Merge branch 'master' of github.com:introlab/rtabmap into jazzy-devel

* add rvl_codec

* add support for RVL deep image compression

* DBViewer: edit depth re-using same compression format than the one in database.

* Fixing windows ci

* 💄

* missing dll export (windows)

* typo

---------

Co-authored-by: matlabbe <matlabbe@gmail.com>

.appveyor.yml

@@ -17,6 +17,9 @@ init:
   - call "C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" x86_amd64
 
 install:
+  # To download from google drive
+  - set PATH=C:\Python38-x64;C:\Python38-x64\Scripts;%PATH%
+  - ps: py -m pip --disable-pip-version-check install gdown>=5.1.0 
   # Qt
   - set QTDIR=C:\Qt\5.10.1\msvc2015_64
   # make sure Qt bin path is before cmake bin path to avoid copying qt5 dlls from cmake before qt installation
@@ -33,13 +36,16 @@ install:
   - set OPENNI2_LIB64=C:\Program Files\OpenNI2\Lib
   - set OPENNI2_REDIST64=C:\Program Files\OpenNI2\Redist
   # OpenCV
-  #- ps: wget 'http://kent.dl.sourceforge.net/project/opencvlibrary/opencv-win/3.3.1/opencv-3.3.1-vc14.exe' -outfile opencv-3.3.1-vc14.exe
-  #- cmd: opencv-3.3.1-vc14.exe -o"C:\Program Files" -y
-  - 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
+  #- appveyor-retry appveyor DownloadFile http://downloads.sourceforge.net/project/opencvlibrary/4.5.2/opencv-4.5.2-vc14_vc15.exe
+  #- cmd: opencv-4.5.2-vc14_vc15.exe -o"C:\Program Files" -y
+  #- ECHO "Installed OpenCV:"
+  #- ps: "ls \"C:/Program Files/opencv/build\""
+  #- set PATH=%PATH%;C:\Program Files\opencv\build\x64\vc14\bin
+  - ps: wget 'https://dl.dropboxusercontent.com/s/o6ofn491bc0jso1/opencv450_vc14.exe?dl=0' -outfile opencv.exe
+  - cmd: opencv.exe -o"C:\Program Files" -y
   - ECHO "Installed OpenCV:"
-  - ps: "ls \"C:/Program Files/opencv/build\""
-  - set PATH=%PATH%;C:\Program Files\opencv\build\x64\vc14\bin
+  - ps: "ls \"C:/Program Files/opencv\""
+  - set PATH=%PATH%;C:\Program Files\opencv\x64\vc14\bin
   # VTK (including QVTK)
   - ps: wget 'https://dl.dropboxusercontent.com/s/1l33b5l3f3y52gf/VTK-6_3-msvc140.exe?dl=0' -outfile VTK-6_3.exe
   - cmd: VTK-6_3.exe -o"C:\Program Files" -y
@@ -70,7 +76,7 @@ install:
   - ps: "ls \"C:/Program Files/PCL\""
   - set PATH=%PATH%;C:\Program Files\PCL\bin
   # zlib
-  - ps: wget 'https://docs.google.com/uc?authuser=0&id=0B46akLGdg-uaYm9MTTI4MUtUcmc&export=download' -outfile zlib-1.2.8-vc2010-x64.zip
+  - ps: gdown -q 0B46akLGdg-uaYm9MTTI4MUtUcmc
   - ps: Expand-Archive zlib-1.2.8-vc2010-x64.zip -DestinationPath 'C:\Program Files'
   - ECHO "Installed zlib:"
   - ps: "ls \"C:/Program Files/zlib\""
@@ -105,12 +111,7 @@ install:
   - ECHO "Installed Open Chisel:"
   - ps: "ls \"C:/Program Files/open_chisel\""
   - set PATH=%PATH%;C:\Program Files\open_chisel\bin
-  # cvsba
-  - ps: wget 'https://dl.dropboxusercontent.com/s/4ey8ergerx46zvj/cvsba_x64_vc14.exe?dl=0' -outfile cvsba.exe
-  - cmd: cvsba.exe -o"C:\Program Files" -y
-  - ECHO "Installed cvsba:"
-  - ps: "ls \"C:/Program Files/cvsba\""
-  - set PATH=%PATH%;C:\Program Files\cvsba\bin
+  # yaml-cpp
   - ps: wget 'https://dl.dropboxusercontent.com/s/22qfvftwj6zq8tj/yaml-cpp_x64_vc14.exe?dl=0' -outfile yaml-cpp.exe
   - cmd: yaml-cpp.exe -o"C:\Program Files" -y
   - ECHO "Installed yaml-cpp:"
@@ -134,7 +135,7 @@ before_build:
   - cd c:\projects\rtabmap\build
   - ECHO %PROGRAMFILES%
   - ECHO %PATH%
-  - cmake -G "Visual Studio 14 2015 Win64" -DOpenCV_DIR="C:\Program Files\opencv\build" -DPCL_DIR="C:\Program Files\PCL\cmake" -DCPUTSDF_DIR="C:\Program Files\cpu_tsdf\share\cpu_tsdf" -Dcvsba_DIR="C:\Program Files\cvsba\lib\cmake" -Dyaml-cpp_DIR="C:\Program Files\yaml-cpp\CMake" -DBUILD_AS_BUNDLE=ON ..
+  - cmake -G "Visual Studio 14 2015 Win64" -DOpenCV_DIR="C:\Program Files\opencv\build" -DPCL_DIR="C:\Program Files\PCL\cmake" -DCPUTSDF_DIR="C:\Program Files\cpu_tsdf\share\cpu_tsdf" -Dyaml-cpp_DIR="C:\Program Files\yaml-cpp\CMake" -DBUILD_AS_BUNDLE=ON ..
   
 after_build :
   - cmake --build . --config Release --target package

.devcontainer/android/devcontainer.json

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

.devcontainer/bionic/devcontainer.json

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

.devcontainer/focal/devcontainer.json

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

.devcontainer/jammy/devcontainer.json

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

.devcontainer/noble/devcontainer.json

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

.dockerignore

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

.github/workflows/cmake-ros.yml

@@ -0,0 +1,57 @@
+name: CMake-ROS
+
+on:
+  push:
+    branches: 
+      - jazzy-devel
+  pull_request:
+    branches: 
+      - '**'
+
+env:
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    # The CMake configure and build commands are platform agnostic and should work equally
+    # well on Windows or Mac.  You can convert this to a matrix build if you need
+    # cross-platform coverage.
+    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
+    name: Build on ros ${{ matrix.ros_distribution }} and ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distribution: [jazzy]
+        include:
+        - ros_distribution: 'jazzy'
+          os: ubuntu-24.04
+
+    steps:   
+    - uses: ros-tooling/setup-ros@v0.7
+      with:
+        required-ros-distributions: ${{ matrix.ros_distribution }}
+    
+    - uses: actions/checkout@v4
+
+    - name: Install dependencies
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        rosdep update
+        rosdep install --from-paths ${{github.workspace}} -y
+
+    - name: Configure CMake
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+
+    - name: Build
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Info
+      working-directory: ${{github.workspace}}/build/bin
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        ./rtabmap-console --version
+      

.github/workflows/cmake.yml

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

.github/workflows/docker.yml

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

.github/workflows/scheduled-stats.yml

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

.gitignore

@@ -10,3 +10,5 @@ app/android/AndroidManifest.xml
 app/android/res/raw/
 compile_flags.txt
 tags
+build_*
+*.bak

.travis.yml

@@ -1,80 +0,0 @@
-language: cpp
-   
-jobs:
-  include:
-#    - name: osx
-#      compiler: clang
-#      os: osx
-#      install:
-#        - brew install sqlite
-#        - brew install pcl
-#        - brew install opencv@3
-    
-    - name: linux-trusty
-      compiler: gcc
-      os: linux
-      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
-
-      before_script: 
-        - source /opt/ros/indigo/setup.bash
-
-    - name: linux-xenial
-      compiler: gcc
-      os: linux
-      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
-
-      before_script: 
-        - source /opt/ros/kinetic/setup.bash
-
-    - name: linux-bionic
-      compiler: gcc
-      os: linux
-      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
-
-      before_script: 
-        - source /opt/ros/melodic/setup.bash
-
-    - name: linux-focal
-      compiler: gcc
-      os: linux
-      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
-
-      before_script: 
-        - source /opt/ros/noetic/setup.bash
-
-script:
-  - mkdir -p build && cd build
-  - cmake .. 
-  - make
-
-notifications:
-  email:
-    - matlabbe@gmail.com

LICENSE

@@ -1,5 +1,6 @@
-Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
-All rights reserved.
+RTAB-Map - https://github.com/introlab/rtabmap
+Copyright (c) 2010-2021, Mathieu Labbe - IntRoLab - Universite de Sherbrooke, all rights reserved.
+Copyright (c) XXX, contributors, all rights reserved.
 
 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions are met:
@@ -11,7 +12,7 @@ modification, are permitted provided that the following conditions are met:
   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.
 
-* Neither the name of the Universite de Sherbrooke nor the names of its
+* Neither the name of the copyright holders nor the names of the 
   contributors may be used to endorse or promote products derived from
   this software without specific prior written permission.
 
@@ -24,4 +25,4 @@ DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

@@ -1,21 +1,25 @@
-rtabmap ![Analytics](https://ga-beacon-279122.nn.r.appspot.com/UA-56986679-3/github-main?pixel) 
+rtabmap
 =======
 
 [![RTAB-Map Logo](https://raw.githubusercontent.com/introlab/rtabmap/master/guilib/src/images/RTAB-Map100.png)](http://introlab.github.io/rtabmap)
 
 [![Release][release-image]][releases]
+[![Downloads][downloads-image]][downloads]
 [![License][license-image]][license]
-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-0.20.7-green.svg?style=flat
+[release-image]: https://img.shields.io/badge/release-0.21.4-green.svg?style=flat
 [releases]: https://github.com/introlab/rtabmap/releases
 
+[downloads-image]: https://img.shields.io/github/downloads/introlab/rtabmap/total?label=downloads
+[downloads]: https://github.com/introlab/rtabmap/releases
+
 [license-image]: https://img.shields.io/badge/license-BSD-green.svg?style=flat
 [license]: https://github.com/introlab/rtabmap/blob/master/LICENSE
 
 RTAB-Map library and standalone application.
 
-For more information, visit the [RTAB-Map's home page](http://introlab.github.io/rtabmap) or the [RTAB-Map's wiki](https://github.com/introlab/rtabmap/wiki).
+ * For more information (e.g., papers, major updates), visit [RTAB-Map's home page](http://introlab.github.io/rtabmap).
+ * For installation instructions and examples, visit [RTAB-Map's wiki](https://github.com/introlab/rtabmap/wiki).
 
 To use RTAB-Map under ROS, visit the [rtabmap](http://wiki.ros.org/rtabmap) page on the ROS wiki.
 
@@ -25,3 +29,54 @@ This project is supported by [IntRoLab - Intelligent / Interactive / Integrated
 <a href="https://introlab.3it.usherbrooke.ca/">
 <img src="https://github.com/introlab/16SoundsUSB/blob/master/images/IntRoLab.png" alt="IntRoLab" height="100">
 </a>
+
+#### CI Latest
+
+  <table>
+    <tbody>
+        <tr>
+           <td>Linux</td>
+           <td><a href="https://github.com/introlab/rtabmap/actions/workflows/cmake.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/rtabmap/actions/workflows/docker.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/docker.yml/badge.svg" alt="Build Status"/>
+           </td>
+        </tr>
+        <tr>
+           <td>Windows</td>
+           <td><a href="https://ci.appveyor.com/project/matlabbe/rtabmap/branch/master"><img src="https://ci.appveyor.com/api/projects/status/hr73xspix9oqa26h/branch/master?svg=true" alt="Build Status"/>
+           </td>
+        </tr>
+     </tbody>
+  </table>
+ 
+ #### ROS Binaries
+ 
+ `ros-$ROS_DISTRO-rtabmap`
+ 
+ <table>
+    <tbody>
+        <tr>
+           <td rowspan="1">ROS 1</td>
+            <td>Noetic</td>
+            <td><a href="http://build.ros.org/job/Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary/"><img src="http://build.ros.org/buildStatus/icon?job=Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary" alt="Build Status"/></td>
+        </tr>
+        <tr>
+            <td rowspan="3">ROS 2</td>
+            <td>Humble</td>
+            <td><a href="http://build.ros2.org/job/Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
+        </tr>
+        <tr>
+            <td>Iron</td>
+            <td><a href="http://build.ros2.org/job/Ibin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Ibin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
+        </tr>
+        <tr>
+            <td>Rolling</td>
+            <td><a href="http://build.ros2.org/job/Rbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
+        </tr>
+        <tr>
+           <td>Docker</td>
+           <td>
+             <a href="https://hub.docker.com/r/introlab3it/rtabmap">rtabmap</a>
+           </td>
+           <td><img src="https://img.shields.io/docker/pulls/introlab3it/rtabmap.svg?label=pulls" alt="Docker Pulls"/></td>
+        </tr>
+    </tbody>
+</table>

RTABMapConfig.cmake.in

@@ -1,96 +1,102 @@
-# - Config file for the RTABMap package
-# Components:
-#  core    (required)
-#  gui     (optional)
-#  utilite (required)
-# It defines the following variables
-#  RTABMap_INCLUDE_DIRS - include directories for RTABMap
-#  RTABMap_LIBRARIES    - libraries to link against
-#  RTABMap_CORE         - core library
-#  RTABMap_UTILITE      - utilite library
-#  RTABMap_GUI          - gui library (set if RTABMap is built with Qt)
+include(CMakeFindDependencyMacro)
 
-# Compute paths
-get_filename_component(RTABMap_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-set(RTABMap_INCLUDE_DIRS "@CONF_INCLUDE_DIRS@")
+# Mandatory dependencies
+find_dependency(OpenCV COMPONENTS core calib3d imgproc highgui stitching photo video OPTIONAL_COMPONENTS aruco objdetect xfeatures2d nonfree gpu cudafeatures2d)
 
-#core lib
-find_library(RTABMap_CORE_RELEASE NAMES rtabmap_core NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
-find_library(RTABMap_CORE_DEBUG NAMES rtabmap_cored NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
-
-IF(RTABMap_CORE_DEBUG AND RTABMap_CORE_RELEASE)
-   SET(RTABMap_CORE
-      debug ${RTABMap_CORE_DEBUG}
-      optimized ${RTABMap_CORE_RELEASE}
-   )
-ELSEIF(RTABMap_CORE_DEBUG)
-   SET(RTABMap_CORE ${RTABMap_CORE_DEBUG})
+if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/RTABMap_guiTargets.cmake")
+    find_dependency(PCL 1.7 COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)
+    
+    if(@CONF_QT_VERSION@ EQUAL 6)
+        find_dependency(Qt6 COMPONENTS Widgets Core Gui OpenGL)
+    elseif(@CONF_QT_VERSION@ EQUAL 5)
+        find_dependency(Qt5 COMPONENTS Widgets Core Gui OpenGL)
+    else() # Qt4
+        find_dependency(Qt4 COMPONENTS QtCore QtGui)
+    endif()
+    set(RTABMap_QT_VERSION @CONF_QT_VERSION@)
 ELSE()
-   SET(RTABMap_CORE ${RTABMap_CORE_RELEASE})
+    find_dependency(PCL 1.7 COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation)
+ENDIF()
+set(RTABMap_DEFINITIONS ${PCL_DEFINITIONS})
+add_definitions(${RTABMap_DEFINITIONS}) # To include -march=native if set
+
+# Optional dependencies
+IF(EXISTS "${CMAKE_CURRENT_LIST_DIR}/@CONF_MODULES_DIR@")
+    list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/@CONF_MODULES_DIR@")
 ENDIF()
 
-#utilite lib
-find_library(RTABMap_UTILITE_RELEASE NAMES rtabmap_utilite NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
-find_library(RTABMap_UTILITE_DEBUG NAMES rtabmap_utilited NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
-
-IF(RTABMap_UTILITE_DEBUG AND RTABMap_UTILITE_RELEASE)
-   SET(RTABMap_UTILITE
-      debug ${RTABMap_UTILITE_DEBUG}
-      optimized ${RTABMap_UTILITE_RELEASE}
-   )
-ELSEIF(RTABMap_UTILITE_DEBUG)
-   SET(RTABMap_UTILITE ${RTABMap_UTILITE_DEBUG})
-ELSE()
-   SET(RTABMap_UTILITE ${RTABMap_UTILITE_RELEASE})
+IF(@CONF_WITH_REALSENSE2@)
+    IF(WIN32)
+        find_dependency(RealSense2)
+    ELSE()
+        find_dependency(realsense2)
+    ENDIF()
 ENDIF()
 
-set(RTABMap_LIBRARIES ${RTABMap_CORE} ${RTABMap_UTILITE})
+IF(@CONF_WITH_K4A@)
+    IF(WIN32)
+        find_dependency(K4A)
+    ELSE()
+        find_dependency(k4a)
+        find_dependency(k4arecord)
+    ENDIF()
+ENDIF()
 
-list(LENGTH RTABMap_FIND_COMPONENTS RTABMap_FIND_COMPONENTS_LENGTH)
-set(WITH_GUI ON)
-if(${RTABMap_FIND_COMPONENTS_LENGTH} GREATER 0)
-   list (FIND RTABMap_FIND_COMPONENTS "gui" _index)
-   if (${_index} EQUAL -1)
-      set(WITH_GUI OFF)
-   endif()
-endif(${RTABMap_FIND_COMPONENTS_LENGTH} GREATER 0)
+IF(@CONF_WITH_DEPTH_AI@)
+  find_dependency(depthai 2.24)
+ENDIF()
 
+IF(@CONF_WITH_XVSDK@)
+  find_dependency(xvsdk)
+ENDIF()
 
-#gui lib (OFF if RTAB-Map is not built with Qt)
-if(@CONF_WITH_GUI@ AND ${WITH_GUI})
-   find_library(RTABMap_GUI_RELEASE NAMES rtabmap_gui NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
-   find_library(RTABMap_GUI_DEBUG NAMES rtabmap_guid NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
-   
-   IF(RTABMap_GUI_DEBUG AND RTABMap_GUI_RELEASE)
-      SET(RTABMap_GUI
-         debug ${RTABMap_GUI_DEBUG}
-         optimized ${RTABMap_GUI_RELEASE}
-      )
-   ELSEIF(RTABMap_GUI_RELEASE)
-      SET(RTABMap_GUI ${RTABMap_GUI_RELEASE})
-   ELSEIF(RTABMap_GUI_DEBUG)
-      SET(RTABMap_GUI ${RTABMap_GUI_DEBUG})
-   ENDIF()
-   
-   set(RTABMap_LIBRARIES ${RTABMap_LIBRARIES} ${RTABMap_GUI})
-elseif(${WITH_GUI})
-   MESSAGE(WARNING "Asked for \"gui\" module but RTABMap hasn't been built with gui support.")
-endif()
+IF(@CONF_WITH_OCTOMAP@)
+  find_dependency(octomap)
+ENDIF()
 
-# Dependencies
-if(@CONF_VTK_QT@ AND ${WITH_GUI})
-   find_package(VTK COMPONENTS vtkGUISupportQt NO_MODULE) # to define vtkGUISupportQt target
-endif(@CONF_VTK_QT@ AND ${WITH_GUI})
-SET(RTABMap_LIBRARIES ${RTABMap_LIBRARIES} "@CONF_DEPENDENCIES@")
+IF(@CONF_WITH_PYTHON@)
+  find_dependency(Python3 COMPONENTS Interpreter Development NumPy)
+ENDIF()
 
-#backward compatibilities
-set(RTABMAP_CORE ${RTABMap_CORE})
-set(RTABMAP_UTILITE ${RTABMap_UTILITE})
-if(RTABMap_GUI)
-   set(RTABMAP_GUI ${RTABMap_GUI})
-   set(RTABMAP_QT_VERSION @CONF_QT_VERSION@)
-endif(RTABMap_GUI)
+# Provide those for backward compatibilities (e.g., catkin requires them to propagate dependencies)
+set(RTABMap_INCLUDE_DIRS "")
+set(RTABMap_LIBRARIES "")
+set(RTABMap_TARGETS "")
 
-include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(RTABMap DEFAULT_MSG RTABMap_LIBRARIES RTABMap_INCLUDE_DIRS)
-mark_as_advanced(RTABMap_LIBRARIES RTABMap_INCLUDE_DIRS RTABMap_LIBRARY_DIRS)
+set(_RTABMap_supported_components utilite core gui)
+
+foreach(_comp ${_RTABMap_supported_components})
+  if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/RTABMap_${_comp}Targets.cmake")
+    include("${CMAKE_CURRENT_LIST_DIR}/RTABMap_${_comp}Targets.cmake")
+    set(RTABMap_${_comp}_FOUND True)
+    set(RTABMap_TARGETS
+      ${RTABMap_TARGETS}
+      rtabmap::${_comp})
+    get_target_property(RTABMap_${_comp}_INCLUDE_DIRS rtabmap::${_comp} INTERFACE_INCLUDE_DIRECTORIES)
+    get_target_property(RTABMap_${_comp}_LIBRARIES rtabmap::${_comp} INTERFACE_LINK_LIBRARIES)
+    set(RTABMap_INCLUDE_DIRS 
+      ${RTABMap_INCLUDE_DIRS}
+      ${RTABMap_${_comp}_INCLUDE_DIRS})
+    set(RTABMap_LIBRARIES 
+      ${RTABMap_LIBRARIES}
+      rtabmap::${_comp})
+    if(RTABMap_${_comp}_LIBRARIES)
+      set(RTABMap_LIBRARIES 
+        ${RTABMap_LIBRARIES}
+        ${RTABMap_${_comp}_LIBRARIES})
+    endif()
+  else()
+    set(RTABMap_${_comp}_FOUND False)
+  endif()
+endforeach()
+
+include("${CMAKE_CURRENT_LIST_DIR}/RTABMapTargets.cmake")
+
+foreach(_comp ${RTABMap_FIND_COMPONENTS})
+  if (NOT RTABMap_${_comp}_FOUND)
+    if(${RTABMap_FIND_REQUIRED_${_comp}})
+      set(RTABMap_FOUND False)
+      set(RTABMap_NOT_FOUND_MESSAGE "Unsupported or not found required component: ${_comp}")
+    endif()
+  endif()
+endforeach()

RTABMapConfigVersion.cmake.in

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

Version.h.in

@@ -40,10 +40,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @NONFREE@#define RTABMAP_NONFREE
 @TORO@#define RTABMAP_TORO
 @G2O@#define RTABMAP_G2O
-@G2O_CPP_CONF@#define RTABMAP_G2O_CPP11
+@G2O_CPP_CONF@#define RTABMAP_G2O_CPP11 @G2O_CPP11@
 @GTSAM@#define RTABMAP_GTSAM
 @CERES@#define RTABMAP_CERES
+@MRPT@#define RTABMAP_MRPT
 @VERTIGO@#define RTABMAP_VERTIGO
+@OPENNI@#define RTABMAP_OPENNI
 @OPENNI2@#define RTABMAP_OPENNI2
 @FREENECT@#define RTABMAP_FREENECT
 @FREENECT2@#define RTABMAP_FREENECT2
@@ -52,9 +54,14 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @CVSBA@#define RTABMAP_CVSBA
 @POINTMATCHER@#define RTABMAP_POINTMATCHER
 @CCCORELIB@#define RTABMAP_CCCORELIB
+@OPEN3D@#define RTABMAP_OPEN3D
 @FASTCV@#define RTABMAP_FASTCV
+@OPENGV@#define RTABMAP_OPENGV
 @PDAL@#define RTABMAP_PDAL
+@LIBLAS@#define RTABMAP_LIBLAS
+@CUDASIFT@#define RTABMAP_CUDASIFT
 @LOAM@#define RTABMAP_LOAM
+@FLOAM@#define RTABMAP_FLOAM
 @DC1394@#define RTABMAP_DC1394
 @FLYCAPTURE2@#define RTABMAP_FLYCAPTURE2
 @ZED@#define RTABMAP_ZED
@@ -64,7 +71,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @REALSENSE2@#define RTABMAP_REALSENSE2
 @MYNTEYE@#define RTABMAP_MYNTEYE
 @DEPTHAI@#define RTABMAP_DEPTHAI
+@XVSDK@#define RTABMAP_XVSDK
 @OCTOMAP@#define RTABMAP_OCTOMAP
+@GRIDMAP@#define RTABMAP_GRIDMAP
 @CPUTSDF@#define RTABMAP_CPUTSDF
 @ALICE_VISION@#define RTABMAP_ALICE_VISION
 @OPENCHISEL@#define RTABMAP_OPENCHISEL
@@ -74,6 +83,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @OKVIS@#define RTABMAP_OKVIS
 @MSCKF_VIO@#define RTABMAP_MSCKF_VIO
 @VINS@#define RTABMAP_VINS
+@OPENVINS@#define RTABMAP_OPENVINS
 @ORB_SLAM@#define RTABMAP_ORB_SLAM @ORB_SLAM_VERSION@
 @ORB_OCTREE@#define RTABMAP_ORB_OCTREE
 @TORCH@#define RTABMAP_TORCH

app/android/AndroidManifest.xml.in

@@ -17,6 +17,11 @@
 
     <!-- This is the platform API where depth16 support in android was introduced. -->
     <uses-sdk android:minSdkVersion="@ANDROID_NATIVE_API_LEVEL@" />
+    
+    <queries>
+        <package android:name="com.google.ar.core" />
+        <package android:name="com.huawei.ar.engine" /> 
+    </queries>
 
     <!-- This .apk has no Java code itself, so set hasCode to false. -->
     <application 
@@ -42,7 +47,16 @@
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />
                 <category android:name="android.intent.category.LAUNCHER" />
-            </intent-filter>
+		    </intent-filter>
+		    <intent-filter>
+		        <action android:name="android.intent.action.SEND" />
+		        <action android:name="android.intent.action.SEND_MULTIPLE" />
+		        <action android:name="android.intent.action.OPEN_DOCUMENT" />
+		        <category android:name="android.intent.category.DEFAULT" />
+		        <data android:mimeType="application/octet-stream" />
+		        <data android:pathPattern=".*\.db" />
+		    </intent-filter>
+		    
         </activity>
 
         <activity android:name="SettingsActivity" android:label="@string/settings" android:screenOrientation="fullSensor"/>

app/android/jni/CMakeLists.txt

@@ -3,6 +3,7 @@ SET(INCLUDE_DIRS
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${CMAKE_CURRENT_SOURCE_DIR}/tango-gl/include
     ${CMAKE_CURRENT_SOURCE_DIR}/third-party/include
+	${PROJECT_BINARY_DIR}/corelib/include
 	${PROJECT_SOURCE_DIR}/corelib/include
 	${PROJECT_SOURCE_DIR}/utilite/include
     ${OpenCV_INCLUDE_DIRS}

app/android/jni/CameraARCore.cpp

@@ -37,15 +37,12 @@ namespace rtabmap {
 //////////////////////////////
 // CameraARCore
 //////////////////////////////
-CameraARCore::CameraARCore(void* env, void* context, void* activity, bool depthFromMotion, bool smoothing):
-	CameraMobile(smoothing),
+CameraARCore::CameraARCore(void* env, void* context, void* activity, bool depthFromMotion, bool smoothing, float upstreamRelocalizationAccThr):
+	CameraMobile(smoothing, upstreamRelocalizationAccThr),
 	env_(env),
 	context_(context),
 	activity_(activity),
 	arInstallRequested_(false),
-	textureId_(9999),
-	uvs_initialized_(false),
-	updateOcclusionImage_(false),
 	depthFromMotion_(depthFromMotion)
 {
 }
@@ -53,12 +50,6 @@ CameraARCore::CameraARCore(void* env, void* context, void* activity, bool depthF
 CameraARCore::~CameraARCore() {
 	// Disconnect ARCore service
 	close();
-
-	if(textureId_ != 9999)
-	{
-		glDeleteTextures(1, &textureId_);
-		textureId_ = 9999;
-	}
 }
 
 
@@ -134,6 +125,8 @@ bool CameraARCore::init(const std::string & calibrationFolder, const std::string
 {
 	close();
 
+	CameraMobile::init(calibrationFolder, cameraName);
+
 	UScopeMutex lock(arSessionMutex_);
 
 	ArInstallStatus install_status;
@@ -176,7 +169,7 @@ bool CameraARCore::init(const std::string & calibrationFolder, const std::string
 	  ArConfig_setDepthMode(arSession_, arConfig_, AR_DEPTH_MODE_DISABLED);
 	}
 
-	ArConfig_setFocusMode(arSession_, arConfig_, AR_FOCUS_MODE_AUTO);
+	ArConfig_setFocusMode(arSession_, arConfig_, AR_FOCUS_MODE_FIXED);
 	UASSERT(ArSession_configure(arSession_, arConfig_) == AR_SUCCESS);
 
 	ArFrame_create(arSession_, &arFrame_);
@@ -279,55 +272,6 @@ void CameraARCore::close()
 	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)
@@ -344,18 +288,19 @@ void CameraARCore::setScreenRotationAndSize(ScreenRotation colorCameraToDisplayR
 	}
 }
 
-SensorData CameraARCore::captureImage(CameraInfo * info)
+SensorData CameraARCore::updateDataOnRender(Transform & pose)
 {
 	UScopeMutex lock(arSessionMutex_);
 	//LOGI("Capturing image...");
 
+	pose.setNull();
 	SensorData data;
 	if(!arSession_)
 	{
 		return data;
 	}
 
-	if(textureId_ == 9999)
+	if(textureId_ == 0)
 	{
 		glGenTextures(1, &textureId_);
 		glBindTexture(GL_TEXTURE_EXTERNAL_OES, textureId_);
@@ -364,7 +309,8 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 		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_);
+	if(textureId_!=0)
+		ArSession_setCameraTextureName(arSession_, textureId_);
 
 	// Update session to get current frame and render camera background.
 	if (ArSession_update(arSession_, arFrame_) != AR_SUCCESS) {
@@ -379,7 +325,7 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 	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,
+				BackgroundRenderer::kNumVertices, BackgroundRenderer_kVerticesDevice, AR_COORDINATES_2D_TEXTURE_NORMALIZED,
 				transformed_uvs_);
 		UASSERT(transformed_uvs_);
 		uvs_initialized_ = true;
@@ -396,7 +342,6 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 	ArTrackingState camera_tracking_state;
 	ArCamera_getTrackingState(arSession_, ar_camera, &camera_tracking_state);
 
-	Transform pose;
 	CameraModel model;
 	if(camera_tracking_state == AR_TRACKING_STATE_TRACKING)
 	{
@@ -404,8 +349,14 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 		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;
+		Transform poseArCore = Transform(pose_raw[4], pose_raw[5], pose_raw[6], pose_raw[0], pose_raw[1], pose_raw[2], pose_raw[3]);
+		pose = rtabmap::rtabmap_world_T_opengl_world * poseArCore * rtabmap::opengl_world_T_rtabmap_world;
+
+		if(pose.isNull())
+		{
+			LOGE("CameraARCore: Pose is null");
+			return data;
+		}
 
 		// Get calibration parameters
 		float fx,fy, cx, cy;
@@ -432,7 +383,7 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 			ArStatus status = ArFrame_acquireCameraImage(arSession_, arFrame_, &image);
 			if(status == AR_SUCCESS)
 			{
-				if(is_depth_supported && (updateOcclusionImage_||depthFromMotion_))
+				if(is_depth_supported)
 				{
 					LOGD("Acquire depth image!");
 					ArImage * depthImage = nullptr;
@@ -459,11 +410,12 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 
 						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();
+						cv::Mat occlusionImage = cv::Mat(depth_height, depth_width, CV_16UC1, (void*)data).clone();
 
 						float scaleX = (float)depth_width / (float)width;
 						float scaleY = (float)depth_height / (float)height;
-						occlusionModel_ = CameraModel(fx*scaleX, fy*scaleY, cx*scaleX, cy*scaleY, pose*deviceTColorCamera_, 0, cv::Size(depth_width, depth_height));
+						CameraModel occlusionModel(fx*scaleX, fy*scaleY, cx*scaleX, cy*scaleY, pose*deviceTColorCamera_, 0, cv::Size(depth_width, depth_height));
+						this->setOcclusionImage(occlusionImage, occlusionModel);
 					}
 					ArImage_release(depthImage);
 				}
@@ -506,11 +458,11 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 							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);
+							cv::cvtColor(yuv, rgb, cv::COLOR_YUV2BGR_NV21);
 						}
 						else
 						{
-							cv::cvtColor(cv::Mat(height+height/2, width, CV_8UC1, (void*)plane_data), rgb, CV_YUV2BGR_NV21);
+							cv::cvtColor(cv::Mat(height+height/2, width, CV_8UC1, (void*)plane_data), rgb, cv::COLOR_YUV2BGR_NV21);
 						}
 
 						std::vector<cv::KeyPoint> kpts;
@@ -527,7 +479,11 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 #endif
 							if(pointCloudData && points>0)
 							{
-								scan = scanFromPointCloudData(pointCloudData, points, pose, model, rgb, &kpts, &kpts3);
+								cv::Mat pointCloudDataMat(1, points, CV_32FC4, (void *)pointCloudData);
+								scan = scanFromPointCloudData(pointCloudDataMat, pose, model, rgb, &kpts, &kpts3);
+#ifndef DISABLE_LOG
+								LOGI("valid scan points = %d", scan.size());
+#endif
 							}
 						}
 						else
@@ -535,8 +491,13 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 							LOGI("pointCloud empty");
 						}
 
-						data = SensorData(scan, rgb, depthFromMotion_?occlusionImage_:cv::Mat(), model, 0, stamp);
+						data = SensorData(scan, rgb, depthFromMotion_?getOcclusionImage():cv::Mat(), model, 0, stamp);
 						data.setFeatures(kpts,  kpts3, cv::Mat());
+
+						if(!pose.isNull())
+						{
+							this->poseReceived(pose, stamp);
+						}
 					}
 				}
 				else
@@ -556,133 +517,7 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 
 	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

@@ -50,39 +50,17 @@ 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);
+	CameraARCore(void* env, void* context, void* activity, bool depthFromMotion = false, bool smoothing = false, float upstreamRelocalizationAccThr = 0.0f);
 	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 void close(); // close ARCore 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();
+	virtual SensorData updateDataOnRender(Transform & pose); // should be called in opengl thread
 
 private:
 	rtabmap::Transform getPoseAtTimestamp(double timestamp);
@@ -97,17 +75,8 @@ private:
 	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_;
 };
 

app/android/jni/CameraAREngine.cpp

@@ -40,8 +40,8 @@ namespace rtabmap {
 //////////////////////////////
 // CameraAREngine
 //////////////////////////////
-CameraAREngine::CameraAREngine(void* env, void* context, void* activity, bool smoothing):
-	CameraMobile(smoothing),
+CameraAREngine::CameraAREngine(void* env, void* context, void* activity, bool smoothing, float upstreamRelocalizationAccThr):
+	CameraMobile(smoothing, upstreamRelocalizationAccThr),
 	env_(env),
 	context_(context),
 	activity_(activity),
@@ -66,6 +66,8 @@ bool CameraAREngine::init(const std::string & calibrationFolder, const std::stri
 {
 	close();
 
+	CameraMobile::init(calibrationFolder, cameraName);
+
 	UScopeMutex lock(arSessionMutex_);
 
 	HwArInstallStatus install_status;
@@ -117,9 +119,6 @@ bool CameraAREngine::init(const std::string & calibrationFolder, const std::stri
 
 	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!");
@@ -169,38 +168,81 @@ void CameraAREngine::close()
 	CameraMobile::close();
 }
 
-SensorData CameraAREngine::captureImage(CameraInfo * info)
+void CameraAREngine::setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height)
+{
+	CameraMobile::setScreenRotationAndSize(colorCameraToDisplayRotation, width, height);
+	if(arSession_)
+	{
+		int ret = static_cast<int>(colorCameraToDisplayRotation) + 1; // remove 90deg camera rotation
+		  if (ret > 3) {
+		    ret -= 4;
+		  }
+
+		HwArSession_setDisplayGeometry(arSession_, ret, width, height);
+	}
+}
+
+SensorData CameraAREngine::updateDataOnRender(Transform & pose)
 {
 	UScopeMutex lock(arSessionMutex_);
 	//LOGI("Capturing image...");
 
+	pose.setNull();
 	SensorData data;
 	if(!arSession_)
 	{
 		return data;
 	}
 
+	if(textureId_ == 0)
+	{
+		glGenTextures(1, &textureId_);
+		glBindTexture(GL_TEXTURE_EXTERNAL_OES, textureId_);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+	}
+	if(textureId_!=0)
+		HwArSession_setCameraTextureName(arSession_, textureId_);
+
 	// Update session to get current frame and render camera background.
 	if (HwArSession_update(arSession_, arFrame_) != HWAR_SUCCESS) {
 		LOGE("CameraAREngine::captureImage() ArSession_update error");
 		return data;
 	}
 
+	// If display rotation changed (also includes view size change), we need to
+	// re-query the uv coordinates for the on-screen portion of the camera image.
+	int32_t geometry_changed = 0;
+	HwArFrame_getDisplayGeometryChanged(arSession_, arFrame_, &geometry_changed);
+	if (geometry_changed != 0 || !uvs_initialized_) {
+		HwArFrame_transformDisplayUvCoords(
+				arSession_, arFrame_,
+				BackgroundRenderer::kNumVertices*2, BackgroundRenderer_kVerticesView,
+				transformed_uvs_);
+		UERROR("uv: (%f,%f) (%f,%f) (%f,%f) (%f,%f)", 
+			transformed_uvs_[0], transformed_uvs_[1],
+			transformed_uvs_[2], transformed_uvs_[3],
+			transformed_uvs_[4], transformed_uvs_[5],
+			transformed_uvs_[6], transformed_uvs_[7]);
+		UASSERT(transformed_uvs_);
+		uvs_initialized_ = true;
+	}
+
 	HwArCamera* ar_camera;
 	HwArFrame_acquireCamera(arSession_, arFrame_, &ar_camera);
 
+	HwArCamera_getViewMatrix(arSession_, ar_camera, glm::value_ptr(viewMatrix_));
+	HwArCamera_getProjectionMatrix(arSession_, ar_camera,
+							   /*near=*/0.1f, /*far=*/100.f,
+							   glm::value_ptr(projectionMatrix_));
+
 	HwArTrackingState camera_tracking_state;
 	HwArCamera_getTrackingState(arSession_, ar_camera, &camera_tracking_state);
 
-	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;
@@ -244,7 +286,7 @@ SensorData CameraAREngine::captureImage(CameraInfo * info)
 				cv::Mat outputRGB;
 				if(imageData != nullptr && len>0)
 				{
-					cv::cvtColor(cv::Mat(height+height/2, width, CV_8UC1, (void*)imageData), outputRGB, CV_YUV2BGR_NV21);
+					cv::cvtColor(cv::Mat(height+height/2, width, CV_8UC1, (void*)imageData), outputRGB, cv::COLOR_YUV2BGR_NV21);
 				}
 
 				//Depth
@@ -274,6 +316,21 @@ SensorData CameraAREngine::captureImage(CameraInfo * info)
 					double stamp = double(timestamp_ns)/10e8;
 					CameraModel model = CameraModel(fx, fy, cx, cy, deviceTColorCamera_, 0, cv::Size(camWidth, camHeight));
 					data = SensorData(outputRGB, outputDepth, model, 0, stamp);
+
+					// pose in OpenGL coordinates
+					float pose_raw[7];
+					HwArCamera_getPose(arSession_, ar_camera, arPose_);
+					HwArPose_getPoseRaw(arSession_, arPose_, pose_raw);
+					pose = Transform(pose_raw[4], pose_raw[5], pose_raw[6], pose_raw[0], pose_raw[1], pose_raw[2], pose_raw[3]);
+					if(pose.isNull())
+					{
+						LOGE("CameraAREngine: Pose is null");
+					}
+					else
+					{
+						pose = rtabmap::rtabmap_world_T_opengl_world * pose * rtabmap::opengl_world_T_rtabmap_world;
+						this->poseReceived(pose, stamp);
+					}
 				}
 			}
 			else
@@ -291,61 +348,8 @@ SensorData CameraAREngine::captureImage(CameraInfo * info)
 	}
 
 	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

@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UEvent.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <boost/thread/mutex.hpp>
+#include <background_renderer.h>
 
 #include <huawei_arengine_interface.h>
 
@@ -45,16 +46,17 @@ namespace rtabmap {
 
 class CameraAREngine : public CameraMobile {
 public:
-	CameraAREngine(void* env, void* context, void* activity, bool smoothing = false);
+	CameraAREngine(void* env, void* context, void* activity, bool smoothing = false, float upstreamRelocalizationAccThr = 0.0f);
 	virtual ~CameraAREngine();
 
+	virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height);
+
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
-	virtual void close(); // close Tango connection
+	virtual void close(); // close AREngine connection
 	virtual std::string getSerial() const;
 
 protected:
-	virtual SensorData captureImage(CameraInfo * info = 0);
-	virtual void capturePoseOnly();
+	virtual SensorData updateDataOnRender(Transform & pose);
 
 private:
 	rtabmap::Transform getPoseAtTimestamp(double timestamp);
@@ -69,7 +71,6 @@ private:
 	HwArCameraIntrinsics *arCameraIntrinsics_ = nullptr;
 	HwArPose * arPose_ = nullptr;
 	bool arInstallRequested_;
-	GLuint textureId_;
 	UMutex arSessionMutex_;
 
 };

app/android/jni/CameraMobile.cpp

@@ -18,6 +18,7 @@ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
@@ -31,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/util3d_transforms.h"
 #include "rtabmap/core/OdometryEvent.h"
 #include "rtabmap/core/util2d.h"
+#include <glm/gtx/transform.hpp>
 
 namespace rtabmap {
 
@@ -51,15 +53,18 @@ const rtabmap::Transform CameraMobile::opticalRotationInv = Transform(
 	    0.0f,  0.0f, -1.0f, 0.0f,
 		1.0f,  0.0f,  0.0f, 0.0f);
 
-CameraMobile::CameraMobile(bool smoothing) :
+CameraMobile::CameraMobile(bool smoothing, float upstreamRelocalizationAccThr) :
 		Camera(10),
 		deviceTColorCamera_(Transform::getIdentity()),
-		spinOncePreviousStamp_(0.0),
-		previousStamp_(0.0),
+		textureId_(0),
+		uvs_initialized_(false),
 		stampEpochOffset_(0.0),
 		smoothing_(smoothing),
 		colorCameraToDisplayRotation_(ROTATION_0),
-		originUpdate_(false)
+		originUpdate_(true),
+		upstreamRelocalizationAccThr_(upstreamRelocalizationAccThr),
+		previousAnchorStamp_(0.0),
+		dataGoodTracking_(true)
 {
 }
 
@@ -71,19 +76,36 @@ CameraMobile::~CameraMobile() {
 bool CameraMobile::init(const std::string &, const std::string &)
 {
 	deviceTColorCamera_ = opticalRotation;
+	// clear semaphore
+	if(dataReady_.value() > 0) {
+		dataReady_.acquire(dataReady_.value());
+	}
 	return true;
 }
 
 void CameraMobile::close()
 {
-	previousPose_.setNull();
-	previousStamp_ = 0.0;
+	UScopeMutex lock(dataMutex_);
+
+	firstFrame_ = true;
 	lastKnownGPS_ = GPS();
 	lastEnvSensors_.clear();
 	originOffset_ = Transform();
-	originUpdate_ = false;
-	pose_ = Transform();
+	originUpdate_ = true;
+	dataPose_ = Transform();
 	data_ = SensorData();
+    dataGoodTracking_ = true;
+    previousAnchorPose_.setNull();
+    previousAnchorLinearVelocity_.clear();
+    previousAnchorStamp_ = 0.0;
+
+    if(textureId_ != 0)
+    {
+        glDeleteTextures(1, &textureId_);
+        textureId_ = 0;
+    }
+    // in case someone is waiting on captureImage()
+    dataReady_.release();
 }
 
 void CameraMobile::resetOrigin()
@@ -91,26 +113,177 @@ void CameraMobile::resetOrigin()
 	originUpdate_ = true;
 }
 
-void CameraMobile::poseReceived(const Transform & pose)
+bool CameraMobile::getPose(double epochStamp, Transform & pose, cv::Mat & covariance, double maxWaitTime)
 {
-	if(!pose.isNull())
-	{
-		// send pose of the camera (without optical rotation)
-		Transform p = pose*deviceTColorCamera_;
-		if(originUpdate_)
-		{
-			originOffset_ = p.translation().inverse();
-			originUpdate_ = false;
-		}
+	pose.setNull();
 
-		if(!originOffset_.isNull())
+	int maxWaitTimeMs = maxWaitTime * 1000;
+
+	// Interpolate pose
+	if(!poseBuffer_.empty())
+	{
+		poseMutex_.lock();
+		int waitTry = 0;
+		while(maxWaitTimeMs>0 && poseBuffer_.rbegin()->first < epochStamp && waitTry < maxWaitTimeMs)
 		{
-			this->post(new PoseEvent(originOffset_*p));
+			poseMutex_.unlock();
+			++waitTry;
+			uSleep(1);
+			poseMutex_.lock();
+		}
+		if(poseBuffer_.rbegin()->first < epochStamp)
+		{
+			if(maxWaitTimeMs > 0)
+			{
+				UWARN("Could not find poses to interpolate at time %f after waiting %d ms (latest is %f)...", epochStamp, maxWaitTimeMs, poseBuffer_.rbegin()->first);
+			}
+			else
+			{
+				UWARN("Could not find poses to interpolate at time %f (latest is %f)...", epochStamp, poseBuffer_.rbegin()->first);
+			}
 		}
 		else
 		{
-			this->post(new PoseEvent(p));
+			std::map<double, Transform>::const_iterator iterB = poseBuffer_.lower_bound(epochStamp);
+			std::map<double, Transform>::const_iterator iterA = iterB;
+			if(iterA != poseBuffer_.begin())
+			{
+				iterA = --iterA;
+			}
+			if(iterB == poseBuffer_.end())
+			{
+				iterB = --iterB;
+			}
+			if(iterA == iterB && epochStamp == iterA->first)
+			{
+				pose = iterA->second;
+			}
+			else if(epochStamp >= iterA->first && epochStamp <= iterB->first)
+			{
+				pose = iterA->second.interpolate((epochStamp-iterA->first) / (iterB->first-iterA->first), iterB->second);
+			}
+			else // stamp < iterA->first
+			{
+				UWARN("Could not find pose data to interpolate at time %f (earliest is %f). Are sensors synchronized?", epochStamp, iterA->first);
+			}
 		}
+		poseMutex_.unlock();
+	}
+	return !pose.isNull();
+}
+
+void CameraMobile::poseReceived(const Transform & pose, double deviceStamp)
+{
+	// Pose reveived is the pose of the device in rtabmap coordinate
+	if(!pose.isNull())
+	{
+		Transform p = pose;
+		
+		if(stampEpochOffset_ == 0.0)
+		{
+			stampEpochOffset_ = UTimer::now() - deviceStamp;
+		}
+
+		if(originUpdate_)
+		{
+			firstFrame_ = true;
+			lastKnownGPS_ = GPS();
+			lastEnvSensors_.clear();
+			dataGoodTracking_ = true;
+			previousAnchorPose_.setNull();
+			previousAnchorLinearVelocity_.clear();
+			previousAnchorStamp_ = 0.0;
+			originOffset_ = pose.translation().inverse();
+			originUpdate_ = false;
+		}
+        
+		double epochStamp = stampEpochOffset_ + deviceStamp;
+		if(!originOffset_.isNull())
+		{
+			// Filter re-localizations from poses received
+			rtabmap::Transform rawPose = originOffset_ * pose.translation(); // remove rotation to keep position in fixed frame
+			// Remove upstream localization corrections by integrating pose from previous frame anchor
+            bool showLog = false;
+            if(upstreamRelocalizationAccThr_>0.0f && !previousAnchorPose_.isNull())
+			{
+				float dt = epochStamp - previousAnchorStamp_;
+                std::vector<float> currentLinearVelocity(3);
+                float dx = rawPose.x()-previousAnchorPose_.x();
+                float dy = rawPose.y()-previousAnchorPose_.y();
+                float dz = rawPose.z()-previousAnchorPose_.z();
+                currentLinearVelocity[0] = dx / dt;
+                currentLinearVelocity[1] = dy / dt;
+                currentLinearVelocity[2] = dz / dt;
+				if(!previousAnchorLinearVelocity_.empty() && uNorm(dx, dy, dz)>0.02)
+				{
+                    float ax = (currentLinearVelocity[0] - previousAnchorLinearVelocity_[0]) / dt;
+                    float ay = (currentLinearVelocity[1] - previousAnchorLinearVelocity_[1]) / dt;
+                    float az = (currentLinearVelocity[2] - previousAnchorLinearVelocity_[2]) / dt;
+					float acceleration = sqrt(ax*ax + ay*ay + az*az);
+					if(acceleration>=upstreamRelocalizationAccThr_)
+					{
+						// Only correct the translation to not lose rotation aligned
+						// with gravity.
+                        
+                        // Use constant motion model to update current pose.
+						rtabmap::Transform offset(previousAnchorLinearVelocity_[0] * dt,
+                                                  previousAnchorLinearVelocity_[1] * dt,
+                                                  previousAnchorLinearVelocity_[2] * dt,
+                                                  0, 0, 0, 1);
+						rtabmap::Transform newRawPose = offset * previousAnchorPose_;
+						currentLinearVelocity = previousAnchorLinearVelocity_;
+						originOffset_.x() += newRawPose.x() - rawPose.x();
+                        originOffset_.y() += newRawPose.y() - rawPose.y();
+                        originOffset_.z() += newRawPose.z() - rawPose.z();
+                        UERROR("Upstream re-localization has been suppressed because of "
+						     "high acceleration detected (%f m/s^2) causing a jump!",
+								acceleration);
+						dataGoodTracking_ = false;
+                        post(new CameraInfoEvent(0, "UpstreamRelocationFiltered", uFormat("%.1f m/s^2", acceleration).c_str()));
+                        showLog = true;
+					}
+				}
+				previousAnchorLinearVelocity_ = currentLinearVelocity;
+			}
+
+            p = originOffset_*pose;
+            previousAnchorPose_ = p;
+            previousAnchorStamp_ = epochStamp;
+            
+            if(upstreamRelocalizationAccThr_>0.0f) {
+                relocalizationDebugBuffer_.insert(std::make_pair(epochStamp, std::make_pair(pose, p)));
+                if(relocalizationDebugBuffer_.size() > 60)
+                {
+                    relocalizationDebugBuffer_.erase(relocalizationDebugBuffer_.begin());
+                }
+                if(showLog) {
+                    std::stringstream stream;
+                    for(auto iter=relocalizationDebugBuffer_.begin(); iter!=relocalizationDebugBuffer_.end(); ++iter)
+                    {
+                        stream << iter->first - relocalizationDebugBuffer_.begin()->first
+                        << " " << iter->second.first.x()
+                        << " " << iter->second.first.y()
+                        << " " << iter->second.first.z()
+                        << " " << iter->second.second.x()
+                        << " " << iter->second.second.y()
+                        << " " << iter->second.second.z() << std::endl;
+                    }
+                    UERROR("timestamp original_xyz corrected_xyz:\n%s", stream.str().c_str());
+                }
+            }
+		}
+
+		{
+			UScopeMutex lock(poseMutex_);
+			poseBuffer_.insert(poseBuffer_.end(), std::make_pair(epochStamp, p));
+			if(poseBuffer_.size() > 1000)
+			{
+				poseBuffer_.erase(poseBuffer_.begin());
+			}
+		}
+
+		// send pose of the camera (with optical rotation)
+		this->post(new PoseEvent(p * deviceTColorCamera_));
 	}
 }
 
@@ -124,83 +297,130 @@ 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()
+void CameraMobile::update(const SensorData & data, const Transform & pose, const glm::mat4 & viewMatrix, const glm::mat4 & projectionMatrix, const float * texCoord)
 {
-	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;
-			}
-		}
+	UScopeMutex lock(dataMutex_);
 
-		if(!ignoreFrame)
+    LOGD("CameraMobile::update pose=%s stamp=%f", pose.prettyPrint().c_str(), data.stamp());
+
+	bool notify = !data_.isValid();
+    
+	data_ = data;
+    dataPose_ = pose;
+
+    viewMatrix_ = viewMatrix;
+    projectionMatrix_ = projectionMatrix;
+        
+    if(textureId_ == 0)
+    {
+    	glGenTextures(1, &textureId_);
+    }
+
+    if(texCoord)
+    {
+        memcpy(transformed_uvs_, texCoord, 8*sizeof(float));
+        uvs_initialized_ = true;
+    }
+    
+    LOGD("CameraMobile::update textureId_=%d", (int)textureId_);
+
+    if(textureId_ != 0 && texCoord != 0)
+    {
+        cv::Mat rgbImage;
+        cv::cvtColor(data.imageRaw(), rgbImage, cv::COLOR_BGR2RGBA);
+        
+        glBindTexture(GL_TEXTURE_2D, textureId_);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+        
+        glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
+        //glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
+        //glPixelStorei(GL_UNPACK_SKIP_PIXELS, 0);
+        //glPixelStorei(GL_UNPACK_SKIP_ROWS, 0);
+        glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, rgbImage.cols, rgbImage.rows, 0, GL_RGBA, GL_UNSIGNED_BYTE, rgbImage.data);
+
+        GLint error = glGetError();
+        if(error != GL_NO_ERROR)
+        {
+            LOGE("OpenGL: Could not allocate texture (0x%x)\n", error);
+            textureId_ = 0;
+            return;
+        }
+    }
+
+    if(data_.isValid())
+    {
+        postUpdate();
+
+        if(notify)
+        {
+            dataReady_.release();
+        }
+    }
+}
+
+void CameraMobile::updateOnRender()
+{
+	UScopeMutex lock(dataMutex_);
+	bool notify = !data_.isValid();
+
+	data_ = updateDataOnRender(dataPose_);
+	if(data_.isValid())
+	{
+		postUpdate();
+
+		if(notify)
 		{
-			spinOnceFrameRateTimer_.start();
-			spinOncePreviousStamp_ = now;
-			mainLoop();
-		}
-		else
-		{
-			// just send pose
-			capturePoseOnly();
+			dataReady_.release();
 		}
 	}
 }
 
-void CameraMobile::mainLoopBegin()
+SensorData CameraMobile::updateDataOnRender(Transform & pose)
 {
-	double t = cameraStartedTime_.elapsed();
-	if(t < 5.0)
-	{
-		uSleep((5.0-t)*1000); // just to make sure that the camera is started
-	}
+	LOGE("To use CameraMobile::updateOnRender(), CameraMobile::updateDataOnRender() "
+	     "should be overridden by inherited classes. Returning empty data!\n");
+	return SensorData();
 }
 
-void CameraMobile::mainLoop()
+void CameraMobile::postUpdate()
 {
-	CameraInfo info;
-	SensorData data = this->captureImage(&info);
-
-	if(data.isValid() && !info.odomPose.isNull())
+	if(data_.isValid())
 	{
-		if(lastKnownGPS_.stamp() > 0.0 && data.stamp()-lastKnownGPS_.stamp()<1.0)
+		// adjust origin
+		if(!originOffset_.isNull())
 		{
-			data.setGPS(lastKnownGPS_);
+			dataPose_ = originOffset_ * dataPose_;
+			viewMatrix_ = glm::inverse(rtabmap::glmFromTransform(rtabmap::opengl_world_T_rtabmap_world * originOffset_ *rtabmap::rtabmap_world_T_opengl_world)*glm::inverse(viewMatrix_));
+			occlusionModel_.setLocalTransform(originOffset_ * occlusionModel_.localTransform());
+		}
+
+		if(lastKnownGPS_.stamp() > 0.0 && data_.stamp()-lastKnownGPS_.stamp()<1.0)
+		{
+			data_.setGPS(lastKnownGPS_);
 		}
 		else if(lastKnownGPS_.stamp()>0.0)
 		{
-			LOGD("GPS too old (current time=%f, gps time = %f)", data.stamp(), lastKnownGPS_.stamp());
+			LOGD("GPS too old (current time=%f, gps time = %f)", data_.stamp(), lastKnownGPS_.stamp());
 		}
 
 		if(lastEnvSensors_.size())
 		{
-			data.setEnvSensors(lastEnvSensors_);
+			data_.setEnvSensors(lastEnvSensors_);
 			lastEnvSensors_.clear();
 		}
 
-		if(smoothing_ && !data.depthRaw().empty())
+		if(smoothing_ && !data_.depthRaw().empty())
 		{
 			//UTimer t;
-			data.setDepthOrRightRaw(rtabmap::util2d::fastBilateralFiltering(data.depthRaw(), bilateralFilteringSigmaS, bilateralFilteringSigmaR));
+			data_.setDepthOrRightRaw(rtabmap::util2d::fastBilateralFiltering(data_.depthRaw(), bilateralFilteringSigmaS, bilateralFilteringSigmaR));
 			//LOGD("Bilateral filtering, time=%fs", t.ticks());
 		}
 
@@ -209,15 +429,15 @@ void CameraMobile::mainLoop()
 		{
 			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::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::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];
+			CameraModel model = data_.cameraModels()[0];
 			cv::Size sizet(model.imageHeight(), model.imageWidth());
 			model = CameraModel(
 					model.fy(),
@@ -226,25 +446,25 @@ void CameraMobile::mainLoop()
 					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);
+			data_.setRGBDImage(rgb, depth, model);
 
-			std::vector<cv::KeyPoint> keypoints = data.keypoints();
+			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;
+				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());
+			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(data_.imageRaw(),rgb,1);
 			cv::flip(rgb,rgb,0);
-			cv::flip(data.depthOrRightRaw(),depth,1);
+			cv::flip(data_.depthOrRightRaw(),depth,1);
 			cv::flip(depth,depth,0);
-			CameraModel model = data.cameraModels()[0];
+			CameraModel model = data_.cameraModels()[0];
 			cv::Size sizet(model.imageWidth(), model.imageHeight());
 			model = CameraModel(
 					model.fx(),
@@ -253,26 +473,26 @@ void CameraMobile::mainLoop()
 					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);
+			data_.setRGBDImage(rgb, depth, model);
 
-			std::vector<cv::KeyPoint> keypoints = data.keypoints();
+			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;
+				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());
+			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::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::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];
+			CameraModel model = data_.cameraModels()[0];
 			cv::Size sizet(model.imageHeight(), model.imageWidth());
 			model = CameraModel(
 					model.fy(),
@@ -281,61 +501,128 @@ void CameraMobile::mainLoop()
 					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);
+			data_.setRGBDImage(rgb, depth, model);
 
-			std::vector<cv::KeyPoint> keypoints = data.keypoints();
+			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;
+				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());
+			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)
+SensorData CameraMobile::captureImage(SensorCaptureInfo * info)
 {
-	if(info)
+	SensorData data;
+    bool firstFrame = true;
+    bool dataGoodTracking = true;
+    rtabmap::Transform dataPose;
+	if(dataReady_.acquire(1, 15000))
 	{
-		info->odomPose = pose_;
+		UScopeMutex lock(dataMutex_);
+		data = data_;
+        dataPose = dataPose_;
+        firstFrame = firstFrame_;
+        dataGoodTracking = dataGoodTracking_;
+        firstFrame_ = false;
+        dataGoodTracking_ = true;
+		data_ = SensorData();
+        dataPose_.setNull();
 	}
-	return data_;
+	if(data.isValid())
+	{
+		data.setGroundTruth(Transform());
+		data.setStamp(stampEpochOffset_ + data.stamp());
+
+		if(info)
+		{
+			// linear cov = 0.0001
+			info->odomCovariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.00001);
+			if(!firstFrame)
+			{
+				// angular cov = 0.000001
+                // roll/pitch should be fairly accurate with VIO input
+				info->odomCovariance.at<double>(3,3) *= 0.01; // roll
+				info->odomCovariance.at<double>(4,4) *= 0.01; // pitch
+                if(!dataGoodTracking)
+                {
+                    UERROR("not good tracking!");
+                    // add slightly more error on translation
+                    // 0.001
+                    info->odomCovariance.at<double>(0,0) *= 10; // x
+                    info->odomCovariance.at<double>(1,1) *= 10; // y
+                    info->odomCovariance.at<double>(2,2) *= 10; // z
+                    info->odomCovariance.at<double>(5,5) *= 10; // yaw
+                }
+			}
+			info->odomPose = dataPose;
+		}
+	}
+	else
+	{
+		UWARN("CameraMobile::captureImage() invalid data!");
+	}
+	return data;
+}
+
+LaserScan CameraMobile::scanFromPointCloudData(
+        const cv::Mat & pointCloudData,
+        const Transform & pose,
+        const CameraModel & model,
+        const cv::Mat & rgb,
+        std::vector<cv::KeyPoint> * kpts,
+        std::vector<cv::Point3f> * kpts3D,
+        int kptsSize)
+{
+    if(!pointCloudData.empty())
+    {
+        cv::Mat scanData(1, pointCloudData.cols, CV_32FC4);
+        float * ptr = scanData.ptr<float>();
+        const float * inPtr = pointCloudData.ptr<float>();
+        int ic = pointCloudData.channels();
+        UASSERT(pointCloudData.depth() == CV_32F && ic >= 3);
+        
+        int oi = 0;
+        for(unsigned int i=0;i<pointCloudData.cols; ++i)
+        {
+            cv::Point3f pt(inPtr[i*ic], inPtr[i*ic + 1], inPtr[i*ic + 2]);
+            pt = util3d::transformPoint(pt, pose.inverse()*rtabmap_world_T_opengl_world);
+            ptr[oi*4] = pt.x;
+            ptr[oi*4 + 1] = pt.y;
+            ptr[oi*4 + 2] = pt.z;
+
+            //get color from rgb image
+            cv::Point3f org= pt;
+            pt = util3d::transformPoint(pt, opticalRotationInv);
+            if(pt.z > 0)
+            {
+                int u,v;
+                model.reproject(pt.x, pt.y, pt.z, u, v);
+                unsigned char r=255,g=255,b=255;
+                if(model.inFrame(u, v))
+                {
+                    b=rgb.at<cv::Vec3b>(v,u).val[0];
+                    g=rgb.at<cv::Vec3b>(v,u).val[1];
+                    r=rgb.at<cv::Vec3b>(v,u).val[2];
+                    if(kpts)
+                        kpts->push_back(cv::KeyPoint(u,v,kptsSize));
+                    if(kpts3D)
+                        kpts3D->push_back(org);
+                    
+                    *(int*)&ptr[oi*4 + 3] = int(b) | (int(g) << 8) | (int(r) << 16);
+                    ++oi;
+                }
+            }
+            //confidence
+            //*(int*)&ptr[i*4 + 3] = (int(pointCloudData[i*4 + 3] * 255.0f) << 8) | (int(255) << 16);
+
+        }
+        return LaserScan::backwardCompatibility(scanData.colRange(0, oi), 0, 10, rtabmap::Transform::getIdentity());
+    }
+    return LaserScan();
 }
 
 } /* namespace rtabmap */

app/android/jni/CameraMobile.h

@@ -68,28 +68,45 @@ private:
 	Transform pose_;
 };
 
-class CameraMobile : public Camera, public UThread, public UEventsSender {
+class CameraMobile : public Camera, public UEventsSender {
 public:
 	static const float bilateralFilteringSigmaS;
 	static const float bilateralFilteringSigmaR;
 
 	static const rtabmap::Transform opticalRotation;
 	static const rtabmap::Transform opticalRotationInv;
+    
+public:
+    static LaserScan scanFromPointCloudData(
+            const cv::Mat & pointCloudData,
+            const Transform & pose,
+            const CameraModel & model,
+            const cv::Mat & rgb,
+            std::vector<cv::KeyPoint> * kpts = 0,
+            std::vector<cv::Point3f> * kpts3D = 0,
+            int kptsSize = 3);
 
 public:
-	CameraMobile(bool smoothing = false);
+	CameraMobile(bool smoothing = false, float upstreamRelocalizationAccThr = 0.0f);
 	virtual ~CameraMobile();
 
 	// abstract functions
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
-	virtual void close(); // inherited classes should call its parent in their close().
+	virtual void close(); // inherited classes should call its parent at the end of their close().
 	virtual std::string getSerial() const {return "CameraMobile";}
 
-	const Transform & getOriginOffset() const {return originOffset_;} // in rtabmap frame
+	// original pose of device in rtabmap frame (without origin offset), stamp of the device (may be not epoch), viewMatrix in opengl frame (without origin offset)
+	void update(const SensorData & data, const Transform & pose, const glm::mat4 & viewMatrix, const glm::mat4 & projectionMatrix, const float * texCoord);
+	void updateOnRender();
+
 	void resetOrigin();
 	virtual bool isCalibrated() const;
 
-	void poseReceived(const Transform & pose); // in rtabmap frame
+	virtual bool odomProvided() const { return true; }
+	virtual bool getPose(double epochStamp, Transform & pose, cv::Mat & covariance, double maxWaitTime = 0.06); // Return pose of device in rtabmap frame (with origin offset), stamp should be epoch time
+	// original pose of device in rtabmap frame (without origin offset), stamp of the device (may be not epoch)
+	void poseReceived(const Transform & pose, double deviceStamp);
+	double getStampEpochOffset() const {return stampEpochOffset_;}
 
 	const CameraModel & getCameraModel() const {return model_;}
 	const Transform & getDeviceTColorCamera() const {return deviceTColorCamera_;}
@@ -97,27 +114,35 @@ public:
 	virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height) {colorCameraToDisplayRotation_ = colorCameraToDisplayRotation;}
 	void setGPS(const GPS & gps);
 	void addEnvSensor(int type, float value);
-	void setData(const SensorData & data, const Transform & pose);
 
-	void spinOnce(); // Should only be called if not thread is not running, otherwise it does nothing
+    GLuint getTextureId() {return textureId_;}
+    bool uvsInitialized() const {return uvs_initialized_;}
+    const float* uvsTransformed() const {return transformed_uvs_;}
+    void getVPMatrices(glm::mat4 & view, glm::mat4 & projection) const {view=viewMatrix_; projection=projectionMatrix_;}
+    ScreenRotation getScreenRotation() const {return colorCameraToDisplayRotation_;}
+    
+    void setOcclusionImage(const cv::Mat & image, const CameraModel & model) {occlusionModel_ = model; occlusionImage_ = image;}
+    const cv::Mat & getOcclusionImage(CameraModel * model=0) const {if(model)*model=occlusionModel_; return occlusionImage_; }
 
 protected:
-	virtual SensorData captureImage(CameraInfo * info = 0);
-	virtual void capturePoseOnly() {}
+	virtual SensorData updateDataOnRender(Transform & pose);
 
-	virtual void mainLoopBegin();
-	virtual void mainLoop();
+private:
+	virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+	void postUpdate(); // Should be called while being protected by dataMutex_
 
 protected:
 	CameraModel model_; // local transform is the device to camera optical rotation in rtabmap frame
 	Transform deviceTColorCamera_; // device to camera optical rotation in rtabmap frame
-	UTimer spinOnceFrameRateTimer_;
-	double spinOncePreviousStamp_;
+    
+    GLuint textureId_;
+    glm::mat4 viewMatrix_;
+    glm::mat4 projectionMatrix_;
+    float transformed_uvs_[8];
+    bool uvs_initialized_ = false;
 
 private:
-	Transform previousPose_;
-	double previousStamp_;
-	UTimer cameraStartedTime_;
+	bool firstFrame_;
 	double stampEpochOffset_;
 	bool smoothing_;
 	ScreenRotation colorCameraToDisplayRotation_;
@@ -125,9 +150,23 @@ private:
 	EnvSensors lastEnvSensors_;
 	Transform originOffset_;
 	bool originUpdate_;
+	float upstreamRelocalizationAccThr_;
+	rtabmap::Transform previousAnchorPose_;
+	std::vector<float> previousAnchorLinearVelocity_;
+	double previousAnchorStamp_;
+    std::map<double, std::pair<rtabmap::Transform, rtabmap::Transform> > relocalizationDebugBuffer_;
 
+	USemaphore dataReady_;
+	UMutex dataMutex_;
 	SensorData data_;
-	Transform pose_;
+	Transform dataPose_;
+    bool dataGoodTracking_;
+
+	UMutex poseMutex_;
+	std::map<double, Transform> poseBuffer_; // <stamp, Pose>
+    
+    cv::Mat occlusionImage_;
+    CameraModel occlusionModel_;
 };
 
 } /* namespace rtabmap */

app/android/jni/CameraTango.cpp

@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/util2d.h"
 #include <tango_client_api.h>
 #include <tango_support_api.h>
+#include "tango-gl/camera.h"
 
 namespace rtabmap {
 
@@ -42,11 +43,22 @@ const int holeSize = 5;
 const float maxDepthError = 0.10;
 const int scanDownsampling = 1;
 
+//android phone
+//11 10 01 00 // portrait
+//01 11 00 10 // left
+//10 00 11 01 // right
+//00 01 10 11 // down
+
+const float kTextureCoords0[] = {1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0};
+const float kTextureCoords90[] = {0.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0};
+const float kTextureCoords180[] = {0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0};
+const float kTextureCoords270[] = {1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0};
+
 // Callbacks
 void onPointCloudAvailableRouter(void* context, const TangoPointCloud* point_cloud)
 {
 	CameraTango* app = static_cast<CameraTango*>(context);
-	if(app->isRunning() && point_cloud->num_points>0)
+	if(point_cloud->num_points>0)
 	{
 		app->cloudReceived(cv::Mat(1, point_cloud->num_points, CV_32FC4, point_cloud->points[0]), point_cloud->timestamp);
 	}
@@ -55,34 +67,32 @@ void onPointCloudAvailableRouter(void* context, const TangoPointCloud* point_clo
 void onFrameAvailableRouter(void* context, TangoCameraId id, const TangoImageBuffer* color)
 {
 	CameraTango* app = static_cast<CameraTango*>(context);
-	if(app->isRunning())
-	{
-		cv::Mat tangoImage;
-		if(color->format == TANGO_HAL_PIXEL_FORMAT_RGBA_8888)
-		{
-			tangoImage = cv::Mat(color->height, color->width, CV_8UC4, color->data);
-		}
-		else if(color->format == TANGO_HAL_PIXEL_FORMAT_YV12)
-		{
-			tangoImage = cv::Mat(color->height+color->height/2, color->width, CV_8UC1, color->data);
-		}
-		else if(color->format == TANGO_HAL_PIXEL_FORMAT_YCrCb_420_SP)
-		{
-			tangoImage = cv::Mat(color->height+color->height/2, color->width, CV_8UC1, color->data);
-		}
-		else if(color->format == 35)
-		{
-			tangoImage = cv::Mat(color->height+color->height/2, color->width, CV_8UC1, color->data);
-		}
-		else
-		{
-			LOGE("Not supported color format : %d.", color->format);
-		}
 
-		if(!tangoImage.empty())
-		{
-			app->rgbReceived(tangoImage, (unsigned int)color->format, color->timestamp);
-		}
+	cv::Mat tangoImage;
+	if(color->format == TANGO_HAL_PIXEL_FORMAT_RGBA_8888)
+	{
+		tangoImage = cv::Mat(color->height, color->width, CV_8UC4, color->data);
+	}
+	else if(color->format == TANGO_HAL_PIXEL_FORMAT_YV12)
+	{
+		tangoImage = cv::Mat(color->height+color->height/2, color->width, CV_8UC1, color->data);
+	}
+	else if(color->format == TANGO_HAL_PIXEL_FORMAT_YCrCb_420_SP)
+	{
+		tangoImage = cv::Mat(color->height+color->height/2, color->width, CV_8UC1, color->data);
+	}
+	else if(color->format == 35)
+	{
+		tangoImage = cv::Mat(color->height+color->height/2, color->width, CV_8UC1, color->data);
+	}
+	else
+	{
+		LOGE("Not supported color format : %d.", color->format);
+	}
+
+	if(!tangoImage.empty())
+	{
+		app->rgbReceived(tangoImage, (unsigned int)color->format, color->timestamp);
 	}
 }
 
@@ -91,7 +101,7 @@ void onPoseAvailableRouter(void* context, const TangoPoseData* pose)
 	if(pose->status_code == TANGO_POSE_VALID)
 	{
 		CameraTango* app = static_cast<CameraTango*>(context);
-		app->poseReceived(rtabmap_world_T_tango_world * app->tangoPoseToTransform(pose) * tango_device_T_rtabmap_world);
+		app->poseReceived(rtabmap_world_T_tango_world * app->tangoPoseToTransform(pose) * tango_device_T_rtabmap_world, pose->timestamp);
 	}
 }
 
@@ -110,7 +120,6 @@ CameraTango::CameraTango(bool colorCamera, int decimation, bool publishRawScan,
 		colorCamera_(colorCamera),
 		decimation_(decimation),
 		rawScanPublished_(publishRawScan),
-		cloudStamp_(0),
 		tangoColorType_(0),
 		tangoColorStamp_(0)
 {
@@ -185,6 +194,8 @@ bool CameraTango::init(const std::string & calibrationFolder, const std::string
 {
 	close();
 
+	CameraMobile::init(calibrationFolder, cameraName);
+
 	TangoSupport_initialize(TangoService_getPoseAtTime, TangoService_getCameraIntrinsics);
 
 	// Connect to Tango
@@ -430,12 +441,12 @@ void CameraTango::close()
 
 void CameraTango::cloudReceived(const cv::Mat & cloud, double timestamp)
 {
-	if(this->isRunning() && !cloud.empty())
+	if(!cloud.empty())
 	{
 		//LOGD("Depth received! %fs (%d points)", timestamp, cloud.cols);
 
 		UASSERT(cloud.type() == CV_32FC4);
-		boost::mutex::scoped_lock  lock(dataMutex_);
+		boost::mutex::scoped_lock  lock(tangoDataMutex_);
 
 		// From post: http://stackoverflow.com/questions/29236110/timing-issues-with-tango-image-frames
 		// "In the current version of Project Tango Tablet RGB IR camera
@@ -447,20 +458,242 @@ void CameraTango::cloudReceived(const cv::Mat & cloud, double timestamp)
 		//  So, synchronize with the last RGB frame before the Depth is acquired
 		if(!tangoColor_.empty())
 		{
+			UTimer timer;
 			double dt = fabs(timestamp - tangoColorStamp_);
 
 			//LOGD("Depth: %f vs %f = %f", tangoColorStamp_, timestamp, dt);
 
 			if(dt >= 0.0 && dt < 0.5)
 			{
-				bool notify = cloud_.empty();
-				cloud_ = cloud.clone();
-				cloudStamp_ = timestamp;
+				bool notify = !tangoData_.isValid();
+
+				cv::Mat tangoImage = tangoColor_;
+				cv::Mat rgb;
+				double cloudStamp = timestamp;
+				double rgbStamp = tangoColorStamp_;
+				int tangoColorType = tangoColorType_;
+
+				tangoColor_ = cv::Mat();
+				tangoColorStamp_ = 0.0;
+				tangoColorType_ = 0;
+
+				LOGD("tangoColorType=%d", tangoColorType);
+				if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_RGBA_8888)
+				{
+					cv::cvtColor(tangoImage, rgb, cv::COLOR_RGBA2BGR);
+				}
+				else if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_YV12)
+				{
+					cv::cvtColor(tangoImage, rgb, cv::COLOR_YUV2BGR_YV12);
+				}
+				else if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_YCrCb_420_SP)
+				{
+					cv::cvtColor(tangoImage, rgb, cv::COLOR_YUV2BGR_NV21);
+				}
+				else if(tangoColorType == 35)
+				{
+					cv::cvtColor(tangoImage, rgb, cv::COLOR_YUV420sp2GRAY);
+				}
+				else
+				{
+					LOGE("Not supported color format : %d.", tangoColorType);
+					tangoData_ = SensorData();
+					return;
+				}
+
+				//for(int i=0; i<rgb.cols; ++i)
+				//{
+				//	UERROR("%d,%d,%d", (int)rgb.at<cv::Vec3b>(i)[0], (int)rgb.at<cv::Vec3b>(i)[1], (int)rgb.at<cv::Vec3b>(i)[2]);
+				//}
+
+				CameraModel model = model_;
+
+				if(colorCamera_)
+				{
+					if(decimation_ > 1)
+					{
+						rgb = util2d::decimate(rgb, decimation_);
+						model = model.scaled(1.0/double(decimation_));
+					}
+				}
+				else
+				{
+					//UTimer t;
+					cv::Mat rgbRect;
+					cv::remap(rgb, rgbRect, fisheyeRectifyMapX_, fisheyeRectifyMapY_, cv::INTER_LINEAR, cv::BORDER_CONSTANT, 0);
+					rgb = rgbRect;
+					//LOGD("Rectification time=%fs", t.ticks());
+				}
+
+				// Querying the depth image's frame transformation based on the depth image's
+				// timestamp.
+				cv::Mat depth;
+
+				// Calculate the relative pose from color camera frame at timestamp
+				// color_timestamp t1 and depth
+				// camera frame at depth_timestamp t0.
+				Transform colorToDepth;
+				TangoPoseData pose_color_image_t1_T_depth_image_t0;
+				if (TangoSupport_calculateRelativePose(
+						rgbStamp, colorCamera_?TANGO_COORDINATE_FRAME_CAMERA_COLOR:TANGO_COORDINATE_FRAME_CAMERA_FISHEYE, cloudStamp,
+					  TANGO_COORDINATE_FRAME_CAMERA_DEPTH,
+					  &pose_color_image_t1_T_depth_image_t0) == TANGO_SUCCESS)
+				{
+					colorToDepth = tangoPoseToTransform(&pose_color_image_t1_T_depth_image_t0);
+				}
+				else
+				{
+					LOGE(
+						"SynchronizationApplication: Could not find a valid relative pose at "
+						"time for color and "
+						" depth cameras.");
+				}
+
+				if(colorToDepth.getNormSquared() > 100000)
+				{
+					LOGE("Very large color to depth error detected (%s)! Ignoring this frame!", colorToDepth.prettyPrint().c_str());
+					colorToDepth.setNull();
+				}
+				cv::Mat scan;
+				if(!colorToDepth.isNull())
+				{
+					// The Color Camera frame at timestamp t0 with respect to Depth
+					// Camera frame at timestamp t1.
+					//LOGD("colorToDepth=%s", colorToDepth.prettyPrint().c_str());
+					LOGD("rgb=%dx%d cloud size=%d", rgb.cols, rgb.rows, (int)cloud.total());
+
+					int pixelsSet = 0;
+					int depthSizeDec = colorCamera_?8:1;
+					depth = cv::Mat::zeros(model_.imageHeight()/depthSizeDec, model_.imageWidth()/depthSizeDec, CV_16UC1); // mm
+					CameraModel depthModel = model_.scaled(1.0f/float(depthSizeDec));
+					std::vector<cv::Point3f> scanData(rawScanPublished_?cloud.total():0);
+					int oi=0;
+					int closePoints = 0;
+					float closeROI[4];
+					closeROI[0] = depth.cols/4;
+					closeROI[1] = 3*(depth.cols/4);
+					closeROI[2] = depth.rows/4;
+					closeROI[3] = 3*(depth.rows/4);
+					unsigned short minDepthValue=10000;
+					for(unsigned int i=0; i<cloud.total(); ++i)
+					{
+						const float * p = cloud.ptr<float>(0,i);
+						cv::Point3f pt = util3d::transformPoint(cv::Point3f(p[0], p[1], p[2]), colorToDepth);
+
+						if(pt.z > 0.0f && i%scanDownsampling == 0 && rawScanPublished_)
+						{
+							scanData.at(oi++) = pt;
+						}
+
+						int pixel_x_l, pixel_y_l, pixel_x_h, pixel_y_h;
+						// get the coordinate on image plane.
+						pixel_x_l = static_cast<int>((depthModel.fx()) * (pt.x / pt.z) + depthModel.cx());
+						pixel_y_l = static_cast<int>((depthModel.fy()) * (pt.y / pt.z) + depthModel.cy());
+						pixel_x_h = static_cast<int>((depthModel.fx()) * (pt.x / pt.z) + depthModel.cx() + 0.5f);
+						pixel_y_h = static_cast<int>((depthModel.fy()) * (pt.y / pt.z) + depthModel.cy() + 0.5f);
+						unsigned short depth_value(pt.z * 1000.0f);
+
+						if(pixel_x_l>=closeROI[0] && pixel_x_l<closeROI[1] &&
+						   pixel_y_l>closeROI[2] && pixel_y_l<closeROI[3] &&
+						   depth_value < 600)
+						{
+							++closePoints;
+							if(depth_value < minDepthValue)
+							{
+								minDepthValue = depth_value;
+							}
+						}
+
+						bool pixelSet = false;
+						if(pixel_x_l>=0 && pixel_x_l<depth.cols &&
+						   pixel_y_l>0 && pixel_y_l<depth.rows && // ignore first line
+						   depth_value)
+						{
+							unsigned short & depthPixel = depth.at<unsigned short>(pixel_y_l, pixel_x_l);
+							if(depthPixel == 0 || depthPixel > depth_value)
+							{
+								depthPixel = depth_value;
+								pixelSet = true;
+							}
+						}
+						if(pixel_x_h>=0 && pixel_x_h<depth.cols &&
+						   pixel_y_h>0 && pixel_y_h<depth.rows && // ignore first line
+						   depth_value)
+						{
+							unsigned short & depthPixel = depth.at<unsigned short>(pixel_y_h, pixel_x_h);
+							if(depthPixel == 0 || depthPixel > depth_value)
+							{
+								depthPixel = depth_value;
+								pixelSet = true;
+							}
+						}
+						if(pixelSet)
+						{
+							pixelsSet += 1;
+						}
+					}
+
+					if(closePoints > 100)
+					{
+						this->post(new CameraInfoEvent(0, "TooClose", ""));
+					}
+
+					if(oi)
+					{
+						scan = cv::Mat(1, oi, CV_32FC3, scanData.data()).clone();
+					}
+					//LOGD("pixels depth set= %d", pixelsSet);
+				}
+				else
+				{
+					LOGE("color to depth pose is null?!? (rgb stamp=%f) (depth stamp=%f)", rgbStamp, cloudStamp);
+				}
+
+				if(!rgb.empty() && !depth.empty())
+				{
+					depth = rtabmap::util2d::fillDepthHoles(depth, holeSize, maxDepthError);
+
+					Transform odom = getPoseAtTimestamp(rgbStamp);
+
+					//LOGD("Local    = %s", model.localTransform().prettyPrint().c_str());
+					//LOGD("tango    = %s", poseDevice.prettyPrint().c_str());
+					//LOGD("opengl(t)= %s", (opengl_world_T_tango_world * poseDevice).prettyPrint().c_str());
+
+					// occlusion depth
+					if(!depth.empty())
+					{
+						rtabmap::CameraModel depthModel = model.scaled(float(depth.cols) / float(model.imageWidth()));
+						depthModel.setLocalTransform(odom*model.localTransform());
+						this->setOcclusionImage(depth, depthModel);
+					}
+
+					//LOGD("rtabmap  = %s", odom.prettyPrint().c_str());
+					//LOGD("opengl(r)= %s", (opengl_world_T_rtabmap_world * odom * rtabmap_device_T_opengl_device).prettyPrint().c_str());
+
+					Transform scanLocalTransform = model.localTransform();
+
+					if(rawScanPublished_)
+					{
+						tangoData_ = SensorData(LaserScan::backwardCompatibility(scan, cloud.total()/scanDownsampling, 0, scanLocalTransform), rgb, depth, model, this->getNextSeqID(), rgbStamp);
+					}
+					else
+					{
+						tangoData_ = SensorData(rgb, depth, model, this->getNextSeqID(), rgbStamp);
+					}
+					tangoData_.setGroundTruth(odom);
+				}
+				else
+				{
+					LOGE("Could not get depth and rgb images!?!");
+					tangoData_ = SensorData();
+					return;
+				}
+
 				if(notify)
 				{
-					//LOGD("Cloud: Release semaphore");
-					dataReady_.release();
+					tangoDataReady_.release();
 				}
+				LOGD("process cloud received %fs", timer.ticks());
 			}
 		}
 	}
@@ -468,11 +701,11 @@ void CameraTango::cloudReceived(const cv::Mat & cloud, double timestamp)
 
 void CameraTango::rgbReceived(const cv::Mat & tangoImage, int type, double timestamp)
 {
-	if(this->isRunning() && !tangoImage.empty())
+	if(!tangoImage.empty())
 	{
 		//LOGD("RGB received! %fs", timestamp);
 
-		boost::mutex::scoped_lock  lock(dataMutex_);
+		boost::mutex::scoped_lock  lock(tangoDataMutex_);
 
 		tangoColor_ = tangoImage.clone();
 		tangoColorStamp_ = timestamp;
@@ -532,267 +765,115 @@ rtabmap::Transform CameraTango::getPoseAtTimestamp(double timestamp)
 	}
 	else
 	{
-
 		pose = rtabmap_world_T_tango_world * tangoPoseToTransform(&pose_start_service_T_device) * tango_device_T_rtabmap_world;
 	}
 
 	return pose;
 }
 
-SensorData CameraTango::captureImage(CameraInfo * info)
+SensorData CameraTango::updateDataOnRender(Transform & pose)
 {
 	//LOGI("Capturing image...");
 
-	SensorData data;
-	if(!dataReady_.acquire(1, 2000))
+	pose.setNull();
+	if(textureId_ == 0)
 	{
-		if(this->isRunning())
-		{
-			LOGE("Not received any frames since 2 seconds, try to restart the camera again.");
-			this->post(new CameraInfoEvent(0, "CameraTango", "No frames received since 2 seconds."));
-
-			boost::mutex::scoped_lock  lock(dataMutex_);
-			if(!cloud_.empty() && !tangoColor_.empty())
-			{
-				UERROR("cloud and image were set!?");
-			}
-		}
-		cloud_ = cv::Mat();
-		cloudStamp_ = 0.0;
-		tangoColor_ = cv::Mat();
-		tangoColorStamp_ = 0.0;
-		tangoColorType_ = 0;
+		glGenTextures(1, &textureId_);
+		glBindTexture(GL_TEXTURE_EXTERNAL_OES, textureId_);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
 	}
-	else
+
+	// Update Texture (optional, just for first-view rendering)
+	if(colorCamera_ && textureId_)
 	{
-		cv::Mat cloud;
-		cv::Mat tangoImage;
-		cv::Mat rgb;
-		double cloudStamp = 0.0;
-		double rgbStamp = 0.0;
-		int tangoColorType = 0;
+		double video_overlay_timestamp;
+		TangoErrorType status = TangoService_updateTextureExternalOes(TANGO_CAMERA_COLOR, textureId_, &video_overlay_timestamp);
 
+		if (status == TANGO_SUCCESS)
 		{
-			boost::mutex::scoped_lock  lock(dataMutex_);
-			cloud = cloud_;
-			cloudStamp = cloudStamp_;
-			cloud_ = cv::Mat();
-			cloudStamp_ = 0.0;
-			tangoImage = tangoColor_;
-			rgbStamp = tangoColorStamp_;
-			tangoColorType = tangoColorType_;
-			tangoColor_ = cv::Mat();
-			tangoColorStamp_ = 0.0;
-			tangoColorType_ = 0;
-		}
+			pose = getPoseAtTimestamp(video_overlay_timestamp);
 
-		LOGD("tangoColorType=%d", tangoColorType);
-		if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_RGBA_8888)
-		{
-			cv::cvtColor(tangoImage, rgb, CV_RGBA2BGR);
-		}
-		else if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_YV12)
-		{
-			cv::cvtColor(tangoImage, rgb, CV_YUV2BGR_YV12);
-		}
-		else if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_YCrCb_420_SP)
-		{
-			cv::cvtColor(tangoImage, rgb, CV_YUV2BGR_NV21);
-		}
-		else if(tangoColorType == 35)
-		{
-			cv::cvtColor(tangoImage, rgb, cv::COLOR_YUV420sp2GRAY);
-		}
-		else
-		{
-			LOGE("Not supported color format : %d.", tangoColorType);
-			return data;
-		}
+			int rotation = static_cast<int>(getScreenRotation()) + 1; // remove 90deg camera rotation
+			  if (rotation > 3) {
+				  rotation -= 4;
+			  }
 
-		//for(int i=0; i<rgb.cols; ++i)
-		//{
-		//	UERROR("%d,%d,%d", (int)rgb.at<cv::Vec3b>(i)[0], (int)rgb.at<cv::Vec3b>(i)[1], (int)rgb.at<cv::Vec3b>(i)[2]);
-		//}
-
-		CameraModel model = model_;
-
-		if(colorCamera_)
-		{
-			if(decimation_ > 1)
+			TangoDoubleMatrixTransformData matrix_transform;
+			status = TangoSupport_getDoubleMatrixTransformAtTime(
+					video_overlay_timestamp,
+					TANGO_COORDINATE_FRAME_CAMERA_COLOR,
+					TANGO_COORDINATE_FRAME_START_OF_SERVICE,
+					TANGO_SUPPORT_ENGINE_OPENGL,
+					TANGO_SUPPORT_ENGINE_OPENGL,
+					static_cast<TangoSupportRotation>(rotation),
+					&matrix_transform);
+			if (matrix_transform.status_code == TANGO_POSE_VALID)
 			{
-				rgb = util2d::decimate(rgb, decimation_);
-				model = model.scaled(1.0/double(decimation_));
-			}
-		}
-		else
-		{
-			//UTimer t;
-			cv::Mat rgbRect;
-			cv::remap(rgb, rgbRect, fisheyeRectifyMapX_, fisheyeRectifyMapY_, cv::INTER_LINEAR, cv::BORDER_CONSTANT, 0);
-			rgb = rgbRect;
-			//LOGD("Rectification time=%fs", t.ticks());
-		}
+				// Get projection matrix
+				TangoCameraIntrinsics color_camera_intrinsics;
+				int ret = TangoSupport_getCameraIntrinsicsBasedOnDisplayRotation(
+						TANGO_CAMERA_COLOR,
+						static_cast<TangoSupportRotation>(rotation),
+						&color_camera_intrinsics);
 
-		// Querying the depth image's frame transformation based on the depth image's
-		// timestamp.
-		cv::Mat depth;
+				if (ret == TANGO_SUCCESS) {
+					float image_width = static_cast<float>(color_camera_intrinsics.width);
+					float image_height = static_cast<float>(color_camera_intrinsics.height);
+					float fx = static_cast<float>(color_camera_intrinsics.fx);
+					float fy = static_cast<float>(color_camera_intrinsics.fy);
+					float cx = static_cast<float>(color_camera_intrinsics.cx);
+					float cy = static_cast<float>(color_camera_intrinsics.cy);
 
-		// Calculate the relative pose from color camera frame at timestamp
-		// color_timestamp t1 and depth
-		// camera frame at depth_timestamp t0.
-		Transform colorToDepth;
-		TangoPoseData pose_color_image_t1_T_depth_image_t0;
-		if (TangoSupport_calculateRelativePose(
-				rgbStamp, colorCamera_?TANGO_COORDINATE_FRAME_CAMERA_COLOR:TANGO_COORDINATE_FRAME_CAMERA_FISHEYE, cloudStamp,
-			  TANGO_COORDINATE_FRAME_CAMERA_DEPTH,
-			  &pose_color_image_t1_T_depth_image_t0) == TANGO_SUCCESS)
-		{
-			colorToDepth = tangoPoseToTransform(&pose_color_image_t1_T_depth_image_t0);
-		}
-		else
-		{
-			LOGE(
-				"SynchronizationApplication: Could not find a valid relative pose at "
-				"time for color and "
-				" depth cameras.");
-		}
+					viewMatrix_ = glm::make_mat4(matrix_transform.matrix);
 
-		if(colorToDepth.getNormSquared() > 100000)
-		{
-			LOGE("Very large color to depth error detected (%s)! Ignoring this frame!", colorToDepth.prettyPrint().c_str());
-			colorToDepth.setNull();
-		}
-		cv::Mat scan;
-		if(!colorToDepth.isNull())
-		{
-			// The Color Camera frame at timestamp t0 with respect to Depth
-			// Camera frame at timestamp t1.
-			//LOGD("colorToDepth=%s", colorToDepth.prettyPrint().c_str());
-			LOGD("rgb=%dx%d cloud size=%d", rgb.cols, rgb.rows, (int)cloud.total());
+					projectionMatrix_ = tango_gl::Camera::ProjectionMatrixForCameraIntrinsics(
+							image_width, image_height, fx, fy, cx, cy, 0.3, 50);
 
-			int pixelsSet = 0;
-			int depthSizeDec = colorCamera_?8:1;
-			depth = cv::Mat::zeros(model_.imageHeight()/depthSizeDec, model_.imageWidth()/depthSizeDec, CV_16UC1); // mm
-			CameraModel depthModel = model_.scaled(1.0f/float(depthSizeDec));
-			std::vector<cv::Point3f> scanData(rawScanPublished_?cloud.total():0);
-			int oi=0;
-			int closePoints = 0;
-			float closeROI[4];
-			closeROI[0] = depth.cols/4;
-			closeROI[1] = 3*(depth.cols/4);
-			closeROI[2] = depth.rows/4;
-			closeROI[3] = 3*(depth.rows/4);
-			unsigned short minDepthValue=10000;
-			for(unsigned int i=0; i<cloud.total(); ++i)
-			{
-				float * p = cloud.ptr<float>(0,i);
-				cv::Point3f pt = util3d::transformPoint(cv::Point3f(p[0], p[1], p[2]), colorToDepth);
-
-				if(pt.z > 0.0f && i%scanDownsampling == 0 && rawScanPublished_)
-				{
-					scanData.at(oi++) = pt;
-				}
-
-				int pixel_x_l, pixel_y_l, pixel_x_h, pixel_y_h;
-				// get the coordinate on image plane.
-				pixel_x_l = static_cast<int>((depthModel.fx()) * (pt.x / pt.z) + depthModel.cx());
-				pixel_y_l = static_cast<int>((depthModel.fy()) * (pt.y / pt.z) + depthModel.cy());
-				pixel_x_h = static_cast<int>((depthModel.fx()) * (pt.x / pt.z) + depthModel.cx() + 0.5f);
-				pixel_y_h = static_cast<int>((depthModel.fy()) * (pt.y / pt.z) + depthModel.cy() + 0.5f);
-				unsigned short depth_value(pt.z * 1000.0f);
-
-				if(pixel_x_l>=closeROI[0] && pixel_x_l<closeROI[1] &&
-				   pixel_y_l>closeROI[2] && pixel_y_l<closeROI[3] &&
-				   depth_value < 600)
-				{
-					++closePoints;
-					if(depth_value < minDepthValue)
+					switch(rotation)
 					{
-						minDepthValue = depth_value;
+					case ROTATION_90:
+						memcpy(transformed_uvs_, kTextureCoords90, 8*sizeof(float));
+						break;
+					case ROTATION_180:
+						memcpy(transformed_uvs_, kTextureCoords180, 8*sizeof(float));
+						break;
+					case ROTATION_270:
+						memcpy(transformed_uvs_, kTextureCoords270, 8*sizeof(float));
+						break;
+					case ROTATION_0:
+					default:
+						memcpy(transformed_uvs_, kTextureCoords0, 8*sizeof(float));
 					}
+					uvs_initialized_ = true;
 				}
-
-				bool pixelSet = false;
-				if(pixel_x_l>=0 && pixel_x_l<depth.cols &&
-				   pixel_y_l>0 && pixel_y_l<depth.rows && // ignore first line
-				   depth_value)
+				else
 				{
-					unsigned short & depthPixel = depth.at<unsigned short>(pixel_y_l, pixel_x_l);
-					if(depthPixel == 0 || depthPixel > depth_value)
-					{
-						depthPixel = depth_value;
-						pixelSet = true;
-					}
+					UERROR("TangoSupport_getCameraIntrinsicsBasedOnDisplayRotation failed!");
 				}
-				if(pixel_x_h>=0 && pixel_x_h<depth.cols &&
-				   pixel_y_h>0 && pixel_y_h<depth.rows && // ignore first line
-				   depth_value)
-				{
-					unsigned short & depthPixel = depth.at<unsigned short>(pixel_y_h, pixel_x_h);
-					if(depthPixel == 0 || depthPixel > depth_value)
-					{
-						depthPixel = depth_value;
-						pixelSet = true;
-					}
-				}
-				if(pixelSet)
-				{
-					pixelsSet += 1;
-				}
-			}
-
-			if(closePoints > 100)
-			{
-				this->post(new CameraInfoEvent(0, "TooClose", ""));
-			}
-
-			if(oi)
-			{
-				scan = cv::Mat(1, oi, CV_32FC3, scanData.data()).clone();
-			}
-			//LOGD("pixels depth set= %d", pixelsSet);
-		}
-		else
-		{
-			LOGE("color to depth pose is null?!? (rgb stamp=%f) (depth stamp=%f)", rgbStamp, cloudStamp);
-		}
-
-		if(!rgb.empty() && !depth.empty())
-		{
-			depth = rtabmap::util2d::fillDepthHoles(depth, holeSize, maxDepthError);
-
-			Transform odom = getPoseAtTimestamp(rgbStamp);
-
-			//LOGD("Local    = %s", model.localTransform().prettyPrint().c_str());
-			//LOGD("tango    = %s", poseDevice.prettyPrint().c_str());
-			//LOGD("opengl(t)= %s", (opengl_world_T_tango_world * poseDevice).prettyPrint().c_str());
-
-			// 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();
-
-			if(rawScanPublished_)
-			{
-				data = SensorData(LaserScan::backwardCompatibility(scan, cloud.total()/scanDownsampling, 0, scanLocalTransform), rgb, depth, model, this->getNextSeqID(), rgbStamp);
 			}
 			else
 			{
-				data = SensorData(rgb, depth, model, this->getNextSeqID(), rgbStamp);
+				UERROR("TangoSupport_getDoubleMatrixTransformAtTime failed!");
 			}
-			info->odomPose = odom;
 		}
 		else
 		{
-			LOGE("Could not get depth and rgb images!?!");
+			UERROR("TangoService_updateTextureExternalOes failed!");
 		}
 	}
+
+	SensorData data;
+	if(tangoDataReady_.acquireTry(1))
+	{
+		boost::mutex::scoped_lock  lock(tangoDataMutex_);
+		data = tangoData_;
+		tangoData_ = SensorData();
+		pose = data.groundTruth();
+		data.setGroundTruth(Transform());
+	}
 	return data;
 
 }

app/android/jni/CameraTango.h

@@ -52,7 +52,6 @@ public:
 	virtual void close(); // close Tango connection
 	virtual std::string getSerial() const;
 	rtabmap::Transform tangoPoseToTransform(const TangoPoseData * tangoPose) const;
-	void setColorCamera(bool enabled) {if(!this->isRunning()) colorCamera_ = enabled;}
 	void setDecimation(int value) {decimation_ = value;}
 	void setRawScanPublished(bool enabled) {rawScanPublished_ = enabled;}
 
@@ -61,7 +60,7 @@ public:
 	void tangoEventReceived(int type, const char * key, const char * value);
 
 protected:
-	virtual SensorData captureImage(CameraInfo * info = 0);
+	virtual SensorData updateDataOnRender(Transform & pose);
 
 private:
 	rtabmap::Transform getPoseAtTimestamp(double timestamp);
@@ -71,13 +70,12 @@ private:
 	bool colorCamera_;
 	int decimation_;
 	bool rawScanPublished_;
-	cv::Mat cloud_;
-	double cloudStamp_;
+	SensorData tangoData_;
 	cv::Mat tangoColor_;
 	int tangoColorType_;
 	double tangoColorStamp_;
-	boost::mutex dataMutex_;
-	USemaphore dataReady_;
+	boost::mutex tangoDataMutex_;
+	USemaphore tangoDataReady_;
 	cv::Mat fisheyeRectifyMapX_;
 	cv::Mat fisheyeRectifyMapY_;
 };

app/android/jni/ProgressionStatus.h

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

app/android/jni/RTABMapApp.h

@@ -28,7 +28,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef RTABMAP_APP_H_
 #define RTABMAP_APP_H_
 
+#ifdef __ANDROID__
 #include <jni.h>
+#endif
 #include <memory>
 
 #include <tango-gl/util.h>
@@ -38,7 +40,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "util.h"
 #include "ProgressionStatus.h"
 
+#include <rtabmap/core/SensorCaptureThread.h>
 #include <rtabmap/core/RtabmapThread.h>
+#include <rtabmap/core/SensorEvent.h>
 #include <rtabmap/utilite/UEventsHandler.h>
 #include <boost/thread/mutex.hpp>
 #include <pcl/pcl_base.h>
@@ -49,16 +53,39 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 class RTABMapApp : public UEventsHandler {
  public:
   // Constructor and deconstructor.
+#ifdef __ANDROID__
   RTABMapApp(JNIEnv* env, jobject caller_activity);
+#else // __APPLE__
+  RTABMapApp();
+  void setupSwiftCallbacks(void * classPtr,
+                           void(*progressCallback)(void *, int, int),
+                           void(*initCallback)(void *, int, const char*),
+                           void(*statsUpdatedCallback)(void *,
+                                                    int, int, int, int,
+                                                    float,
+                                                    int, int, int, int, int ,int,
+                                                    float,
+                                                    int,
+                                                    float,
+                                                    int,
+                                                    float, float, float, float,
+                                                    int, int,
+                                                    float, float, float, float, float, float),
+                           void(*cameraInfoCallback)(void *, int, const char*, const char*));
+    
+#endif
   ~RTABMapApp();
 
   void setScreenRotation(int displayRotation, int cameraRotation);
 
-  int openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, const std::string & databaseSource=std::string());
+  int openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, bool clearDatabase);
 
   bool isBuiltWith(int cameraDriver) const;
+#ifdef __ANDROID__
   bool startCamera(JNIEnv* env, jobject iBinder, jobject context, jobject activity, int driver);
-
+#else // __APPLE__
+    bool startCamera();
+#endif
   // Allocate OpenGL resources for rendering, mainly for initializing the Scene.
   void InitializeGLContent();
 
@@ -112,21 +139,26 @@ class RTABMapApp : public UEventsHandler {
   void setSmoothing(bool enabled);
   void setDepthFromMotion(bool enabled);
   void setAppendMode(bool enabled);
+  void setUpstreamRelocalizationAccThr(float value);
   void setDataRecorderMode(bool enabled);
   void setMaxCloudDepth(float value);
   void setMinCloudDepth(float value);
   void setCloudDensityLevel(int value);
   void setMeshAngleTolerance(float value);
+  void setMeshDecimationFactor(float value);
   void setMeshTriangleSize(int value);
   void setClusterRatio(float value);
   void setMaxGainRadius(float value);
   void setRenderingTextureDecimation(int value);
   void setBackgroundColor(float gray);
+  void setDepthConfidence(int value);
+  void setExportPointCloudFormat(const std::string & format);
   int setMappingParameter(const std::string & key, const std::string & value);
   void setGPS(const rtabmap::GPS & gps);
   void addEnvSensor(int type, float value);
 
   void save(const std::string & databasePath);
+  bool recover(const std::string & from, const std::string & to);
   void cancelProcessing();
   bool exportMesh(
 		  float cloudVoxelSize,
@@ -149,21 +181,27 @@ 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);
+		rtabmap::Transform pose,
+		float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
+		float depth_fx, float depth_fy, float depth_cx, float depth_cy,
+		const rtabmap::Transform & rgbFrame,
+		const rtabmap::Transform & depthFrame,
+		double stamp,
+		double depthStamp,
+        const void * yPlane, const void * uPlane, const void * vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
+        const void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
+        const void * conf, int confLen, int confWidth, int confHeight, int confFormat,
+        const float * points, int pointsLen, int pointsChannels,
+		rtabmap::Transform viewMatrix, //view matrix
+        float p00, float p11, float p02, float p12, float p22, float p32, float p23, // projection matrix
+        float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7); // tex coord
 
  protected:
   virtual bool handleEvent(UEvent * event);
 
  private:
+  int updateMeshDecimation(int width, int height);
   rtabmap::ParametersMap getRtabmapParameters();
   bool smoothMesh(int id, rtabmap::Mesh & mesh);
   void gainCompensation(bool full = false);
@@ -173,6 +211,7 @@ class RTABMapApp : public UEventsHandler {
  private:
   int cameraDriver_;
   rtabmap::CameraMobile * camera_;
+  rtabmap::SensorCaptureThread * sensorCaptureThread_;
   rtabmap::RtabmapThread * rtabmapThread_;
   rtabmap::Rtabmap * rtabmap_;
   rtabmap::LogHandler * logHandler_;
@@ -188,15 +227,20 @@ class RTABMapApp : public UEventsHandler {
   bool cameraColor_;
   bool fullResolution_;
   bool appendMode_;
+  bool useExternalLidar_;
   float maxCloudDepth_;
   float minCloudDepth_;
   int cloudDensityLevel_;
   int meshTrianglePix_;
   float meshAngleToleranceDeg_;
+  float meshDecimationFactor_;
   float clusterRatio_;
   float maxGainRadius_;
   int renderingTextureDecimation_;
   float backgroundColor_;
+  int depthConfidence_;
+  float upstreamRelocalizationMaxAcc_;
+  std::string exportPointCloudFormat_;
 
   rtabmap::ParametersMap mappingParameters_;
 
@@ -210,7 +254,6 @@ class RTABMapApp : public UEventsHandler {
   bool bilateralFilteringOnNextRender_;
   bool takeScreenshotOnNextRender_;
   bool cameraJustInitialized_;
-  int meshDecimation_;
   int totalPoints_;
   int totalPolygons_;
   int lastDrawnCloudsCount_;
@@ -229,9 +272,11 @@ class RTABMapApp : public UEventsHandler {
   // main_scene_ includes all drawable object for visualizing Tango device's
   // movement and point cloud.
   Scene main_scene_;
+    
+    UTimer fpsTime_;
 
 	std::list<rtabmap::RtabmapEvent*> rtabmapEvents_;
-	std::list<rtabmap::OdometryEvent> odomEvents_;
+	std::list<rtabmap::SensorEvent> sensorEvents_;
 	std::list<rtabmap::Transform> poseEvents_;
 
 	rtabmap::Transform mapToOdom_;
@@ -239,7 +284,7 @@ class RTABMapApp : public UEventsHandler {
 	boost::mutex cameraMutex_;
 	boost::mutex rtabmapMutex_;
 	boost::mutex meshesMutex_;
-	boost::mutex odomMutex_;
+	boost::mutex sensorMutex_;
 	boost::mutex poseMutex_;
 	boost::mutex renderingMutex_;
 
@@ -251,6 +296,24 @@ class RTABMapApp : public UEventsHandler {
 	std::pair<rtabmap::RtabmapEventInit::Status, std::string> status_;
 
 	rtabmap::ProgressionStatus progressionStatus_;
+    
+#ifndef __ANDROID__
+    void * swiftClassPtr_;
+    void(*swiftInitCallback)(void *, int, const char *);
+    void(*swiftStatsUpdatedCallback)(void *,
+                             int, int, int, int,
+                             float,
+                             int, int, int, int, int ,int,
+                             float,
+                             int,
+                             float,
+                             int,
+                             float, float, float, float,
+                             int, int,
+                             float, float, float, float, float, float);
+    void(*swiftCameraInfoEventCallback)(void *, int, const char *, const char *);
+    
+#endif
 };
 
 #endif  // TANGO_POINT_CLOUD_POINT_CLOUD_APP_H_

app/android/jni/background_renderer.cc

@@ -34,55 +34,173 @@ const std::string kVertexShader =
 		"   v_TexCoord = a_TexCoord;\n"
 		"}\n";
 
-const std::string kFragmentShader =
+const std::string kFragmentShaderOES =
 	"#extension GL_OES_EGL_image_external : require\n"
-
 	"precision mediump float;\n"
 	"varying vec2 v_TexCoord;\n"
 	"uniform samplerExternalOES sTexture;\n"
+    "uniform bool uRedUnknown;\n"
+	"void main() {\n"
+	"    vec4 sample = texture2D(sTexture, v_TexCoord);\n"
+    "    float grey = 0.21 * sample.r + 0.71 * sample.g + 0.07 * sample.b;\n"
+    "    gl_FragColor = vec4(grey, uRedUnknown?0.0:grey, uRedUnknown?0.0:grey, 0.5);\n"
+	"}\n";
 
+const std::string kFragmentShaderBlendingOES =
+    "#extension GL_OES_EGL_image_external : require\n"
+    "precision mediump float;\n"
+    "varying vec2 v_TexCoord;\n"
+    "uniform samplerExternalOES sTexture;\n"
+	"uniform sampler2D uDepthTexture;\n"
+	"uniform vec2 uScreenScale;\n"
+    "uniform bool uRedUnknown;\n"
+    "void main() {\n"
+    "    vec4 sample = texture2D(sTexture, v_TexCoord);\n"
+    "    vec2 coord = uScreenScale * gl_FragCoord.xy;\n;"
+    "    vec4 depthPacked = texture2D(uDepthTexture, coord);\n"
+    "    float depth = dot(depthPacked, 1./vec4(1.,255.,65025.,16581375.));\n"
+    "    if(depth > 0.0)\n"
+    "        gl_FragColor = vec4(sample.r, sample.g, sample.b, 0.5);\n"
+    "    else {\n"
+    "        float grey = 0.21 * sample.r + 0.71 * sample.g + 0.07 * sample.b;\n"
+    "        gl_FragColor = vec4(grey, uRedUnknown?0.0:grey, uRedUnknown?0.0:grey, 0.5);\n"
+    "    }\n"
+    "}\n";
+
+const std::string kFragmentShader =
+	"precision mediump float;\n"
+	"varying vec2 v_TexCoord;\n"
+    "uniform sampler2D sTexture;\n"
+    "uniform bool uRedUnknown;\n"
 	"void main() {\n"
 	"    vec4 sample = texture2D(sTexture, v_TexCoord);\n"
 	"    float grey = 0.21 * sample.r + 0.71 * sample.g + 0.07 * sample.b;\n"
-	"    gl_FragColor = vec4(grey, grey, grey, 0.5);\n"
+	"    gl_FragColor = vec4(grey, uRedUnknown?0.0:grey, uRedUnknown?0.0:grey, 0.5);\n"
 	"}\n";
 
+const std::string kFragmentShaderBlending =
+    "precision mediump float;\n"
+    "varying vec2 v_TexCoord;\n"
+    "uniform sampler2D sTexture;\n"
+    "uniform sampler2D uDepthTexture;\n"
+    "uniform vec2 uScreenScale;\n"
+    "uniform bool uRedUnknown;\n"
+    "void main() {\n"
+    "    vec4 sample = texture2D(sTexture, v_TexCoord);\n"
+    "    vec2 coord = uScreenScale * gl_FragCoord.xy;\n;"
+    "    vec4 depthPacked = texture2D(uDepthTexture, coord);\n"
+    "    float depth = dot(depthPacked, 1./vec4(1.,255.,65025.,16581375.));\n"
+    "    if(depth > 0.0)\n"
+    "        gl_FragColor = vec4(sample.r, sample.g, sample.b, 0.5);\n"
+    "    else {\n"
+    "        float grey = 0.21 * sample.r + 0.71 * sample.g + 0.07 * sample.b;\n"
+    "        gl_FragColor = vec4(grey, uRedUnknown?0.0:grey, uRedUnknown?0.0:grey, 0.5);\n"
+    "    }\n"
+    "}\n";
+
+/* To debug depth texture
+ const std::string kFragmentShader =
+     "precision mediump float;\n"
+     "varying vec2 v_TexCoord;\n"
+     "uniform sampler2D sTexture;\n"
+
+     "void main() {\n"
+     "  float uNearZ = 0.2;\n"
+     "  float uFarZ = 1000.0;\n"
+     "  float depth = texture2D(sTexture, v_TexCoord).r;\n"
+     "  float num =  (2.0 * uNearZ * uFarZ);\n"
+     "  float diff = (uFarZ - uNearZ);\n"
+     "  float add = (uFarZ + uNearZ);\n"
+     "  float ndcDepth = depth * 2.0 - 1.0;\n" // Back to NDC
+     "  float linearDepth = num / (add - ndcDepth * diff);\n" // inverse projection matrix
+     "  float grey = linearDepth/3.0;\n"
+     "  gl_FragColor = vec4(grey, grey, grey, 0.5);\n"
+     "}\n";
+ */
+
 }  // namespace
 
-void BackgroundRenderer::InitializeGlContent(GLuint textureId)
-{
-  texture_id_ = textureId;
+std::vector<GLuint> BackgroundRenderer::shaderPrograms_;
 
-  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);
+BackgroundRenderer::~BackgroundRenderer()
+{
+	for(unsigned int i=0; i<shaderPrograms_.size(); ++i)
+	{
+		glDeleteShader(shaderPrograms_[i]);
+	}
+	shaderPrograms_.clear();
 }
 
-void BackgroundRenderer::Draw(const float * transformed_uvs) {
-  static_assert(std::extent<decltype(BackgroundRenderer_kVertices)>::value == kNumVertices * 2, "Incorrect kVertices length");
+void BackgroundRenderer::InitializeGlContent(GLuint textureId, bool oes)
+{
+	LOGI("textureId=%d", textureId);
 
-  glUseProgram(shader_program_);
+  texture_id_ = textureId;
+#ifdef __ANDROID__
+  oes_ = oes;
+#endif
+
+    if(shaderPrograms_.empty())
+    {
+        shaderPrograms_.resize(2,0);
+        shaderPrograms_[0] = tango_gl::util::CreateProgram(
+              kVertexShader.c_str(),
+              oes_?kFragmentShaderOES.c_str():kFragmentShader.c_str());
+        UASSERT(shaderPrograms_[0]!=0);
+        shaderPrograms_[1] = tango_gl::util::CreateProgram(
+              kVertexShader.c_str(),
+              oes_?kFragmentShaderBlendingOES.c_str():kFragmentShaderBlending.c_str());
+        UASSERT(shaderPrograms_[1]!=0);
+    }
+}
+
+void BackgroundRenderer::Draw(const float * transformed_uvs, const GLuint & depthTexture, int screenWidth, int screenHeight, bool redUnknown) {
+  static_assert(std::extent<decltype(BackgroundRenderer_kVerticesDevice)>::value == kNumVertices * 2, "Incorrect kVertices length");
+
+  GLuint program = shaderPrograms_[depthTexture>0?1:0];
+    
+  glUseProgram(program);
   glDepthMask(GL_FALSE);
   glEnable (GL_BLEND);
 
   glActiveTexture(GL_TEXTURE0);
-  glBindTexture(GL_TEXTURE_EXTERNAL_OES, texture_id_);
+#ifdef __ANDROID__
+  if(oes_)
+    glBindTexture(GL_TEXTURE_EXTERNAL_OES, texture_id_);
+  else
+#endif
+    glBindTexture(GL_TEXTURE_2D, texture_id_);
 
-  glVertexAttribPointer(attribute_vertices_, 2, GL_FLOAT, GL_FALSE, 0, BackgroundRenderer_kVertices);
-  glVertexAttribPointer(attribute_uvs_, 2, GL_FLOAT, GL_FALSE, 0, transformed_uvs);
+  if(depthTexture>0)
+  {
+    // Texture activate unit 1
+    glActiveTexture(GL_TEXTURE1);
+    // Bind the texture to this unit.
+    glBindTexture(GL_TEXTURE_2D, depthTexture);
+    // Tell the texture uniform sampler to use this texture in the shader by binding to texture unit 1.
+    GLuint depth_texture_handle = glGetUniformLocation(program, "uDepthTexture");
+    glUniform1i(depth_texture_handle, 1);
+      
+    GLuint screenScale_handle = glGetUniformLocation(program, "uScreenScale");
+    glUniform2f(screenScale_handle, 1.0f/(float)screenWidth, 1.0f/(float)screenHeight);
+  }
+    
+  GLuint screenScale_handle = glGetUniformLocation(program, "uRedUnknown");
+  glUniform1i(screenScale_handle, redUnknown);
 
-  glEnableVertexAttribArray(attribute_vertices_);
-  glEnableVertexAttribArray(attribute_uvs_);
+  GLuint attributeVertices = glGetAttribLocation(program, "a_Position");
+  GLuint attributeUvs = glGetAttribLocation(program, "a_TexCoord");
+
+  glVertexAttribPointer(attributeVertices, 2, GL_FLOAT, GL_FALSE, 0, BackgroundRenderer_kVerticesDevice);
+  glVertexAttribPointer(attributeUvs, 2, GL_FLOAT, GL_FALSE, 0, transformed_uvs?transformed_uvs:BackgroundRenderer_kTexCoord);
+
+  glEnableVertexAttribArray(attributeVertices);
+  glEnableVertexAttribArray(attributeUvs);
 
   glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
 
-  glDisableVertexAttribArray(attribute_vertices_);
-  glDisableVertexAttribArray(attribute_uvs_);
+  glDisableVertexAttribArray(attributeVertices);
+  glDisableVertexAttribArray(attributeUvs);
 
   glUseProgram(0);
   glDepthMask(GL_TRUE);

app/android/jni/background_renderer.h

@@ -17,15 +17,36 @@
 #ifndef C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_
 #define C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_
 
+#ifdef __ANDROID__
 #include <GLES2/gl2.h>
 #include <GLES2/gl2ext.h>
+#else // __APPLE__
+#include <OpenGLES/ES2/gl.h>
+#include <OpenGLES/ES2/glext.h>
+#endif
 #include <cstdlib>
 
 #include "util.h"
 
-static const GLfloat BackgroundRenderer_kVertices[] = {
+static const GLfloat BackgroundRenderer_kVerticesDevice[] = {
 	-1.0f, -1.0f, +1.0f, -1.0f, -1.0f, +1.0f, +1.0f, +1.0f,
 };
+//static const GLfloat BackgroundRenderer_kVerticesView[] = {
+//	0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 1.0f,
+//};
+static const GLfloat BackgroundRenderer_kVerticesView[] = {
+	0.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f,
+};
+static const GLfloat BackgroundRenderer_kTexCoord[] = {
+   1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
+};
+
+//android phone
+//11 10 01 00 // portrait
+//01 11 00 10 // left
+//10 00 11 01 // right
+//00 01 10 11 // down
+
 
 // This class renders the passthrough camera image into the OpenGL frame.
 class BackgroundRenderer {
@@ -36,23 +57,20 @@ public:
 
  public:
   BackgroundRenderer() = default;
-  ~BackgroundRenderer() = default;
+  ~BackgroundRenderer();
 
   // Sets up OpenGL state.  Must be called on the OpenGL thread and before any
   // other methods below.
-  void InitializeGlContent(GLuint textureId);
+  void InitializeGlContent(GLuint textureId, bool oes);
 
   // Draws the background image.  This methods must be called for every ArFrame
   // returned by ArSession_update() to catch display geometry change events.
-  void Draw(const float * transformed_uvs);
+  void Draw(const float * transformed_uvs, const GLuint & depthTexture, int screenWidth, int screenHeight, bool redUnknown);
 
- private:
-
-  GLuint shader_program_;
+private:
+  static std::vector<GLuint> shaderPrograms_;
   GLuint texture_id_;
-
-  GLuint attribute_vertices_;
-  GLuint attribute_uvs_;
+  bool oes_ = false;
 };
 
 #endif  // C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_

app/android/jni/graph_drawable.cpp

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

app/android/jni/graph_drawable.h

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

app/android/jni/jni_interface.cpp

@@ -89,13 +89,13 @@ Java_com_introlab_rtabmap_RTABMapLib_setScreenRotation(
 
 JNIEXPORT int JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_openDatabase(
-    JNIEnv* env, jclass, jlong native_application, jstring databasePath, bool databaseInMemory, bool optimize)
+    JNIEnv* env, jclass, jlong native_application, jstring databasePath, bool databaseInMemory, bool optimize, bool clearDatabase)
 {
 	std::string databasePathC;
 	GetJStringContent(env,databasePath,databasePathC);
 	if(native_application)
 	{
-		return native(native_application)->openDatabase(databasePathC, databaseInMemory, optimize);
+		return native(native_application)->openDatabase(databasePathC, databaseInMemory, optimize, clearDatabase);
 	}
 	else
 	{
@@ -104,17 +104,17 @@ Java_com_introlab_rtabmap_RTABMapLib_openDatabase(
 	}
 }
 
-JNIEXPORT int JNICALL
-Java_com_introlab_rtabmap_RTABMapLib_openDatabase2(
-    JNIEnv* env, jclass, jlong native_application, jstring databaseSource, jstring databasePath, bool databaseInMemory, bool optimize)
+JNIEXPORT bool JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_recover(
+    JNIEnv* env, jclass, jlong native_application, jstring from, jstring to)
 {
 	if(native_application)
 	{
-		std::string databasePathC;
-		GetJStringContent(env,databasePath,databasePathC);
-		std::string databaseSourceC;
-		GetJStringContent(env,databaseSource,databaseSourceC);
-		return native(native_application)->openDatabase(databasePathC, databaseInMemory, optimize, databaseSourceC);
+		std::string toC;
+		GetJStringContent(env,to,toC);
+		std::string fromC;
+		GetJStringContent(env,from,fromC);
+		return native(native_application)->recover(fromC, toC);
 	}
 	else
 	{
@@ -550,6 +550,20 @@ Java_com_introlab_rtabmap_RTABMapLib_setAppendMode(
 		UERROR("native_application is null!");
 	}
 }
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setUpstreamRelocalizationAccThr(
+		JNIEnv*, jclass, jlong native_application, float value)
+{
+	if(native_application)
+	{
+		return native(native_application)->setUpstreamRelocalizationAccThr(value);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+
 JNIEXPORT void JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_setDataRecorderMode(
 		JNIEnv*, jclass, jlong native_application, bool enabled)
@@ -867,13 +881,39 @@ Java_com_introlab_rtabmap_RTABMapLib_postProcessing(
 }
 
 JNIEXPORT void JNICALL
-Java_com_introlab_rtabmap_RTABMapLib_postCameraPoseEvent(
+Java_com_introlab_rtabmap_RTABMapLib_postOdometryEvent(
 		JNIEnv* env, jclass, jlong native_application,
-		float x, float y, float z, float qx, float qy, float qz, float qw)
+		float x, float y, float z, float qx, float qy, float qz, float qw,
+		float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
+		float rgbFrameX, float rgbFrameY, float rgbFrameZ, float rgbFrameQX, float rgbFrameQY, float rgbFrameQZ, float rgbFrameQW,
+		double stamp,
+		jobject yPlane, jobject uPlane, jobject vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
+		jobject points, int pointsLen,
+		float vx, float vy, float vz, float vqx, float vqy, float vqz, float vqw, //view matrix
+		float p00, float p11, float p02, float p12, float p22, float p32, float p23, // projection matrix
+		float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7) // tex coord
 {
 	if(native_application)
 	{
-		native(native_application)->postCameraPoseEvent(x,y,z,qx,qy,qz,qw);
+		void *yPtr = env->GetDirectBufferAddress(yPlane);
+		void *uPtr = env->GetDirectBufferAddress(uPlane);
+		void *vPtr = env->GetDirectBufferAddress(vPlane);
+		float *pointsPtr = (float *)env->GetDirectBufferAddress(points);
+		native(native_application)->postOdometryEvent(
+				rtabmap::Transform(x,y,z,qx,qy,qz,qw),
+				rgb_fx,rgb_fy,rgb_cx,rgb_cy,
+				0,0,0,0,
+				rtabmap::Transform(rgbFrameX, rgbFrameY, rgbFrameZ, rgbFrameQX, rgbFrameQY, rgbFrameQZ, rgbFrameQW),
+				rtabmap::Transform(),
+				stamp,
+				0,
+				yPtr, uPtr, vPtr, yPlaneLen, rgbWidth, rgbHeight, rgbFormat,
+				0,0,0,0,0, //depth
+				0,0,0,0,0, //conf
+				pointsPtr, pointsLen, 4,
+				rtabmap::Transform(vx, vy, vz, vqx, vqy, vqz, vqw),
+				p00, p11, p02, p12, p22, p32, p23,
+				t0, t1, t2, t3, t4, t5, t6, t7);
 	}
 	else
 	{
@@ -883,37 +923,43 @@ Java_com_introlab_rtabmap_RTABMapLib_postCameraPoseEvent(
 }
 
 JNIEXPORT void JNICALL
-Java_com_introlab_rtabmap_RTABMapLib_postOdometryEvent(
+Java_com_introlab_rtabmap_RTABMapLib_postOdometryEventDepth(
 		JNIEnv* env, jclass, jlong native_application,
 		float x, float y, float z, float qx, float qy, float qz, float qw,
-		float fx, float fy, float cx, float cy,
-		double stamp,
+		float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
+		float depth_fx, float depth_fy, float depth_cx, float depth_cy,
+		float rgbFrameX, float rgbFrameY, float rgbFrameZ, float rgbFrameQX, float rgbFrameQY, float rgbFrameQZ, float rgbFrameQW,
+		float depthFrameX, float depthFrameY, float depthFrameZ, float depthFrameQX, float depthFrameQY, float depthFrameQZ, float depthFrameQW,
+		double rgbStamp,
+		double depthStamp,
 		jobject yPlane, jobject uPlane, jobject vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
-		jobject depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
-		jobject points, int pointsLen)
-{
-	if(native_application)
-	{
+ 		jobject depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
+ 		jobject points, int pointsLen,
+		float vx, float vy, float vz, float vqx, float vqy, float vqz, float vqw, //view matrix
+		float p00, float p11, float p02, float p12, float p22, float p32, float p23, // projection matrix
+		float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7) // tex coord)
+ {
 		void *yPtr = env->GetDirectBufferAddress(yPlane);
 		void *uPtr = env->GetDirectBufferAddress(uPlane);
 		void *vPtr = env->GetDirectBufferAddress(vPlane);
-		void *depthPtr = env->GetDirectBufferAddress(depth);
-		float *pointsPtr = (float *)env->GetDirectBufferAddress(points);
-		native(native_application)->postOdometryEvent(
-				x,y,z,qx,qy,qz,qw,
-				fx,fy,cx,cy,
-				stamp,
-				yPtr, uPtr, vPtr, yPlaneLen, rgbWidth, rgbHeight, rgbFormat,
-				depthPtr, depthLen, depthWidth, depthHeight, depthFormat,
-				pointsPtr, pointsLen);
-	}
-	else
-	{
-		UERROR("native_application is null!");
-		return;
-	}
-}
-
+ 		void *depthPtr = env->GetDirectBufferAddress(depth);
+ 		float *pointsPtr = (float *)env->GetDirectBufferAddress(points);
+ 		native(native_application)->postOdometryEvent(
+				rtabmap::Transform(x,y,z,qx,qy,qz,qw),
+				rgb_fx,rgb_fy,rgb_cx,rgb_cy,
+				depth_fx,depth_fy,depth_cx,depth_cy,
+				rtabmap::Transform(rgbFrameX, rgbFrameY, rgbFrameZ, rgbFrameQX, rgbFrameQY, rgbFrameQZ, rgbFrameQW),
+				rtabmap::Transform(depthFrameX, depthFrameY, depthFrameZ, depthFrameQX, depthFrameQY, depthFrameQZ, depthFrameQW),
+				rgbStamp,
+				depthStamp,
+ 				yPtr, uPtr, vPtr, yPlaneLen, rgbWidth, rgbHeight, rgbFormat,
+ 				depthPtr, depthLen, depthWidth, depthHeight, depthFormat,
+				0,0,0,0,0, // conf
+ 				pointsPtr, pointsLen, 4,
+				rtabmap::Transform(vx, vy, vz, vqx, vqy, vqz, vqw),
+				p00, p11, p02, p12, p22, p32, p23,
+				t0, t1, t2, t3, t4, t5, t6, t7);
+ }
 
 
 #ifdef __cplusplus

app/android/jni/point_cloud_drawable.cpp

@@ -35,7 +35,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "util.h"
 #include "pcl/common/transforms.h"
 
+#ifdef __ANDROID__
 #include <GLES2/gl2.h>
+#else // __APPLE__
+#include <OpenGLES/ES2/gl.h>
+#endif
 
 #define LOW_DEC 2
 #define LOWLOW_DEC 4
@@ -257,7 +261,7 @@ const std::string kTextureMeshBlendingFragmentShader =
 	"  float linearFragz = num / (add - ndcFragz * diff);\n" // inverse projection matrix
 	"  if(linearFragz > linearDepth + 0.05)\n"
 	"    alpha=0.0;\n"
-	"  gl_FragColor = vec4(textureColor.r * uGainR * vLightWeighting, textureColor.g * uGainG * vLightWeighting, textureColor.b * uGainB * vLightWeighting, alpha);\n"
+    "  gl_FragColor = vec4(textureColor.r * uGainR * vLightWeighting, textureColor.g * uGainG * vLightWeighting, textureColor.b * uGainB * vLightWeighting, alpha);\n"
     "}\n";
 
 std::vector<GLuint> PointCloudDrawable::shaderPrograms_;
@@ -305,8 +309,8 @@ PointCloudDrawable::PointCloudDrawable(
 		float gainR,
 		float gainG,
 		float gainB) :
-				vertex_buffers_(0),
-				textures_(0),
+				vertex_buffer_(0),
+				texture_(0),
 				nPoints_(0),
 				pose_(rtabmap::Transform::getIdentity()),
 				poseGl_(1.0f),
@@ -316,14 +320,16 @@ PointCloudDrawable::PointCloudDrawable(
 				gainG_(gainG),
 				gainB_(gainB)
 {
+    index_buffers_.resize(6, 0);
+    index_buffers_count_.resize(6, 0);
 	updateCloud(cloud, indices);
 }
 
 PointCloudDrawable::PointCloudDrawable(
 		const rtabmap::Mesh & mesh,
 		bool createWireframe) :
-				vertex_buffers_(0),
-				textures_(0),
+				vertex_buffer_(0),
+				texture_(0),
 				nPoints_(0),
 				pose_(rtabmap::Transform::getIdentity()),
 				poseGl_(1.0f),
@@ -333,64 +339,83 @@ PointCloudDrawable::PointCloudDrawable(
 				gainG_(1.0f),
 				gainB_(1.0f)
 {
+    index_buffers_.resize(6, 0);
+    index_buffers_count_.resize(6, 0);
 	updateMesh(mesh, createWireframe);
 }
 
 PointCloudDrawable::~PointCloudDrawable()
 {
-	LOGI("Freeing cloud buffer %d", vertex_buffers_);
-	if (vertex_buffers_)
+	LOGI("Freeing cloud buffer %d", vertex_buffer_);
+	if (vertex_buffer_)
 	{
-		glDeleteBuffers(1, &vertex_buffers_);
+		glDeleteBuffers(1, &vertex_buffer_);
 		tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
-		vertex_buffers_ = 0;
+		vertex_buffer_ = 0;
 	}
 
-	if (textures_)
+	if (texture_)
 	{
-		glDeleteTextures(1, &textures_);
+		glDeleteTextures(1, &texture_);
 		tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
-		textures_ = 0;
+		texture_ = 0;
 	}
+    
+    for(size_t i=0; i<index_buffers_.size(); ++i)
+    {
+        if(index_buffers_[i])
+        {
+            glDeleteBuffers(1, &index_buffers_[i]);
+            index_buffers_[i] = 0;
+            tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
+        }
+    }
 }
 
 void PointCloudDrawable::updatePolygons(const std::vector<pcl::Vertices> & polygons, const std::vector<pcl::Vertices> & polygonsLowRes, bool createWireframe)
 {
-	LOGD("Update polygons");
-	polygons_.clear();
-	polygonLines_.clear();
-	polygonsLowRes_.clear();
-	polygonLinesLowRes_.clear();
+    for(int i=0; i<4; ++i)
+    {
+        if(index_buffers_[i])
+        {
+            glDeleteBuffers(1, &index_buffers_[i]);
+            index_buffers_[i] = 0;
+            tango_gl::util::CheckGlError("PointCloudDrawable::updatePolygons() clearing polygon buffers");
+        }
+    }
+    
+	//LOGD("Update polygons");
 	if(polygons.size() && organizedToDenseIndices_.size())
 	{
-		unsigned int polygonSize = polygons[0].vertices.size();
+		size_t polygonSize = polygons[0].vertices.size();
 		UASSERT(polygonSize == 3);
-		polygons_.resize(polygons.size() * polygonSize);
+        std::vector<std::vector<GLuint> > indexes(4);
+        indexes[0].resize(polygons.size() * polygonSize);
 		if(createWireframe)
-			polygonLines_.resize(polygons_.size()*2);
+            indexes[2].resize(indexes[0].size()*2);
 		int oi = 0;
 		int li = 0;
-		for(unsigned int i=0; i<polygons.size(); ++i)
+        for(size_t i=0; i<polygons.size(); ++i)
 		{
 			UASSERT(polygons[i].vertices.size() == polygonSize);
 			for(unsigned int j=0; j<polygonSize; ++j)
 			{
-				polygons_[oi++] = organizedToDenseIndices_.at(polygons[i].vertices[j]);
+                indexes[0][oi++] = organizedToDenseIndices_.at(polygons[i].vertices[j]);
 				if(createWireframe)
 				{
-					polygonLines_[li++] = organizedToDenseIndices_.at(polygons[i].vertices[j]);
-					polygonLines_[li++] = organizedToDenseIndices_.at(polygons[i].vertices[(j+1) % polygonSize]);
+                    indexes[2][li++] = organizedToDenseIndices_.at(polygons[i].vertices[j]);
+                    indexes[2][li++] = organizedToDenseIndices_.at(polygons[i].vertices[(j+1) % polygonSize]);
 				}
 			}
 		}
 
 		if(polygonsLowRes.size())
 		{
-			unsigned int polygonSize = polygonsLowRes[0].vertices.size();
+			size_t polygonSize = polygonsLowRes[0].vertices.size();
 			UASSERT(polygonSize == 3);
-			polygonsLowRes_.resize(polygonsLowRes.size() * polygonSize);
+            indexes[1].resize(polygonsLowRes.size() * polygonSize);
 			if(createWireframe)
-				polygonLinesLowRes_.resize(polygonsLowRes_.size()*2);
+                indexes[3].resize(indexes[1].size()*2);
 			int oi = 0;
 			int li = 0;
 			for(unsigned int i=0; i<polygonsLowRes.size(); ++i)
@@ -398,15 +423,44 @@ void PointCloudDrawable::updatePolygons(const std::vector<pcl::Vertices> & polyg
 				UASSERT(polygonsLowRes[i].vertices.size() == polygonSize);
 				for(unsigned int j=0; j<polygonSize; ++j)
 				{
-					polygonsLowRes_[oi++] = organizedToDenseIndices_.at(polygonsLowRes[i].vertices[j]);
+                    indexes[1][oi++] = organizedToDenseIndices_.at(polygonsLowRes[i].vertices[j]);
 					if(createWireframe)
 					{
-						polygonLinesLowRes_[li++] = organizedToDenseIndices_.at(polygonsLowRes[i].vertices[j]);
-						polygonLinesLowRes_[li++] = organizedToDenseIndices_.at(polygonsLowRes[i].vertices[(j+1)%polygonSize]);
+                        indexes[3][li++] = organizedToDenseIndices_.at(polygonsLowRes[i].vertices[j]);
+                        indexes[3][li++] = organizedToDenseIndices_.at(polygonsLowRes[i].vertices[(j+1)%polygonSize]);
 					}
 				}
 			}
 		}
+        
+        // Generate index buffers
+        for(size_t i=0; i<indexes.size(); ++i)
+        {
+            if(!indexes[i].empty())
+            {
+                glGenBuffers(1, &index_buffers_[i]);
+                if(!index_buffers_[i])
+                {
+                    LOGE("OpenGL: could not generate index buffer %ld\n", i);
+                    return;
+                }
+                
+                LOGD("Adding polygon index %ld size=%ld", i, indexes[i].size());
+                
+                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffers_[i]);
+                glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(uint32_t) * indexes[i].size(), indexes[i].data(), GL_STATIC_DRAW);
+                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+                index_buffers_count_[i] = (int)indexes[i].size();
+
+                GLint error = glGetError();
+                if(error != GL_NO_ERROR)
+                {
+                    LOGE("OpenGL: Could not allocate indexes (0x%x)\n", error);
+                    index_buffers_[i] = 0;
+                    return;
+                }
+            }
+        }
 	}
 }
 
@@ -414,43 +468,51 @@ void PointCloudDrawable::updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Pt
 {
 	UASSERT(cloud.get() && !cloud->empty());
 	nPoints_ = 0;
-	polygons_.clear();
-	polygonsLowRes_.clear();
-	verticesLowRes_.clear();
-	verticesLowLowRes_.clear();
 	aabbMinModel_ = aabbMinWorld_ = pcl::PointXYZ(1000,1000,1000);
 	aabbMaxModel_ = aabbMaxWorld_ = pcl::PointXYZ(-1000,-1000,-1000);
 
-	if (vertex_buffers_)
+	if (vertex_buffer_)
 	{
-		glDeleteBuffers(1, &vertex_buffers_);
-		tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
-		vertex_buffers_ = 0;
+		glDeleteBuffers(1, &vertex_buffer_);
+		tango_gl::util::CheckGlError("PointCloudDrawable::updateCloud() clear vertex buffer");
+		vertex_buffer_ = 0;
 	}
 
-	if (textures_)
+	if (texture_)
 	{
-		glDeleteTextures(1, &textures_);
-		tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
-		textures_ = 0;
+		glDeleteTextures(1, &texture_);
+		tango_gl::util::CheckGlError("PointCloudDrawable::updateCloud() clear texture buffer");
+		texture_ = 0;
 	}
+    
+    for(size_t i=0; i<index_buffers_.size(); ++i)
+    {
+        if(index_buffers_[i])
+        {
+            glDeleteBuffers(1, &index_buffers_[i]);
+            index_buffers_[i] = 0;
+            tango_gl::util::CheckGlError("PointCloudDrawable::updateCloud() clear index buffer");
+        }
+    }
 
-	glGenBuffers(1, &vertex_buffers_);
-	if(!vertex_buffers_)
+	glGenBuffers(1, &vertex_buffer_);
+	if(!vertex_buffer_)
 	{
 		LOGE("OpenGL: could not generate vertex buffers\n");
 		return;
 	}
 
-	LOGI("Creating cloud buffer %d", vertex_buffers_);
+	LOGI("Creating cloud buffer %d", vertex_buffer_);
 	std::vector<float> vertices;
-	int totalPoints = 0;
+	size_t totalPoints = 0;
+    std::vector<GLuint> verticesLowRes;
+    std::vector<GLuint> verticesLowLowRes;
 	if(indices.get() && indices->size())
 	{
 		totalPoints = indices->size();
 		vertices.resize(indices->size()*4);
-		verticesLowRes_.resize(cloud->isOrganized()?totalPoints:0);
-		verticesLowLowRes_.resize(cloud->isOrganized()?totalPoints:0);
+		verticesLowRes.resize(cloud->isOrganized()?totalPoints:0);
+		verticesLowLowRes.resize(cloud->isOrganized()?totalPoints:0);
 		int oi_low = 0;
 		int oi_lowlow = 0;
 		for(unsigned int i=0; i<indices->size(); ++i)
@@ -467,23 +529,23 @@ void PointCloudDrawable::updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Pt
 			{
 				if(indices->at(i)%LOW_DEC == 0 && (indices->at(i)/cloud->width) % LOW_DEC == 0)
 				{
-					verticesLowRes_[oi_low++] = i;
+					verticesLowRes[oi_low++] = i;
 				}
 				if(indices->at(i)%LOWLOW_DEC == 0 && (indices->at(i)/cloud->width) % LOWLOW_DEC == 0)
 				{
-					verticesLowLowRes_[oi_lowlow++] = i;
+					verticesLowLowRes[oi_lowlow++] = i;
 				}
 			}
 		}
-		verticesLowRes_.resize(oi_low);
-		verticesLowLowRes_.resize(oi_lowlow);
+		verticesLowRes.resize(oi_low);
+		verticesLowLowRes.resize(oi_lowlow);
 	}
 	else
 	{
 		totalPoints = cloud->size();
 		vertices.resize(cloud->size()*4);
-		verticesLowRes_.resize(cloud->isOrganized()?totalPoints:0);
-		verticesLowLowRes_.resize(cloud->isOrganized()?totalPoints:0);
+		verticesLowRes.resize(cloud->isOrganized()?totalPoints:0);
+		verticesLowLowRes.resize(cloud->isOrganized()?totalPoints:0);
 		int oi_low = 0;
 		int oi_lowlow = 0;
 		for(unsigned int i=0; i<cloud->size(); ++i)
@@ -500,19 +562,19 @@ void PointCloudDrawable::updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Pt
 			{
 				if(i%LOW_DEC == 0 && (i/cloud->width) % LOW_DEC == 0)
 				{
-					verticesLowRes_[oi_low++] = i;
+					verticesLowRes[oi_low++] = i;
 				}
 				if(i%LOWLOW_DEC == 0 && (i/cloud->width) % LOWLOW_DEC == 0)
 				{
-					verticesLowLowRes_[oi_lowlow++] = i;
+					verticesLowLowRes[oi_lowlow++] = i;
 				}
 			}
 		}
-		verticesLowRes_.resize(oi_low);
-		verticesLowLowRes_.resize(oi_lowlow);
+		verticesLowRes.resize(oi_low);
+		verticesLowLowRes.resize(oi_lowlow);
 	}
 
-	glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_);
+	glBindBuffer(GL_ARRAY_BUFFER, vertex_buffer_);
 	glBufferData(GL_ARRAY_BUFFER, sizeof(GLfloat) * (int)vertices.size(), (const void *)vertices.data(), GL_STATIC_DRAW);
 	glBindBuffer(GL_ARRAY_BUFFER, 0);
 
@@ -520,11 +582,40 @@ void PointCloudDrawable::updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Pt
 	if(error != GL_NO_ERROR)
 	{
 		LOGE("OpenGL: Could not allocate point cloud (0x%x)\n", error);
-		vertex_buffers_ = 0;
+		vertex_buffer_ = 0;
 		return;
 	}
+    
+    // vertex index buffers
+    for(size_t i=4; i<5; ++i)
+    {
+        if((i==4 && !verticesLowRes.empty()) ||
+           (i==5 && !verticesLowLowRes.empty()))
+        {
+            glGenBuffers(1, &index_buffers_[i]);
+            if(!index_buffers_[i])
+            {
+                LOGE("OpenGL: could not generate index buffer %ld\n", i);
+                return;
+            }
+            
+            index_buffers_count_[i] = i==4?(int)verticesLowRes.size():(int)verticesLowLowRes.size();
+            glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffers_[i]);
+            glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(uint32_t) * index_buffers_count_[i], i==4?verticesLowRes.data():verticesLowLowRes.data(), GL_STATIC_DRAW);
+            glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+            
 
-	nPoints_ = totalPoints;
+            GLint error = glGetError();
+            if(error != GL_NO_ERROR)
+            {
+                LOGE("OpenGL: Could not allocate indexes (0x%x)\n", error);
+                index_buffers_[i] = 0;
+                return;
+            }
+        }
+    }
+
+	nPoints_ = (int)totalPoints;
 }
 
 void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWireframe)
@@ -534,12 +625,22 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 	aabbMinModel_ = aabbMinWorld_ = pcl::PointXYZ(1000,1000,1000);
 	aabbMaxModel_ = aabbMaxWorld_ = pcl::PointXYZ(-1000,-1000,-1000);
 
-	if (vertex_buffers_)
+	if (vertex_buffer_)
 	{
-		glDeleteBuffers(1, &vertex_buffers_);
-		tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
-		vertex_buffers_ = 0;
+		glDeleteBuffers(1, &vertex_buffer_);
+		tango_gl::util::CheckGlError("PointCloudDrawable::updateMesh() clear vertex buffer");
+		vertex_buffer_ = 0;
 	}
+    
+    for(size_t i=0; i<index_buffers_.size(); ++i)
+    {
+        if(index_buffers_[i])
+        {
+            glDeleteBuffers(1, &index_buffers_[i]);
+            index_buffers_[i] = 0;
+            tango_gl::util::CheckGlError("PointCloudDrawable::updateMesh() clear index buffer");
+        }
+    }
 
 	gainR_ = mesh.gains[0];
 	gainG_ = mesh.gains[1];
@@ -548,17 +649,17 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 	bool textureUpdate = false;
 	if(!mesh.texture.empty() && mesh.texture.type() == CV_8UC3)
 	{
-		if (textures_)
+		if (texture_)
 		{
-			glDeleteTextures(1, &textures_);
-			tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
-			textures_ = 0;
+			glDeleteTextures(1, &texture_);
+			tango_gl::util::CheckGlError("PointCloudDrawable::updateMesh() clear texture buffer");
+			texture_ = 0;
 		}
 		textureUpdate = true;
 	}
 
-	glGenBuffers(1, &vertex_buffers_);
-	if(!vertex_buffers_)
+	glGenBuffers(1, &vertex_buffer_);
+	if(!vertex_buffer_)
 	{
 		LOGE("OpenGL: could not generate vertex buffers\n");
 		return;
@@ -566,10 +667,10 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 
 	if(textureUpdate)
 	{
-		glGenTextures(1, &textures_);
-		if(!textures_)
+		glGenTextures(1, &texture_);
+		if(!texture_)
 		{
-			vertex_buffers_ = 0;
+			vertex_buffer_ = 0;
 			LOGE("OpenGL: could not generate texture buffers\n");
 			return;
 		}
@@ -580,18 +681,20 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 	int totalPoints = 0;
 	std::vector<pcl::Vertices> polygons = mesh.polygons;
 	std::vector<pcl::Vertices> polygonsLowRes;
-	hasNormals_ = mesh.normals.get() && mesh.normals->size() == mesh.cloud->size();
+    hasNormals_ = mesh.normals.get() && mesh.normals->size() == mesh.cloud->size();
 	UASSERT(!hasNormals_ || mesh.cloud->size() == mesh.normals->size());
 	if(mesh.cloud->isOrganized()) // assume organized mesh
 	{
 		polygonsLowRes = mesh.polygonsLowRes; // only in organized we keep the low res
 		organizedToDenseIndices_ = std::vector<unsigned int>(mesh.cloud->width*mesh.cloud->height, -1);
-		totalPoints = mesh.indices->size();
-		verticesLowRes_.resize(totalPoints);
-		verticesLowLowRes_.resize(totalPoints);
+		totalPoints = (int)mesh.indices->size();
+        std::vector<GLuint> verticesLowRes;
+        std::vector<GLuint> verticesLowLowRes;
+        verticesLowRes.resize(totalPoints);
+        verticesLowLowRes.resize(totalPoints);
 		int oi_low = 0;
 		int oi_lowlow = 0;
-		if(textures_ && polygons.size())
+		if(texture_ && polygons.size())
 		{
 			int items = hasNormals_?9:6;
 			vertices = std::vector<float>(mesh.indices->size()*items);
@@ -624,11 +727,11 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 
 				if(mesh.indices->at(i)%LOW_DEC == 0 && (mesh.indices->at(i)/mesh.cloud->width) % LOW_DEC == 0)
 				{
-					verticesLowRes_[oi_low++] = i;
+                    verticesLowRes[oi_low++] = i;
 				}
 				if(mesh.indices->at(i)%LOWLOW_DEC == 0 && (mesh.indices->at(i)/mesh.cloud->width) % LOWLOW_DEC == 0)
 				{
-					verticesLowLowRes_[oi_lowlow++] = i;
+                    verticesLowLowRes[oi_lowlow++] = i;
 				}
 			}
 		}
@@ -659,20 +762,48 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 
 				if(mesh.indices->at(i)%LOW_DEC == 0 && (mesh.indices->at(i)/mesh.cloud->width) % LOW_DEC == 0)
 				{
-					verticesLowRes_[oi_low++] = i;
+                    verticesLowRes[oi_low++] = i;
 				}
 				if(mesh.indices->at(i)%LOWLOW_DEC == 0 && (mesh.indices->at(i)/mesh.cloud->width) % LOWLOW_DEC == 0)
 				{
-					verticesLowLowRes_[oi_lowlow++] = i;
+                    verticesLowLowRes[oi_lowlow++] = i;
 				}
 			}
 		}
-		verticesLowRes_.resize(oi_low);
-		verticesLowLowRes_.resize(oi_lowlow);
+        verticesLowRes.resize(oi_low);
+        verticesLowLowRes.resize(oi_lowlow);
+        
+        // vertex index buffers
+        for(size_t i=4; i<5; ++i)
+        {
+            if((i==4 && !verticesLowRes.empty()) ||
+               (i==5 && !verticesLowLowRes.empty()))
+            {
+                glGenBuffers(1, &index_buffers_[i]);
+                if(!index_buffers_[i])
+                {
+                    LOGE("OpenGL: could not generate index buffer %ld\n", i);
+                    return;
+                }
+                
+                index_buffers_count_[i] = i==4?(int)verticesLowRes.size():(int)verticesLowLowRes.size();
+                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffers_[i]);
+                glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(uint32_t) * index_buffers_count_[i], i==4?verticesLowRes.data():verticesLowLowRes.data(), GL_STATIC_DRAW);
+                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+
+                GLint error = glGetError();
+                if(error != GL_NO_ERROR)
+                {
+                    LOGE("OpenGL: Could not allocate indexes (0x%x)\n", error);
+                    index_buffers_[i] = 0;
+                    return;
+                }
+            }
+        }
 	}
 	else // assume dense mesh with texCoords set to polygons
 	{
-		if(textures_ && polygons.size() && mesh.normals->size())
+		if(texture_ && polygons.size())
 		{
 			//LOGD("Dense mesh with texture (%d texCoords %d points %d polygons %dx%d)",
 			//		(int)mesh.texCoords.size(), (int)mesh.cloud->size(), (int)mesh.polygons.size(), texture.cols, texture.rows);
@@ -681,14 +812,14 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 			//  tex_coordinates should be linked to points, not
 			//  polygon vertices. Points linked to multiple different texCoords (different textures) should
 			//  be duplicated.
-			totalPoints = mesh.texCoords.size();
-			vertices = std::vector<float>(mesh.texCoords.size()*9);
+			totalPoints = (int)mesh.texCoords.size();
+            int items = hasNormals_?9:6;
+			vertices = std::vector<float>(mesh.texCoords.size()*items);
 			organizedToDenseIndices_ = std::vector<unsigned int>(totalPoints, -1);
 
 			UASSERT_MSG(mesh.texCoords.size() == polygons[0].vertices.size()*polygons.size(),
 					uFormat("%d vs %d x %d", (int)mesh.texCoords.size(), (int)polygons[0].vertices.size(), (int)polygons.size()).c_str());
 
-			int items = hasNormals_?9:6;
 			unsigned int oi=0;
 			for(unsigned int i=0; i<polygons.size(); ++i)
 			{
@@ -739,7 +870,7 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 		}
 		else
 		{
-			totalPoints = mesh.cloud->size();
+			totalPoints = (int)mesh.cloud->size();
 			//LOGD("Dense mesh");
 			int items = hasNormals_?7:4;
 			organizedToDenseIndices_ = std::vector<unsigned int>(totalPoints, -1);
@@ -767,7 +898,7 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 		}
 	}
 
-	glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_);
+	glBindBuffer(GL_ARRAY_BUFFER, vertex_buffer_);
 	glBufferData(GL_ARRAY_BUFFER, sizeof(GLfloat) * (int)vertices.size(), (const void *)vertices.data(), GL_STATIC_DRAW);
 	glBindBuffer(GL_ARRAY_BUFFER, 0);
 
@@ -775,11 +906,11 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 	if(error != GL_NO_ERROR)
 	{
 		LOGE("OpenGL: Could not allocate point cloud (0x%x)\n", error);
-		vertex_buffers_ = 0;
+		vertex_buffer_ = 0;
 		return;
 	}
 
-	if(textures_ && textureUpdate)
+	if(texture_ && textureUpdate)
 	{
 		//GLint maxTextureSize = 0;
 		//glGetIntegerv(GL_MAX_TEXTURE_SIZE, &maxTextureSize);
@@ -789,13 +920,13 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 		//LOGW("maxTextureUnits=%d", maxTextureUnits);
 
 		// gen texture from image
-		glBindTexture(GL_TEXTURE_2D, textures_);
+		glBindTexture(GL_TEXTURE_2D, texture_);
 		glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
 		glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
 		glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
 		glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
 		cv::Mat rgbImage;
-		cv::cvtColor(mesh.texture, rgbImage, CV_BGR2RGBA);
+		cv::cvtColor(mesh.texture, rgbImage, cv::COLOR_BGR2RGBA);
 
 		glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
 		//glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
@@ -807,20 +938,17 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 		if(error != GL_NO_ERROR)
 		{
 			LOGE("OpenGL: Could not allocate texture (0x%x)\n", error);
-			textures_ = 0;
+			texture_ = 0;
 
-			glDeleteBuffers(1, &vertex_buffers_);
-			vertex_buffers_ = 0;
+			glDeleteBuffers(1, &vertex_buffer_);
+			vertex_buffer_ = 0;
 			return;
 		}
 	}
 
 	nPoints_ = totalPoints;
 
-	if(polygons_.size() != polygons.size())
-	{
-		updatePolygons(polygons, polygonsLowRes, createWireframe);
-	}
+    updatePolygons(polygons, polygonsLowRes, createWireframe);
 
 	if(!pose_.isNull())
 	{
@@ -882,14 +1010,14 @@ void PointCloudDrawable::Render(
 		bool packDepthToColorChannel,
 		bool wireFrame) const
 {
-	if(vertex_buffers_ && nPoints_ && visible_ && !shaderPrograms_.empty())
+	if(vertex_buffer_ && nPoints_ && visible_ && !shaderPrograms_.empty())
 	{
 		if(packDepthToColorChannel || !hasNormals_)
 		{
 			lighting = false;
 		}
 
-		if(packDepthToColorChannel || !(meshRendering && textureRendering && textures_))
+		if(packDepthToColorChannel || !(meshRendering && textureRendering && texture_))
 		{
 			textureRendering = false;
 		}
@@ -992,7 +1120,7 @@ void PointCloudDrawable::Render(
 				// Texture activate unit 0
 				glActiveTexture(GL_TEXTURE0);
 				// Bind the texture to this unit.
-				glBindTexture(GL_TEXTURE_2D, textures_);
+				glBindTexture(GL_TEXTURE_2D, texture_);
 				// Tell the texture uniform sampler to use this texture in the shader by binding to texture unit 0.
 				GLuint texture_handle = glGetUniformLocation(program, "uTexture");
 				glUniform1i(texture_handle, 0);
@@ -1008,8 +1136,8 @@ void PointCloudDrawable::Render(
 		}
 		tango_gl::util::CheckGlError("Pointcloud::Render() common");
 
-		glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_);
-		if(textures_)
+		glBindBuffer(GL_ARRAY_BUFFER, vertex_buffer_);
+		if(texture_)
 		{
 			glVertexAttribPointer(attribute_vertex, 3, GL_FLOAT, GL_FALSE, (hasNormals_?9:6)*sizeof(GLfloat), 0);
 			if(textureRendering)
@@ -1040,53 +1168,49 @@ void PointCloudDrawable::Render(
 		tango_gl::util::CheckGlError("Pointcloud::Render() set attribute pointer");
 
 		UTimer drawTime;
-		if(textureRendering)
+		if((textureRendering || meshRendering) && index_buffers_[0])
 		{
-			if(distanceToCameraSqr<16.0f || polygonsLowRes_.empty())
+            float dist = meshRendering?50.0f:16.0f;
+			if(distanceToCameraSqr<dist || index_buffers_[1]==0)
 			{
-				wireFrame = wireFrame && polygonLines_.size();
+				wireFrame = wireFrame && index_buffers_[2];
 				if(wireFrame)
-					glDrawElements(GL_LINES, polygonLines_.size(), GL_UNSIGNED_INT, polygonLines_.data());
+                {
+                    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffers_[2]);
+                    glDrawElements(GL_LINES, index_buffers_count_[2], GL_UNSIGNED_INT, 0);
+                }
 				else
-					glDrawElements(GL_TRIANGLES, polygons_.size(), GL_UNSIGNED_INT, polygons_.data());
+                {
+                    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffers_[0]);
+                    glDrawElements(GL_TRIANGLES, index_buffers_count_[0], GL_UNSIGNED_INT, 0);
+                }
 			}
 			else
 			{
-				wireFrame = wireFrame && polygonLinesLowRes_.size();
+				wireFrame = wireFrame && index_buffers_[3];
 				if(wireFrame)
-					glDrawElements(GL_LINES, polygonLinesLowRes_.size(), GL_UNSIGNED_INT, polygonLinesLowRes_.data());
+                {
+                    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffers_[3]);
+                    glDrawElements(GL_LINES, index_buffers_count_[3], GL_UNSIGNED_INT, 0);
+                }
 				else
-					glDrawElements(GL_TRIANGLES, polygonsLowRes_.size(), GL_UNSIGNED_INT, polygonsLowRes_.data());
+                {
+                    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffers_[1]);
+                    glDrawElements(GL_TRIANGLES, index_buffers_count_[1], GL_UNSIGNED_INT, 0);
+                }
 			}
 		}
-		else if(meshRendering && polygons_.size())
+		else if(index_buffers_[4])
 		{
-			if(distanceToCameraSqr<50.0f || polygonsLowRes_.empty())
+			if(distanceToCameraSqr>600.0f && index_buffers_[5])
 			{
-				wireFrame = wireFrame && polygonLines_.size();
-				if(wireFrame)
-					glDrawElements(GL_LINES, polygonLines_.size(), GL_UNSIGNED_INT, polygonLines_.data());
-				else
-					glDrawElements(GL_TRIANGLES, polygons_.size(), GL_UNSIGNED_INT, polygons_.data());
-			}
-			else
-			{
-				wireFrame = wireFrame && polygonLinesLowRes_.size();
-				if(wireFrame)
-					glDrawElements(GL_LINES, polygonLinesLowRes_.size(), GL_UNSIGNED_INT, polygonLinesLowRes_.data());
-				else
-					glDrawElements(GL_TRIANGLES, polygonsLowRes_.size(), GL_UNSIGNED_INT, polygonsLowRes_.data());
-			}
-		}
-		else if(!verticesLowRes_.empty())
-		{
-			if(distanceToCameraSqr>600.0f)
-			{
-				glDrawElements(GL_POINTS, verticesLowLowRes_.size(), GL_UNSIGNED_INT, verticesLowLowRes_.data());
+                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffers_[5]);
+                glDrawElements(GL_POINTS, index_buffers_count_[5], GL_UNSIGNED_INT, 0);
 			}
 			else if(distanceToCameraSqr>150.0f)
 			{
-				glDrawElements(GL_POINTS, verticesLowRes_.size(), GL_UNSIGNED_INT, verticesLowRes_.data());
+                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffers_[4]);
+                glDrawElements(GL_POINTS, index_buffers_count_[4], GL_UNSIGNED_INT, 0);
 			}
 			else
 			{
@@ -1102,6 +1226,7 @@ void PointCloudDrawable::Render(
 
 		glDisableVertexAttribArray(0);
 		glBindBuffer(GL_ARRAY_BUFFER, 0);
+        glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
 
 		glUseProgram(0);
 		tango_gl::util::CheckGlError("Pointcloud::Render() cleaning");

app/android/jni/point_cloud_drawable.h

@@ -28,7 +28,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_
 #define TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_
 
+#ifdef __ANDROID__
 #include <jni.h>
+#endif
 
 #include <tango-gl/util.h>
 #include <vector>
@@ -68,8 +70,8 @@ private:
   rtabmap::Transform getPose() const {return pose_;}
   const glm::mat4 & getPoseGl() const {return poseGl_;}
   bool isVisible() const {return visible_;}
-  bool hasMesh() const {return polygons_.size()!=0;}
-  bool hasTexture() const {return textures_ != 0;}
+  bool hasMesh() const {return index_buffers_[0] != 0;}
+  bool hasTexture() const {return texture_ != 0;}
   float getMinHeight() const {return minHeight_;}
   const pcl::PointXYZ & aabbMinModel() const {return aabbMinModel_;}
   const pcl::PointXYZ & aabbMaxModel() const {return aabbMaxModel_;}
@@ -113,14 +115,10 @@ private:
 
  private:
   // Vertex buffer of the point cloud geometry.
-  GLuint vertex_buffers_;
-  GLuint textures_;
-  std::vector<GLuint> polygons_;
-  std::vector<GLuint> polygonsLowRes_;
-  std::vector<GLuint> polygonLines_;
-  std::vector<GLuint> polygonLinesLowRes_;
-  std::vector<GLuint> verticesLowRes_;
-  std::vector<GLuint> verticesLowLowRes_;
+  GLuint vertex_buffer_;
+  GLuint texture_;
+  std::vector<GLuint> index_buffers_;
+  std::vector<int> index_buffers_count_;
   int nPoints_;
   rtabmap::Transform pose_;
   glm::mat4 poseGl_;

app/android/jni/scene.cpp

@@ -88,7 +88,7 @@ Scene::Scene() :
 		mapRendering_(true),
 		meshRendering_(true),
 		meshRenderingTexture_(true),
-		pointSize_(5.0f),
+		pointSize_(10.0f),
 		boundingBoxRendering_(false),
 		lighting_(false),
 		backfaceCulling_(true),
@@ -98,11 +98,11 @@ Scene::Scene() :
 		b_(0.0f),
 		fboId_(0),
 		rboId_(0),
-		depthTexture_(0),
 		screenWidth_(0),
 		screenHeight_(0),
 		doubleTapOn_(false)
 {
+    depthTexture_ = 0;
 	gesture_camera_ = new tango_gl::GestureCamera();
 	gesture_camera_->SetCameraType(
 	      tango_gl::GestureCamera::kThirdPersonFollow);
@@ -179,8 +179,8 @@ void Scene::DeleteResources() {
 		fboId_ = 0;
 		glDeleteRenderbuffers(1, &rboId_);
 		rboId_ = 0;
-		glDeleteTextures(1, &depthTexture_);
-		depthTexture_ = 0;
+        glDeleteTextures(1, &depthTexture_);
+        depthTexture_ = 0;
 	}
 
 	clear();
@@ -220,11 +220,14 @@ void Scene::SetupViewPort(int w, int h) {
 	if (h == 0) {
 		LOGE("Setup graphic height not valid");
 	}
+    
 	UASSERT(gesture_camera_ != 0);
 	gesture_camera_->SetWindowSize(static_cast<float>(w), static_cast<float>(h));
 	glViewport(0, 0, w, h);
 	if(screenWidth_ != w || screenHeight_ != h || fboId_ == 0)
 	{
+        UINFO("Setup viewport OpenGL: %dx%d", w, h);
+        
 		if(fboId_>0)
 		{
 			glDeleteFramebuffers(1, &fboId_);
@@ -232,9 +235,12 @@ void Scene::SetupViewPort(int w, int h) {
 			glDeleteRenderbuffers(1, &rboId_);
 			rboId_ = 0;
 			glDeleteTextures(1, &depthTexture_);
-			depthTexture_ = 0;
+            depthTexture_ = 0;
 		}
 
+        GLint originid = 0;
+        glGetIntegerv(GL_FRAMEBUFFER_BINDING, &originid);
+        
 		// regenerate fbo texture
 		// create a framebuffer object, you need to delete them when program exits.
 		glGenFramebuffers(1, &fboId_);
@@ -249,7 +255,7 @@ void Scene::SetupViewPort(int w, int h) {
 		glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
 		glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, w, h, 0, GL_RGBA, GL_UNSIGNED_BYTE, NULL);
 		glBindTexture(GL_TEXTURE_2D, 0);
-
+        
 		glGenRenderbuffers(1, &rboId_);
 		glBindRenderbuffer(GL_RENDERBUFFER, rboId_);
 		glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH_COMPONENT16, w, h);
@@ -260,12 +266,9 @@ void Scene::SetupViewPort(int w, int h) {
 		glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, rboId_);
 
 		GLuint status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
-		if ( status != GL_FRAMEBUFFER_COMPLETE)
-		{
-			LOGE("Frame buffer cannot be generated! Status: %in", status);
-		}
-		glBindFramebuffer(GL_FRAMEBUFFER,0);
-	}
+        UASSERT ( status == GL_FRAMEBUFFER_COMPLETE);
+		glBindFramebuffer(GL_FRAMEBUFFER, originid);
+    }
 	screenWidth_ = w;
 	screenHeight_ = h;
 }
@@ -338,8 +341,9 @@ std::vector<glm::vec4> computeFrustumPlanes(const glm::mat4 & mat, bool normaliz
 /**
  * Tells whether or not b is intersecting f.
  * http://www.txutxi.com/?p=584
- * @param f Viewing frustum.
- * @param b An axis aligned bounding box.
+ * @param planes Viewing frustum.
+ * @param boxMin The axis aligned bounding box min.
+ * @param boxMax The axis aligned bounding box max.
  * @return True if b intersects f, false otherwise.
  */
 bool intersectFrustumAABB(
@@ -378,7 +382,8 @@ bool intersectFrustumAABB(
 }
 
 //Should only be called in OpenGL thread!
-int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat4 arProjectionMatrix, const rtabmap::Mesh & occlusionMesh) {
+int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat4 arProjectionMatrix, const rtabmap::Mesh & occlusionMesh, bool mapping)
+{
 	UASSERT(gesture_camera_ != 0);
 
 	if(currentPose_ == 0)
@@ -411,13 +416,21 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 
 	bool renderBackgroundCamera =
 			background_renderer_ &&
-			gesture_camera_->GetCameraType() == tango_gl::GestureCamera::kFirstPerson &&
-			!rtabmap::glmToTransform(arProjectionMatrix).isNull() &&
-			uvsTransformed;
+            gesture_camera_->GetCameraType() == tango_gl::GestureCamera::kFirstPerson &&
+            !rtabmap::glmToTransform(arProjectionMatrix).isNull() &&
+            uvsTransformed;
+
 	if(renderBackgroundCamera)
 	{
-		projectionMatrix = arProjectionMatrix;
-		viewMatrix = arViewMatrix;
+        if(projectionMatrix[0][0] > arProjectionMatrix[0][0]-0.3)
+        {
+            projectionMatrix = arProjectionMatrix;
+            viewMatrix = arViewMatrix;
+        }
+        else
+        {
+            renderBackgroundCamera = false;
+        }
 	}
 
 	rtabmap::Transform openglCamera = GetOpenGLCameraPose();//*rtabmap::Transform(0.0f, 0.0f, 3.0f, 0.0f, 0.0f, 0.0f);
@@ -467,34 +480,45 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 		glDisable(GL_CULL_FACE);
 	}
 
-	UTimer timer;
+	bool onlineBlending =
+        (!meshRendering_ &&
+         occlusionMesh.cloud.get() &&
+         occlusionMesh.cloud->size()) ||
+        (blending_ &&
+         gesture_camera_->GetCameraType()!=tango_gl::GestureCamera::kTopOrtho &&
+         mapRendering_ && meshRendering_ &&
+         (cloudsToDraw.size() > 1 || (renderBackgroundCamera && wireFrame_)));
 
-	bool onlineBlending = (renderBackgroundCamera && occlusionMesh.cloud.get() && occlusionMesh.cloud->size()) || (blending_ && gesture_camera_->GetCameraType()!=tango_gl::GestureCamera::kTopOrtho && mapRendering_ && meshRendering_ && cloudsToDraw.size()>1);
 	if(onlineBlending && fboId_)
 	{
+        GLint originid = 0;
+        glGetIntegerv(GL_FRAMEBUFFER_BINDING, &originid);
+        
 		// set the rendering destination to FBO
 		glBindFramebuffer(GL_FRAMEBUFFER, fboId_);
 
 		glClearColor(0, 0, 0, 0);
 		glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
-
-		if(renderBackgroundCamera)
-		{
-			PointCloudDrawable drawable(occlusionMesh);
-			drawable.Render(projectionMatrix, viewMatrix, true, pointSize_, false, false, 999.0f, 0, 0, 0, 0, 0, true);
-		}
-		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, 0, 0, 0, 0, 0, true);
-			}
-		}
-
+        
+        // Draw scene
+        for(std::vector<PointCloudDrawable*>::const_iterator iter=cloudsToDraw.begin(); iter!=cloudsToDraw.end(); ++iter)
+        {
+            Eigen::Vector3f cloudToCamera(
+                      (*iter)->getPose().x() - openglCamera.x(),
+                      (*iter)->getPose().y() - openglCamera.y(),
+                      (*iter)->getPose().z() - openglCamera.z());
+            float distanceToCameraSqr = cloudToCamera[0]*cloudToCamera[0] + cloudToCamera[1]*cloudToCamera[1] + cloudToCamera[2]*cloudToCamera[2];
+            (*iter)->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, false, false, distanceToCameraSqr, 0, 0, 0, 0, 0, true);
+        }
+        
+        if(!meshRendering_ && occlusionMesh.cloud.get() && occlusionMesh.cloud->size())
+        {
+            PointCloudDrawable drawable(occlusionMesh);
+            drawable.Render(projectionMatrix, viewMatrix, true, pointSize_, false, false, 0, 0, 0, 0, 0, 0, true);
+        }
+        
 		// back to normal window-system-provided framebuffer
-		glBindFramebuffer(GL_FRAMEBUFFER, 0); // unbind
+		glBindFramebuffer(GL_FRAMEBUFFER, originid); // unbind
 	}
 
 	if(doubleTapOn_ && gesture_camera_->GetCameraType() != tango_gl::GestureCamera::kFirstPerson)
@@ -502,10 +526,16 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 		glClearColor(0, 0, 0, 0);
 		glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 
+        // FIXME: we could use the depthTexture if already computed!
 		for(std::vector<PointCloudDrawable*>::const_iterator iter=cloudsToDraw.begin(); iter!=cloudsToDraw.end(); ++iter)
 		{
-			// set large distance to cam to use low res polygons for fast processing
-			(*iter)->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_*10.0f, false, false, 999.0f, 0, 0, 0, 0, 0, true);
+            Eigen::Vector3f cloudToCamera(
+                      (*iter)->getPose().x() - openglCamera.x(),
+                      (*iter)->getPose().y() - openglCamera.y(),
+                      (*iter)->getPose().z() - openglCamera.z());
+            float distanceToCameraSqr = cloudToCamera[0]*cloudToCamera[0] + cloudToCamera[1]*cloudToCamera[1] + cloudToCamera[2]*cloudToCamera[2];
+            
+            (*iter)->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_*10.0f, false, false, distanceToCameraSqr, 0, 0, 0, 0, 0, true);
 		}
 
 		GLubyte zValue[4];
@@ -524,15 +554,15 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 
 	glClearColor(r_, g_, b_, 1.0f);
 	glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+    
+    if(renderBackgroundCamera && (!onlineBlending || !meshRendering_))
+    {
+        background_renderer_->Draw(uvsTransformed, 0, screenWidth_, screenHeight_, false);
 
-	if(renderBackgroundCamera)
-	{
-		background_renderer_->Draw(uvsTransformed);
-
-		//To debug occlusion image:
-		//PointCloudDrawable drawable(occlusionMesh);
-		//drawable.Render(projectionMatrix, viewMatrix, true, pointSize_, false, false, 999.0f);
-	}
+        //To debug occlusion image:
+        //PointCloudDrawable drawable(occlusionMesh);
+        //drawable.Render(projectionMatrix, viewMatrix, true, pointSize_, false, false, 999.0f);
+    }
 
 	if(!currentPose_->isNull())
 	{
@@ -560,6 +590,10 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 		{
 			trace_->Render(projectionMatrix, viewMatrix);
 		}
+        else
+        {
+            trace_->ClearVertexArray();
+        }
 	}
 
 	if(gridVisible_ && !renderBackgroundCamera)
@@ -600,10 +634,15 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 
 	if(onlineBlending)
 	{
+        if(renderBackgroundCamera && meshRendering_)
+        {
+            background_renderer_->Draw(uvsTransformed, depthTexture_, screenWidth_, screenHeight_, mapping);
+        }
+        
 		glDisable (GL_BLEND);
 		glDepthMask(GL_TRUE);
 	}
-
+    
 	//draw markers on foreground
 	for(std::map<int, tango_gl::Axis*>::const_iterator iter=markers_.begin(); iter!=markers_.end(); ++iter)
 	{
@@ -680,18 +719,10 @@ void Scene::updateGraph(
 		const std::multimap<int, rtabmap::Link> & links)
 {
 	LOGI("updateGraph");
-	if(graph_)
-	{
-		delete graph_;
-		graph_ = 0;
-	}
-
 	//create
-	if(graphVisible_)
-	{
-		UASSERT(graph_shader_program_ != 0);
-		graph_ = new GraphDrawable(graph_shader_program_, poses, links);
-	}
+    UASSERT(graph_shader_program_ != 0);
+    delete graph_;
+    graph_ = new GraphDrawable(graph_shader_program_, poses, links);
 }
 
 void Scene::setGraphVisible(bool visible)

app/android/jni/scene.h

@@ -17,7 +17,9 @@
 #ifndef TANGO_POINT_CLOUD_SCENE_H_
 #define TANGO_POINT_CLOUD_SCENE_H_
 
+#ifdef __ANDROID__
 #include <jni.h>
+#endif
 #include <memory>
 #include <set>
 
@@ -35,10 +37,10 @@
 #include <rtabmap/core/Transform.h>
 #include <rtabmap/core/Link.h>
 
-#include <point_cloud_drawable.h>
-#include <graph_drawable.h>
-#include <bounding_box_drawable.h>
-#include <background_renderer.h>
+#include "point_cloud_drawable.h"
+#include "graph_drawable.h"
+#include "bounding_box_drawable.h"
+#include "background_renderer.h"
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -72,7 +74,7 @@ class Scene {
   //         frame's timestamp.
   // @param: point_cloud_vertices, point cloud's vertices of the current point
   //         frame.
-  int Render(const float * uvsTransformed = 0, glm::mat4 arViewMatrix = glm::mat4(0), glm::mat4 arProjectionMatrix=glm::mat4(0), const rtabmap::Mesh & occlusionMesh=rtabmap::Mesh());
+  int Render(const float * uvsTransformed = 0, glm::mat4 arViewMatrix = glm::mat4(0), glm::mat4 arProjectionMatrix=glm::mat4(0), const rtabmap::Mesh & occlusionMesh=rtabmap::Mesh(), bool mapping=false);
 
   // Set render camera's viewing angle, first person, third person or top down.
   //
@@ -153,6 +155,7 @@ class Scene {
   float getPointSize() const {return pointSize_;}
   bool isLighting() const {return lighting_;}
   bool isBackfaceCulling() const {return backfaceCulling_;}
+  bool isWireframe() const {return wireFrame_;}
 
   BackgroundRenderer * background_renderer_;
 
@@ -205,7 +208,7 @@ class Scene {
   float b_;
   GLuint fboId_;
   GLuint rboId_;
-  GLuint depthTexture_;
+  GLuint depthTexture_; // 0=objects+occlusion
   GLsizei screenWidth_;
   GLsizei screenHeight_;
   bool doubleTapOn_;

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

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

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

@@ -43,9 +43,11 @@ const float kCamViewMaxDist = 100.f;
 
 // FOV set up values.
 // Third and top down camera's FOV is 65 degrees.
-// First person camera's FOV is 45 degrees.
-const float kHighFov = 65.0f;
+// First person camera's FOV is 85 degrees.
+const float kHighestFov = 120.0f;
+const float kHighFov = 85.0f;
 const float kLowFov = 65.0f;
+const float kLowestFov = 40.0f;
 }
 
 namespace tango_gl {
@@ -111,7 +113,7 @@ void GestureCamera::OnTouchEvent(int touch_count, TouchEvent event, float x0,
 
 			if(camera_type_ == kFirstPerson)
 			{
-				this->SetFieldOfView(tango_gl::util::Clamp(cam_start_fov_ + dist * kZoomSpeed*10.0f, 45, 90));
+				this->SetFieldOfView(tango_gl::util::Clamp(cam_start_fov_ + dist * kZoomSpeed*10.0f, kLowestFov, kHighestFov));
 			}
 			else
 			{
@@ -179,8 +181,9 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
   camera_type_ = camera_index;
   switch (camera_index) {
     case kFirstPerson:
-    	SetOrthoMode(false);
-      SetFieldOfView(kLowFov);
+      SetOrthoMode(false);
+      SetFieldOfView(kLowestFov);
+      SetNearFarClipPlanes(0.25, 25);
       SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
       SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
       cam_cur_dist_ = 0.0f;
@@ -193,11 +196,12 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
       break;
     case kThirdPerson:
     case kThirdPersonFollow:
-    	SetOrthoMode(false);
-    	SetFieldOfView(kHighFov);
+      SetOrthoMode(false);
+      SetFieldOfView(kLowFov);
+      SetNearFarClipPlanes(1, 50);
       SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
       SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
-      cam_cur_dist_ = kThirdPersonFollow?kThirdPersonFollowCameraDist:kThirdPersonCameraDist;
+      cam_cur_dist_ = camera_index==kThirdPersonFollow?kThirdPersonFollowCameraDist:kThirdPersonCameraDist;
       anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
       cam_cur_angle_.x = -M_PI / 12.0f;
       cam_cur_angle_.y = kThirdPersonFollow?0:M_PI / 2.0f;
@@ -208,7 +212,8 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
       SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
       SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
       SetOrthoMode(false);
-      SetFieldOfView(kHighFov);
+      SetFieldOfView(kLowFov);
+      SetNearFarClipPlanes(1, 50);
       cam_cur_dist_ = kTopDownCameraDist;
       anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
       cam_cur_angle_.x = -M_PI / 2.0f;
@@ -222,6 +227,8 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
 	  SetOrthoMode(true);
 	  SetOrthoScale(kTopDownCameraDist);
 	  SetOrthoCropFactor(-1.0f);
+      SetFieldOfView(kLowFov);
+      SetNearFarClipPlanes(1, 50);
 	  cam_cur_dist_ = kTopDownCameraDist;
 	  anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
 	  cam_cur_angle_.x = -M_PI / 2.0f;

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

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

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

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

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

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

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

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

app/android/jni/util.h

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

app/android/libs/.gitignore

@@ -1 +1,4 @@
-*.jar
+# Ignore everything in this directory
+*
+# Except this file
+!.gitignore

app/android/res/layout/activity_settings.xml

@@ -97,11 +97,18 @@
 	            android:title="@string/pref_title_resolution"
 	            android:summary="@string/pref_summary_resolution"
 	            android:defaultValue="@string/pref_default_resolution"/>
-		     <com.introlab.rtabmap.CustomSwitchPreference
+		    <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"/>
+             <ListPreference
+		        android:key="@string/pref_key_arcore_relocalization_acc_thr"
+		        android:title="@string/pref_title_arcore_relocalization_acc_thr"
+		        android:summary="@string/pref_summary_arcore_relocalization_acc_thr"
+		        android:entries="@array/pref_arcore_relocalization_acc_thr_keys"
+		   	    android:entryValues="@array/pref_arcore_relocalization_acc_thr_values"
+		   		android:defaultValue="@string/pref_default_arcore_relocalization_acc_thr"/>
 		    <com.introlab.rtabmap.CustomSwitchPreference
 		        android:key="@string/pref_key_smoothing"
 		        android:title="@string/pref_title_smoothing"

app/android/res/menu/optionmenu.xml

@@ -11,23 +11,6 @@
        <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:title="Export">
-          <menu>
-              <item android:id="@+id/export_point_cloud_menu" android:title="Point Cloud">
-                  <menu>
-                  	<item android:id="@+id/export_point_cloud" android:title="Current Density" />
-                  	<item android:id="@+id/export_point_cloud_highrez" android:title="Max Density" />
-                  </menu>
-              </item>
-	          <item android:id="@+id/export_optimized_mesh_menu" android:title="Optimized Mesh..." >
-	              <menu>
-		              <item android:id="@+id/export_optimized_mesh" android:title="Colored Mesh" />
-			          <item android:id="@+id/export_optimized_mesh_texture" android:title="Textured Mesh" />
-		          </menu>
-	          </item>
-          </menu>
-       </item>
        
         <item android:id="@+id/post_processing" android:title="Optimize">
           <menu>
@@ -46,6 +29,23 @@
           </menu>
        </item>
        
+       <item android:id="@+id/export" android:title="Assemble">
+          <menu>
+              <item android:id="@+id/export_point_cloud_menu" android:title="Point Cloud">
+                  <menu>
+                  	<item android:id="@+id/export_point_cloud" android:title="Current Density" />
+                  	<item android:id="@+id/export_point_cloud_highrez" android:title="Max Density" />
+                  </menu>
+              </item>
+	          <item android:id="@+id/export_optimized_mesh_menu" android:title="Optimized Mesh..." >
+	              <menu>
+		              <item android:id="@+id/export_optimized_mesh" android:title="Colored Mesh" />
+			          <item android:id="@+id/export_optimized_mesh_texture" android:title="Textured Mesh" />
+		          </menu>
+	          </item>
+          </menu>
+       </item>
+       
        <item android:id="@+id/menu_rendering_settings" android:title="Visibility...">
         <menu >
         <group android:id="@+id/group_rendering_visibility" android:checkableBehavior="all">

app/android/res/values/strings.xml

@@ -19,7 +19,7 @@
     <string name="light_off">Lighting</string>
     <string name="wireframe">Wireframe</string>
     <string name="close_visualization">Close Visualization</string>
-    <string name="save_to_file">Export to File&#8230;</string>
+    <string name="save_to_file">Export OBJ/PLY&#8230;</string>
     <string name="share_to_sketchfab">Share to Sketchfab&#8230;</string>
     <string name="start">Start</string>
     <string name="nodes">"Nodes (WM): "</string>
@@ -51,7 +51,7 @@
     <string name="pref_key_remove_button">pref_key_remove_button</string>
     <string name="pref_key_reset_button">pref_key_reset_button</string>
     <string name="pref_key_density">pref_key_density</string>
-    <string name="pref_default_density">1</string>
+    <string name="pref_default_density">2</string>
     <string name="pref_key_min_depth">pref_key_min_depth</string>
     <string name="pref_default_min_depth">0</string>
     <string name="pref_key_depth">pref_key_depth</string>
@@ -65,7 +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">false</string>
+    <string name="pref_default_blending">true</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>
@@ -75,20 +75,22 @@
     <string name="pref_key_resolution">pref_key_resolution</string>
     <string name="pref_default_resolution">false</string>
     <string name="pref_key_smoothing">pref_key_smoothing</string>
-    <string name="pref_default_smoothing">true</string>
+    <string name="pref_default_smoothing">false</string>
     <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_default_camera_driver">-1</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_arcore_relocalization_acc_thr">pref_key_arcore_relocalization_acc_thr</string>
+    <string name="pref_default_arcore_relocalization_acc_thr">58.8399</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>
     <string name="pref_default_max_speed">0</string>
     <string name="pref_key_time_thr">pref_key_time_thr</string>
-    <string name="pref_default_time_thr">1000</string>
+    <string name="pref_default_time_thr">0</string>
     <string name="pref_key_mem_thr">pref_key_mem_thr</string>
     <string name="pref_default_mem_thr">0</string>
     <string name="pref_key_loop_thr">pref_key_loop_thr</string>
@@ -98,7 +100,7 @@
     <string name="pref_key_min_inliers">pref_key_min_inliers</string>
     <string name="pref_default_min_inliers">25</string>
     <string name="pref_key_opt_error">pref_key_opt_error</string>
-    <string name="pref_default_opt_error">3</string>
+    <string name="pref_default_opt_error">2</string>
     <string name="pref_key_features_voc">pref_key_features_voc</string>
     <string name="pref_default_features_voc">200</string>
     <string name="pref_key_features">pref_key_features</string>
@@ -162,7 +164,7 @@
     <string name="pref_title_triangle">Mesh Triangle Size</string>
     <string name="pref_summary_triangle">Size in pixels of the polygons created from the depth image.</string>
     <string name="pref_title_rendering_texture_decimation">Texture Resolution</string>
-    <string name="pref_summary_rendering_texture_decimation">Resolution of the texture for online rendering. This doesn\'t affect Export results.</string>
+    <string name="pref_summary_rendering_texture_decimation">Resolution of the texture for online rendering. This doesn\'t affect Assembling results.</string>
     <string name="pref_title_min_depth">Min Depth</string>
     <string name="pref_summary_min_depth">Points under the minimum depth are not rendered.</string>
     <string name="pref_title_depth">Max Depth</string>
@@ -324,9 +326,11 @@
     <string name="pref_title_mapping_core">Core</string>
     <string name="pref_title_mapping_database">Database</string>
     <string name="pref_title_camera_driver">Camera Driver</string>
-    <string name="pref_summary_camera_driver">AR sdk use for capturing 6DoF poses and images. A TOF camera is required to record a 3D model.</string>
+    <string name="pref_summary_camera_driver">AR sdk used for capturing 6DoF poses and images. A TOF camera is required to record a 3D model.</string>
     <string name="pref_title_depth_from_motion">Depth From Motion</string>
     <string name="pref_summary_depth_from_motion">Use ARCore\'s depth API to compute depth image from motion. If the phone has a TOF camera and is supported by ARCore, results should be better. Currently supported only with ARCore NDK driver.</string>
+    <string name="pref_title_arcore_relocalization_acc_thr">ARCore Re-Localization Acceleration Threshold</string>
+    <string name="pref_summary_arcore_relocalization_acc_thr">Filter ARCore\'s re-localizations to avoid jumps in odometry when creating a map with RTAB-Map, which would cause large drift errors that are difficult to correct. Set an acceleration threshold to detect those events.</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>
@@ -373,16 +377,18 @@
     <string name="pref_summary_gps_saved">Save GPS to database.</string>
     <string name="pref_title_env_sensors_saved">Save Environmental Sensors</string>
     <string name="pref_summary_env_sensors_saved">Save Wifi strength, temperature, air pressure, light intensity and relative humidity to database.</string>
-    <string name="pref_title_db_in_memory">Database In Memory</string>
+    <string name="pref_title_db_in_memory">Database in Memory</string>
     <string name="pref_summary_db_in_memory">The database is kept in RAM for fast access. Set to false to reduce RAM used at the cost of slower access. This parameter is applied on reset or when a database is opened.</string>
 
     <string-array name="pref_camera_driver_keys">
+        <item>"Auto"</item>
         <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>"-1"</item>
         <item>"0"</item>
         <item>"1"</item>
         <item>"2"</item>
@@ -406,6 +412,30 @@
         <item>"1"</item>
         <item>"0.5"</item>
     </string-array>
+    <string-array name="pref_arcore_relocalization_acc_thr_keys">
+        <item>"Disabled"</item>
+        <item>"10 g"</item>
+        <item>"9 g"</item>
+        <item>"8 g"</item>
+        <item>"7 g"</item>
+        <item>"6 g"</item>
+        <item>"5 g"</item>
+        <item>"4 g"</item>
+        <item>"3 g"</item>
+        <item>"2 g"</item>
+    </string-array>
+    <string-array name="pref_arcore_relocalization_acc_thr_values">
+        <item>"0"</item>
+        <item>"98.0665"</item>
+        <item>"88.25985"</item>
+        <item>"78.4532"</item>
+        <item>"68.64655"</item>
+        <item>"58.8399"</item>
+        <item>"49.03325"</item>
+        <item>"39.2266"</item>
+        <item>"29.41995"</item>
+        <item>"19.6133"</item>
+    </string-array>
     <string-array name="pref_max_speed_keys">
         <item>"No Limit"</item>
         <item>"High"</item>
@@ -433,7 +463,7 @@
         <item>"700 ms"</item>
         <item>"600 ms"</item>
         <item>"500 ms"</item>
-        <item>"400"</item>
+        <item>"400 ms"</item>
     </string-array>
     <string-array name="pref_time_thr_values">
         <item>"0"</item>
@@ -529,29 +559,25 @@
         <item>"10"</item>
     </string-array>
     <string-array name="pref_opt_error_keys">
-        <item>"10x"</item>
-        <item>"9x"</item>
-        <item>"8x"</item>
-        <item>"7x"</item>
-        <item>"6x"</item>
-        <item>"5x"</item>
         <item>"4x"</item>
+        <item>"3.5x"</item>
         <item>"3x"</item>
+        <item>"2.5x"</item>
         <item>"2x"</item>
+        <item>"1.5x"</item>
         <item>"1x"</item>
+        <item>"0.5x"</item>
         <item>"Disabled"</item>
     </string-array>
     <string-array name="pref_opt_error_values">
-        <item>"10"</item>
-        <item>"9"</item>
-        <item>"8"</item>
-        <item>"7"</item>
-        <item>"6"</item>
-        <item>"5"</item>
         <item>"4"</item>
+        <item>"3.5"</item>
         <item>"3"</item>
+        <item>"2.5"</item>
         <item>"2"</item>
+        <item>"1.5"</item>
         <item>"1"</item>
+        <item>"0.5"</item>
         <item>"0"</item>
     </string-array>
     <string-array name="pref_features_voc_keys">
@@ -712,9 +738,9 @@
         <item>"1"</item>
     </string-array>
 
-    <string name="pref_title_export_sub">Exporting&#8230;</string>
-    <string name="pref_title_export">Exporting</string>
-    <string name="pref_summary_export">Advanced parameters used when exporting the map.</string>
+    <string name="pref_title_export_sub">Assembling&#8230;</string>
+    <string name="pref_title_export">Assembling</string>
+    <string name="pref_summary_export">Advanced parameters used when assembling the map.</string>
     <string name="pref_title_cloud_voxel">Voxel Size</string>
     <string name="pref_summary_cloud_voxel">If you don\'t need a very precise point cloud, you can set this to reduce the output point cloud size. This is also used for optimized mesh.</string>
     <string name="pref_title_texture_size">Texture Size</string>
@@ -727,8 +753,8 @@
     <string name="pref_summary_max_texture_distance">Maximum distance from a camera for polygons to be textured by this camera.</string>
     <string name="pref_title_min_texture_cluster_size">Min Texture Cluster Size</string>
     <string name="pref_summary_min_texture_cluster_size">Minimum polygon cluster size to be textured by a camera. This helps to filter sparse textured polygons.</string>
-    <string name="pref_title_block_render">Block Rendering Thread While Exporting</string>
-    <string name="pref_summary_block_render">This decreases exporting time, but freezes rendering while exporting. This also clears temporary the rendered clouds/meshes from memory during exporting, this can be useful to avoid out of memory errors.</string>
+    <string name="pref_title_block_render">Block Rendering Thread While Assembling</string>
+    <string name="pref_summary_block_render">This decreases assembling time, but freezes rendering while assembling. This also clears temporary the rendered clouds/meshes from memory during assembling, this can be useful to avoid out of memory errors.</string>
 
     <string-array name="pref_cloud_voxel_keys">
         <item>"0.2 m"</item>
@@ -834,7 +860,7 @@
     <string name="pref_title_opt_depth">Reconstruction Depth</string>
     <string name="pref_summary_opt_depth">Lowering this parameter decreases reconstruction time, but geometry precision is lower. Minimum polygon size: map length / 2^depth). \"Auto\" means that depth is chosen so that polygon size is just under 3 cm.</string>
     <string name="pref_title_opt_color_radius">Color Radius</string>
-    <string name="pref_summary_opt_color_radius">Radius used to transfer nearest color from the point cloud to reconstructed mesh. When exporting with texture, if Clean Mesh is also enabled, this will limit the number of polygons textured in holes.</string>
+    <string name="pref_summary_opt_color_radius">Radius used to transfer nearest color from the point cloud to reconstructed mesh. When assembling with texture, if Clean Mesh is also enabled, this will limit the number of polygons textured in holes.</string>
     <string name="pref_title_opt_clean_white">Clean Mesh</string>
     <string name="pref_summary_opt_clean_white">Clean mesh from textureless or colorless reconstructed polygons.</string>
 	<string name="pref_summary_opt_min_cluster_size">This can be used to filter polygons before texturing.</string>
@@ -868,10 +894,10 @@
         <item>"0.2 m"</item>
         <item>"0.1 m"</item>
         <item>"0.05 m"</item>
-        <item>"0.025"</item>
-        <item>"0.02"</item>
-        <item>"0.015"</item>
-        <item>"0.01"</item>
+        <item>"0.025 m"</item>
+        <item>"0.02 m"</item>
+        <item>"0.015 m"</item>
+        <item>"0.01 m"</item>
         <item>"Disabled"</item>
     </string-array>
     <string-array name="pref_opt_color_radius_values">

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

@@ -8,11 +8,14 @@ import java.util.EnumSet;
 import java.util.List;
 import java.util.concurrent.atomic.AtomicBoolean;
 
+import com.google.ar.core.Anchor;
 import com.google.ar.core.Camera;
+import com.google.ar.core.CameraConfig;
+import com.google.ar.core.CameraConfigFilter;
 import com.google.ar.core.CameraIntrinsics;
 import com.google.ar.core.Config;
+import com.google.ar.core.Coordinates2d;
 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;
@@ -29,6 +32,7 @@ import android.hardware.camera2.CameraCaptureSession;
 import android.hardware.camera2.CameraCharacteristics;
 import android.hardware.camera2.CameraDevice;
 import android.hardware.camera2.CameraManager;
+import android.hardware.camera2.CameraMetadata;
 import android.hardware.camera2.CaptureFailure;
 import android.hardware.camera2.CaptureRequest;
 import android.hardware.camera2.TotalCaptureResult;
@@ -40,12 +44,17 @@ import android.os.HandlerThread;
 import android.support.annotation.NonNull;
 import android.util.Log;
 import android.view.Surface;
+import android.widget.Toast;
 
 public class ARCoreSharedCamera {
 
 	public static final String TAG = ARCoreSharedCamera.class.getSimpleName();
 
-
+	private static final float[] QUAD_COORDS =
+      new float[] {
+        -1.0f, -1.0f, +1.0f, -1.0f, -1.0f, +1.0f, +1.0f, +1.0f,
+      };
+	
 	private static RTABMapActivity mActivity;
 	public ARCoreSharedCamera(RTABMapActivity c) {
 		mActivity = c;
@@ -53,14 +62,16 @@ public class ARCoreSharedCamera {
 
 	// 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;
+	private int depthWidth = 640;
+	private int depthHeight = 480;
 
 	// GL Surface used to draw camera preview image.
 	public GLSurfaceView surfaceView;
 
 	// ARCore session that supports camera sharing.
 	private Session sharedSession;
+	
+	private Pose odomPose = Pose.IDENTITY;
 
 	// Camera capture session. Used by both non-AR and AR modes.
 	private CameraCaptureSession captureSession;
@@ -78,9 +89,16 @@ public class ARCoreSharedCamera {
 
 	// ARCore shared camera instance, obtained from ARCore session that supports sharing.
 	private SharedCamera sharedCamera;
+	
+	private Toast mToast = null;
 
 	// Camera ID for the camera used by ARCore.
 	private String cameraId;
+	private String depthCameraId;
+	
+	private Pose rgbExtrinsics;
+	private Pose depthExtrinsics;
+	private float[] depthIntrinsics = null;
 	
 	private AtomicBoolean mReady = new AtomicBoolean(false);
 
@@ -88,13 +106,24 @@ public class ARCoreSharedCamera {
 	private CaptureRequest.Builder previewCaptureRequestBuilder;
 
 	private int cameraTextureId = -1;
+	private boolean firstFrameReceived = false;
 
 	// Image reader that continuously processes CPU images.
 	public TOF_ImageReader mTOFImageReader = new TOF_ImageReader();
 	private boolean mTOFAvailable = false;
+
+	ByteBuffer mPreviousDepth = null;
+	double mPreviousDepthStamp = 0.0;
+	ByteBuffer mPreviousDepth2 = null;
+	double mPreviousDepthStamp2 = 0.0;
 	
 	public boolean isDepthSupported() {return mTOFAvailable;}
 
+	public void setToast(Toast toast)
+	{
+		mToast = toast;
+	}
+	
 	// Camera device state callback.
 	private final CameraDevice.StateCallback cameraDeviceCallback =
 			new CameraDevice.StateCallback() {
@@ -176,7 +205,7 @@ public class ARCoreSharedCamera {
 				@NonNull CameraCaptureSession session,
 				@NonNull CaptureRequest request,
 				@NonNull TotalCaptureResult result) {
-			Log.i(TAG, "onCaptureCompleted");
+			//Log.i(TAG, "onCaptureCompleted");
 		}
 
 		//@Override // android 23 
@@ -251,7 +280,7 @@ public class ARCoreSharedCamera {
 
 			// 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());
+			if (mTOFAvailable && cameraId.compareTo(depthCameraId) == 0) surfaceList.add(mTOFImageReader.imageReader.getSurface());
 			// Surface list should now contain three surfacemReadymReadys:
 			// 0. sharedCamera.getSurfaceTexture()
 			// 1. …
@@ -272,8 +301,6 @@ public class ARCoreSharedCamera {
 		} catch (CameraAccessException e) {
 			Log.e(TAG, "CameraAccessException", e);
 		}
-
-
 	}
 
 	// Start background handler thread, used to run callbacks without blocking UI thread.
@@ -298,17 +325,32 @@ public class ARCoreSharedCamera {
 		}
 		mTOFImageReader.stopBackgroundThread();
 	}
-	
-	private long mPreviousTime = 0;
 
+    /**
+     * Return true if the given array contains the given integer.
+     *
+     * @param modes array to check.
+     * @param mode  integer to get for.
+     * @return true if the array contains the given integer, otherwise false.
+     */
+    private static boolean contains(int[] modes, int mode) {
+        if (modes == null) {
+            return false;
+        }
+        for (int i : modes) {
+            if (i == mode) {
+                return true;
+            }
+        }
+        return false;
+    }
+    
 	// Perform various checks, then open camera device and create CPU image reader.
 	public boolean openCamera() {
 
 		close();
 		
 		startBackgroundThread();
-		
-		mPreviousTime = System.currentTimeMillis();
 
 		if(cameraTextureId == -1)
 		{
@@ -317,7 +359,7 @@ public class ARCoreSharedCamera {
 			cameraTextureId = textures[0];
 		}
 
-		Log.v(TAG + " opencamera: ", "Perform various checks, then open camera device and create CPU image reader.");
+		Log.v(TAG, "Perform various checks, then open camera device and create CPU image reader.");
 		// Don't open camera if already opened.
 		if (cameraDevice != null) {
 			return false;
@@ -331,14 +373,40 @@ public class ARCoreSharedCamera {
 				Log.e(TAG, "Failed to create ARCore session that supports camera sharing", e);
 				return false;
 			}
+			
+			// First obtain the session handle before getting the list of various camera configs.
+			// Create filter here with desired fps filters.
+			CameraConfigFilter cameraConfigFilter = new CameraConfigFilter(sharedSession);
+			CameraConfig[] cameraConfigs = sharedSession.getSupportedCameraConfigs(cameraConfigFilter).toArray(new CameraConfig[0]);
+			Log.i(TAG, "Size of supported CameraConfigs list is " + cameraConfigs.length);
+
+			// Determine the highest and lowest CPU resolutions.
+			int highestResolutionIndex=-1;
+			int highestResolution = 0;
+			for(int i=0; i<cameraConfigs.length; ++i)
+			{
+				Log.i(TAG, "Camera ID: " + cameraConfigs[i].getCameraId());
+				Log.i(TAG, "Resolution: " + cameraConfigs[i].getImageSize().getWidth() + "x" + cameraConfigs[i].getImageSize().getHeight());
+				if(highestResolution == 0 || highestResolution < cameraConfigs[i].getImageSize().getWidth())
+				{
+					highestResolutionIndex = i;
+					highestResolution = cameraConfigs[i].getImageSize().getWidth();
+				}
+			}
+			if(highestResolutionIndex>=0)
+			{
+				//Log.i(TAG, "Setting camera resolution to " + cameraConfigs[highestResolutionIndex].getImageSize().getWidth() + "x" + cameraConfigs[highestResolutionIndex].getImageSize().getHeight());
+				//FIXME: Can we make it work to use HD rgb images? To avoid this error "CaptureRequest contains unconfigured Input/Output Surface!"
+				//sharedSession.setCameraConfig(cameraConfigs[highestResolutionIndex]);
+			}
 
 			// 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.setUpdateMode(Config.UpdateMode.BLOCKING);
 			config.setPlaneFindingMode(Config.PlaneFindingMode.DISABLED);
 			config.setLightEstimationMode(Config.LightEstimationMode.DISABLED);
-			//config.setCloudAnchorMode(Config.CloudAnchorMode.ENABLED);
+			config.setCloudAnchorMode(Config.CloudAnchorMode.DISABLED);
 			sharedSession.configure(config);
 
 		}
@@ -347,27 +415,128 @@ public class ARCoreSharedCamera {
 		sharedCamera = sharedSession.getSharedCamera();
 		// Store the ID of the camera used by ARCore.
 		cameraId = sharedSession.getCameraConfig().getCameraId();
-		initCamera(mActivity, cameraId, 1);
-		ArrayList<String> resolutions;
+
+		Log.d(TAG, "Shared camera ID: " + cameraId);
 
 		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;
+		// Store a reference to the camera system service.
+		cameraManager = (CameraManager) mActivity.getSystemService(Context.CAMERA_SERVICE);
+		
+		depthCameraId = null;
+		// show all cameras
+		try {
+            // Find a CameraDevice that supports DEPTH16 captures, and configure state.
+            for (String tmpCameraId : cameraManager.getCameraIdList()) {
+                CameraCharacteristics characteristics = cameraManager.getCameraCharacteristics(tmpCameraId);
+
+                Log.i(TAG, "Camera " + tmpCameraId + " extrinsics:");
+                
+            	float[] translation = characteristics.get(CameraCharacteristics.LENS_POSE_TRANSLATION);
+                if(translation != null)
+                {
+                	 Log.i(TAG, String.format("Translation (x,y,z): %f,%f,%f", translation[0], translation[1], translation[2]));
+                }
+                float[] rotation = characteristics.get(CameraCharacteristics.LENS_POSE_ROTATION);
+                if(rotation != null)
+                {
+                	 Log.i(TAG, String.format("Rotation (qx,qy,qz,qw): %f,%f,%f,%f",  rotation[0], rotation[1], rotation[2], rotation[3]));
+                }
+                
+                if(tmpCameraId.compareTo(cameraId)==0 && translation!=null && rotation!=null)
+                {
+                	rgbExtrinsics = new Pose(translation, rotation);
+                	Log.i(TAG,"Set rgb extrinsics!");
+                }
+                
+                if (!contains(characteristics.get(CameraCharacteristics.REQUEST_AVAILABLE_CAPABILITIES), CameraCharacteristics.REQUEST_AVAILABLE_CAPABILITIES_DEPTH_OUTPUT) ||
+                		characteristics.get(CameraCharacteristics.LENS_FACING) == CameraMetadata.LENS_FACING_FRONT) {
+                    continue;
+                }
+                Log.i(TAG, "Camera " + tmpCameraId + " has depth output available");
+                
+                depthCameraId = tmpCameraId;
+                if(translation!=null && rotation != null)
+                {
+                	depthExtrinsics = new Pose(translation, rotation);
+                	Log.i(TAG,"Set depth extrinsics!");
+                }
+                depthIntrinsics = characteristics.get(CameraCharacteristics.LENS_INTRINSIC_CALIBRATION);
+                Log.i(TAG, String.format("Intrinsics (fx,fy,cx,cy,s): %f,%f,%f,%f,%f", 
+                		depthIntrinsics[0],
+                		depthIntrinsics[1],
+                		depthIntrinsics[2],
+                		depthIntrinsics[3],
+                		depthIntrinsics[4]));
+            }
+        } catch (CameraAccessException e) {
+            e.printStackTrace();
+        }
+		if(rgbExtrinsics == null)
+		{
+			float[] translation = {0,0,0};
+			float[] rotation = {0,0,0,1};
+			rgbExtrinsics = new Pose(translation, rotation);
 		}
+		if(depthExtrinsics == null)
+		{
+			depthExtrinsics = rgbExtrinsics;
+		}
+
+		if(depthCameraId != null)
+		{
+			ArrayList<String> resolutions = getResolutions(mActivity, depthCameraId, ImageFormat.DEPTH16);
+			if (resolutions != null) {
+				float[] newDepthIntrinsics = null;
+				int largestWidth = 0;
+				for( String temp : resolutions) {
+					Log.i(TAG, "DEPTH16 resolution: " + temp);
+					depthWidth = Integer.parseInt(temp.split("x")[0]);
+					depthHeight = Integer.parseInt(temp.split("x")[1]);
+					if(depthIntrinsics != null)
+					{
+						if(depthIntrinsics[0] != 0)
+						{
+							if(largestWidth == 0 && depthWidth>largestWidth)
+							{
+								largestWidth = depthWidth; // intrinsics should match this resolution
+							}
+							// Samsung Galaxy Note10+: take smallest resolution and match the intrinsics
+							if(depthWidth < largestWidth)
+							{
+								float scale = (float)depthWidth/(float)largestWidth;
+								newDepthIntrinsics = depthIntrinsics.clone();
+								newDepthIntrinsics[0] *= scale;
+								newDepthIntrinsics[1] *= scale;
+								newDepthIntrinsics[2] *= scale;
+								newDepthIntrinsics[3] *= scale;
+							}
+						}
+						else if(depthWidth ==240 && depthHeight==180)
+						{
+							// Huawei P30 Pro: only 240x180 is working
+							break;
+						}
+					}
+				}
+				if (resolutions.size()>0) {
+					mTOFAvailable = true;
+					if(newDepthIntrinsics!=null) {
+						depthIntrinsics = newDepthIntrinsics;
+					}
+				}
+			}
+		}
+		Log.i(TAG, "TOF_available: " + mTOFAvailable);
 
 		// Color CPU Image.
 		// Use the currently configured CPU image size.
 		//Size desiredCPUImageSize = sharedSession.getCameraConfig().getImageSize();
 
-		if (mTOFAvailable) mTOFImageReader.createImageReader(DEPTH_WIDTH, DEPTH_HEIGHT);
+		if (mTOFAvailable) mTOFImageReader.createImageReader(depthWidth, depthHeight);
 
 		// When ARCore is running, make sure it also updates our CPU image surface.
-		if (mTOFAvailable) {
+		if (mTOFAvailable && cameraId.compareTo(depthCameraId) == 0) {
 			sharedCamera.setAppSurfaces(this.cameraId, Arrays.asList(mTOFImageReader.imageReader.getSurface()));
 		}
 
@@ -376,15 +545,14 @@ public class ARCoreSharedCamera {
 			// 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);
 			
+			if(mTOFAvailable && cameraId.compareTo(depthCameraId) != 0)
+			{
+				cameraManager.openCamera(depthCameraId, mTOFImageReader.cameraDeviceCallback, mTOFImageReader.backgroundHandler);
+			}
+			
 		} catch (CameraAccessException e) {
 			Log.e(TAG, "Failed to open camera", e);
 			return false;
@@ -395,17 +563,62 @@ public class ARCoreSharedCamera {
 			Log.e(TAG, "Failed to open camera", e);
 			return false;
 		} 
-
-		Log.i(TAG, " opencamera: TOF_available: " + mTOFAvailable);
+		
 		return true;
 	}
+	
+	public static void rotationMatrixToQuaternion(float[] R, float[] q) {
+        final float m00 = R[0];
+        final float m10 = R[1];
+        final float m20 = R[2];
+        final float m01 = R[4];
+        final float m11 = R[5];
+        final float m21 = R[6];
+        final float m02 = R[8];
+        final float m12 = R[9];
+        final float m22 = R[10];
+
+        float tr = m00 + m11 + m22;
+
+        if (tr > 0) {
+            float S = (float) Math.sqrt(tr + 1.0) * 2; // S=4*qw 
+            q[0] = 0.25f * S;/* w  w  w.j ava  2s.co m*/
+            q[1] = (m21 - m12) / S;
+            q[2] = (m02 - m20) / S;
+            q[3] = (m10 - m01) / S;
+        } else if ((m00 > m11) & (m00 > m22)) {
+            float S = (float) Math.sqrt(1.0 + m00 - m11 - m22) * 2; //
+            // S=4*q[1]
+            q[0] = (m21 - m12) / S;
+            q[1] = 0.25f * S;
+            q[2] = (m01 + m10) / S;
+            q[3] = (m02 + m20) / S;
+        } else if (m11 > m22) {
+            float S = (float) Math.sqrt(1.0 + m11 - m00 - m22) * 2; //
+            // S=4*q[2]
+            q[0] = (m02 - m20) / S;
+            q[1] = (m01 + m10) / S;
+            q[2] = 0.25f * S;
+            q[3] = (m12 + m21) / S;
+        } else {
+            float S = (float) Math.sqrt(1.0 + m22 - m00 - m11) * 2; //
+            // S=4*q[3]
+            q[0] = (m10 - m01) / S;
+            q[1] = (m02 + m20) / S;
+            q[2] = (m12 + m21) / S;
+            q[3] = 0.25f * S;
+        }
+
+    }
 
 
 	// Close the camera device.
 	public void close() {
+		Log.w(TAG, "close()");
 		
 		if (sharedSession != null)  {
-			sharedSession.pause();
+			sharedSession.close();
+			sharedSession = null;
 		}
 
 		if (captureSession != null) {
@@ -414,12 +627,11 @@ public class ARCoreSharedCamera {
 		}
 		if (cameraDevice != null) {
 			cameraDevice.close();
+			cameraDevice = null;
 		}
-
-		if (mTOFImageReader.imageReader != null) {
-			mTOFImageReader.imageReader.close();
-			mTOFImageReader.imageReader = null;
-		}
+		
+		mTOFImageReader.close();
+		firstFrameReceived = false;
 
 		if(cameraTextureId>=0)
 		{
@@ -429,12 +641,17 @@ public class ARCoreSharedCamera {
 		stopBackgroundThread();
 	}
 
-	/*************************************************** ONDRAWFRAME ARCORE ************************************************************* */
-
+	public void setDisplayGeometry(int rotation, int width, int height)
+	{
+		if(sharedSession!=null)
+			sharedSession.setDisplayGeometry(rotation, width, height);
+	}
+	
+	/*************************************************** ONDRAWFRAME ARCORE ************************************************************* */	
 	// Draw frame when in AR mode. Called on the GL thread.
 	public void updateGL() throws CameraNotAvailableException {
 
-		if(!mReady.get())
+		if(!mReady.get() || sharedSession == null)
 		{
 			return;
 		}
@@ -455,29 +672,46 @@ public class ARCoreSharedCamera {
 			camera = frame.getCamera();
 		}else
 		{
+			Log.e(TAG, String.format("frame.getCamera() null!"));
 			return;
 		}
 
-		if (camera == null) return;
-		// If not tracking, don't draw 3D objects.
-		if (camera.getTrackingState() == TrackingState.PAUSED) return;
+		if (camera == null) { 
+			Log.e(TAG, String.format("camera is null!"));
+			return;
+		}
+		boolean lost = false;
+		if (camera.getTrackingState() != TrackingState.TRACKING) {
+			final String trackingState = camera.getTrackingState().toString();
+			Log.e(TAG, String.format("Tracking lost! state=%s", trackingState));
+			// This will force a new session on the next frame received
+			lost = true;
+			mActivity.runOnUiThread(new Runnable() {
+				public void run() {
+					if(mToast!=null && firstFrameReceived)
+					{
+						String msg = "Tracking lost! If you are mapping, you will need to relocalize before continuing.";
+						if(mToast.getView() == null || !mToast.getView().isShown())
+						{
+							mToast.makeText(mActivity.getApplicationContext(), 
+									msg, Toast.LENGTH_LONG).show();
+						}
+						else
+						{
+							mToast.setText(msg);
+						}
+					}
+				}
+			});
+		}
 
 		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();
-			
+			double stamp = (double)frame.getTimestamp()/10e8;
 			CameraIntrinsics intrinsics = camera.getImageIntrinsics();
 			try{
 				Image image = frame.acquireCameraImage();
+				if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("frame=%d vs image=%d", frame.getTimestamp(), image.getTimestamp()));
 				PointCloud cloud = frame.acquirePointCloud();
 				FloatBuffer points = cloud.getPoints();
 
@@ -502,35 +736,91 @@ public class ARCoreSharedCamera {
 				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",
+				if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("RGB %dx%d len=%dbytes format=%d stamp=%f", 
 						image.getWidth(), image.getHeight(), y.limit(), image.getFormat(), stamp));
+				
+				float[] texCoord = new float[8];
+				frame.transformCoordinates2d(
+				        Coordinates2d.OPENGL_NORMALIZED_DEVICE_COORDINATES,
+				        QUAD_COORDS,
+				        Coordinates2d.IMAGE_NORMALIZED,
+				        texCoord);
+				
+				float[] p = new float[16];
+		        camera.getProjectionMatrix(p, 0, 0.1f, 100.0f);
+   
+		        float[] viewMatrix = new float[16];
+		        camera.getDisplayOrientedPose().inverse().toMatrix(viewMatrix, 0);
+		        float[] quat = new float[4];
+		        rotationMatrixToQuaternion(viewMatrix, quat);
 
+		        
 				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));
+					ByteBuffer depth;
+					double depthStamp;
+					synchronized (mTOFImageReader) {
+						depth = mTOFImageReader.depth16_raw;
+						depthStamp = (double)mTOFImageReader.timestamp/10e8;
+					}
+
+					if(mPreviousDepth == null)
+					{
+						mPreviousDepth = depth;
+						mPreviousDepthStamp = depthStamp;
+					}
+					if(mPreviousDepth2 == null)
+					{
+						mPreviousDepth2 = depth;
+						mPreviousDepthStamp2 = depthStamp;
+					}
 					
-					RTABMapLib.postOdometryEvent(
+					if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("Depth %dx%d len=%dbytes format=%d stamp=%f previous=%f rgb=%f",
+							mTOFImageReader.WIDTH, mTOFImageReader.HEIGHT, depth.limit(), ImageFormat.DEPTH16, depthStamp, mPreviousDepthStamp, stamp));
+
+					RTABMapLib.postOdometryEventDepth(
 							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, 
+							lost?0:pose.tx(), lost?0:pose.ty(), lost?0:pose.tz(), lost?0:pose.qx(), lost?0:pose.qy(), lost?0:pose.qz(), lost?0:pose.qw(), 
+							fl[0], fl[1], pp[0], pp[1], 
+							depthIntrinsics[0], depthIntrinsics[1], depthIntrinsics[2], depthIntrinsics[3],
+							rgbExtrinsics.tx(), rgbExtrinsics.ty(), rgbExtrinsics.tz(), rgbExtrinsics.qx(), rgbExtrinsics.qy(), rgbExtrinsics.qz(), rgbExtrinsics.qw(),
+							depthExtrinsics.tx(), depthExtrinsics.ty(), depthExtrinsics.tz(), depthExtrinsics.qx(), depthExtrinsics.qy(), depthExtrinsics.qz(), depthExtrinsics.qw(),
+							stamp,
+							depthStamp<=stamp?depthStamp:mPreviousDepthStamp<=stamp?mPreviousDepthStamp:mPreviousDepthStamp2,
 							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);
+							depthStamp<=stamp?depth:mPreviousDepthStamp<=stamp?mPreviousDepth:mPreviousDepth2,
+							depthStamp<=stamp?depth.limit():mPreviousDepthStamp<=stamp?mPreviousDepth.limit():mPreviousDepth2.limit(),
+							mTOFImageReader.WIDTH, mTOFImageReader.HEIGHT, ImageFormat.DEPTH16,
+							points, points.limit()/4,
+							viewMatrix[12], viewMatrix[13], viewMatrix[14], quat[1], quat[2], quat[3], quat[0],
+							p[0], p[5], p[8], p[9], p[10], p[11], p[14],
+                            texCoord[0],texCoord[1],texCoord[2],texCoord[3],texCoord[4],texCoord[5],texCoord[6],texCoord[7]);
+					
+					// triple buffer in case delay of rgb frame is > 60 ms
+					if(depthStamp != mPreviousDepthStamp)
+					{
+						mPreviousDepthStamp2 = mPreviousDepthStamp;
+						mPreviousDepth2 = mPreviousDepth;
+						mPreviousDepthStamp = depthStamp;
+						mPreviousDepth = depth;
+					}
 				}
 				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, 
+							lost?0:pose.tx(), lost?0:pose.ty(), lost?0:pose.tz(), lost?0:pose.qx(), lost?0:pose.qy(), lost?0:pose.qz(), lost?0:pose.qw(), 
+							fl[0], fl[1], pp[0], pp[1], 
+							rgbExtrinsics.tx(), rgbExtrinsics.ty(), rgbExtrinsics.tz(), rgbExtrinsics.qx(), rgbExtrinsics.qy(), rgbExtrinsics.qz(), rgbExtrinsics.qw(),
+							stamp, 
 							y, u, v, y.limit(), image.getWidth(), image.getHeight(), image.getFormat(), 
-							bb, 0, 0, 0, ImageFormat.DEPTH16,
-							points, points.limit()/4);
+							points, points.limit()/4,
+							viewMatrix[12], viewMatrix[13], viewMatrix[14], quat[1], quat[2], quat[3], quat[0],
+							p[0], p[5], p[8], p[9], p[10], p[11], p[14],
+                            texCoord[0],texCoord[1],texCoord[2],texCoord[3],texCoord[4],texCoord[5],texCoord[6],texCoord[7]);
 				}
 				
+				firstFrameReceived = !lost;
 				image.close();
 				cloud.close();
 				
@@ -545,8 +835,8 @@ public class ARCoreSharedCamera {
 	/********************************************************************************************************************* */
 
 
-	public ArrayList<String> getResolutions (Context context, String cameraId,int imageFormat){
-		Log.v(TAG + "getResolutions:", " cameraId:" + cameraId + " imageFormat: " + imageFormat);
+	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 {
@@ -562,27 +852,4 @@ public class ARCoreSharedCamera {
 		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/DisplayRotationHelper.java

@@ -0,0 +1,166 @@
+package com.introlab.rtabmap;
+
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+import android.app.Activity;
+import android.content.Context;
+import android.hardware.camera2.CameraAccessException;
+import android.hardware.camera2.CameraCharacteristics;
+import android.hardware.camera2.CameraManager;
+import android.hardware.display.DisplayManager;
+import android.hardware.display.DisplayManager.DisplayListener;
+import android.view.Display;
+import android.view.Surface;
+import android.view.WindowManager;
+import com.google.ar.core.Session;
+
+/**
+ * Helper to track the display rotations. In particular, the 180 degree rotations are not notified
+ * by the onSurfaceChanged() callback, and thus they require listening to the android display
+ * events.
+ */
+public final class DisplayRotationHelper implements DisplayListener {
+  private boolean viewportChanged;
+  private int viewportWidth;
+  private int viewportHeight;
+  private final Display display;
+  private final DisplayManager displayManager;
+  private final CameraManager cameraManager;
+
+  /**
+   * Constructs the DisplayRotationHelper but does not register the listener yet.
+   *
+   * @param context the Android {@link Context}.
+   */
+  public DisplayRotationHelper(Context context) {
+    displayManager = (DisplayManager) context.getSystemService(Context.DISPLAY_SERVICE);
+    cameraManager = (CameraManager) context.getSystemService(Context.CAMERA_SERVICE);
+    WindowManager windowManager = (WindowManager) context.getSystemService(Context.WINDOW_SERVICE);
+    display = windowManager.getDefaultDisplay();
+  }
+
+  /** Registers the display listener. Should be called from {@link Activity#onResume()}. */
+  public void onResume() {
+    displayManager.registerDisplayListener(this, null);
+  }
+
+  /** Unregisters the display listener. Should be called from {@link Activity#onPause()}. */
+  public void onPause() {
+    displayManager.unregisterDisplayListener(this);
+  }
+
+  /**
+   * Records a change in surface dimensions. This will be later used by {@link
+   * #updateSessionIfNeeded(Session)}. Should be called from {@link
+   * android.opengl.GLSurfaceView.Renderer
+   * #onSurfaceChanged(javax.microedition.khronos.opengles.GL10, int, int)}.
+   *
+   * @param width the updated width of the surface.
+   * @param height the updated height of the surface.
+   */
+  public void onSurfaceChanged(int width, int height) {
+    viewportWidth = width;
+    viewportHeight = height;
+    viewportChanged = true;
+  }
+
+  /**
+   * Updates the session display geometry if a change was posted either by {@link
+   * #onSurfaceChanged(int, int)} call or by {@link #onDisplayChanged(int)} system callback. This
+   * function should be called explicitly before each call to {@link Session#update()}. This
+   * function will also clear the 'pending update' (viewportChanged) flag.
+   *
+   * @param session the {@link Session} object to update if display geometry changed.
+   */
+  public void updateSessionIfNeeded(ARCoreSharedCamera session) {
+    if (viewportChanged) {
+      int displayRotation = display.getRotation();
+      session.setDisplayGeometry(displayRotation, viewportWidth, viewportHeight);
+      viewportChanged = false;
+    }
+  }
+
+  /**
+   *  Returns the aspect ratio of the GL surface viewport while accounting for the display rotation
+   *  relative to the device camera sensor orientation.
+   */
+  public float getCameraSensorRelativeViewportAspectRatio(String cameraId) {
+    float aspectRatio;
+    int cameraSensorToDisplayRotation = getCameraSensorToDisplayRotation(cameraId);
+    switch (cameraSensorToDisplayRotation) {
+      case 90:
+      case 270:
+        aspectRatio = (float) viewportHeight / (float) viewportWidth;
+        break;
+      case 0:
+      case 180:
+        aspectRatio = (float) viewportWidth / (float) viewportHeight;
+        break;
+      default:
+        throw new RuntimeException("Unhandled rotation: " + cameraSensorToDisplayRotation);
+    }
+    return aspectRatio;
+  }
+
+  /**
+   * Returns the rotation of the back-facing camera with respect to the display. The value is one of
+   * 0, 90, 180, 270.
+   */
+  public int getCameraSensorToDisplayRotation(String cameraId) {
+    CameraCharacteristics characteristics;
+    try {
+      characteristics = cameraManager.getCameraCharacteristics(cameraId);
+    } catch (CameraAccessException e) {
+      throw new RuntimeException("Unable to determine display orientation", e);
+    }
+
+    // Camera sensor orientation.
+    int sensorOrientation = characteristics.get(CameraCharacteristics.SENSOR_ORIENTATION);
+
+    // Current display orientation.
+    int displayOrientation = toDegrees(display.getRotation());
+
+    // Make sure we return 0, 90, 180, or 270 degrees.
+    return (sensorOrientation - displayOrientation + 360) % 360;
+  }
+
+  private int toDegrees(int rotation) {
+    switch (rotation) {
+      case Surface.ROTATION_0:
+        return 0;
+      case Surface.ROTATION_90:
+        return 90;
+      case Surface.ROTATION_180:
+        return 180;
+      case Surface.ROTATION_270:
+        return 270;
+      default:
+        throw new RuntimeException("Unknown rotation " + rotation);
+    }
+  }
+
+  @Override
+  public void onDisplayAdded(int displayId) {}
+
+  @Override
+  public void onDisplayRemoved(int displayId) {}
+
+  @Override
+  public void onDisplayChanged(int displayId) {
+    viewportChanged = true;
+  }
+}

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

@@ -2,6 +2,7 @@ package com.introlab.rtabmap;
 
 import java.io.File;
 import java.io.FileInputStream;
+import java.io.FileNotFoundException;
 import java.io.FileOutputStream;
 import java.io.IOException;
 import java.io.InputStream;
@@ -25,6 +26,8 @@ import android.app.NotificationManager;
 import android.app.PendingIntent;
 import android.app.ProgressDialog;
 import android.content.ComponentName;
+import android.content.ContentResolver;
+import android.content.ContentValues;
 import android.content.Context;
 import android.content.DialogInterface;
 import android.content.DialogInterface.OnShowListener;
@@ -35,6 +38,7 @@ import android.content.pm.ApplicationInfo;
 import android.content.pm.PackageInfo;
 import android.content.pm.PackageManager;
 import android.content.pm.PackageManager.NameNotFoundException;
+import android.database.Cursor;
 import android.hardware.Camera;
 import android.hardware.Sensor;
 import android.hardware.SensorEvent;
@@ -46,6 +50,7 @@ import android.hardware.display.DisplayManager;
 import android.location.Location;
 import android.location.LocationListener;
 import android.location.LocationManager;
+import android.media.MediaScannerConnection;
 import android.net.Uri;
 import android.net.wifi.WifiInfo;
 import android.net.wifi.WifiManager;
@@ -56,6 +61,8 @@ import android.os.Handler;
 import android.os.IBinder;
 import android.os.Message;
 import android.preference.PreferenceManager;
+import android.provider.MediaStore;
+import android.provider.OpenableColumns;
 import android.support.v4.app.FragmentActivity;
 import android.support.v4.content.FileProvider;
 import android.text.InputType;
@@ -104,7 +111,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 
 	// Tag for debug logging.
 	public static final String TAG = RTABMapActivity.class.getSimpleName();
-	public static boolean DISABLE_LOG = true;
+	public static boolean DISABLE_LOG = false;
 
 	// The minimum Tango Core version required from this application.
 	private static final int  MIN_TANGO_CORE_VERSION = 9377;
@@ -118,7 +125,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 	public static final String RTABMAP_TMP_DB = "rtabmap.tmp.db";
 	public static final String RTABMAP_TMP_DIR = "tmp";
 	public static final String RTABMAP_TMP_FILENAME = "map";
-	public static final String RTABMAP_SDCARD_PATH = "/sdcard/";
+	public static final String RTABMAP_SDCARD_PATH = "/Internal storage/";
 	public static final String RTABMAP_EXPORT_DIR = "Export/";
 
 	public static final String RTABMAP_AUTH_TOKEN_KEY = "com.introlab.rtabmap.AUTH_TOKEN";
@@ -256,6 +263,8 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 
 	ARCoreSharedCamera mArCoreCamera = null;
 	int mCameraDriver = 0;
+	
+	private String mIntentDbToOpen = null;
 
 	//Tango Service connection.
 	boolean mCameraServiceConnectionUsed = false; 
@@ -314,6 +323,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		// touch point.
 		Display display = getWindowManager().getDefaultDisplay();
 		display.getSize(mScreenSize);
+		Log.i(TAG, String.format("Screen resolution: %dx%d", mScreenSize.x, mScreenSize.y));
 
 		getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 		getWindow().addFlags(WindowManager.LayoutParams.FLAG_TRANSLUCENT_STATUS);
@@ -494,10 +504,29 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		mWorkingDirectoryHuman = "";
 		mTotalLoopClosures = 0;
 		mLastFastMovementNotificationStamp = System.currentTimeMillis()/1000;
-
-		if(Environment.getExternalStorageState().compareTo(Environment.MEDIA_MOUNTED)==0)
+		
+		
+		int targetSdkVersion= 0;
+		try {
+	        ApplicationInfo app = this.getPackageManager().getApplicationInfo("com.introlab.rtabmap", 0);        
+	        targetSdkVersion = app.targetSdkVersion;
+	    } catch (NameNotFoundException e) {
+	        e.printStackTrace();
+	    }
+	
+		if(Environment.getExternalStorageState().compareTo(Environment.MEDIA_MOUNTED)==0 && 
+			(targetSdkVersion < 30 || getActivity().getExternalFilesDirs(null).length >=1))
 		{
-			File extStore = Environment.getExternalStorageDirectory();
+			File extStore;
+			if(targetSdkVersion < 30)
+			{
+				extStore = Environment.getExternalStorageDirectory();
+			}
+			else // >= android30
+			{
+				extStore = getActivity().getExternalFilesDirs(null)[0];
+			}
+			
 			mWorkingDirectory = extStore.getAbsolutePath() + "/" + getString(R.string.app_name) + "/";
 			extStore = new File(mWorkingDirectory);
 			extStore.mkdirs();
@@ -507,7 +536,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		{
 			// show warning that data cannot be saved!
 			mToast.makeText(getApplicationContext(), 
-					String.format("Failed to get external storage path (SD-CARD, state=%s). Saving disabled.", 
+					String.format("Failed to get external storage path (state=%s). Saving disabled.", 
 							Environment.getExternalStorageState()), mToast.LENGTH_LONG).show();
 		}
 
@@ -574,33 +603,141 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 
 		DISABLE_LOG =  !( 0 != ( getApplicationInfo().flags & ApplicationInfo.FLAG_DEBUGGABLE ) );
 
-		if (!PermissionHelper.hasPermission(this, Manifest.permission.WRITE_EXTERNAL_STORAGE)) {
-			PermissionHelper.requestPermission(this, Manifest.permission.WRITE_EXTERNAL_STORAGE);
-		}
-		else
-		{
-			postCreate();
-		}
-
 		SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
 		String cameraDriverStr = sharedPref.getString(getString(R.string.pref_key_camera_driver), getString(R.string.pref_default_camera_driver));
 		mCameraDriver = Integer.parseInt(cameraDriverStr);
 		
 		isArCoreAvailable();
 		isArEngineAvailable();
+		
+		if (!PermissionHelper.hasPermission(this, Manifest.permission.WRITE_EXTERNAL_STORAGE)) {
+			PermissionHelper.requestPermission(this, Manifest.permission.WRITE_EXTERNAL_STORAGE);
+		}
+		else
+		{
+			// Get intent, action and MIME type
+		    Intent intent = getIntent();
+		    String action = intent.getAction();
+		    String type = intent.getType();
+
+		    if (Intent.ACTION_SEND.equals(action) && type != null) {
+		        if ("application/octet-stream".equals(type)) {
+		        	Uri imageUri = (Uri) intent.getParcelableExtra(Intent.EXTRA_STREAM);
+		            if (imageUri != null) {
+		               String fileName = getFileName(imageUri);
+		               Log.i(TAG, "Intent received: " + imageUri.getPath() + " Name:" + fileName);
+		               if(fileName.endsWith(".db"))
+		               {
+			               File file = new File(mWorkingDirectory+fileName);
+			               if(file.exists())
+			               {
+			            	   mToast.makeText(this, fileName + " already exists in RTAB-Map's library! Cannot be copied.", mToast.LENGTH_LONG).show();
+			               }
+			               else
+			               {
+				               copy(imageUri, file);
+				               mIntentDbToOpen = fileName;
+			               }
+		               }
+		            }
+		        }
+		    } else if (Intent.ACTION_SEND_MULTIPLE.equals(action) && type != null) {
+		    	if (type.startsWith("application/")) {
+		    		ArrayList<Uri> imageUris = intent.getParcelableArrayListExtra(Intent.EXTRA_STREAM);
+		    		if (imageUris != null) {
+		    			boolean added = false;
+		    			for(Uri imageUri: imageUris)
+		    			{
+		    				String fileName = getFileName(imageUri);
+		    				Log.i(TAG, "Intent received: " + imageUri.getPath() + " Name:" + fileName);
+		    				if(fileName.endsWith(".db"))
+		    				{
+		    					File file = new File(mWorkingDirectory+"/"+getFileName(imageUri));
+		    					if(!file.exists())
+		    					{
+			    					copy(imageUri, file);
+			    					added = true;
+		    					}
+		    					else
+		    					{
+		    						Log.e(TAG,  fileName + " already exists in RTAB-Map's library! Cannot be copied.");
+		    					}
+		    				}
+		    			}
+		    			if(added)
+		    			{
+		    				openDatabase();
+		    			}
+		    		}
+
+		    	}
+		    }
+
+			postCreate();
+		}
 	}
 	
+	public void copy(File src, File dst) throws IOException {
+		InputStream in = new FileInputStream(src);
+		OutputStream out = new FileOutputStream(dst);
+
+		// Transfer bytes from in to out
+		byte[] buf = new byte[1024];
+		int len;
+		while ((len = in.read(buf)) > 0) {
+			out.write(buf, 0, len);
+		}
+		in.close();
+		out.close();
+	}
+	
+	public void copy(Uri uri, File file)
+	{
+		InputStream in;
+		try {
+			in = getApplicationContext().getContentResolver().openInputStream(uri);
+			
+			OutputStream out = new FileOutputStream(file);
+    		byte[] buf = new byte[1024];
+    		int len;
+    		while ((len = in.read(buf)) > 0) {
+    			out.write(buf, 0, len);
+    		}
+    		in.close();
+    		out.close();
+		} catch (IOException e) {
+			Log.e(TAG, e.getMessage());
+		}
+	}
+	
+	public String getFileName(Uri uri) {
+		  String result = null;
+		  if (uri.getScheme().equals("content")) {
+		    Cursor cursor = getContentResolver().query(uri, null, null, null, null);
+		    try {
+		      if (cursor != null && cursor.moveToFirst()) {
+		        result = cursor.getString(cursor.getColumnIndex(OpenableColumns.DISPLAY_NAME));
+		      }
+		    } finally {
+		      cursor.close();
+		    }
+		  }
+		  if (result == null) {
+		    result = uri.getPath();
+		    int cut = result.lastIndexOf('/');
+		    if (cut != -1) {
+		      result = result.substring(cut + 1);
+		    }
+		  }
+		  return result;
+		}
+
+	
 	// Should be called only if read/write permissions are granted!
 	private void postCreate()
 	{
 		Log.i(TAG, "postCreate()");
 		
-		String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
-		(new File(tmpDatabase)).delete();
-		SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
-		boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
-		RTABMapLib.openDatabase(nativeApplication, tmpDatabase, databaseInMemory, false);
-		
 		final String[] files = Util.loadFileList(mWorkingDirectory, true);
 		if(files.length == 0)
 		{
@@ -613,6 +750,17 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		Log.i(TAG, String.format("updateCameraDriverSettings() mCameraDriver=%d RTABMapLib.isBuiltWith(%d)=%d", mCameraDriver, mCameraDriver, RTABMapLib.isBuiltWith(nativeApplication, mCameraDriver)?1:0));
 		
 		SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
+		String cameraDriverStr = sharedPref.getString(getString(R.string.pref_key_camera_driver), getString(R.string.pref_default_camera_driver));
+		mCameraDriver = Integer.parseInt(cameraDriverStr);
+		
+		if(mCameraDriver == -1)
+		{
+			// Prioritize tango if available
+			mCameraDriver = 0;
+			SharedPreferences.Editor editor = sharedPref.edit();
+			editor.putString(getString(R.string.pref_key_camera_driver), "0");
+			editor.commit();
+		}
 		
 		if(mCameraDriver == 0 && (!CheckTangoCoreVersion(MIN_TANGO_CORE_VERSION) || !RTABMapLib.isBuiltWith(nativeApplication, 0)))
 		{
@@ -995,6 +1143,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 			RTABMapLib.setDepthFromMotion(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_depth_from_motion), Boolean.parseBoolean(getString(R.string.pref_default_depth_from_motion))));
 			RTABMapLib.setCameraColor(nativeApplication, !sharedPref.getBoolean(getString(R.string.pref_key_fisheye), Boolean.parseBoolean(getString(R.string.pref_default_fisheye))));
 			RTABMapLib.setAppendMode(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_append), Boolean.parseBoolean(getString(R.string.pref_default_append))));
+			RTABMapLib.setUpstreamRelocalizationAccThr(nativeApplication, Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_arcore_relocalization_acc_thr), getString(R.string.pref_default_arcore_relocalization_acc_thr))));
 			RTABMapLib.setMappingParameter(nativeApplication, "Rtabmap/DetectionRate", mUpdateRate);
 			RTABMapLib.setMappingParameter(nativeApplication, "Rtabmap/TimeThr", mTimeThr);
 			RTABMapLib.setMappingParameter(nativeApplication, "Rtabmap/MemoryThr", memThr);
@@ -1075,6 +1224,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 
 		setAndroidOrientation();
 
+		updateCameraDriverSettings();
 		updatePreferences();
 
 		if(mState == State.STATE_MAPPING || mState == State.STATE_CAMERA)
@@ -1166,7 +1316,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		final boolean depthFromMotion = sharedPref.getBoolean(getString(R.string.pref_key_depth_from_motion), Boolean.parseBoolean(getString(R.string.pref_default_depth_from_motion)));
 		mCameraDriver = Integer.parseInt(cameraDriverStr);
 
-		if(!DISABLE_LOG) Log.i(TAG, String.format("startCamera() driver=%d", mCameraDriver));
+		Log.i(TAG, String.format("startCamera() driver=%d", mCameraDriver));
 		if(mCameraDriver == 0) // Tango
 		{
 			// Check if the Tango Core is out dated.
@@ -1236,6 +1386,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 							{
 								synchronized (this) {
 									mArCoreCamera = new ARCoreSharedCamera(getActivity());
+									mArCoreCamera.setToast(mToast);
 									mProgressDialog.setTitle("");
 									mProgressDialog.setMessage(message);
 									mProgressDialog.show();
@@ -1486,7 +1637,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		}
 
 		updateState(mState);
-
+		
 		return true;
 	}
 
@@ -1624,16 +1775,19 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 			long currentTime = System.currentTimeMillis()/1000;
 			if(loopClosureId > 0)
 			{
+				if (mToast != null) mToast.cancel();
 				mToast.setText(String.format("Loop closure detected! (%d/%d inliers)", inliers, matches));
 				mToast.show();
 			}
 			else if(landmarkDetected != 0)
 			{
+				if (mToast != null) mToast.cancel();
 				mToast.setText(String.format("Marker %d detected!", landmarkDetected));
 				mToast.show();
 			}
 			else if(rejected > 0)
 			{
+				if (mToast != null) mToast.cancel();
 				if(inliers >= Integer.parseInt(mMinInliers))
 				{
 					if(optimizationMaxError > 0.0f)
@@ -1655,6 +1809,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 			{
 				if(currentTime - mLastFastMovementNotificationStamp > 3)
 				{
+					if (mToast != null) mToast.cancel();
 					mToast.setText("Move slower... blurry images are not added to map (\"Settings->Mapping...->Maximum Motion Speed\" is enabled).");
 					mToast.show();
 				}
@@ -1906,7 +2061,14 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		 * "Unknown"
 		 */
 		String str = null;
-		if(key.equals("TangoServiceException"))
+		if(key.equals("UpstreamRelocationFiltered"))
+		{
+			if(mItemDebugVisibility != null && mItemDebugVisibility.isChecked()) {
+				str = String.format("%s re-localization filtered because an acceleration of %s has been detected, which is over current threshold set in the settings.",
+					mCameraDriver == 2?"AREngine":"ARCore", value);
+			}
+		}
+		else if(key.equals("TangoServiceException"))
 			str = String.format("Tango service exception: %s", value);
 		else if(key.equals("FisheyeOverExposed"))
 			;//str = String.format("The fisheye image is over exposed with average pixel value %s px.", value);
@@ -1988,6 +2150,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 				final int loopDetected = RTABMapLib.postProcessing(nativeApplication, -1);
 				runOnUiThread(new Runnable() {
 					public void run() {
+						updateState(State.STATE_IDLE);
 						if(mExportProgressDialog.isShowing())
 						{
 							mExportProgressDialog.dismiss();
@@ -2020,8 +2183,6 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 							mProgressDialog.dismiss();
 							mToast.makeText(getActivity(), String.format("Optimization canceled"), mToast.LENGTH_LONG).show();
 						}
-
-						updateState(State.STATE_IDLE);
 					}
 				});
 			} 
@@ -2140,7 +2301,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 			mButtonCloseVisualization.setVisibility(mHudVisible && mState != State.STATE_VISUALIZING_CAMERA?View.VISIBLE:View.INVISIBLE);
 			mButtonCloseVisualization.setEnabled(true);
 			mButtonSaveOnDevice.setVisibility(mHudVisible && mState != State.STATE_VISUALIZING_CAMERA?View.VISIBLE:View.INVISIBLE);
-			mButtonShareOnSketchfab.setVisibility(mHudVisible && mState != State.STATE_VISUALIZING_CAMERA?View.VISIBLE:View.INVISIBLE);
+			//mButtonShareOnSketchfab.setVisibility(mHudVisible && mState != State.STATE_VISUALIZING_CAMERA?View.VISIBLE:View.INVISIBLE);
 			mButtonLibrary.setVisibility(View.INVISIBLE);
 			mButtonNewScan.setVisibility(View.INVISIBLE);
 			mItemSave.setEnabled(mState != State.STATE_VISUALIZING_CAMERA);
@@ -2213,6 +2374,12 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		{
 			mGLView.setRenderMode(GLSurfaceView.RENDERMODE_CONTINUOUSLY);
 		}
+		
+		if(mState == State.STATE_WELCOME && mIntentDbToOpen != null)
+		{
+			openDatabase(mIntentDbToOpen, false);
+			mIntentDbToOpen = null;
+		}
 	}
 
 	private void startMapping() {
@@ -2622,7 +2789,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 							SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(getActivity());
 							boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
 							String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
-							RTABMapLib.openDatabase(nativeApplication, tmpDatabase, databaseInMemory, false);
+							RTABMapLib.openDatabase(nativeApplication, tmpDatabase, databaseInMemory, false, true);
 
 							mItemLocalizationMode.setEnabled(!mItemDataRecorderMode.isChecked());		   
 
@@ -2776,16 +2943,109 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		mOpenedDatabasePath = "";
 		SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
 		boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
-		String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
-		RTABMapLib.openDatabase(nativeApplication, tmpDatabase, databaseInMemory, false);
-
-		if(!(mState == State.STATE_CAMERA || mState ==State.STATE_MAPPING))
+		final String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
+		
+		File newFile = new File(tmpDatabase);
+		final int fileSizeMB = (int)newFile.length()/(1024 * 1024);
+		if(!(mState == State.STATE_CAMERA || mState ==State.STATE_MAPPING) &&
+			newFile.exists() && 
+			fileSizeMB>1) // >1MB
 		{
-			setCamera(1);
-			startCamera(String.format("Hold Tight! Initializing Camera Service...\n"
-					+ "Tip: If the camera is still drifting just after the mapping has started, do \"Reset\"."));
+			AlertDialog d2 = new AlertDialog.Builder(getActivity())
+					.setCancelable(false)
+					.setTitle("Recovery")
+					.setMessage(String.format("The previous session (%d MB) was not correctly saved, do you want to recover it?", fileSizeMB))
+					.setNegativeButton("Ignore", new DialogInterface.OnClickListener() {
+						public void onClick(DialogInterface dialog, int which) {
+							(new File(tmpDatabase)).delete();
+							newScan();
+						}
+					})
+					.setNeutralButton("Cancel", new DialogInterface.OnClickListener() {
+						public void onClick(DialogInterface dialog, int which) {
+							// do nothing
+						}
+					})
+					.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
+						public void onClick(DialogInterface dialog, int which) {
+							final String fileName = new SimpleDateFormat("yyMMdd-HHmmss").format(new Date()) + ".db";
+							final String outputDbPath = mWorkingDirectory + fileName;
+							
+							mExportProgressDialog.setTitle("Recovering");
+							mExportProgressDialog.setMessage(String.format("Please wait while recovering data..."));
+							mExportProgressDialog.setProgress(0);
+
+							final State previousState = mState;
+
+							mExportProgressDialog.show();
+							updateState(State.STATE_PROCESSING);
+
+							Thread exportThread = new Thread(new Runnable() {
+								public void run() {
+
+									final long startTime = System.currentTimeMillis()/1000;
+
+									final boolean success = RTABMapLib.recover(
+											nativeApplication, 
+											tmpDatabase,
+											outputDbPath);
+									runOnUiThread(new Runnable() {
+										public void run() {
+											if(mExportProgressDialog.isShowing())
+											{							
+												if(success)
+												{								
+													AlertDialog d2 = new AlertDialog.Builder(getActivity())
+															.setCancelable(false)
+															.setTitle("Database saved!")
+															.setMessage(String.format("Database \"%s\" (%d MB) successfully saved!", fileName, fileSizeMB))
+															.setPositiveButton("OK", new DialogInterface.OnClickListener() {
+																public void onClick(DialogInterface dialog, int which) {
+																	openDatabase(fileName, false);
+																}
+															})
+															.create();
+													d2.setCanceledOnTouchOutside(true);
+													d2.show();
+												}
+												else
+												{
+													updateState(previousState);
+													mToast.makeText(getActivity(), String.format("Recovery failed!"), mToast.LENGTH_LONG).show();
+												}
+												mExportProgressDialog.dismiss();
+											}
+											else
+											{
+												mToast.makeText(getActivity(), String.format("Recovery canceled"), mToast.LENGTH_LONG).show();
+												updateState(previousState);
+											}
+										}
+									});
+								} 
+							});
+							exportThread.start();
+							
+							refreshSystemMediaScanDataBase(getActivity(), outputDbPath);
+						}
+					})
+					.create();
+			d2.setCanceledOnTouchOutside(false);
+			d2.show();
+		}
+		else
+		{
+			RTABMapLib.openDatabase(nativeApplication, tmpDatabase, databaseInMemory, false, true);
+	
+			if(!(mState == State.STATE_CAMERA || mState ==State.STATE_MAPPING))
+			{
+				setCamera(0);
+				startCamera(String.format("Hold Tight! Initializing Camera Service...\n"
+						+ "Tip: If the camera is still drifting just after the mapping has started, do \"Reset\"."));
+			}
 		}
 	}
+		
 
 	private void openDatabase()
 	{
@@ -3211,7 +3471,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		context.sendBroadcast(mediaScanIntent);
 	}
 
-	private void saveDatabase(String fileName)
+	private void saveDatabase(final String fileName)
 	{
 		final String newDatabasePath = mWorkingDirectory + fileName + ".db";
 		final String newDatabasePathHuman = mWorkingDirectoryHuman + fileName + ".db";
@@ -3243,7 +3503,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 							mSavedStamp = System.currentTimeMillis();
 							msg = String.format("Database saved to \"%s\".", newDatabasePathHuman);	
 						}
-
+									            
 						// build notification
 						Intent intent = new Intent(getActivity(), RTABMapActivity.class);
 						// use System.currentTimeMillis() to have a unique ID for the pending intent
@@ -3276,7 +3536,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 						AlertDialog d2 = new AlertDialog.Builder(getActivity())
 								.setCancelable(false)
 								.setTitle("Database saved!")
-								.setMessage(String.format("Database \"%s\" (%d MB) successfully saved on the SD-CARD!", newDatabasePathHuman, fileSizeMB))
+								.setMessage(String.format("Database \"%s\" (%d MB) successfully saved!", newDatabasePathHuman, fileSizeMB))
 								.setPositiveButton("OK", new DialogInterface.OnClickListener() {
 									public void onClick(DialogInterface dialog, int which) {
 										resetNoTouchTimer(true);
@@ -3330,30 +3590,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 				dialog.dismiss();
 				if(!fileName.isEmpty())
 				{
-					File newFile = new File(mWorkingDirectory + RTABMAP_EXPORT_DIR + fileName + ".zip");
-					if(newFile.exists())
-					{
-						AlertDialog ad = new AlertDialog.Builder(getActivity())
-								.setCancelable(false)
-								.setTitle("File Already Exists")
-								.setMessage("Do you want to overwrite the existing file?")
-								.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
-									public void onClick(DialogInterface dialog, int which) {
-										writeExportedFiles(fileName);
-									}
-								})
-								.setNegativeButton("No", new DialogInterface.OnClickListener() {
-									public void onClick(DialogInterface dialog, int which) {
-										saveOnDevice();
-									}
-								}).create();
-						ad.setCanceledOnTouchOutside(false);
-						ad.show();
-					}
-					else
-					{
-						writeExportedFiles(fileName);
-					}
+					writeExportedFiles(fileName);
 				}
 			}
 		});
@@ -3367,7 +3604,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 	{		
 		Log.i(TAG, String.format("Write exported mesh to \"%s\"", fileName));
 
-		mProgressDialog.setTitle("Saving to sd-card");
+		mProgressDialog.setTitle("Exporting");
 		mProgressDialog.setMessage(String.format("Compressing the files..."));
 		mProgressDialog.show();
 
@@ -3393,7 +3630,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 				}
 				File exportDir = new File(mWorkingDirectory + RTABMAP_EXPORT_DIR);
 				exportDir.mkdirs();
-
+				
 				final String pathHuman = mWorkingDirectoryHuman + RTABMAP_EXPORT_DIR + fileName + ".zip";
 				final String zipOutput = mWorkingDirectory+RTABMAP_EXPORT_DIR+fileName+".zip";
 				if(RTABMapLib.writeExportedMesh(nativeApplication, mWorkingDirectory + RTABMAP_TMP_DIR, RTABMAP_TMP_FILENAME))
@@ -3420,7 +3657,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 							final String msg = e.getMessage();
 							runOnUiThread(new Runnable() {
 								public void run() {
-									mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! Error=%s", pathHuman, msg), mToast.LENGTH_LONG).show();
+									mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! Error=%s", fileName, msg), mToast.LENGTH_LONG).show();
 								}
 							});
 						}
@@ -3439,13 +3676,14 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 							AlertDialog d = new AlertDialog.Builder(getActivity())
 									.setCancelable(false)
 									.setTitle("Mesh Saved!")
-									.setMessage(String.format("Mesh \"%s\" (%d MB) successfully exported on the SD-CARD! Share it?", pathHuman, fileSizeMB))
+									.setMessage(String.format("Mesh \"%s\" (%d MB) successfully exported! Share it?", pathHuman, fileSizeMB))
 									.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
 										public void onClick(DialogInterface dialog, int which) {
 											// Send to...
 											Intent shareIntent = new Intent();
 											shareIntent.setAction(Intent.ACTION_SEND);
-											shareIntent.putExtra(Intent.EXTRA_STREAM, Uri.fromFile(f));
+											shareIntent.putExtra(Intent.EXTRA_STREAM, FileProvider.getUriForFile(getActivity(), getActivity().getApplicationContext().getPackageName() + ".provider", f));
+											shareIntent.addFlags(Intent.FLAG_GRANT_READ_URI_PERMISSION);
 											shareIntent.setType("application/zip");
 											startActivity(Intent.createChooser(shareIntent, "Sharing..."));
 
@@ -3467,7 +3705,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 					runOnUiThread(new Runnable() {
 						public void run() {
 							mProgressDialog.dismiss();
-							mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! No files found in tmp directory!? Last export may have failed or have been canceled.", pathHuman), mToast.LENGTH_LONG).show();
+							mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! No files found in tmp directory!? Last export may have failed or have been canceled.", fileName), mToast.LENGTH_LONG).show();
 							resetNoTouchTimer(true);
 						}
 					});
@@ -3494,8 +3732,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		Thread openThread = new Thread(new Runnable() {
 			public void run() {
 
-				final String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;				
-				final int status = RTABMapLib.openDatabase2(nativeApplication, mOpenedDatabasePath, tmpDatabase, databaseInMemory, optimize);
+				final int status = RTABMapLib.openDatabase(nativeApplication, mOpenedDatabasePath, databaseInMemory, optimize, false);
 
 				runOnUiThread(new Runnable() {
 					public void run() {
@@ -3574,20 +3811,6 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		openThread.start();	
 	}
 
-	public void copy(File src, File dst) throws IOException {
-		InputStream in = new FileInputStream(src);
-		OutputStream out = new FileOutputStream(dst);
-
-		// Transfer bytes from in to out
-		byte[] buf = new byte[1024];
-		int len;
-		while ((len = in.read(buf)) > 0) {
-			out.write(buf, 0, len);
-		}
-		in.close();
-		out.close();
-	}
-
 	private void shareToSketchfab()
 	{
 		if (!PermissionHelper.hasPermission(this, Manifest.permission.INTERNET)) {

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

@@ -34,9 +34,10 @@ public class RTABMapLib
     
     public static native void setScreenRotation(long nativeApplication, int displayRotation, int cameraRotation);
     
-    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 int openDatabase(long nativeApplication, String databasePath, boolean databaseInMemory, boolean optimize, boolean clearDatabase);
     
+    public static native boolean recover(long nativeApplication, String from, String to);
+
     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);
@@ -75,6 +76,7 @@ public class RTABMapLib
     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 setUpstreamRelocalizationAccThr(long nativeApplication, float value);
     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);
@@ -134,13 +136,29 @@ public class RTABMapLib
     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,
+    		float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
+    		float rgbFrameX, float rgbFrameY, float rgbFrameZ, float rgbFrameQX, float rgbFrameQY, float rgbFrameQZ, float rgbFrameQW,
     		double stamp, 
     		ByteBuffer yPlane, ByteBuffer uPlane, ByteBuffer vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
+    		FloatBuffer points, int pointsLen,
+    		float vx, float vy, float vz, float vqx, float vqy, float vqz, float vqw, //view matrix
+            float p00, float p11, float p02, float p12, float p22, float p32, float p23, // projection matrix
+            float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7); // tex coord
+    public static native void postOdometryEventDepth(long nativeApplication,
+    		float x, float y, float z, float qx, float qy, float qz, float qw,
+    		float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
+    		float depth_fx, float depth_fy, float depth_cx, float depth_cy,
+    		float rgbFrameX, float rgbFrameY, float rgbFrameZ, float rgbFrameQX, float rgbFrameQY, float rgbFrameQZ, float rgbFrameQW,
+    		float depthFrameX, float depthFrameY, float depthFrameZ, float depthFrameQX, float depthFrameQY, float depthFrameQZ, float depthFrameQW,
+    		double rgbStamp,
+    		double depthStamp,
+    		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);
+    		FloatBuffer points, int pointsLen,
+    		float vx, float vy, float vz, float vqx, float vqy, float vqz, float vqw, //view matrix
+            float p00, float p11, float p02, float p12, float p22, float p32, float p23, // projection matrix
+            float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7); // tex coord
     
 }

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

@@ -44,12 +44,14 @@ public class Renderer implements GLSurfaceView.Renderer {
 	private float mTextColor = 1.0f;
 	private int mOffset = 0;
 	private ARCoreSharedCamera mCamera = null;
+	private DisplayRotationHelper mDisplayRotationHelper = null;
 	
 	private Vector<TextObject> mTexts;
 
 	private static RTABMapActivity mActivity;
 	public Renderer(RTABMapActivity c) {
 		mActivity = c;
+		mDisplayRotationHelper = new DisplayRotationHelper(/*context=*/ c);
 	}
 
 	private ProgressDialog mProgressDialog = null;
@@ -76,6 +78,11 @@ public class Renderer implements GLSurfaceView.Renderer {
 	public void setCamera(ARCoreSharedCamera camera)
 	{
 		mCamera = camera;
+		if(mCamera!=null)
+		{
+			mDisplayRotationHelper.onDisplayChanged(0);
+			mDisplayRotationHelper.updateSessionIfNeeded(mCamera);
+		}
 	}
 
 	// Render loop of the Gl context.
@@ -84,17 +91,23 @@ public class Renderer implements GLSurfaceView.Renderer {
 		synchronized (this) {
 			if(mActivity.nativeApplication != 0)
 			{
+				int step = 0;
 				try
 				{
 					if(mCamera!=null)
 					{
+						step=1;
 						mCamera.updateGL();
+						
 					}
 					
+					step=2;
+					
 					final int value = RTABMapLib.render(mActivity.nativeApplication);
 		
 					if(mTextManager!=null)
 					{
+						step=3;
 						if(mTextChanged)
 						{
 							mTextChanged = false;
@@ -118,7 +131,7 @@ public class Renderer implements GLSurfaceView.Renderer {
 						Matrix.translateM(mvp, 0, mtrxProjectionAndView, 0, 0, mOffset, 0);
 						mTextManager.Draw(mvp);
 					}
-		
+					step=4;
 					if(value != 0 && mProgressDialog != null && mProgressDialog.isShowing())
 					{
 						mActivity.runOnUiThread(new Runnable() {
@@ -135,7 +148,7 @@ public class Renderer implements GLSurfaceView.Renderer {
 							public void run() {
 								if(mToast!=null)
 								{
-									mToast.makeText(mActivity, String.format("Out of Memory!"), Toast.LENGTH_SHORT).show();
+									mToast.makeText(mActivity.getApplicationContext(), String.format("Out of Memory!"), Toast.LENGTH_SHORT).show();
 								}
 							}
 						});
@@ -146,7 +159,7 @@ public class Renderer implements GLSurfaceView.Renderer {
 							public void run() {
 								if(mToast!=null)
 								{
-									mToast.makeText(mActivity, String.format("Rendering Error!"), Toast.LENGTH_SHORT).show();
+									mToast.makeText(mActivity.getApplicationContext(), String.format("Rendering Error!"), Toast.LENGTH_SHORT).show();
 								}
 							}
 						});
@@ -154,11 +167,14 @@ public class Renderer implements GLSurfaceView.Renderer {
 				}
 				catch(final Exception e)
 				{
+					final int stepF = step;
 					mActivity.runOnUiThread(new Runnable() {
 						public void run() {
 							if(mToast!=null)
 							{
-								mToast.makeText(mActivity, String.format("Rendering error! %s", e.getMessage()), Toast.LENGTH_SHORT).show();
+								String msg = String.format("Rendering error! (exception=%s) step=%d", e.getMessage(), stepF);
+								Log.e("RTABMapActivity", msg);
+								mToast.makeText(mActivity.getApplicationContext(), msg, Toast.LENGTH_LONG).show();
 							}
 						}
 		
@@ -176,6 +192,12 @@ public class Renderer implements GLSurfaceView.Renderer {
 			RTABMapLib.setupGraphic(mActivity.nativeApplication, width, height);
 		}
 		
+		mDisplayRotationHelper.onSurfaceChanged(width, height);
+		if(mCamera!=null)
+		{
+			mDisplayRotationHelper.updateSessionIfNeeded(mCamera);
+		}
+		
 		mSurfaceHeight = (float)height;
 
 		// Clear our matrices

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

@@ -222,6 +222,7 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
         ((Preference)findPreference(getString(R.string.pref_key_background_color))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_background_color))).getEntry() + ") "+getString(R.string.pref_summary_background_color));
         ((Preference)findPreference(getString(R.string.pref_key_rendering_texture_decimation))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_rendering_texture_decimation))).getEntry() + ") "+getString(R.string.pref_summary_rendering_texture_decimation));
           
+        ((Preference)findPreference(getString(R.string.pref_key_arcore_relocalization_acc_thr))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_arcore_relocalization_acc_thr))).getEntry() + ") "+getString(R.string.pref_summary_arcore_relocalization_acc_thr));
         ((Preference)findPreference(getString(R.string.pref_key_update_rate))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_update_rate))).getEntry() + ") "+getString(R.string.pref_summary_update_rate));
         ((Preference)findPreference(getString(R.string.pref_key_max_speed))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_max_speed))).getEntry() + ") "+getString(R.string.pref_summary_max_speed));
         ((Preference)findPreference(getString(R.string.pref_key_time_thr))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_time_thr))).getEntry() + ") "+getString(R.string.pref_summary_time_thr));
@@ -284,6 +285,7 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
         	if(key.compareTo(getString(R.string.pref_key_background_color))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_background_color));
         	if(key.compareTo(getString(R.string.pref_key_rendering_texture_decimation))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_rendering_texture_decimation));
         	
+        	if(key.compareTo(getString(R.string.pref_key_arcore_relocalization_acc_thr))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_arcore_relocalization_acc_thr));
         	if(key.compareTo(getString(R.string.pref_key_update_rate))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_update_rate));
         	if(key.compareTo(getString(R.string.pref_key_max_speed))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_max_speed));
         	if(key.compareTo(getString(R.string.pref_key_time_thr))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_time_thr));

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

@@ -2,18 +2,33 @@ package com.introlab.rtabmap;
 
 
 import android.graphics.ImageFormat;
+import android.hardware.camera2.CameraAccessException;
+import android.hardware.camera2.CameraCaptureSession;
+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.media.ImageReader;
 import android.os.Handler;
 import android.os.HandlerThread;
+import android.support.annotation.NonNull;
 import android.util.Log;
+import android.view.Surface;
 
 import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
 
 public class TOF_ImageReader implements ImageReader.OnImageAvailableListener {
 
-    public int WIDTH;
-    public int HEIGHT;
+	public static final String TAG = TOF_ImageReader.class.getSimpleName();
+	
+	public int WIDTH;
+	public int HEIGHT;
+	
     public ImageReader imageReader;
     public int frameCount = 0;
     public long timestamp;
@@ -21,16 +36,177 @@ public class TOF_ImageReader implements ImageReader.OnImageAvailableListener {
     // Looper handler thread.
     private HandlerThread backgroundThread;
     // Looper handler.
-    private Handler backgroundHandler;
+    public Handler backgroundHandler;
 
     public ByteBuffer depth16_raw;
+    
+    // Camera capture session. 
+ 	private CameraCaptureSession captureSession = null;
+ 	// Camera device. 
+ 	private CameraDevice cameraDevice = null;
+ 	
+ // Camera preview capture request builder
+ 	private CaptureRequest.Builder previewCaptureRequestBuilder;
+
 
     TOF_ImageReader(){
     }
+    
+    public void close()
+    {
+    	Log.i(TAG, "close()");
+    	if (captureSession != null) {
+			captureSession.close();
+			captureSession = null;
+		}
+		if (cameraDevice != null) {
+			cameraDevice.close();
+			cameraDevice = null;
+		}
+		
+		if (imageReader != null) {
+			imageReader.close();
+			imageReader = null;
+		}
+    }
+    
+ // Camera device state callback.
+ 	public final CameraDevice.StateCallback cameraDeviceCallback =
+ 			new CameraDevice.StateCallback() {
+ 		@Override
+ 		public void onOpened(@NonNull CameraDevice cameraDevice) {
+ 			Log.d(TAG, "Camera depth ID " + cameraDevice.getId() + " opened.");
+ 			TOF_ImageReader.this.cameraDevice = cameraDevice;
+ 			createCameraPreviewSession();
+ 		}
+
+ 		@Override
+ 		public void onClosed(@NonNull CameraDevice cameraDevice) {
+ 			Log.d(TAG, "Camera device ID " + cameraDevice.getId() + " closed.");
+ 			TOF_ImageReader.this.cameraDevice = null;
+ 		}
+
+ 		@Override
+ 		public void onDisconnected(@NonNull CameraDevice cameraDevice) {
+ 			Log.w(TAG, "Camera depth ID " + cameraDevice.getId() + " disconnected.");
+ 			cameraDevice.close();
+ 			TOF_ImageReader.this.cameraDevice = null;
+ 		}
+
+ 		@Override
+ 		public void onError(@NonNull CameraDevice cameraDevice, int error) {
+ 			Log.e(TAG, "Camera depth ID " + cameraDevice.getId() + " error " + error);
+ 			cameraDevice.close();
+ 			TOF_ImageReader.this.cameraDevice = null;
+ 		}
+ 	};
+ 	
+ 	private CameraCaptureSession.StateCallback captureStateCallback = 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.");
+		}
+
+		@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);
+ 		}
+ 	};
+ 	
+ 	// 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.");
+		frameCount = 0;
+		try {
+			
+			// Create an ARCore compatible capture request using `TEMPLATE_RECORD`.
+			previewCaptureRequestBuilder = cameraDevice.createCaptureRequest(CameraDevice.TEMPLATE_RECORD);
+
+			previewCaptureRequestBuilder.addTarget(imageReader.getSurface());
+
+			// Create camera capture session for camera preview using callback.
+			cameraDevice.createCaptureSession(Arrays.asList(imageReader.getSurface()), captureStateCallback, backgroundHandler);
+
+		} catch (CameraAccessException e) {
+			Log.e(TAG, "CameraAccessException", e);
+		}
+	}
 
     public void createImageReader(int width, int height){
-        this.WIDTH = width;
-        this.HEIGHT = height;
+    	Log.w(TAG, String.valueOf(width) + "x" + String.valueOf(height));
+    	WIDTH = width;
+    	HEIGHT = height;
         this.imageReader =
                 ImageReader.newInstance(
                         width,
@@ -45,18 +221,20 @@ public class TOF_ImageReader implements ImageReader.OnImageAvailableListener {
     public void onImageAvailable(ImageReader imageReader) {
         Image image  = imageReader.acquireLatestImage();
         if (image == null) {
-            Log.w("RTABMapActivity", "onImageAvailable: Skipping null image.");
+            Log.w(TAG, "onImageAvailable: Skipping null image.");
             return;
         }
         else{
             if(image.getFormat() == ImageFormat.DEPTH16){
-                this.timestamp = image.getTimestamp();
-                depth16_raw = image.getPlanes()[0].getBuffer().asReadOnlyBuffer();
+                synchronized (this) {
+                	 depth16_raw = image.getPlanes()[0].getBuffer().asReadOnlyBuffer();
+                	 timestamp = image.getTimestamp();
+				}
                 // copy raw undecoded DEPTH16 format depth data to NativeBuffer
                 frameCount++;
             }
             else{
-                Log.w("RTABMapActivity", "onImageAvailable: depth image not in DEPTH16 format, skipping image");
+                Log.w(TAG, "onImageAvailable: depth image not in DEPTH16 format, skipping image");
             }
         }
         image.close();
@@ -78,7 +256,7 @@ public class TOF_ImageReader implements ImageReader.OnImageAvailableListener {
                 this.backgroundThread = null;
                 this.backgroundHandler = null;
             } catch (InterruptedException e) {
-                Log.e("RTABMapActivity", "Interrupted while trying to join depth background handler thread", e);
+                Log.e(TAG, "Interrupted while trying to join depth background handler thread", e);
             }
         }
     }

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

@@ -7,7 +7,11 @@ import java.io.FileInputStream;
 import java.io.FileOutputStream;
 import java.io.FilenameFilter;
 import java.io.IOException;
+import java.util.ArrayList;
 import java.util.Arrays;
+import java.util.Collections;
+import java.util.Comparator;
+import java.util.List;
 import java.util.zip.ZipEntry;
 import java.util.zip.ZipOutputStream;
 
@@ -55,7 +59,7 @@ public class Util {
 		}
 	}
 
-	public static String[] loadFileList(String directory, final boolean databasesOnly) {
+	public static String[] loadFileList(final String directory, final boolean databasesOnly) {
 		File path = new File(directory); 
 		String fileList[];
 		try {
@@ -83,6 +87,25 @@ public class Util {
 			};
 			fileList = path.list(filter);
 			Arrays.sort(fileList);
+			List<String> fileListt = new ArrayList<String>(Arrays.asList(fileList));
+			Collections.sort(fileListt, new Comparator<String>() {
+
+		        @Override
+		        public int compare(String filename1, String filename2) {
+		        	File file1 = new File(directory+"/"+filename1);
+		        	File file2 = new File(directory+"/"+filename2);
+		            long k = file1.lastModified() - file2.lastModified();
+		            if(k > 0){
+		               return -1;
+		            }else if(k == 0){
+		               return 0;
+		            }else{
+		              return 1;
+		           }
+		        }
+		    });
+			fileListt.toArray(fileList);
+			
 		}
 		else {
 			fileList = new String[0];

app/ios/.gitignore

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

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

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

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

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

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

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

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

@@ -0,0 +1,86 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Scheme
+   LastUpgradeVersion = "1230"
+   version = "1.3">
+   <BuildAction
+      parallelizeBuildables = "YES"
+      buildImplicitDependencies = "YES">
+      <BuildActionEntries>
+         <BuildActionEntry
+            buildForTesting = "YES"
+            buildForRunning = "YES"
+            buildForProfiling = "YES"
+            buildForArchiving = "YES"
+            buildForAnalyzing = "YES">
+            <BuildableReference
+               BuildableIdentifier = "primary"
+               BlueprintIdentifier = "4EE015C1259A2AF0008CCE65"
+               BuildableName = "RTABMapApp.app"
+               BlueprintName = "RTABMapApp"
+               ReferencedContainer = "container:RTABMapApp.xcodeproj">
+            </BuildableReference>
+         </BuildActionEntry>
+      </BuildActionEntries>
+   </BuildAction>
+   <TestAction
+      buildConfiguration = "Release"
+      selectedDebuggerIdentifier = "Xcode.DebuggerFoundation.Debugger.LLDB"
+      selectedLauncherIdentifier = "Xcode.DebuggerFoundation.Launcher.LLDB"
+      shouldUseLaunchSchemeArgsEnv = "YES">
+      <Testables>
+      </Testables>
+   </TestAction>
+   <LaunchAction
+      buildConfiguration = "Release"
+      selectedDebuggerIdentifier = "Xcode.DebuggerFoundation.Debugger.LLDB"
+      selectedLauncherIdentifier = "Xcode.DebuggerFoundation.Launcher.LLDB"
+      launchStyle = "0"
+      useCustomWorkingDirectory = "NO"
+      ignoresPersistentStateOnLaunch = "NO"
+      debugDocumentVersioning = "YES"
+      debugServiceExtension = "internal"
+      enableGPUFrameCaptureMode = "2"
+      allowLocationSimulation = "YES">
+      <BuildableProductRunnable
+         runnableDebuggingMode = "0">
+         <BuildableReference
+            BuildableIdentifier = "primary"
+            BlueprintIdentifier = "4EE015C1259A2AF0008CCE65"
+            BuildableName = "RTABMapApp.app"
+            BlueprintName = "RTABMapApp"
+            ReferencedContainer = "container:RTABMapApp.xcodeproj">
+         </BuildableReference>
+      </BuildableProductRunnable>
+      <EnvironmentVariables>
+         <EnvironmentVariable
+            key = "IDEPreferLogStreaming"
+            value = "YES"
+            isEnabled = "YES">
+         </EnvironmentVariable>
+      </EnvironmentVariables>
+   </LaunchAction>
+   <ProfileAction
+      buildConfiguration = "Release"
+      shouldUseLaunchSchemeArgsEnv = "YES"
+      savedToolIdentifier = ""
+      useCustomWorkingDirectory = "NO"
+      debugDocumentVersioning = "YES">
+      <BuildableProductRunnable
+         runnableDebuggingMode = "0">
+         <BuildableReference
+            BuildableIdentifier = "primary"
+            BlueprintIdentifier = "4EE015C1259A2AF0008CCE65"
+            BuildableName = "RTABMapApp.app"
+            BlueprintName = "RTABMapApp"
+            ReferencedContainer = "container:RTABMapApp.xcodeproj">
+         </BuildableReference>
+      </BuildableProductRunnable>
+   </ProfileAction>
+   <AnalyzeAction
+      buildConfiguration = "Release">
+   </AnalyzeAction>
+   <ArchiveAction
+      buildConfiguration = "Release"
+      revealArchiveInOrganizer = "YES">
+   </ArchiveAction>
+</Scheme>

app/ios/RTABMapApp/.gitignore

@@ -0,0 +1 @@
+Libraries

app/ios/RTABMapApp/AppDelegate.swift

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

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

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

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

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

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

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

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

@@ -0,0 +1,86 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<document type="com.apple.InterfaceBuilder3.CocoaTouch.Storyboard.XIB" version="3.0" toolsVersion="19455" targetRuntime="iOS.CocoaTouch" propertyAccessControl="none" useAutolayout="YES" launchScreen="YES" useTraitCollections="YES" useSafeAreas="YES" colorMatched="YES" initialViewController="01J-lp-oVM">
+    <device id="retina6_1" orientation="portrait" appearance="light"/>
+    <dependencies>
+        <deployment identifier="iOS"/>
+        <plugIn identifier="com.apple.InterfaceBuilder.IBCocoaTouchPlugin" version="19454"/>
+        <capability name="Safe area layout guides" minToolsVersion="9.0"/>
+        <capability name="documents saved in the Xcode 8 format" minToolsVersion="8.0"/>
+    </dependencies>
+    <scenes>
+        <!--View Controller-->
+        <scene sceneID="EHf-IW-A2E">
+            <objects>
+                <viewController id="01J-lp-oVM" sceneMemberID="viewController">
+                    <view key="view" contentMode="scaleToFill" id="Ze5-6b-2t3">
+                        <rect key="frame" x="0.0" y="0.0" width="414" height="896"/>
+                        <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
+                        <subviews>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="DqX-Vd-Tpo" userLabel="ViewButton">
+                                <rect key="frame" x="342" y="799.5" width="52" height="40.5"/>
+                                <constraints>
+                                    <constraint firstAttribute="width" constant="52" id="m5V-wG-7GI"/>
+                                    <constraint firstAttribute="height" constant="44" id="pbH-yg-ZHL"/>
+                                </constraints>
+                                <color key="tintColor" white="0.33333333333333331" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <state key="normal" backgroundImage="eye" catalog="system">
+                                    <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                </state>
+                            </button>
+                            <stackView opaque="NO" contentMode="scaleToFill" spacing="20" translatesAutoresizingMaskIntoConstraints="NO" id="Ybb-6v-Prf">
+                                <rect key="frame" x="254" y="64" width="140" height="60"/>
+                                <subviews>
+                                    <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="qpg-QD-geo" userLabel="LibraryButton">
+                                        <rect key="frame" x="0.0" y="1" width="60" height="57.5"/>
+                                        <constraints>
+                                            <constraint firstAttribute="height" constant="60" id="MMK-i4-ipl"/>
+                                            <constraint firstAttribute="width" constant="60" id="MSB-kf-WKH"/>
+                                        </constraints>
+                                        <color key="tintColor" white="0.33333333333333331" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        <state key="normal" backgroundImage="folder" catalog="system">
+                                            <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        </state>
+                                    </button>
+                                    <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="Xjn-gQ-W57" userLabel="MenuButton">
+                                        <rect key="frame" x="80" y="0.5" width="60" height="59"/>
+                                        <constraints>
+                                            <constraint firstAttribute="height" constant="60" id="h7m-oO-bNI"/>
+                                            <constraint firstAttribute="width" constant="60" id="q9I-XS-C8P"/>
+                                        </constraints>
+                                        <color key="tintColor" white="0.33333333333333331" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        <state key="normal" backgroundImage="ellipsis.circle" catalog="system"/>
+                                    </button>
+                                </subviews>
+                            </stackView>
+                            <imageView clipsSubviews="YES" userInteractionEnabled="NO" contentMode="scaleAspectFit" horizontalHuggingPriority="251" verticalHuggingPriority="251" image="RTAB-Map1024" translatesAutoresizingMaskIntoConstraints="NO" id="TNo-z5-pM0">
+                                <rect key="frame" x="177" y="418" width="60" height="60"/>
+                                <constraints>
+                                    <constraint firstAttribute="width" constant="60" id="Lio-4G-f3t"/>
+                                    <constraint firstAttribute="height" constant="60" id="Q5D-zG-PAv"/>
+                                </constraints>
+                            </imageView>
+                        </subviews>
+                        <viewLayoutGuide key="safeArea" id="6Tk-OE-BBY"/>
+                        <color key="backgroundColor" white="0.0" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                        <constraints>
+                            <constraint firstItem="TNo-z5-pM0" firstAttribute="centerY" secondItem="Ze5-6b-2t3" secondAttribute="centerY" id="4fp-du-TTg"/>
+                            <constraint firstItem="Ybb-6v-Prf" firstAttribute="top" secondItem="6Tk-OE-BBY" secondAttribute="top" constant="20" id="Dcs-0a-Uhe"/>
+                            <constraint firstItem="6Tk-OE-BBY" firstAttribute="trailing" secondItem="DqX-Vd-Tpo" secondAttribute="trailing" constant="20" id="TTR-AB-iCr"/>
+                            <constraint firstItem="6Tk-OE-BBY" firstAttribute="trailing" secondItem="Ybb-6v-Prf" secondAttribute="trailing" constant="20" id="YPK-bW-6AC"/>
+                            <constraint firstItem="6Tk-OE-BBY" firstAttribute="bottom" secondItem="DqX-Vd-Tpo" secondAttribute="bottom" constant="20" id="cnW-a0-bhz"/>
+                            <constraint firstItem="TNo-z5-pM0" firstAttribute="centerX" secondItem="Ze5-6b-2t3" secondAttribute="centerX" id="epw-Qw-hdY"/>
+                        </constraints>
+                    </view>
+                </viewController>
+                <placeholder placeholderIdentifier="IBFirstResponder" id="iYj-Kq-Ea1" userLabel="First Responder" sceneMemberID="firstResponder"/>
+            </objects>
+            <point key="canvasLocation" x="52.173913043478265" y="375"/>
+        </scene>
+    </scenes>
+    <resources>
+        <image name="RTAB-Map1024" width="591" height="649"/>
+        <image name="ellipsis.circle" catalog="system" width="128" height="121"/>
+        <image name="eye" catalog="system" width="128" height="81"/>
+        <image name="folder" catalog="system" width="128" height="97"/>
+    </resources>
+</document>

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

@@ -0,0 +1,273 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<document type="com.apple.InterfaceBuilder3.CocoaTouch.Storyboard.XIB" version="3.0" toolsVersion="32700.99.1234" targetRuntime="iOS.CocoaTouch" propertyAccessControl="none" useAutolayout="YES" useTraitCollections="YES" useSafeAreas="YES" colorMatched="YES" initialViewController="zah-iI-EPt">
+    <device id="retina6_12" orientation="portrait" appearance="light"/>
+    <dependencies>
+        <deployment identifier="iOS"/>
+        <plugIn identifier="com.apple.InterfaceBuilder.IBCocoaTouchPlugin" version="22684"/>
+        <capability name="Image references" minToolsVersion="12.0"/>
+        <capability name="Safe area layout guides" minToolsVersion="9.0"/>
+        <capability name="System colors in document resources" minToolsVersion="11.0"/>
+        <capability name="documents saved in the Xcode 8 format" minToolsVersion="8.0"/>
+    </dependencies>
+    <scenes>
+        <!--GLKit View Controller-->
+        <scene sceneID="1cO-Jt-3GG">
+            <objects>
+                <glkViewController preferredFramesPerSecond="30" id="zah-iI-EPt" customClass="ViewController" customModule="RTABMapApp" customModuleProvider="target" sceneMemberID="viewController">
+                    <glkView key="view" opaque="NO" clipsSubviews="YES" multipleTouchEnabled="YES" contentMode="center" drawableDepthFormat="24" enableSetNeedsDisplay="NO" id="sqF-4e-2HU">
+                        <rect key="frame" x="0.0" y="0.0" width="393" height="852"/>
+                        <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
+                        <subviews>
+                            <stackView opaque="NO" contentMode="scaleToFill" axis="vertical" translatesAutoresizingMaskIntoConstraints="NO" id="kPv-DO-hpd">
+                                <rect key="frame" x="323" y="366" width="60" height="120"/>
+                                <subviews>
+                                    <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="mJN-Ru-yPg" userLabel="StopButton">
+                                        <rect key="frame" x="0.0" y="1" width="60" height="58.666666666666671"/>
+                                        <constraints>
+                                            <constraint firstAttribute="height" constant="60" id="g9J-0P-CmQ"/>
+                                            <constraint firstAttribute="width" constant="60" id="m06-eJ-dIn"/>
+                                        </constraints>
+                                        <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        <state key="normal" backgroundImage="stop.circle" catalog="system"/>
+                                        <connections>
+                                            <action selector="stopAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="3iJ-xb-gzb"/>
+                                        </connections>
+                                    </button>
+                                    <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="7Lv-u6-mGh" userLabel="RecordButton">
+                                        <rect key="frame" x="0.0" y="61.000000000000007" width="60" height="58.666666666666664"/>
+                                        <constraints>
+                                            <constraint firstAttribute="height" constant="60" id="DQI-eQ-v3X"/>
+                                            <constraint firstAttribute="width" constant="60" id="Oeu-YT-wMz"/>
+                                        </constraints>
+                                        <fontDescription key="fontDescription" type="system" pointSize="18"/>
+                                        <color key="tintColor" systemColor="systemRedColor"/>
+                                        <inset key="imageEdgeInsets" minX="0.0" minY="0.0" maxX="0.0" maxY="20"/>
+                                        <state key="normal" backgroundImage="record.circle" catalog="system"/>
+                                        <connections>
+                                            <action selector="recordAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="dzY-yL-YBg"/>
+                                        </connections>
+                                    </button>
+                                </subviews>
+                            </stackView>
+                            <stackView opaque="NO" contentMode="scaleToFill" spacing="20" translatesAutoresizingMaskIntoConstraints="NO" id="ozY-dg-YOd">
+                                <rect key="frame" x="233" y="79" width="140" height="60"/>
+                                <subviews>
+                                    <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="9kh-4C-KyP" userLabel="LibraryButton">
+                                        <rect key="frame" x="0.0" y="1.6666666666666643" width="60" height="57"/>
+                                        <constraints>
+                                            <constraint firstAttribute="width" constant="60" id="Ekq-3J-kUL"/>
+                                            <constraint firstAttribute="height" constant="60" id="fqe-e7-0uk"/>
+                                        </constraints>
+                                        <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        <state key="normal" backgroundImage="folder" catalog="system">
+                                            <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        </state>
+                                        <connections>
+                                            <action selector="libraryAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="WOh-uA-T5h"/>
+                                        </connections>
+                                    </button>
+                                    <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="y53-OI-O76" userLabel="MenuButton">
+                                        <rect key="frame" x="80" y="1" width="60" height="58.666666666666671"/>
+                                        <constraints>
+                                            <constraint firstAttribute="height" constant="60" id="L5T-8h-ale"/>
+                                            <constraint firstAttribute="width" constant="60" id="pLI-ns-KHQ"/>
+                                        </constraints>
+                                        <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        <state key="normal" backgroundImage="ellipsis.circle" catalog="system"/>
+                                    </button>
+                                </subviews>
+                            </stackView>
+                            <label opaque="NO" userInteractionEnabled="NO" contentMode="left" horizontalHuggingPriority="251" verticalHuggingPriority="251" text="Label" textAlignment="natural" lineBreakMode="wordWrap" baselineAdjustment="alignBaselines" adjustsFontSizeToFit="NO" translatesAutoresizingMaskIntoConstraints="NO" id="KlF-4H-k6I">
+                                <rect key="frame" x="16" y="79" width="31" height="14.333333333333329"/>
+                                <color key="backgroundColor" red="0.0" green="0.0" blue="0.0" alpha="0.29820365646258501" colorSpace="custom" customColorSpace="sRGB"/>
+                                <fontDescription key="fontDescription" type="system" pointSize="12"/>
+                                <color key="textColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <nil key="highlightedColor"/>
+                            </label>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="773-n4-lob" userLabel="ViewButton">
+                                <rect key="frame" x="321" y="756.33333333333337" width="52" height="40"/>
+                                <constraints>
+                                    <constraint firstAttribute="width" constant="52" id="epT-x2-WRc"/>
+                                    <constraint firstAttribute="height" constant="44" id="wAe-I1-qhs"/>
+                                </constraints>
+                                <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <state key="normal" backgroundImage="eye" catalog="system">
+                                    <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                </state>
+                            </button>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="012-W3-dOS" userLabel="CloseVisualization">
+                                <rect key="frame" x="111.33333333333333" y="772" width="170.33333333333337" height="22"/>
+                                <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <state key="normal" title="Close Visualization" image="xmark.square" catalog="system">
+                                    <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                </state>
+                                <connections>
+                                    <action selector="closeVisualizationAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="DqP-oy-XPe"/>
+                                </connections>
+                            </button>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="9oq-op-NGV" userLabel="StopCamera">
+                                <rect key="frame" x="134.33333333333334" y="771" width="124.33333333333334" height="22"/>
+                                <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <state key="normal" title="Stop Camera" image="xmark.square" catalog="system">
+                                    <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                </state>
+                                <connections>
+                                    <action selector="stopCameraAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="YZq-pZ-8Te"/>
+                                </connections>
+                            </button>
+                            <button opaque="NO" contentMode="scaleAspectFit" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="Jj4-ow-MwD" userLabel="NewScanButtonLarge">
+                                <rect key="frame" x="86.333333333333329" y="407" width="220.66666666666669" height="38.333333333333314"/>
+                                <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <state key="normal" title="New Mapping Session">
+                                    <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                    <imageReference key="image" image="plus.app" catalog="system" symbolScale="large"/>
+                                    <preferredSymbolConfiguration key="preferredSymbolConfiguration" configurationType="font">
+                                        <fontDescription key="fontDescription" style="UICTFontTextStyleTitle1"/>
+                                    </preferredSymbolConfiguration>
+                                </state>
+                                <connections>
+                                    <action selector="newScanAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="jL9-xF-V9K"/>
+                                </connections>
+                            </button>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="3Sc-lx-YKH">
+                                <rect key="frame" x="234" y="155" width="149" height="23.666666666666657"/>
+                                <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <state key="normal" title="Export OBJ-PLY" image="square.and.arrow.up" catalog="system"/>
+                                <connections>
+                                    <action selector="exportOBJPLYAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="md0-pv-zlf"/>
+                                </connections>
+                            </button>
+                            <slider opaque="NO" contentMode="scaleToFill" placeholderIntrinsicWidth="114" placeholderIntrinsicHeight="30" contentHorizontalAlignment="center" contentVerticalAlignment="center" value="80" minValue="0.0" maxValue="120" translatesAutoresizingMaskIntoConstraints="NO" id="30J-Tx-NRW" userLabel="OrthoClipDistanceSlider">
+                                <rect key="frame" x="-2" y="682" width="122" height="31"/>
+                                <constraints>
+                                    <constraint firstAttribute="width" constant="118" id="dsv-im-K52"/>
+                                </constraints>
+                                <connections>
+                                    <action selector="clipDistanceAction:" destination="zah-iI-EPt" eventType="valueChanged" id="iKj-nz-0KW"/>
+                                </connections>
+                            </slider>
+                            <slider opaque="NO" contentMode="scaleToFill" placeholderIntrinsicWidth="114" placeholderIntrinsicHeight="30" contentHorizontalAlignment="center" contentVerticalAlignment="center" value="90" minValue="0.0" maxValue="180" translatesAutoresizingMaskIntoConstraints="NO" id="Z1x-Af-hdf" userLabel="GridRotationSlider">
+                                <rect key="frame" x="135.66666666666666" y="727" width="121.99999999999997" height="31"/>
+                                <constraints>
+                                    <constraint firstAttribute="width" constant="118" id="KDl-lP-Jj7"/>
+                                </constraints>
+                                <connections>
+                                    <action selector="rotateGridAction:" destination="zah-iI-EPt" eventType="valueChanged" id="eiC-QR-TYH"/>
+                                </connections>
+                            </slider>
+                            <label opaque="NO" userInteractionEnabled="NO" contentMode="left" horizontalHuggingPriority="251" verticalHuggingPriority="251" text="Toast Label" textAlignment="center" lineBreakMode="wordWrap" numberOfLines="4" baselineAdjustment="alignBaselines" adjustsFontSizeToFit="NO" translatesAutoresizingMaskIntoConstraints="NO" id="JMv-UE-cvK" userLabel="ToastLabel">
+                                <rect key="frame" x="51" y="668.33333333333337" width="291" height="20.333333333333371"/>
+                                <color key="backgroundColor" white="0.0" alpha="0.3002232142857143" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <accessibility key="accessibilityConfiguration">
+                                    <accessibilityTraits key="traits" staticText="YES" notEnabled="YES"/>
+                                </accessibility>
+                                <fontDescription key="fontDescription" type="system" pointSize="17"/>
+                                <color key="textColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <nil key="highlightedColor"/>
+                            </label>
+                        </subviews>
+                        <viewLayoutGuide key="safeArea" id="qAR-pI-uT2"/>
+                        <constraints>
+                            <constraint firstItem="KlF-4H-k6I" firstAttribute="leading" secondItem="qAR-pI-uT2" secondAttribute="leading" constant="16" id="14l-HO-Yqo"/>
+                            <constraint firstItem="kPv-DO-hpd" firstAttribute="centerY" secondItem="sqF-4e-2HU" secondAttribute="centerY" id="4S8-5c-tBm"/>
+                            <constraint firstItem="JMv-UE-cvK" firstAttribute="leading" secondItem="sqF-4e-2HU" secondAttribute="leadingMargin" constant="35" id="Awg-pU-JkT"/>
+                            <constraint firstItem="KlF-4H-k6I" firstAttribute="top" secondItem="qAR-pI-uT2" secondAttribute="top" constant="20" id="CS3-Rk-Wxs"/>
+                            <constraint firstItem="012-W3-dOS" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="IsC-yB-kNs"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="trailing" secondItem="773-n4-lob" secondAttribute="trailing" constant="20" id="N8s-Yg-VsL"/>
+                            <constraint firstItem="JMv-UE-cvK" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="NIf-UH-gZ7"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="bottom" secondItem="773-n4-lob" secondAttribute="bottom" constant="20" id="O9t-O0-69d"/>
+                            <constraint firstItem="Jj4-ow-MwD" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="OLx-LR-8xj"/>
+                            <constraint firstItem="012-W3-dOS" firstAttribute="top" secondItem="Z1x-Af-hdf" secondAttribute="bottom" constant="15" id="RpS-k0-btM"/>
+                            <constraint firstItem="ozY-dg-YOd" firstAttribute="top" secondItem="qAR-pI-uT2" secondAttribute="top" constant="20" id="TFT-we-noh"/>
+                            <constraint firstAttribute="trailingMargin" secondItem="JMv-UE-cvK" secondAttribute="trailing" constant="35" id="Ya5-GD-1rM"/>
+                            <constraint firstItem="30J-Tx-NRW" firstAttribute="leading" secondItem="sqF-4e-2HU" secondAttribute="leading" id="ZBG-GX-P1X"/>
+                            <constraint firstItem="3Sc-lx-YKH" firstAttribute="top" secondItem="ozY-dg-YOd" secondAttribute="bottom" constant="16" id="abR-Tj-Nua"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="bottom" secondItem="012-W3-dOS" secondAttribute="bottom" constant="24" id="dcl-mV-bH1"/>
+                            <constraint firstItem="9oq-op-NGV" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="g5b-gW-Amg"/>
+                            <constraint firstItem="Z1x-Af-hdf" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="i2j-zQ-m1V"/>
+                            <constraint firstItem="Z1x-Af-hdf" firstAttribute="top" secondItem="JMv-UE-cvK" secondAttribute="bottom" constant="38.5" id="icg-DR-ZpX"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="bottom" secondItem="9oq-op-NGV" secondAttribute="bottom" constant="25" id="lFI-66-D3N"/>
+                            <constraint firstAttribute="trailing" secondItem="kPv-DO-hpd" secondAttribute="trailing" constant="10" id="lFv-p3-LIS"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="trailing" secondItem="ozY-dg-YOd" secondAttribute="trailing" constant="20" id="ov4-d2-OMy"/>
+                            <constraint firstItem="012-W3-dOS" firstAttribute="top" secondItem="30J-Tx-NRW" secondAttribute="bottom" constant="60" id="tbj-nG-nfI"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="trailing" secondItem="3Sc-lx-YKH" secondAttribute="trailing" constant="10" id="v2K-Dp-Kyn"/>
+                            <constraint firstItem="Jj4-ow-MwD" firstAttribute="centerY" secondItem="sqF-4e-2HU" secondAttribute="centerY" id="vmc-4u-BtF"/>
+                        </constraints>
+                        <connections>
+                            <outlet property="delegate" destination="zah-iI-EPt" id="zXM-3t-Cw4"/>
+                        </connections>
+                    </glkView>
+                    <connections>
+                        <outlet property="closeVisualizationButton" destination="012-W3-dOS" id="qSV-q9-eOP"/>
+                        <outlet property="exportOBJPLYButton" destination="3Sc-lx-YKH" id="ZvS-VQ-nsg"/>
+                        <outlet property="libraryButton" destination="9kh-4C-KyP" id="Mvv-uQ-kmi"/>
+                        <outlet property="menuButton" destination="y53-OI-O76" id="v3g-JB-SsY"/>
+                        <outlet property="newScanButtonLarge" destination="Jj4-ow-MwD" id="0Hv-3K-Xjh"/>
+                        <outlet property="orthoDistanceSlider" destination="30J-Tx-NRW" id="4J1-8u-tDY"/>
+                        <outlet property="orthoGridSlider" destination="Z1x-Af-hdf" id="Zsn-xz-jn0"/>
+                        <outlet property="recordButton" destination="7Lv-u6-mGh" id="xTu-EK-FH2"/>
+                        <outlet property="statusLabel" destination="KlF-4H-k6I" id="NmA-K5-UOw"/>
+                        <outlet property="stopButton" destination="mJN-Ru-yPg" id="DND-gz-jLg"/>
+                        <outlet property="stopCameraButton" destination="9oq-op-NGV" id="sxO-jc-luC"/>
+                        <outlet property="toastLabel" destination="JMv-UE-cvK" id="9a7-QF-h02"/>
+                        <outlet property="viewButton" destination="773-n4-lob" id="deU-Na-mBk"/>
+                    </connections>
+                </glkViewController>
+                <placeholder placeholderIdentifier="IBFirstResponder" id="plN-WG-seA" userLabel="First Responder" customClass="UIResponder" sceneMemberID="firstResponder"/>
+            </objects>
+            <point key="canvasLocation" x="-234.375" y="-586.25"/>
+        </scene>
+        <!--Unsupported View Controller-->
+        <scene sceneID="sJB-xy-u63">
+            <objects>
+                <viewController storyboardIdentifier="unsupportedDeviceMessage" id="v3G-nW-gVc" userLabel="Unsupported View Controller" sceneMemberID="viewController">
+                    <view key="view" contentMode="scaleToFill" id="hzM-1k-POo">
+                        <rect key="frame" x="0.0" y="0.0" width="393" height="852"/>
+                        <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
+                        <subviews>
+                            <label opaque="NO" userInteractionEnabled="NO" contentMode="left" horizontalHuggingPriority="251" verticalHuggingPriority="251" text="Unsupported Device" textAlignment="center" lineBreakMode="tailTruncation" baselineAdjustment="alignBaselines" enabled="NO" adjustsFontSizeToFit="NO" translatesAutoresizingMaskIntoConstraints="NO" id="kZt-ct-4KD">
+                                <rect key="frame" x="28" y="341.33333333333331" width="337.33333333333331" height="33.666666666666686"/>
+                                <fontDescription key="fontDescription" style="UICTFontTextStyleTitle1"/>
+                                <nil key="textColor"/>
+                                <nil key="highlightedColor"/>
+                            </label>
+                            <label opaque="NO" userInteractionEnabled="NO" contentMode="left" horizontalHuggingPriority="251" verticalHuggingPriority="251" textAlignment="center" lineBreakMode="tailTruncation" numberOfLines="0" baselineAdjustment="alignBaselines" enabled="NO" adjustsFontSizeToFit="NO" translatesAutoresizingMaskIntoConstraints="NO" id="4Js-Hw-3QU">
+                                <rect key="frame" x="28" y="383" width="337.33333333333331" height="86.333333333333314"/>
+                                <string key="text">This sample app requires a LiDAR-capable device, such as the second-generation iPad Pro 11-inch and fourth-generation iPad Pro 12.9-inch.</string>
+                                <fontDescription key="fontDescription" style="UICTFontTextStyleBody"/>
+                                <nil key="textColor"/>
+                                <nil key="highlightedColor"/>
+                            </label>
+                        </subviews>
+                        <viewLayoutGuide key="safeArea" id="Wfl-Ts-arS"/>
+                        <color key="backgroundColor" white="1" alpha="1" colorSpace="calibratedWhite"/>
+                        <constraints>
+                            <constraint firstItem="kZt-ct-4KD" firstAttribute="centerX" secondItem="hzM-1k-POo" secondAttribute="centerX" id="5BV-Ql-eBq"/>
+                            <constraint firstAttribute="trailing" relation="greaterThanOrEqual" secondItem="4Js-Hw-3QU" secondAttribute="trailing" constant="20" symbolic="YES" id="5Sg-eL-Yhf"/>
+                            <constraint firstItem="4Js-Hw-3QU" firstAttribute="centerY" secondItem="hzM-1k-POo" secondAttribute="centerY" id="M1k-d1-BNV"/>
+                            <constraint firstItem="4Js-Hw-3QU" firstAttribute="top" secondItem="kZt-ct-4KD" secondAttribute="bottom" constant="8" symbolic="YES" id="PjQ-ik-Z1B"/>
+                            <constraint firstItem="kZt-ct-4KD" firstAttribute="width" secondItem="4Js-Hw-3QU" secondAttribute="width" id="aQe-nl-Pyq"/>
+                            <constraint firstItem="4Js-Hw-3QU" firstAttribute="centerX" secondItem="hzM-1k-POo" secondAttribute="centerX" id="cww-hm-oLb"/>
+                            <constraint firstItem="4Js-Hw-3QU" firstAttribute="leading" relation="greaterThanOrEqual" secondItem="hzM-1k-POo" secondAttribute="leading" constant="20" symbolic="YES" id="jfM-fP-rth"/>
+                        </constraints>
+                    </view>
+                </viewController>
+                <placeholder placeholderIdentifier="IBFirstResponder" id="jam-V0-csO" userLabel="First Responder" sceneMemberID="firstResponder"/>
+            </objects>
+            <point key="canvasLocation" x="476" y="-586"/>
+        </scene>
+    </scenes>
+    <resources>
+        <image name="ellipsis.circle" catalog="system" width="128" height="123"/>
+        <image name="eye" catalog="system" width="128" height="79"/>
+        <image name="folder" catalog="system" width="128" height="96"/>
+        <image name="plus.app" catalog="system" width="128" height="114"/>
+        <image name="record.circle" catalog="system" width="128" height="123"/>
+        <image name="square.and.arrow.up" catalog="system" width="108" height="128"/>
+        <image name="stop.circle" catalog="system" width="128" height="123"/>
+        <image name="xmark.square" catalog="system" width="128" height="114"/>
+        <systemColor name="systemRedColor">
+            <color red="1" green="0.23137254900000001" blue="0.18823529410000001" alpha="1" colorSpace="custom" customColorSpace="sRGB"/>
+        </systemColor>
+    </resources>
+</document>

app/ios/RTABMapApp/DatabaseView.swift

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

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

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

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

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

app/ios/RTABMapApp/Info.plist

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

app/ios/RTABMapApp/NativeWrapper.cpp

@@ -0,0 +1,624 @@
+//
+//  PCLWrapper.cpp
+//  ThreeDScanner
+//
+//  Created by Steven Roach on 2/9/18.
+//  Copyright © 2018 Steven Roach. All rights reserved.
+//
+
+#include "NativeWrapper.hpp"
+#include "RTABMapApp.h"
+#include <rtabmap/core/DBDriverSqlite3.h>
+
+inline RTABMapApp *native(const void *object) {
+  return (RTABMapApp *)object;
+}
+
+const void * createNativeApplication()
+{
+    RTABMapApp *app = new RTABMapApp();
+    return (void *)app;
+}
+
+void setupCallbacksNative(const void *object, void * classPtr,
+                          void(*progressCallback)(void*, int, int),
+                          void(*initCallback)(void *, int, const char*),
+                          void(*statsUpdatedCallback)(void *,
+                                                   int, int, int, int,
+                                                   float,
+                                                   int, int, int, int, int ,int,
+                                                   float,
+                                                   int,
+                                                   float,
+                                                   int,
+                                                   float, float, float, float,
+                                                   int, int,
+                                                   float, float, float, float, float, float),
+                          void(*cameraInfoEventCallback)(void *, int, const char*, const char*))
+{
+    if(object)
+    {
+        native(object)->setupSwiftCallbacks(classPtr, progressCallback, initCallback, statsUpdatedCallback, cameraInfoEventCallback);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+void destroyNativeApplication(const void *object)
+{
+    if(object)
+    {
+        delete native(object);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+void setScreenRotationNative(const void *object, int displayRotation)
+{
+    if(object)
+    {
+        return native(object)->setScreenRotation(displayRotation, 0);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+int openDatabaseNative(const void *object, const char * databasePath, bool databaseInMemory, bool optimize, bool clearDatabase)
+{
+    if(object)
+    {
+        return native(object)->openDatabase(databasePath, databaseInMemory, optimize, clearDatabase);
+    }
+    else
+    {
+        UERROR("object is null!");
+        return -1;
+    }
+}
+
+void saveNative(const void *object, const char * databasePath)
+{
+    if(object)
+    {
+        return native(object)->save(databasePath);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+bool recoverNative(const void *object, const char * from, const char * to)
+{
+    if(object)
+    {
+        return native(object)->recover(from, to);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+    return false;
+}
+
+void cancelProcessingNative(const void *object)
+{
+    if(object)
+    {
+        native(object)->cancelProcessing();
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+int postProcessingNative(const void *object, int approach)
+{
+    if(object)
+    {
+        return native(object)->postProcessing(approach);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+    return -1;
+}
+
+bool exportMeshNative(
+            const void *object,
+            float cloudVoxelSize,
+            bool regenerateCloud,
+            bool meshing,
+            int textureSize,
+            int textureCount,
+            int normalK,
+            bool optimized,
+            float optimizedVoxelSize,
+            int optimizedDepth,
+            int optimizedMaxPolygons,
+            float optimizedColorRadius,
+            bool optimizedCleanWhitePolygons,
+            int optimizedMinClusterSize,
+            float optimizedMaxTextureDistance,
+            int optimizedMinTextureClusterSize,
+            bool blockRendering)
+{
+    if(object)
+    {
+        return native(object)->exportMesh(cloudVoxelSize, regenerateCloud, meshing, textureSize, textureCount, normalK, optimized, optimizedVoxelSize, optimizedDepth, optimizedMaxPolygons, optimizedColorRadius, optimizedCleanWhitePolygons, optimizedMinClusterSize, optimizedMaxTextureDistance, optimizedMinTextureClusterSize, blockRendering);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+    return false;
+}
+
+bool postExportationNative(const void *object, bool visualize)
+{
+    if(object)
+    {
+        return native(object)->postExportation(visualize);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+    return false;
+}
+
+bool writeExportedMeshNative(const void *object, const char * directory, const char * name)
+{
+    if(object)
+    {
+        return native(object)->writeExportedMesh(directory, name);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+    return false;
+}
+
+void initGlContentNative(const void *object) {
+    if(object)
+    {
+        native(object)->InitializeGLContent();
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+void setupGraphicNative(const void *object, int width, int height) {
+    if(object)
+    {
+        native(object)->SetViewPort(width, height);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+void onTouchEventNative(const void *object, int touch_count, int event, float x0, float y0, float x1,
+    float y1) {
+    if(object)
+    {
+        using namespace tango_gl;
+        GestureCamera::TouchEvent touch_event =
+          static_cast<GestureCamera::TouchEvent>(event);
+        native(object)->OnTouchEvent(touch_count, touch_event, x0, y0, x1, y1);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+void setPausedMappingNative(const void *object, bool paused)
+{
+    if(object)
+    {
+        return native(object)->setPausedMapping(paused);
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+int renderNative(const void *object) {
+    if(object)
+    {
+        return native(object)->Render();
+    }
+    else
+    {
+        UERROR("object is null!");
+        return -1;
+    }
+}
+
+bool startCameraNative(const void *object) {
+    if(object)
+    {
+        return native(object)->startCamera();
+    }
+    else
+    {
+        UERROR("object is null!");
+        return false;
+    }
+}
+
+void stopCameraNative(const void *object) {
+    if(object)
+    {
+        native(object)->stopCamera();
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+void setCameraNative(const void *object, int type) {
+    if(object)
+    {
+        native(object)->SetCameraType(tango_gl::GestureCamera::CameraType(type));
+    }
+    else
+    {
+        UERROR("object is null!");
+    }
+}
+
+void postOdometryEventNative(const void *object,
+        float x, float y, float z, float qx, float qy, float qz, float qw,
+        float fx, float fy, float cx, float cy,
+        double stamp,
+        const void * yPlane,  const void * uPlane,  const void * vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
+        const void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
+        const void * conf, int confLen, int confWidth, int confHeight, int confFormat,
+        const void * points, int pointsLen, int pointsChannels,
+        float vx, float vy, float vz, float vqx, float vqy, float vqz, float vqw,
+        float p00, float p11, float p02, float p12, float p22, float p32, float p23,
+        float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7)
+{
+    if(object)
+    {
+        native(object)->postOdometryEvent(
+                (qx==0.0f && qy==0.0f && qz==0.0f && qw==0.0f)?rtabmap::Transform():rtabmap::Transform(x,y,z,qx,qy,qz,qw),
+                fx,fy,cx,cy, 0,0,0,0,
+                rtabmap::Transform(), rtabmap::Transform(),
+                stamp, 0,
+                yPlane, uPlane, vPlane, yPlaneLen, rgbWidth, rgbHeight, rgbFormat,
+                depth, depthLen, depthWidth, depthHeight, depthFormat,
+                conf, confLen, confWidth, confHeight, confFormat,
+                (const float *)points, pointsLen, pointsChannels,
+                rtabmap::Transform(vx, vy, vz, vqx, vqy, vqz, vqw),
+                p00, p11, p02, p12, p22, p32, p23,
+                t0, t1, t2, t3, t4, t5, t6, t7);
+    }
+    else
+    {
+        UERROR("object is null!");
+        return;
+    }
+}
+
+ImageNative getPreviewImageNative(const char * databasePath)
+{
+    ImageNative imageNative;
+    imageNative.data = 0;
+    imageNative.objectPtr = 0;
+    rtabmap::DBDriverSqlite3 driver;
+    if(driver.openConnection(databasePath))
+    {
+        cv::Mat image = driver.loadPreviewImage();
+        if(image.empty())
+        {
+            return imageNative;
+        }
+        cv::Mat * imagePtr = new cv::Mat();
+        // We should add alpha channel
+        cv::cvtColor(image, *imagePtr, cv::COLOR_BGR2BGRA);
+        std::vector<cv::Mat> channels;
+        cv::split(*imagePtr, channels);
+        channels.back() = cv::Scalar(255);
+        cv::merge(channels, *imagePtr);
+        imageNative.objectPtr = imagePtr;
+        imageNative.data = imagePtr->data;
+        imageNative.width = imagePtr->cols;
+        imageNative.height = imagePtr->rows;
+        imageNative.channels = imagePtr->channels();
+    }
+    return imageNative;
+}
+
+void releasePreviewImageNative(ImageNative image)
+{
+    if(image.objectPtr)
+    {
+        delete (cv::Mat*)image.objectPtr;
+    }
+}
+
+
+// Parameters
+void setOnlineBlendingNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setOnlineBlending(enabled);
+    else
+        UERROR("object is null!");
+}
+void setMapCloudShownNative(const void *object, bool shown)
+{
+    if(object)
+        native(object)->setMapCloudShown(shown);
+    else
+        UERROR("object is null!");
+}
+void setOdomCloudShownNative(const void *object, bool shown)
+{
+    if(object)
+        native(object)->setOdomCloudShown(shown);
+    else
+        UERROR("object is null!");
+}
+void setMeshRenderingNative(const void *object, bool enabled, bool withTexture)
+{
+    if(object)
+        native(object)->setMeshRendering(enabled, withTexture);
+    else
+        UERROR("object is null!");
+}
+void setPointSizeNative(const void *object, float value)
+{
+    if(object)
+        native(object)->setPointSize(value);
+    else
+        UERROR("object is null!");
+}
+void setFOVNative(const void *object, float angle)
+{
+    if(object)
+        native(object)->setFOV(angle);
+    else
+        UERROR("object is null!");
+}
+void setOrthoCropFactorNative(const void *object, float value)
+{
+    if(object)
+        native(object)->setOrthoCropFactor(value);
+    else
+        UERROR("object is null!");
+}
+void setGridRotationNative(const void *object, float value)
+{
+    if(object)
+        native(object)->setGridRotation(value);
+    else
+        UERROR("object is null!");
+}
+void setLightingNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setLighting(enabled);
+    else
+        UERROR("object is null!");
+}
+void setBackfaceCullingNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setBackfaceCulling(enabled);
+    else
+        UERROR("object is null!");
+}
+void setWireframeNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setWireframe(enabled);
+    else
+        UERROR("object is null!");
+}
+void setLocalizationModeNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setLocalizationMode(enabled);
+    else
+        UERROR("object is null!");
+}
+void setDataRecorderModeNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setDataRecorderMode(enabled);
+    else
+        UERROR("object is null!");
+}
+void setTrajectoryModeNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setTrajectoryMode(enabled);
+    else
+        UERROR("object is null!");
+}
+void setGraphOptimizationNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setGraphOptimization(enabled);
+    else
+        UERROR("object is null!");
+}
+void setNodesFilteringNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setNodesFiltering(enabled);
+    else
+        UERROR("object is null!");
+}
+void setGraphVisibleNative(const void *object, bool visible)
+{
+    if(object)
+        native(object)->setGraphVisible(visible);
+    else
+        UERROR("object is null!");
+}
+void setGridVisibleNative(const void *object, bool visible)
+{
+    if(object)
+        native(object)->setGridVisible(visible);
+    else
+        UERROR("object is null!");
+}
+void setFullResolutionNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setFullResolution(enabled);
+    else
+        UERROR("object is null!");
+}
+void setSmoothingNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setSmoothing(enabled);
+    else
+        UERROR("object is null!");
+}
+void setAppendModeNative(const void *object, bool enabled)
+{
+    if(object)
+        native(object)->setAppendMode(enabled);
+    else
+        UERROR("object is null!");
+}
+void setUpstreamRelocalizationAccThrNative(const void * object, float value)
+{
+    if(object)
+        native(object)->setUpstreamRelocalizationAccThr(value);
+    else
+        UERROR("object is null!");
+}
+void setMaxCloudDepthNative(const void *object, float value)
+{
+    if(object)
+        native(object)->setMaxCloudDepth(value);
+    else
+        UERROR("object is null!");
+}
+void setMinCloudDepthNative(const void *object, float value)
+{
+    if(object)
+        native(object)->setMinCloudDepth(value);
+    else
+        UERROR("object is null!");
+}
+void setCloudDensityLevelNative(const void *object, int value)
+{
+    if(object)
+        native(object)->setCloudDensityLevel(value);
+    else
+        UERROR("object is null!");
+}
+void setMeshAngleToleranceNative(const void *object, float value)
+{
+    if(object)
+        native(object)->setMeshAngleTolerance(value);
+    else
+        UERROR("object is null!");
+}
+void setMeshDecimationFactorNative(const void *object, float value)
+{
+    if(object)
+        native(object)->setMeshDecimationFactor(value);
+    else
+        UERROR("object is null!");
+}
+void setMeshTriangleSizeNative(const void *object, int value)
+{
+    if(object)
+        native(object)->setMeshTriangleSize(value);
+    else
+        UERROR("object is null!");
+}
+void setClusterRatioNative(const void *object, float value)
+{
+    if(object)
+        native(object)->setClusterRatio(value);
+    else
+        UERROR("object is null!");
+}
+void setMaxGainRadiusNative(const void *object, float value)
+{
+    if(object)
+        native(object)->setMaxGainRadius(value);
+    else
+        UERROR("object is null!");
+}
+void setRenderingTextureDecimationNative(const void *object, int value)
+{
+    if(object)
+        native(object)->setRenderingTextureDecimation(value);
+    else
+        UERROR("object is null!");
+}
+void setBackgroundColorNative(const void *object, float gray)
+{
+    if(object)
+        native(object)->setBackgroundColor(gray);
+    else
+        UERROR("object is null!");
+}
+void setDepthConfidenceNative(const void *object, int value)
+{
+    if(object)
+        native(object)->setDepthConfidence(value);
+    else
+        UERROR("object is null!");
+}
+
+void setExportPointCloudFormatNative(const void *object, const char * format)
+{
+    if(object)
+        native(object)->setExportPointCloudFormat(format);
+    else
+        UERROR("object is null!");
+}
+
+int setMappingParameterNative(const void *object, const char * key, const char * value)
+{
+    if(object)
+        return native(object)->setMappingParameter(key, value);
+    else
+        UERROR("object is null!");
+    return -1;
+}
+
+void setGPSNative(const void *object, double stamp, double longitude, double latitude, double altitude, double accuracy, double bearing)
+{
+    rtabmap::GPS gps(stamp, longitude, latitude, altitude, accuracy, bearing);
+    if(object)
+        return native(object)->setGPS(gps);
+    else
+        UERROR("object is null!");
+}
+
+void addEnvSensorNative(const void *object, int type, float value)
+{
+    if(object)
+        return native(object)->addEnvSensor(type, value);
+    else
+        UERROR("object is null!");
+}

app/ios/RTABMapApp/NativeWrapper.hpp

@@ -0,0 +1,138 @@
+//
+//  PCLWrapper.hpp
+//  ThreeDScanner
+//
+//  Created by Steven Roach on 2/9/18.
+//  Copyright © 2018 Steven Roach. All rights reserved.
+//
+
+#ifndef NativeWrapper_hpp
+#define NativeWrapper_hpp
+
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+    
+const void *createNativeApplication();
+void setupCallbacksNative(const void *object, void * classPtr,
+                          void(*progressCallback)(void*, int, int),
+                          void(*initCallback)(void *, int, const char*),
+                          void(*statsUpdatedCallback)(void *,
+                                                   int, int, int, int,
+                                                   float,
+                                                   int, int, int, int, int ,int,
+                                                   float,
+                                                   int,
+                                                   float,
+                                                   int,
+                                                   float, float, float, float,
+                                                   int, int,
+                                                   float, float, float, float, float, float),
+                          void(*cameraInfoEventCallback)(void *, int, const char*, const char*));
+void destroyNativeApplication(const void *object);
+void setScreenRotationNative(const void *object, int displayRotation);
+int openDatabaseNative(const void *object, const char * databasePath, bool databaseInMemory, bool optimize, bool clearDatabase);
+void saveNative(const void *object, const char * databasePath);
+bool recoverNative(const void *object, const char * from, const char * to);
+void cancelProcessingNative(const void * object);
+int postProcessingNative(const void *object, int approach);
+bool exportMeshNative(
+            const void *object,
+            float cloudVoxelSize,
+            bool regenerateCloud,
+            bool meshing,
+            int textureSize,
+            int textureCount,
+            int normalK,
+            bool optimized,
+            float optimizedVoxelSize,
+            int optimizedDepth,
+            int optimizedMaxPolygons,
+            float optimizedColorRadius,
+            bool optimizedCleanWhitePolygons,
+            int optimizedMinClusterSize,
+            float optimizedMaxTextureDistance,
+            int optimizedMinTextureClusterSize,
+            bool blockRendering);
+bool postExportationNative(const void *object, bool visualize);
+bool writeExportedMeshNative(const void *object, const char * directory, const char * name);
+void initGlContentNative(const void *object);
+void setupGraphicNative(const void *object, int width, int height);
+void onTouchEventNative(const void *object, int touch_count, int event, float x0, float y0, float x1,
+                        float y1);
+void setPausedMappingNative(const void *object, bool paused);
+int renderNative(const void *object);
+bool startCameraNative(const void *object);
+void stopCameraNative(const void *object);
+void setCameraNative(const void *object, int type);
+void postOdometryEventNative(const void *object,
+                       float x, float y, float z, float qx, float qy, float qz, float qw,
+                       float fx, float fy, float cx, float cy,
+                       double stamp,
+                       const void * yPlane,  const void * uPlane,  const void * vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
+                       const void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
+                       const void * conf, int confLen, int confWidth, int confHeight, int confFormat,
+                       const void * points, int pointsLen, int pointsChannels,
+                       float vx, float vy, float vz, float vqx, float vqy, float vqz, float vqw,
+                       float p00, float p11, float p02, float p12, float p22, float p32, float p23,
+                       float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7);
+
+void setOnlineBlendingNative(const void *object, bool enabled);
+void setMapCloudShownNative(const void *object, bool shown);
+void setOdomCloudShownNative(const void *object, bool shown);
+void setMeshRenderingNative(const void *object, bool enabled, bool withTexture);
+void setPointSizeNative(const void *object, float value);
+void setFOVNative(const void *object, float angle);
+void setOrthoCropFactorNative(const void *object, float value);
+void setGridRotationNative(const void *object, float value);
+void setLightingNative(const void *object, bool enabled);
+void setBackfaceCullingNative(const void *object, bool enabled);
+void setWireframeNative(const void *object, bool enabled);
+void setLocalizationModeNative(const void *object, bool enabled);
+void setDataRecorderModeNative(const void *object, bool enabled);
+void setTrajectoryModeNative(const void *object, bool enabled);
+void setGraphOptimizationNative(const void *object, bool enabled);
+void setNodesFilteringNative(const void *object, bool enabled);
+void setGraphVisibleNative(const void *object, bool visible);
+void setGridVisibleNative(const void *object, bool visible);
+void setFullResolutionNative(const void *object, bool enabled);
+void setSmoothingNative(const void *object, bool enabled);
+void setAppendModeNative(const void *object, bool enabled);
+void setUpstreamRelocalizationAccThrNative(const void *object, float value);
+void setMaxCloudDepthNative(const void *object, float value);
+void setMinCloudDepthNative(const void *object, float value);
+void setCloudDensityLevelNative(const void *object, int value);
+void setMeshAngleToleranceNative(const void *object, float value);
+void setMeshDecimationFactorNative(const void *object, float value);
+void setMeshTriangleSizeNative(const void *object, int value);
+void setClusterRatioNative(const void *object, float value);
+void setMaxGainRadiusNative(const void *object, float value);
+void setRenderingTextureDecimationNative(const void *object, int value);
+void setBackgroundColorNative(const void *object, float gray);
+void setDepthConfidenceNative(const void *object, int value);
+void setExportPointCloudFormatNative(const void *object, const char * format);
+int setMappingParameterNative(const void *object, const char * key, const char * value);
+
+typedef struct ImageNative
+{
+    const void * objectPtr;
+    void * data;
+    int width;
+    int height;
+    int channels;
+    int totalBytes;
+} ImageNative;
+
+ImageNative getPreviewImageNative(const char * databasePath);
+void releasePreviewImageNative(ImageNative image);
+
+void setGPSNative(const void *object, double stamp, double longitude, double latitude, double altitude, double accuracy, double bearing);
+void addEnvSensorNative(const void *object, int type, float value);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* NativeWrapper_hpp */

app/ios/RTABMapApp/PointCloud.swift

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

app/ios/RTABMapApp/PointCloudData.swift

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