarks & landmarks() const {return _landmarks;}
 
-	long getMemoryUsed() const; // Return memory usage in Bytes
+	unsigned long getMemoryUsed() const; // Return memory usage in Bytes
 	/**
 	 * Clear compressed rgb/depth (left/right) images, compressed laser scan and compressed user data.
 	 * Raw data are kept is set.
@@ -323,6 +329,9 @@ private:
 	std::vector<cv::Point3f> _keypoints3D;
 	cv::Mat _descriptors;
 
+	// global descriptors
+	std::vector<GlobalDescriptor> _globalDescriptors;
+
 	Transform groundTruth_;
 
 	Transform globalPose_;

corelib/include/rtabmap/core/Signature.h

@@ -86,12 +86,13 @@ public:
 
 	void changeLinkIds(int idFrom, int idTo);
 
-	void removeLinks();
+	void removeLinks(bool keepSelfReferringLinks = false);
 	void removeLink(int idTo);
 	void removeVirtualLinks();
 
 	void addLandmark(const Link & landmark) {_landmarks.insert(std::make_pair(landmark.to(), landmark));}
 	const std::map<int, Link> & getLandmarks() const {return _landmarks;}
+	void removeLandmarks() {_landmarks.clear();}
 
 	void setSaved(bool saved) {_saved = saved;}
 	void setModified(bool modified) {_modified = modified; _linksModified = modified;}
@@ -103,19 +104,18 @@ public:
 
 	//visual words stuff
 	void removeAllWords();
-	void removeWord(int wordId);
 	void changeWordsRef(int oldWordId, int activeWordId);
-	void setWords(const std::multimap<int, cv::KeyPoint> & words);
+	void setWords(const std::multimap<int, int> & words, const std::vector<cv::KeyPoint> & keypoints, const std::vector<cv::Point3f> & words3, const cv::Mat & descriptors);
 	bool isEnabled() const {return _enabled;}
 	void setEnabled(bool enabled) {_enabled = enabled;}
-	const std::multimap<int, cv::KeyPoint> & getWords() const {return _words;}
+	const std::multimap<int, int> & getWords() const {return _words;}
+	const std::vector<cv::KeyPoint> & getWordsKpts() const {return _wordsKpts;}
 	int getInvalidWordsCount() const {return _invalidWordsCount;}
 	const std::map<int, int> & getWordsChanged() const {return _wordsChanged;}
-	const std::multimap<int, cv::Mat> & getWordsDescriptors() const {return _wordsDescriptors;}
-	void setWordsDescriptors(const std::multimap<int, cv::Mat> & descriptors) {_wordsDescriptors = descriptors;}
+	const cv::Mat & getWordsDescriptors() const {return _wordsDescriptors;}
+	void setWordsDescriptors(const cv::Mat & descriptors);
 
 	//metric stuff
-	void setWords3(const std::multimap<int, cv::Point3f> & words3) {_words3 = words3;}
 	void setPose(const Transform & pose) {_pose = pose;}
 	void setGroundTruthPose(const Transform & pose) {_groundTruthPose = pose;}
 	void setVelocity(float vx, float vy, float vz, float vroll, float vpitch, float vyaw) {
@@ -128,7 +128,7 @@ public:
 		_velocity[5]=vyaw;
 	}
 
-	const std::multimap<int, cv::Point3f> & getWords3() const {return _words3;}
+	const std::vector<cv::Point3f> & getWords3() const {return _words3;}
 	const Transform & getPose() const {return _pose;}
 	cv::Mat getPoseCovariance() const;
 	const Transform & getGroundTruthPose() const {return _groundTruthPose;}
@@ -137,7 +137,7 @@ public:
 	SensorData & sensorData() {return _sensorData;}
 	const SensorData & sensorData() const {return _sensorData;}
 
-	long getMemoryUsed(bool withSensorData=true) const; // Return memory usage in Bytes
+	unsigned long getMemoryUsed(bool withSensorData=true) const; // Return memory usage in Bytes
 
 private:
 	int _id;
@@ -154,9 +154,10 @@ private:
 	// Contains all words (Some can be duplicates -> if a word appears 2
 	// times in the signature, it will be 2 times in this list)
 	// Words match with the CvSeq keypoints and descriptors
-	std::multimap<int, cv::KeyPoint> _words; // word <id, keypoint>
-	std::multimap<int, cv::Point3f> _words3; // word <id, point> // in base_link frame (localTransform applied))
-	std::multimap<int, cv::Mat> _wordsDescriptors;
+	std::multimap<int, int> _words; // word <id, keypoint index>
+	std::vector<cv::KeyPoint> _wordsKpts;
+	std::vector<cv::Point3f> _words3; // in base_link frame (localTransform applied))
+	cv::Mat _wordsDescriptors;
 	std::map<int, int> _wordsChanged; // <oldId, newId>
 	bool _enabled;
 	int _invalidWordsCount;

corelib/include/rtabmap/core/Statistics.h

@@ -48,20 +48,26 @@ namespace rtabmap {
 		public: \
 			Dummy##PREFIX##NAME() {if(!_defaultDataInitialized)_defaultData.insert(std::pair<std::string, float>(#PREFIX "/" #NAME "/" #UNIT, 0.0f));} \
 		}; \
-		Dummy##PREFIX##NAME dummy##PREFIX##NAME;
+		Dummy##PREFIX##NAME dummy##PREFIX##NAME
 
 class RTABMAP_EXP Statistics
 {
+	RTABMAP_STATS(Loop, Id,); // Combined loop or proximity detection
 	RTABMAP_STATS(Loop, RejectedHypothesis,);
 	RTABMAP_STATS(Loop, Accepted_hypothesis_id,);
+	RTABMAP_STATS(Loop, Suppressed_hypothesis_id,);
 	RTABMAP_STATS(Loop, Highest_hypothesis_id,);
 	RTABMAP_STATS(Loop, Highest_hypothesis_value,);
 	RTABMAP_STATS(Loop, Vp_hypothesis,);
 	RTABMAP_STATS(Loop, Reactivate_id,);
 	RTABMAP_STATS(Loop, Hypothesis_ratio,);
 	RTABMAP_STATS(Loop, Hypothesis_reactivated,);
+	RTABMAP_STATS(Loop, Map_id,);
+	RTABMAP_STATS(Loop, Visual_words,);
 	RTABMAP_STATS(Loop, Visual_inliers,);
+	RTABMAP_STATS(Loop, Visual_inliers_ratio,);
 	RTABMAP_STATS(Loop, Visual_matches,);
+	RTABMAP_STATS(Loop, Distance_since_last_loc,);
 	RTABMAP_STATS(Loop, Last_id,);
 	RTABMAP_STATS(Loop, Optimization_max_error, m);
 	RTABMAP_STATS(Loop, Optimization_max_error_ratio, );
@@ -71,6 +77,42 @@ class RTABMAP_EXP Statistics
 	RTABMAP_STATS(Loop, Angular_variance,);
 	RTABMAP_STATS(Loop, Landmark_detected,);
 	RTABMAP_STATS(Loop, Landmark_detected_node_ref,);
+	RTABMAP_STATS(Loop, Visual_inliers_mean_dist,m);
+	RTABMAP_STATS(Loop, Visual_inliers_distribution,);
+	//Odom correction
+	RTABMAP_STATS(Loop, Odom_correction_norm, m);
+	RTABMAP_STATS(Loop, Odom_correction_angle, deg);
+	RTABMAP_STATS(Loop, Odom_correction_x, m);
+	RTABMAP_STATS(Loop, Odom_correction_y, m);
+	RTABMAP_STATS(Loop, Odom_correction_z, m);
+	RTABMAP_STATS(Loop, Odom_correction_roll, deg);
+	RTABMAP_STATS(Loop, Odom_correction_pitch, deg);
+	RTABMAP_STATS(Loop, Odom_correction_yaw, deg);
+	//Odom correction
+	RTABMAP_STATS(Loop, Odom_correction_acc_norm, m);
+	RTABMAP_STATS(Loop, Odom_correction_acc_angle, deg);
+	RTABMAP_STATS(Loop, Odom_correction_acc_x, m);
+	RTABMAP_STATS(Loop, Odom_correction_acc_y, m);
+	RTABMAP_STATS(Loop, Odom_correction_acc_z, m);
+	RTABMAP_STATS(Loop, Odom_correction_acc_roll, deg);
+	RTABMAP_STATS(Loop, Odom_correction_acc_pitch, deg);
+	RTABMAP_STATS(Loop, Odom_correction_acc_yaw, deg);
+	// Map to Odom
+	RTABMAP_STATS(Loop, MapToOdom_norm, m);
+	RTABMAP_STATS(Loop, MapToOdom_angle, deg);
+	RTABMAP_STATS(Loop, MapToOdom_x, m);
+	RTABMAP_STATS(Loop, MapToOdom_y, m);
+	RTABMAP_STATS(Loop, MapToOdom_z, m);
+	RTABMAP_STATS(Loop, MapToOdom_roll, deg);
+	RTABMAP_STATS(Loop, MapToOdom_pitch, deg);
+	RTABMAP_STATS(Loop, MapToOdom_yaw, deg);
+	// Map to Base
+	RTABMAP_STATS(Loop, MapToBase_x, m);
+	RTABMAP_STATS(Loop, MapToBase_y, m);
+	RTABMAP_STATS(Loop, MapToBase_z, m);
+	RTABMAP_STATS(Loop, MapToBase_roll, deg);
+	RTABMAP_STATS(Loop, MapToBase_pitch, deg);
+	RTABMAP_STATS(Loop, MapToBase_yaw, deg);
 
 	RTABMAP_STATS(Proximity, Time_detections,);
 	RTABMAP_STATS(Proximity, Space_last_detection_id,);
@@ -108,6 +150,7 @@ class RTABMAP_EXP Statistics
 	RTABMAP_STATS(Memory, Odometry_variance_lin,);
 	RTABMAP_STATS(Memory, Distance_travelled, m);
 	RTABMAP_STATS(Memory, RAM_usage, MB);
+	RTABMAP_STATS(Memory, RAM_estimated, MB);
 	RTABMAP_STATS(Memory, Triangulated_points, );
 
 	RTABMAP_STATS(Timing, Memory_update, ms);
@@ -130,6 +173,7 @@ class RTABMAP_EXP Statistics
 	RTABMAP_STATS(Timing, Joining_trash, ms);
 	RTABMAP_STATS(Timing, Emptying_trash, ms);
 	RTABMAP_STATS(Timing, Finalizing_statistics, ms);
+	RTABMAP_STATS(Timing, RAM_estimation, ms);
 
 	RTABMAP_STATS(TimingMem, Pre_update, ms);
 	RTABMAP_STATS(TimingMem, Signature_creation, ms);
@@ -150,6 +194,7 @@ class RTABMAP_EXP Statistics
 	RTABMAP_STATS(TimingMem, Markers_detection, ms);
 
 	RTABMAP_STATS(Keypoint, Dictionary_size, words);
+	RTABMAP_STATS(Keypoint, Current_frame, words);
 	RTABMAP_STATS(Keypoint, Indexed_words, words);
 	RTABMAP_STATS(Keypoint, Index_memory_usage, KB);
 
@@ -165,6 +210,8 @@ class RTABMAP_EXP Statistics
 	RTABMAP_STATS(Gt, Rotational_std, deg);
 	RTABMAP_STATS(Gt, Rotational_min, deg);
 	RTABMAP_STATS(Gt, Rotational_max, deg);
+	RTABMAP_STATS(Gt, Localization_linear_error, m);
+	RTABMAP_STATS(Gt, Localization_angular_error, deg);
 
 public:
 	static const std::map<std::string, float> & defaultData();

corelib/include/rtabmap/core/StereoCameraModel.h

@@ -43,7 +43,7 @@ public:
 			const cv::Size & imageSize2,
 			const cv::Mat & K2, const cv::Mat & D2, const cv::Mat & R2, const cv::Mat & P2,
 			const cv::Mat & R, const cv::Mat & T, const cv::Mat & E, const cv::Mat & F,
-			const Transform & localTransform = Transform::getIdentity());
+			const Transform & localTransform = Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
 
 	// if R and T are not null, left and right camera models should be valid to be rectified.
 	StereoCameraModel(
@@ -68,7 +68,7 @@ public:
 			double cx,
 			double cy,
 			double baseline,
-			const Transform & localTransform = Transform::getIdentity(),
+			const Transform & localTransform = Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
 			const cv::Size & imageSize = cv::Size(0,0));
 	//minimal to be saved
 	StereoCameraModel(
@@ -78,7 +78,7 @@ public:
 			double cx,
 			double cy,
 			double baseline,
-			const Transform & localTransform = Transform::getIdentity(),
+			const Transform & localTransform = Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
 			const cv::Size & imageSize = cv::Size(0,0));
 	virtual ~StereoCameraModel() {}
 
@@ -86,7 +86,7 @@ public:
 	bool isValidForRectification() const {return left_.isValidForRectification() && right_.isValidForRectification();}
 
 	void initRectificationMap() {left_.initRectificationMap(); right_.initRectificationMap();}
-	bool isRectificationMapInitialized() {return left_.isRectificationMapInitialized() && right_.isRectificationMapInitialized();}
+	bool isRectificationMapInitialized() const {return left_.isRectificationMapInitialized() && right_.isRectificationMapInitialized();}
 
 	void setName(const std::string & name, const std::string & leftSuffix = "left", const std::string & rightSuffix = "right");
 	const std::string & name() const {return name_;}
@@ -125,6 +125,9 @@ public:
 	const std::string & getLeftSuffix() const {return leftSuffix_;}
 	const std::string & getRightSuffix() const {return rightSuffix_;}
 
+private:
+	void updateStereoRectification();
+
 private:
 	std::string leftSuffix_;
 	std::string rightSuffix_;

corelib/include/rtabmap/core/Transform.h

@@ -98,6 +98,7 @@ public:
 
 	float theta() const;
 
+	bool isInvertible() const;
 	Transform inverse() const;
 	Transform rotation() const;
 	Transform translation() const;
@@ -140,6 +141,15 @@ public:
 	static Transform fromEigen3f(const Eigen::Isometry3f & matrix);
 	static Transform fromEigen3d(const Eigen::Isometry3d & matrix);
 
+	static Transform opengl_T_rtabmap() {return Transform(
+			 0.0f, -1.0f, 0.0f, 0.0f,
+			 0.0f,  0.0f, 1.0f, 0.0f,
+			-1.0f,  0.0f, 0.0f, 0.0f);}
+	static Transform rtabmap_T_opengl() {return Transform(
+			 0.0f,  0.0f,-1.0f, 0.0f,
+			-1.0f,  0.0f, 0.0f, 0.0f,
+			 0.0f,  1.0f, 0.0f, 0.0f);}
+
 	/**
 	 * Format (3 values): x y z
 	 * Format (6 values): x y z roll pitch yaw
@@ -150,10 +160,13 @@ public:
 	static Transform fromString(const std::string & string);
 	static bool canParseString(const std::string & string);
 
-	static Transform getClosestTransform(
+	static Transform getTransform(
+				const std::map<double, Transform> & tfBuffer,
+				const double & stamp);
+	RTABMAP_DEPRECATED(static Transform getClosestTransform(
 				const std::map<double, Transform> & tfBuffer,
 				const double & stamp,
-				double * stampDiff = 0);
+				double * stampDiff), "Use Transform::getTransform() instead to get always accurate transforms.");
 
 private:
 	cv::Mat data_;

corelib/include/rtabmap/core/VWDictionary.h

@@ -55,6 +55,23 @@ public:
 		kNNUndef};
 	static const int ID_START;
 	static const int ID_INVALID;
+	static std::string nnStrategyName(NNStrategy strategy)
+	{
+		switch(strategy) {
+		case kNNFlannNaive:
+			return "FLANN NAIVE";
+		case kNNFlannKdTree:
+			return "FLANN KD-TREE";
+		case kNNFlannLSH:
+			return "FLANN LSH";
+		case kNNBruteForce:
+			return "BRUTE FORCE";
+		case kNNBruteForceGPU:
+			return "BRUTE FORCE GPU";
+		default:
+			return "Unknown";
+		}
+	}
 
 public:
 	VWDictionary(const ParametersMap & parameters = ParametersMap());
@@ -83,8 +100,9 @@ public:
 	int getLastIndexedWordId() const;
 	int getTotalActiveReferences() const {return _totalActiveReferences;}
 	unsigned int getIndexedWordsCount() const;
-	unsigned int getIndexMemoryUsed() const;
-	void setNNStrategy(NNStrategy strategy);
+	unsigned int getIndexMemoryUsed() const; // KB
+	unsigned long getMemoryUsed() const; //Bytes
+	bool setNNStrategy(NNStrategy strategy); // Return true if the search tree has been re-initialized
 	bool isIncremental() const {return _incrementalDictionary;}
 	bool isIncrementalFlann() const {return _incrementalFlann;}
 	void setIncrementalDictionary();
@@ -100,8 +118,8 @@ public:
 	void deleteUnusedWords();
 
 public:
-	static cv::Mat convertBinTo32F(const cv::Mat & descriptorsIn);
-	static cv::Mat convert32FToBin(const cv::Mat & descriptorsIn);
+	static cv::Mat convertBinTo32F(const cv::Mat & descriptorsIn, bool byteToFloat = true);
+	static cv::Mat convert32FToBin(const cv::Mat & descriptorsIn, bool byteToFloat = true);
 
 protected:
 	int getNextId();
@@ -114,8 +132,10 @@ private:
 	bool _incrementalDictionary;
 	bool _incrementalFlann;
 	float _rebalancingFactor;
+	bool _byteToFloat;
 	float _nndrRatio;
-	std::string _dictionaryPath; // a pre-computed dictionary (.txt)
+	std::string _dictionaryPath; // a pre-computed dictionary (.txt or .db)
+	std::string _newDictionaryPath; // a pre-computed dictionary (.txt or .db)
 	bool _newWordsComparedTogether;
 	int _lastWordId;
 	bool useDistanceL1_;

corelib/include/rtabmap/core/VisualWord.h

@@ -43,6 +43,7 @@ public:
 
 	void addRef(int signatureId);
 	int removeAllRef(int signatureId);
+	unsigned long getMemoryUsed() const;
 
 	int getTotalReferences() const {return _totalReferences;}
 	int id() const {return _id;}

corelib/include/rtabmap/core/camera/CameraFreenect.h

@@ -53,7 +53,7 @@ public:
 	CameraFreenect(int deviceId= 0,
 					Type type = kTypeColorDepth,
 					float imageRate=0.0f,
-					const Transform & localTransform = Transform::getIdentity());
+					const Transform & localTransform = CameraModel::opticalRotation());
 	virtual ~CameraFreenect();
 
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");

corelib/include/rtabmap/core/camera/CameraFreenect2.h

@@ -65,7 +65,7 @@ public:
 	CameraFreenect2(int deviceId= 0,
 					Type type = kTypeDepth2ColorSD,
 					float imageRate=0.0f,
-					const Transform & localTransform = Transform::getIdentity(),
+					const Transform & localTransform = CameraModel::opticalRotation(),
 					float minDepth = 0.3f,
 					float maxDepth = 12.0f,
 					bool bilateralFiltering = true,

corelib/include/rtabmap/core/camera/CameraImages.h

@@ -46,7 +46,7 @@ public:
 	CameraImages(
 			const std::string & path,
 			float imageRate = 0,
-			const Transform & localTransform = Transform::getIdentity());
+			const Transform & localTransform = CameraModel::opticalRotation());
 	virtual ~CameraImages();
 
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
@@ -74,6 +74,11 @@ public:
 		_syncImageRateWithStamps = syncImageRateWithStamps;
 	}
 
+	void setConfigForEachFrame(bool value)
+	{
+		_hasConfigForEachFrame = value;
+	}
+
 	void setScanPath(
 			const std::string & dir,
 			int maxScanPts = 0,
@@ -116,12 +121,14 @@ public:
 
 protected:
 	virtual SensorData captureImage(CameraInfo * info = 0);
+
+private:
 	bool readPoses(
-			std::list<Transform> & outputPoses,
-			std::list<double> & stamps,
-			const std::string & filePath,
-			int format,
-			double maxTimeDiff) const;
+		std::list<Transform> & outputPoses,
+		std::list<double> & stamps,
+		const std::string & filePath,
+		int format,
+		double maxTimeDiff) const;
 
 private:
 	std::string _path;
@@ -151,6 +158,7 @@ private:
 	bool _depthFromScanFillHolesFromBorder;
 
 	bool _filenamesAreTimestamps;
+	bool _hasConfigForEachFrame;
 	std::string _timestampsPath;
 	bool _syncImageRateWithStamps;
 
@@ -162,8 +170,10 @@ private:
 
 	std::list<double> _stamps;
 	std::list<Transform> odometry_;
+	std::list<cv::Mat> covariances_;
 	std::list<Transform> groundTruth_;
 	CameraModel _model;
+	std::list<CameraModel> _models;
 
 	UTimer _captureTimer;
 	double _captureDelay;