GridMap: fixing eigen error with for downstream consumers

* Parallelize cloud generation in export/view clouds dialog and rtabmap-export

* Simplified NodeExportData by holding Signature directly. Added --threads option (default max cores) for CLI and UI.

* Parallelized texturing phase the same way than cloud generation

* Fixed not cancelable (right away) cloud generation in UI

---------

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

.appveyor.yml

@@ -1,151 +0,0 @@
-
-branches:
-  only:
-    - master
-    - devel
-
-os: Visual Studio 2015
-
-clone_folder: c:\projects\rtabmap
-
-platform: x64
-configuration: Release
-
-init:
-  - cmake --version
-  - call "C:\Program Files\Microsoft SDKs\Windows\v7.1\Bin\SetEnv.cmd" /x64
-  - call "C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" x86_amd64
-
-install:
-  # Qt
-  - set QTDIR=C:\Qt\5.10.1\msvc2015_64
-  # make sure Qt bin path is before cmake bin path to avoid copying qt5 dlls from cmake before qt installation
-  - set PATH=%QTDIR%\bin;%PATH%
-  # Boost
-  - set PATH=%PATH%;C:\Libraries\boost_1_62_0\lib64-msvc-14.0
-  # Openni2
-  - ps: wget 'https://dl.dropboxusercontent.com/s/d98jv79l6oy9fxz/OpenNI2.exe?dl=0' -outfile OpenNI2.exe
-  - cmd: OpenNI2.exe -o"C:\Program Files" -y
-  - ECHO "Installed OpenNI2:"
-  - ps: "ls \"C:/Program Files/OpenNI2\""
-  - set PATH=%PATH%;C:\Program Files\OpenNI2\Redist
-  - set OPENNI2_INCLUDE64=C:\Program Files\OpenNI2\Include
-  - set OPENNI2_LIB64=C:\Program Files\OpenNI2\Lib
-  - set OPENNI2_REDIST64=C:\Program Files\OpenNI2\Redist
-  # OpenCV
-  #- 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
-  - ECHO "Installed OpenCV:"
-  - ps: "ls \"C:/Program Files/opencv/build\""
-  - set PATH=%PATH%;C:\Program Files\opencv\build\x64\vc14\bin
-  # VTK (including QVTK)
-  - ps: wget 'https://dl.dropboxusercontent.com/s/1l33b5l3f3y52gf/VTK-6_3-msvc140.exe?dl=0' -outfile VTK-6_3.exe
-  - cmd: VTK-6_3.exe -o"C:\Program Files" -y
-  - ECHO "Installed VTK:"
-  - ps: "ls \"C:/Program Files/VTK\""
-  - set PATH=%PATH%;C:\Program Files\VTK\bin
-  # QHull 
-  - ps: wget 'https://dl.dropboxusercontent.com/s/9widnk9msdsh2b8/Qhull-msvc140.exe?dl=0' -outfile Qhull.exe
-  - cmd: Qhull.exe -o"C:\Program Files" -y
-  - ECHO "Installed QHull:"
-  - ps: "ls \"C:/Program Files/Qhull\""
-  - set PATH=%PATH%;C:\Program Files\Qhull\bin
-  # FLANN 
-  - ps: wget 'https://dl.dropboxusercontent.com/s/7k58jbmqa51sxmh/FLANN-msvc140.exe?dl=0' -outfile FLANN.exe
-  - cmd: FLANN.exe -o"C:\Program Files" -y
-  - ECHO "Installed FLANN:"
-  - ps: "ls \"C:/Program Files/FLANN\""
-  - set PATH=%PATH%;C:\Program Files\FLANN\bin
-  # Eigen 
-  - ps: wget 'https://dl.dropboxusercontent.com/s/3v6i9i8dxj4o8ji/Eigen.exe?dl=0' -outfile Eigen.exe
-  - cmd: Eigen.exe -o"C:\Program Files" -y
-  - ECHO "Installed Eigen:"
-  - ps: "ls \"C:/Program Files/Eigen\""
-  # PCL
-  - ps: wget 'https://dl.dropboxusercontent.com/s/2iayr4lyqa50i9j/PCL_181_August2018_x64_vc14.exe?dl=0' -outfile PCL_1.8.1.exe
-  - cmd: PCL_1.8.1.exe -o"C:\Program Files" -y
-  - ECHO "Installed PCL:"
-  - ps: "ls \"C:/Program Files/PCL\""
-  - set PATH=%PATH%;C:\Program Files\PCL\bin
-  # zlib
-  - ps: wget 'https://docs.google.com/uc?authuser=0&id=0B46akLGdg-uaYm9MTTI4MUtUcmc&export=download' -outfile zlib-1.2.8-vc2010-x64.zip
-  - ps: Expand-Archive zlib-1.2.8-vc2010-x64.zip -DestinationPath 'C:\Program Files'
-  - ECHO "Installed zlib:"
-  - ps: "ls \"C:/Program Files/zlib\""
-  - set PATH=%PATH%;C:\Program Files\zlib\bin
-  # g2o
-  - ps: wget 'https://dl.dropboxusercontent.com/s/ht74s5pa21wokzw/g2o.exe?dl=0' -outfile g2o.exe
-  - cmd: g2o.exe -o"C:\Program Files" -y
-  - ECHO "Installed g2o:"
-  - ps: "ls \"C:/Program Files/g2o\""
-  - set PATH=%PATH%;C:\Program Files\g2o\bin
-  # GTSAM
-  - ps: wget 'https://dl.dropboxusercontent.com/s/0fpr6r4cgsqmvhf/GTSAM-4_0_0_alpha2-msvc140.exe?dl=0' -outfile GTSAM.exe
-  - cmd: GTSAM.exe -o"C:\Program Files" -y
-  - ECHO "Installed GTSAM:"
-  - ps: "ls \"C:/Program Files/GTSAM\""
-  - set PATH=%PATH%;C:\Program Files\GTSAM\bin
-  # OctoMap
-  - ps: wget 'https://dl.dropboxusercontent.com/s/6jpxu0nm8ne6e54/octomap_x64_vc14.exe?dl=0' -outfile octomap.exe
-  - cmd: octomap.exe -o"C:\Program Files" -y
-  - ECHO "Installed OctoMap:"
-  - ps: "ls \"C:/Program Files/octomap-distribution\""
-  - set PATH=%PATH%;C:\Program Files\octomap-distribution\bin
-  # CPU-TSDF
-  - ps: wget 'https://dl.dropboxusercontent.com/s/mgges9va1uzxr0q/cpu_tsdf_sept2015_x64_vc14.exe?dl=0' -outfile cpu_tsdf.exe
-  - cmd: cpu_tsdf.exe -o"C:\Program Files" -y
-  - ECHO "Installed CPU-TSDF:"
-  - ps: "ls \"C:/Program Files/cpu_tsdf\""
-  - set PATH=%PATH%;C:\Program Files\cpu_tsdf\bin
-  # Open Chisel
-  - ps: wget 'https://dl.dropboxusercontent.com/s/0aaphcde4acrinm/open_chisel_x64_vc14.exe?dl=0' -outfile open_chisel.exe
-  - cmd: open_chisel.exe -o"C:\Program Files" -y
-  - ECHO "Installed Open Chisel:"
-  - ps: "ls \"C:/Program Files/open_chisel\""
-  - set PATH=%PATH%;C:\Program Files\open_chisel\bin
-  # 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
-  - ps: wget 'https://dl.dropboxusercontent.com/s/22qfvftwj6zq8tj/yaml-cpp_x64_vc14.exe?dl=0' -outfile yaml-cpp.exe
-  - cmd: yaml-cpp.exe -o"C:\Program Files" -y
-  - ECHO "Installed yaml-cpp:"
-  - ps: "ls \"C:/Program Files/yaml-cpp\""
-  # RealSense2
-  - ps: wget 'https://github.com/IntelRealSense/librealsense/releases/download/v2.40.0/Intel.RealSense.SDK-WIN10-2.40.0.2482.exe' -outfile realsense2.exe
-  - cmd: realsense2.exe /VERYSILENT
-  - ECHO "Installed RealSense2:"
-  - ps: "ls \"C:/Program Files (x86)/Intel RealSense SDK 2.0\""
-  - set PATH=%PATH%;C:\Program Files (x86)\Intel RealSense SDK 2.0\bin\x64
-  - set RealSense2_ROOT_DIR=C:\Program Files (x86)\Intel RealSense SDK 2.0
-  # Kinect 4 Azure
-  - ps: wget 'https://download.microsoft.com/download/3/d/6/3d6d9e99-a251-4cf3-8c6a-8e108e960b4b/Azure%20Kinect%20SDK%201.4.1.exe' -outfile azure.exe
-  - cmd: azure.exe /quiet
-  - ECHO "Installed Kinect For Azure:"
-  - ps: "ls \"C:/Program Files/Azure Kinect SDK v1.4.1\""
-  - set PATH=%PATH%;C:\Program Files\Azure Kinect SDK v1.4.1\tools
-  - set K4A_ROOT_DIR=C:\Program Files\Azure Kinect SDK v1.4.1
-  
-before_build:
-  - cd c:\projects\rtabmap\build
-  - ECHO %PROGRAMFILES%
-  - ECHO %PATH%
-  - cmake -G "Visual Studio 14 2015 Win64" -DOpenCV_DIR="C:\Program Files\opencv\build" -DPCL_DIR="C:\Program Files\PCL\cmake" -DCPUTSDF_DIR="C:\Program Files\cpu_tsdf\share\cpu_tsdf" -Dcvsba_DIR="C:\Program Files\cvsba\lib\cmake" -Dyaml-cpp_DIR="C:\Program Files\yaml-cpp\CMake" -DBUILD_AS_BUNDLE=ON ..
-  
-after_build :
-  - cmake --build . --config Release --target package
-
-artifacts:
-  - path: build\RTABMap-*
-  
-notifications:
-  - provider: Email
-    to:
-      - matlabbe@gmail.com
-    on_build_success: false
-    on_build_failure: false
-    on_build_status_changed: true

.devcontainer/android/Dockerfile

@@ -0,0 +1,24 @@
+FROM introlab3it/rtabmap:android-noble-deps
+
+# remove ubuntu user
+RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
+
+RUN apt-get update && apt-get install -y sudo && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN set -ex && \
+    groupadd --gid ${USER_GID} ${USERNAME} && \
+    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
+    usermod -a -G sudo ${USERNAME} && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME}
+
+RUN chmod +x /opt/android-sdk/tools/android
+
+RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
+
+

.devcontainer/android/devcontainer.json

@@ -0,0 +1,21 @@
+{
+    "build": {
+      "dockerfile": "Dockerfile"
+    },
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools", "vscjava.vscode-java-pack"]
+        }
+      },
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
+    "workspaceFolder": "/home/vscode/rtabmap",
+    "postStartCommand": "./.devcontainer/android/init.sh",
+    "settings": {
+      "terminal.integrated.defaultProfile.linux": "bash"
+    },
+    "remoteUser": "vscode",
+    "runArgs": ["--privileged", "--network=host"]
+}
+
+
+  

.devcontainer/android/init.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+set -e
+
+echo "Running post-start initialization..."
+
+# copy required jars
+cp /opt/android/lib/*.jar app/android/libs/.
+
+mkdir -p build_android/arm64-v8a
+
+# resource tool
+cd build_android
+cmake -DANDROID_PREBUILD=ON ..
+make
+
+echo -e "\nTo build the APK, do (adjust API number):"
+echo -e '\nexport ANDROID_API=30 && cd build_android/arm64-v8a && cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$ANDROID_API -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a -DCMAKE_FIND_ROOT_PATH="/opt/android/arm64-v8a/bin;/opt/android/arm64-v8a;/opt/android/arm64-v8a/share" -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DOpenCV_DIR=/opt/android/arm64-v8a/sdk/native/jni ../..\nmake -j6\n'

.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/Dockerfile

@@ -0,0 +1,19 @@
+FROM introlab3it/rtabmap:focal-deps
+
+RUN apt-get update && apt-get install -y sudo && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN set -ex && \
+    groupadd --gid ${USER_GID} ${USERNAME} && \
+    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
+    usermod -a -G sudo ${USERNAME} && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME}
+
+RUN mkdir -p /home/${USERNAME}/Documents/RTAB-Map && chown -R ${USERNAME} /home/${USERNAME}
+RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
+RUN echo 'source /opt/ros/$ROS_DISTRO/setup.bash' >> /home/${USERNAME}/.bashrc

.devcontainer/focal/devcontainer.json

@@ -0,0 +1,18 @@
+{
+    "build": {
+      "dockerfile": "Dockerfile"
+    },
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
+        }
+      },
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
+    "workspaceFolder": "/home/vscode/rtabmap",
+    //"mounts": ["source=${localEnv:HOME}/Documents/RTAB-Map,target=/home/vscode/Documents/RTAB-Map,type=bind,consistency=cached"],
+    "settings": {
+      "terminal.integrated.defaultProfile.linux": "bash"
+    },
+    "remoteUser": "vscode",
+    "runArgs": ["--privileged", "--network=host"]
+}

.devcontainer/jammy/Dockerfile

@@ -0,0 +1,19 @@
+FROM introlab3it/rtabmap:jammy-deps
+
+RUN apt-get update && apt-get install -y sudo && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN set -ex && \
+    groupadd --gid ${USER_GID} ${USERNAME} && \
+    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
+    usermod -a -G sudo ${USERNAME} && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME}
+
+RUN mkdir -p /home/${USERNAME}/Documents/RTAB-Map && chown -R ${USERNAME} /home/${USERNAME}
+RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
+RUN echo 'source /opt/ros/$ROS_DISTRO/setup.bash' >> /home/${USERNAME}/.bashrc

.devcontainer/jammy/devcontainer.json

@@ -0,0 +1,18 @@
+{
+    "build": {
+      "dockerfile": "Dockerfile"
+    },
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
+        }
+      },
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
+    "workspaceFolder": "/home/vscode/rtabmap",
+    //"mounts": ["source=${localEnv:HOME}/Documents/RTAB-Map,target=/home/vscode/Documents/RTAB-Map,type=bind,consistency=cached"],
+    "settings": {
+      "terminal.integrated.defaultProfile.linux": "bash"
+    },
+    "remoteUser": "vscode",
+    "runArgs": ["--privileged", "--network=host"]
+}

.devcontainer/latest-deps-from-source/Dockerfile

@@ -0,0 +1,105 @@
+ARG ROS_DISTRO=jazzy
+
+FROM osrf/ros:${ROS_DISTRO}-desktop
+
+# Install build dependencies with Qt6 (issue: rtabmap has black window)
+#RUN apt-get update && \
+#    apt-get install -y git software-properties-common ros-${ROS_DISTRO}-rtabmap-ros libqt6* qt6* qml6* && \
+#    apt-get remove -y ros-${ROS_DISTRO}-rtabmap* ros-${ROS_DISTRO}-gtsam ros-${ROS_DISTRO}-libg2o libpcl* libqt5* qt5* libvtk* libopencv* && \
+#    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# Install build dependencies with Qt5
+RUN apt-get update && \
+    apt-get install -y git software-properties-common ros-${ROS_DISTRO}-rtabmap-ros && \
+    apt-get remove -y ros-${ROS_DISTRO}-rtabmap* ros-${ROS_DISTRO}-gtsam ros-${ROS_DISTRO}-libg2o libpcl* libvtk* libopencv* && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# remove ubuntu user
+RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
+
+RUN apt-get update && apt-get install -y sudo && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN set -ex && \
+    groupadd --gid ${USER_GID} ${USERNAME} && \
+    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
+    usermod -a -G sudo ${USERNAME} && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME}
+
+RUN mkdir -p /home/${USERNAME}/Documents/RTAB-Map
+
+RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
+RUN echo 'source /opt/ros/${ROS_DISTRO}/setup.bash' >> /home/${USERNAME}/.bashrc
+
+WORKDIR /home/${USERNAME}/
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+# We build main dependencies from source, cleaning up the
+# build directory after install but keeping the source code
+# to change version/reinstall from inside the dev container
+# if needed.
+
+# Build latest VTK with Qt6
+RUN git clone https://github.com/Kitware/VTK.git
+RUN cd VTK && \
+    mkdir build && \
+    cd build && \
+    cmake -DVTK_GROUP_ENABLE_Qt=YES .. && \
+    make -j$(nproc) && \
+    make install && \
+    make clean
+    
+# Build latest PCL with latest VTK
+# Make sure all libraries depending on Eigen are built with same CXX standard (17)
+RUN git clone https://github.com/PointCloudLibrary/pcl.git
+RUN cd pcl && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_CXX_STANDARD=17 -DBUILD_tools=ON -DPCL_ENABLE_AVX=OFF -DPCL_ENABLE_MARCHNATIVE=OFF -DPCL_ENABLE_SSE=OFF .. && \
+    make -j$(nproc) && \
+    make install && \
+    make clean
+    
+# Build latest OpenCV
+RUN git clone https://github.com/opencv/opencv.git
+RUN git clone https://github.com/opencv/opencv_contrib.git
+RUN cd opencv && \
+    mkdir build && \
+    cd build && \
+    cmake -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules .. && \
+    make -j$(nproc) && \
+    make install && \
+    make clean
+
+# Build latest gtsam
+RUN git clone https://github.com/borglab/gtsam.git
+RUN cd gtsam && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_CXX_STANDARD=17 -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_STATIC_LIBRARY=OFF -DGTSAM_BUILD_UNSTABLE=OFF -DGTSAM_INSTALL_CPPUNILITE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j$(nproc) && \
+    make install && \
+    make clean
+
+# Build latest g2o
+RUN git clone https://github.com/RainerKuemmerle/g2o.git
+RUN cd g2o && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_CXX_STANDARD=17 -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DG2O_USE_OPENGL=OFF -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j$(nproc) && \
+    make install && \
+    make clean
+
+# ros2 seems not sourcing by default its multi-arch folders
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/${ROS_DISTRO}/lib/x86_64-linux-gnu
+
+RUN ldconfig
+
+RUN chown -R ${USERNAME} /home/${USERNAME}

.devcontainer/latest-deps-from-source/devcontainer.json

@@ -0,0 +1,21 @@
+{
+    "build": {
+      "dockerfile": "Dockerfile",
+      "args": {
+        "ROS_DISTRO": "jazzy"
+      }
+    },
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
+        }
+      },
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
+    "workspaceFolder": "/home/vscode/rtabmap",
+    //"mounts": ["source=${localEnv:HOME}/Documents/RTAB-Map,target=/home/vscode/Documents/RTAB-Map,type=bind,consistency=cached"],
+    "settings": {
+      "terminal.integrated.defaultProfile.linux": "bash"
+    },
+    "remoteUser": "vscode",
+    "runArgs": ["--privileged", "--network=host"]
+}

.devcontainer/noble-kilted/Dockerfile

@@ -0,0 +1,20 @@
+FROM introlab3it/rtabmap:noble-kilted-deps
+# remove ubuntu user
+RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
+
+RUN apt-get update && apt-get install -y sudo && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN set -ex && \
+    groupadd --gid ${USER_GID} ${USERNAME} && \
+    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
+    usermod -a -G sudo ${USERNAME} && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME}
+
+RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
+RUN echo 'source /opt/ros/kilted/setup.bash' >> /home/${USERNAME}/.bashrc

.devcontainer/noble-kilted/devcontainer.json

@@ -0,0 +1,17 @@
+{
+    "build": {
+      "dockerfile": "Dockerfile"
+    },
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
+        }
+      },
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
+    "workspaceFolder": "/home/vscode/rtabmap",
+    "settings": {
+      "terminal.integrated.defaultProfile.linux": "bash"
+    },
+    "remoteUser": "vscode",
+    "runArgs": ["--privileged"]
+}

.devcontainer/noble/Dockerfile

@@ -0,0 +1,23 @@
+FROM introlab3it/rtabmap:noble-deps
+
+# For devcontainer
+# remove ubuntu user
+RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
+
+RUN apt-get update && apt-get install -y sudo && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN set -ex && \
+    groupadd --gid ${USER_GID} ${USERNAME} && \
+    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
+    usermod -a -G sudo ${USERNAME} && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME}
+
+RUN mkdir -p /home/${USERNAME}/Documents/RTAB-Map && chown -R ${USERNAME} /home/${USERNAME}
+RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
+RUN echo 'source /opt/ros/$ROS_DISTRO/setup.bash' >> /home/${USERNAME}/.bashrc

.devcontainer/noble/devcontainer.json

@@ -0,0 +1,30 @@
+{
+    "build": {
+      "dockerfile": "Dockerfile"
+    },
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools", "ms-vscode.cpptools-extension-pack"]
+        }
+      },
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
+    "workspaceFolder": "/home/vscode/rtabmap",
+    //"mounts": ["source=${localEnv:HOME}/Documents/RTAB-Map,target=/home/vscode/Documents/RTAB-Map,type=bind,consistency=cached"],
+    "settings": {
+      "terminal.integrated.defaultProfile.linux": "bash"
+    },
+    "remoteUser": "vscode",
+    "hostRequirements": {
+        "gpu": "optional"
+    },
+    "runArgs": ["--privileged",
+                "--network=host",
+                "--gpus=all",
+                //"--runtime=nvidia", // uncommment this if rtabmap doesn't show up in nvidia-smi on the host computer
+                "--env=DISPLAY",
+                "--env=QT_X11_NO_MITSHM=1",
+                "--volume=/tmp/.X11-unix:/tmp/.X11-unix"],
+    "containerEnv": {
+        "NVIDIA_VISIBLE_DEVICES": "all"
+    }
+}

.devcontainer/resolute/Dockerfile

@@ -0,0 +1,25 @@
+FROM introlab3it/rtabmap:resolute-deps
+
+# For devcontainer
+# remove ubuntu user
+RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
+
+RUN apt-get update && apt-get install -y sudo && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN set -ex && \
+    groupadd --gid ${USER_GID} ${USERNAME} && \
+    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
+    usermod -a -G sudo ${USERNAME} && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME}
+
+RUN mkdir -p /home/${USERNAME}/Documents/RTAB-Map && chown -R ${USERNAME} /home/${USERNAME}
+
+RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
+
+

.devcontainer/resolute/devcontainer.json

@@ -0,0 +1,30 @@
+{
+    "build": {
+      "dockerfile": "Dockerfile"
+    },
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools", "ms-vscode.cpptools-extension-pack"]
+        }
+      },
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
+    "workspaceFolder": "/home/vscode/rtabmap",
+    //"mounts": ["source=${localEnv:HOME}/Documents/RTAB-Map,target=/home/vscode/Documents/RTAB-Map,type=bind,consistency=cached"],
+    "settings": {
+      "terminal.integrated.defaultProfile.linux": "bash"
+    },
+    "remoteUser": "vscode",
+    "hostRequirements": {
+        "gpu": "optional"
+    },
+    "runArgs": ["--privileged",
+                "--network=host",
+                "--gpus=all",
+                //"--runtime=nvidia", // uncommment this if rtabmap doesn't show up in nvidia-smi on the host computer
+                "--env=DISPLAY",
+                "--env=QT_X11_NO_MITSHM=1",
+                "--volume=/tmp/.X11-unix:/tmp/.X11-unix"],
+    "containerEnv": {
+        "NVIDIA_VISIBLE_DEVICES": "all"
+    }
+}

.devcontainer/rolling/Dockerfile

@@ -0,0 +1,80 @@
+
+FROM ubuntu:24.04
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install ROS2
+RUN apt update && \
+    apt install software-properties-common -y && \
+    add-apt-repository universe -y && \
+    apt update && \
+    apt install curl -y && \
+    export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}') && \
+    curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" && \
+    apt install /tmp/ros2-apt-source.deb && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# Install build dependencies
+RUN apt-get update && \
+    apt upgrade -y && \
+    apt-get install -y \
+      git \
+      wget \
+      libtbb-dev \
+      libproj-dev \
+      libpcl-dev \
+      liboctomap-dev \
+      libfreenect-dev \
+      ros-rolling-ros-base \
+      ros-dev-tools \
+      ros-rolling-cv-bridge \
+      ros-rolling-image-geometry \
+      ros-rolling-laser-geometry \
+      ros-rolling-pcl-conversions \
+      ros-rolling-rviz-common \
+      ros-rolling-rviz-rendering \
+      ros-rolling-rviz-default-plugins \
+      ros-rolling-pcl-ros \
+      ros-rolling-imu-filter-madgwick \
+      ros-rolling-image-transport \
+      ros-rolling-octomap-msgs \
+      ros-rolling-libg2o \
+      ros-rolling-gtsam \
+      ros-rolling-libpointmatcher \
+      ros-rolling-qt-gui-cpp \
+      ros-rolling-diagnostic-updater && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+WORKDIR /root/
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+RUN echo -e '#!/bin/bash\nset -e\n\n# setup ros2 environment\nsource "/opt/ros/rolling/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh
+RUN chmod +x /ros_entrypoint.sh
+ENTRYPOINT [ "/ros_entrypoint.sh" ]
+
+# ros2 seems not sourcing by default its multi-arch folders
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/rolling/lib/x86_64-linux-gnu
+
+# For devcontainer
+# remove ubuntu user
+RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
+
+RUN apt-get update && apt-get install -y sudo && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN set -ex && \
+    groupadd --gid ${USER_GID} ${USERNAME} && \
+    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
+    usermod -a -G sudo ${USERNAME} && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME}
+
+RUN mkdir -p /home/${USERNAME}/Documents/RTAB-Map && chown -R ${USERNAME} /home/${USERNAME}
+
+RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
+RUN echo 'source /opt/ros/$ROS_DISTRO/setup.bash' >> /home/${USERNAME}/.bashrc

.devcontainer/rolling/devcontainer.json

@@ -0,0 +1,30 @@
+{
+    "build": {
+      "dockerfile": "Dockerfile"
+    },
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
+        }
+      },
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
+    "workspaceFolder": "/home/vscode/rtabmap",
+    //"mounts": ["source=${localEnv:HOME}/Documents/RTAB-Map,target=/home/vscode/Documents/RTAB-Map,type=bind,consistency=cached"],
+    "settings": {
+      "terminal.integrated.defaultProfile.linux": "bash"
+    },
+    "remoteUser": "vscode",
+    "hostRequirements": {
+        "gpu": "optional"
+    },
+    "runArgs": ["--privileged",
+                "--network=host",
+                "--gpus=all",
+                //"--runtime=nvidia", // uncommment this if rtabmap doesn't show up in nvidia-smi on the host computer
+                "--env=DISPLAY",
+                "--env=QT_X11_NO_MITSHM=1",
+                "--volume=/tmp/.X11-unix:/tmp/.X11-unix"],
+    "containerEnv": {
+        "NVIDIA_VISIBLE_DEVICES": "all"
+    }
+}

.dockerignore

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

.gitattributes

@@ -0,0 +1,53 @@
+# This repository has a historical mix of CRLF and LF files. Letting git convert
+# line endings (core.autocrlf, or a "text=auto" policy) would rewrite whole files
+# on checkout/commit and bury real changes under thousands of ending-only diff
+# lines -- and it would do so at unpredictable times, on whichever file happens
+# to be touched next. Keep every file's bytes exactly as committed.
+#
+# This also keeps LF-only files LF on Windows checkouts, which data/tests/manifest.txt
+# relies on: scripts/fetch_test_data.sh tab-splits it and a trailing CR breaks SHA
+# matching. No per-file exception is needed for that.
+#
+# Note this does not stop an editor or script from rewriting a file's endings; it
+# only stops git from doing it.
+* -text
+
+# -----------------------------------------------------------------------------
+# Migrating to the standard LF policy (a future MR, on its own)
+# -----------------------------------------------------------------------------
+# LF is what git stores natively and what essentially every C++ project on GitHub
+# uses (LLVM, OpenCV, PCL, Qt). The rule above only freezes the current mix; it is
+# a holding position, not the destination. To finish the job:
+#
+#   1. Replace the `* -text` line above with:
+#
+#          * text=auto
+#          # Files that must stay LF even in a Windows working tree:
+#          *.sh    text eol=lf
+#          *.bash  text eol=lf
+#
+#      (`text=auto` = store LF in the repo, check out native line endings.)
+#
+#   2. Rewrite the working tree and stage it, in the same commit as step 1:
+#
+#          git add --renormalize .
+#
+#   3. Verify nothing but line endings changed -- this must print nothing:
+#
+#          git diff --cached --ignore-cr-at-eol
+#
+#   4. Commit alone, with no other change in the MR, then record the SHA so
+#      `git blame` (and GitHub's blame view) skips over it:
+#
+#          echo "<sha of the normalization commit>" >> .git-blame-ignore-revs
+#
+#      Add a follow-up commit for that file; also set it locally with
+#      `git config blame.ignoreRevsFile .git-blame-ignore-revs`.
+#
+# Cost, measured on the tree at the time of writing: 227 CRLF files + 7 with mixed
+# endings, ~138k of ~634k lines rewritten (22%), across 234 files. The commit
+# itself is mechanical and safe -- the real cost is every open branch that touches
+# one of those files, which will conflict over the whole file on rebase. Merge or
+# rebase those with `-X renormalize` (merge) / `--strategy-option renormalize`.
+#
+# Best moment: right after a release, when the branch backlog is smallest.

.github/actions/install-macos-source-deps/action.yml

@@ -0,0 +1,267 @@
+name: 'Install macOS Source Dependencies'
+description: 'Builds (and per-dependency caches) the source-only deps not available from Homebrew (GTSAM, libnabo+libpointmatcher, OrbbecSDK, depthai) and installs them into /usr/local.'
+inputs:
+  os:
+    description: 'Runner os label (e.g. matrix.os), used to namespace the per-dependency caches. Required because intel/arm produce different binaries with identical Homebrew version strings.'
+    required: true
+  build_type:
+    description: 'CMake build type.'
+    required: false
+    default: 'Release'
+runs:
+  using: "composite"
+  steps:
+    - name: Resolve dependency versions
+      id: depver
+      shell: bash
+      # The source deps link against these Homebrew libraries and are compiled
+      # with Xcode's toolchain, so both are folded into the cache keys: a
+      # Homebrew bump (e.g. a new Eigen) or an Xcode update forces a rebuild.
+      run: |
+        BREW=$(brew list --versions eigen boost yaml-cpp | sort)
+        XCODE=$(xcodebuild -version 2>/dev/null || clang --version | head -1)
+        HASH=$(printf '%s\n%s\n' "$BREW" "$XCODE" | shasum | cut -d' ' -f1)
+        echo "hash=$HASH" >> "$GITHUB_OUTPUT"
+
+    # ----------------------------- GTSAM -----------------------------
+    - name: Cache GTSAM
+      id: cache-gtsam
+      uses: actions/cache@v4
+      with:
+        path: ${{ runner.temp }}/deps-stage/gtsam
+        key: gtsam-4.2.1-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/gtsam-4.2.1-eigen5.patch') }}-${{ steps.depver.outputs.hash }}
+
+    - name: Build GTSAM
+      if: steps.cache-gtsam.outputs.cache-hit != 'true'
+      shell: bash
+      run: |
+        set -e
+        NPROC=$(sysctl -n hw.logicalcpu)
+        PATCHES="${{ github.action_path }}/patches"
+        SRC="${{ runner.temp }}/src-deps/gtsam"
+        STAGE="${{ runner.temp }}/deps-stage/gtsam"
+        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
+        git clone --depth 1 --branch 4.2.1 https://github.com/borglab/gtsam.git "$SRC/gtsam"
+        cd "$SRC/gtsam"
+        git apply "$PATCHES/gtsam-4.2.1-eigen5.patch"
+        cmake -B build \
+          -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
+          -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
+          -DGTSAM_WITH_TBB=OFF \
+          -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
+          -DGTSAM_BUILD_TESTS=OFF \
+          -DGTSAM_BUILD_UNSTABLE=OFF \
+          -DGTSAM_USE_SYSTEM_EIGEN=ON \
+          -DCMAKE_POLICY_VERSION_MINIMUM=3.5
+        cmake --build build -j$NPROC
+        DESTDIR="$STAGE" cmake --install build
+
+    # ----------------- libnabo + libpointmatcher --------------------
+    # Built together: libpointmatcher depends on libnabo, so keeping them in one
+    # unit keeps the build order internal (lpm finds libnabo in the unit's stage).
+    - name: Cache pointmatcher
+      id: cache-pointmatcher
+      uses: actions/cache@v4
+      with:
+        path: ${{ runner.temp }}/deps-stage/pointmatcher
+        key: pointmatcher-nabo1.1.2-lpm1.4.4-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/libnabo-1.1.2.patch', '.github/actions/install-macos-source-deps/patches/libpointmatcher-1.4.4-boost.patch') }}-${{ steps.depver.outputs.hash }}
+
+    - name: Build pointmatcher
+      if: steps.cache-pointmatcher.outputs.cache-hit != 'true'
+      shell: bash
+      run: |
+        set -e
+        NPROC=$(sysctl -n hw.logicalcpu)
+        PATCHES="${{ github.action_path }}/patches"
+        SRC="${{ runner.temp }}/src-deps/pointmatcher"
+        STAGE="${{ runner.temp }}/deps-stage/pointmatcher"
+        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
+        # libnabo (required by libpointmatcher)
+        git clone --depth 1 --branch 1.1.2 https://github.com/ethz-asl/libnabo.git "$SRC/libnabo"
+        cd "$SRC/libnabo"
+        git apply "$PATCHES/libnabo-1.1.2.patch"
+        cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }}
+        cmake --build build -j$NPROC
+        DESTDIR="$STAGE" cmake --install build
+        # libpointmatcher (finds libnabo from the unit's staged prefix)
+        git clone --depth 1 --branch 1.4.4 https://github.com/ethz-asl/libpointmatcher.git "$SRC/libpointmatcher"
+        cd "$SRC/libpointmatcher"
+        git apply "$PATCHES/libpointmatcher-1.4.4-boost.patch"
+        cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} -DCMAKE_PREFIX_PATH="$STAGE/usr/local" -DBUILD_EVALUATIONS=OFF -DBUILD_EXAMPLES=OFF
+        cmake --build build -j$NPROC
+        DESTDIR="$STAGE" cmake --install build
+
+    # ----------------------------- OrbbecSDK ------------------------
+    - name: Cache OrbbecSDK
+      id: cache-orbbec
+      uses: actions/cache@v4
+      with:
+        path: ${{ runner.temp }}/deps-stage/orbbec
+        key: orbbec-2.8.7-usrlocal-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/orbbecsdk-2.8.7-cmake-config-install.patch') }}-${{ steps.depver.outputs.hash }}
+
+    - name: Build OrbbecSDK
+      if: steps.cache-orbbec.outputs.cache-hit != 'true'
+      shell: bash
+      run: |
+        set -e
+        NPROC=$(sysctl -n hw.logicalcpu)
+        PATCHES="${{ github.action_path }}/patches"
+        SRC="${{ runner.temp }}/src-deps/orbbec"
+        STAGE="${{ runner.temp }}/deps-stage/orbbec"
+        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
+        git clone --depth 1 --branch v2.8.7 https://github.com/orbbec/OrbbecSDK_v2.git "$SRC/OrbbecSDK_v2"
+        cd "$SRC/OrbbecSDK_v2"
+        git apply "$PATCHES/orbbecsdk-2.8.7-cmake-config-install.patch"
+        # OrbbecSDK defaults its install prefix to /opt/OrbbecSDK; force /usr/local
+        # so it stages under usr/local like the other deps and is installed/found.
+        cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} -DCMAKE_INSTALL_PREFIX=/usr/local -DOB_BUILD_DOCS=OFF -DOB_BUILD_EXAMPLES=OFF -DOB_BUILD_TOOLS=OFF -DOB_INSTALL_EXAMPLES_SOURCE=OFF
+        cmake --build build -j$NPROC
+        DESTDIR="$STAGE" cmake --install build
+
+    # ----------------------------- depthai --------------------------
+    - name: Cache depthai
+      id: cache-depthai
+      uses: actions/cache@v4
+      with:
+        path: ${{ runner.temp }}/deps-stage/depthai
+        key: depthai-2.32.0-usrlocal-nocv-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/depthai-2.32.0-hunter-macos.patch') }}-${{ steps.depver.outputs.hash }}
+
+    - name: Build depthai
+      if: steps.cache-depthai.outputs.cache-hit != 'true'
+      shell: bash
+      run: |
+        set -e
+        NPROC=$(sysctl -n hw.logicalcpu)
+        PATCHES="${{ github.action_path }}/patches"
+        SRC="${{ runner.temp }}/src-deps/depthai"
+        STAGE="${{ runner.temp }}/deps-stage/depthai"
+        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
+        # depthai 2.32.0 (Hunter-based; v2 does NOT use vcpkg/CMake presets)
+        git clone --depth 1 --branch v2.32.0 https://github.com/luxonis/depthai-core.git "$SRC/depthai-core"
+        cd "$SRC/depthai-core"
+        git submodule update --init --recursive
+        # Route zlib to Homebrew: Hunter's pinned zlib fork has a classic
+        # TARGET_OS_MAC fdopen block that won't compile against the modern macOS SDK.
+        git apply "$PATCHES/depthai-2.32.0-hunter-macos.patch"
+        # v2 and its old Hunter deps declare cmake_minimum_required < 3.5, which the
+        # runner's CMake 4.x rejects, and CMAKE_POLICY_VERSION_MINIMUM does not
+        # propagate into Hunter's sub-builds. Use a pinned CMake 3.x just for depthai
+        # (Hunter reuses the same cmake binary for its dependency sub-builds).
+        python3 -m venv "$SRC/cmake3-venv"
+        "$SRC/cmake3-venv/bin/pip" install -q "cmake==3.31.6"
+        CMAKE3="$SRC/cmake3-venv/bin/cmake"
+        # DEPTHAI_ENABLE_CURL=OFF: Hunter's CURL drags in the broken zlib and also
+        # fails to configure on this toolchain; rtabmap doesn't need depthai's CURL.
+        # depthai-core defaults its install prefix to <build>/install; force
+        # /usr/local so it stages under usr/local like the other deps.
+        "$CMAKE3" -B build \
+          -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
+          -DCMAKE_INSTALL_PREFIX=/usr/local \
+          -DBUILD_SHARED_LIBS=ON \
+          -DDEPTHAI_ENABLE_CURL=OFF \
+          -DDEPTHAI_BUILD_TESTS=OFF \
+          -DDEPTHAI_BUILD_EXAMPLES=OFF \
+          -DDEPTHAI_OPENCV_SUPPORT=OFF \
+          -DCMAKE_PREFIX_PATH="$(brew --prefix zlib)"
+        "$CMAKE3" --build build -j$NPROC
+        DESTDIR="$STAGE" "$CMAKE3" --install build
+
+    # ----------------------------- opengv ---------------------------
+    - name: Cache opengv
+      id: cache-opengv
+      uses: actions/cache@v4
+      with:
+        path: ${{ runner.temp }}/deps-stage/opengv
+        key: opengv-91f4b19c-usrlocal-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/opengv-91f4b19c-macos.patch') }}-${{ steps.depver.outputs.hash }}
+
+    - name: Build opengv
+      if: steps.cache-opengv.outputs.cache-hit != 'true'
+      shell: bash
+      run: |
+        set -e
+        NPROC=$(sysctl -n hw.logicalcpu)
+        PATCHES="${{ github.action_path }}/patches"
+        SRC="${{ runner.temp }}/src-deps/opengv"
+        STAGE="${{ runner.temp }}/deps-stage/opengv"
+        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
+        # opengv pins a commit (not a tag), so clone then checkout.
+        git clone https://github.com/laurentkneip/opengv.git "$SRC/opengv"
+        cd "$SRC/opengv"
+        git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3
+        # Disable the -march=native/armv7-a/armv8-a flags so it builds portably on
+        # both Intel and Apple Silicon runners.
+        git apply "$PATCHES/opengv-91f4b19c-macos.patch"
+        # CMAKE_POLICY_VERSION_MINIMUM=3.5: opengv declares an ancient
+        # cmake_minimum_required that modern CMake rejects. EIGEN_INCLUDE_DIR points
+        # opengv's bundled FindEigen at Homebrew's eigen (covers /opt/homebrew on arm64).
+        cmake -B build \
+          -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
+          -DCMAKE_INSTALL_PREFIX=/usr/local \
+          -DBUILD_TESTS=OFF \
+          -DBUILD_SHARED_LIBS=ON \
+          -DCMAKE_POLICY_VERSION_MINIMUM=3.5 \
+          -DEIGEN_INCLUDE_DIR="$(brew --prefix eigen)/include/eigen3"
+        cmake --build build -j$NPROC
+        DESTDIR="$STAGE" cmake --install build
+
+    # ----------------------------- g2o ------------------------------
+    - name: Cache g2o
+      id: cache-g2o
+      uses: actions/cache@v4
+      with:
+        path: ${{ runner.temp }}/deps-stage/g2o
+        key: g2o-67cbe15c-${{ inputs.os }}-${{ steps.depver.outputs.hash }}
+
+    - name: Build g2o
+      if: steps.cache-g2o.outputs.cache-hit != 'true'
+      shell: bash
+      run: |
+        set -e
+        NPROC=$(sysctl -n hw.logicalcpu)
+        SRC="${{ runner.temp }}/src-deps/g2o"
+        STAGE="${{ runner.temp }}/deps-stage/g2o"
+        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
+        # g2o pins a commit (not a tag), so clone then checkout.
+        git clone https://github.com/RainerKuemmerle/g2o.git "$SRC/g2o"
+        cd "$SRC/g2o"
+        git checkout 67cbe15c998737ac6705d3cd18201a72be0d073d
+        # CMAKE_INSTALL_PREFIX=/usr/local so it stages under usr/local like the
+        # other deps. Homebrew's libomp is keg-only and g2o does not propagate
+        # OpenMP's include/lib dirs, so with Apple clang <omp.h> isn't found and
+        # libomp isn't linked; add its include (-I) and lib (-L -lomp) explicitly.
+        LIBOMP=$(brew --prefix libomp)
+        cmake -B build \
+          -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
+          -DCMAKE_INSTALL_PREFIX=/usr/local \
+          -DCMAKE_PREFIX_PATH="$LIBOMP" \
+          -DCMAKE_C_FLAGS="-I$LIBOMP/include" \
+          -DCMAKE_CXX_FLAGS="-I$LIBOMP/include" \
+          -DCMAKE_EXE_LINKER_FLAGS="-L$LIBOMP/lib -lomp" \
+          -DCMAKE_SHARED_LINKER_FLAGS="-L$LIBOMP/lib -lomp" \
+          -DG2O_BUILD_APPS=OFF \
+          -DG2O_BUILD_EXAMPLES=OFF \
+          -DG2O_USE_OPENMP=ON \
+          -DG2O_USE_OPENGL=OFF
+        cmake --build build -j$NPROC
+        DESTDIR="$STAGE" cmake --install build
+
+    # ------------------- install all units into /usr/local ----------
+    - name: Install source dependencies into /usr/local
+      shell: bash
+      # Copy each (cached or freshly built) staged tree into /usr/local so
+      # rtabmap's find_package() and the bundle fixup (which search /usr/local)
+      # pick them up. Runs on both cache hit and miss.
+      run: |
+        set -e
+        STAGE="${{ runner.temp }}/deps-stage"
+        found=0
+        for unit in gtsam pointmatcher orbbec depthai opengv g2o; do
+          if [ -d "$STAGE/$unit/usr/local" ]; then
+            sudo cp -a "$STAGE/$unit/usr/local/." /usr/local/
+            found=1
+          fi
+        done
+        if [ "$found" != "1" ]; then
+          echo "No staged source dependencies found under $STAGE" >&2
+          exit 1
+        fi

.github/actions/install-macos-source-deps/patches/depthai-2.32.0-hunter-macos.patch

@@ -0,0 +1,41 @@
+diff --git a/cmake/depthaiDependencies.cmake b/cmake/depthaiDependencies.cmake
+index 6b0b44f98..672c26402 100644
+--- a/cmake/depthaiDependencies.cmake
++++ b/cmake/depthaiDependencies.cmake
+@@ -17,7 +17,9 @@ else()
+     hunter_add_package(FP16)
+     hunter_add_package(libarchive-luxonis)
+     hunter_add_package(spdlog)
+-    hunter_add_package(ZLIB)
++    # ZLIB: use the system/Homebrew copy instead of Hunter's (the old pinned
++    # zlib fork fails to build against the modern macOS SDK). Found below via
++    # the standard FindZLIB module, which provides the same ZLIB::ZLIB target.
+     if(DEPTHAI_ENABLE_BACKWARD)
+         hunter_add_package(Backward)
+     endif()
+@@ -45,8 +47,23 @@ if(NOT CONFIG_MODE OR (CONFIG_MODE AND NOT DEPTHAI_SHARED_LIBS))
+     # libarchive for firmware packages
+     find_package(archive_static ${_QUIET} CONFIG REQUIRED)
+     find_package(lzma ${_QUIET} CONFIG REQUIRED)
+-    # ZLIB for compressing Apps
+-    find_package(ZLIB CONFIG REQUIRED)
++    # ZLIB for compressing Apps.
++    # Use the system/Homebrew zlib directly instead of Hunter's: Hunter's pinned
++    # zlib fork fails to build against the modern macOS SDK, and Hunter also
++    # intercepts find_package(ZLIB) via its own FindZLIB on the module path, so
++    # we locate it manually and expose the ZLIB::zlib target depthai expects.
++    find_path(SYSTEM_ZLIB_INCLUDE_DIR NAMES zlib.h)
++    find_library(SYSTEM_ZLIB_LIBRARY NAMES z)
++    if(NOT SYSTEM_ZLIB_INCLUDE_DIR OR NOT SYSTEM_ZLIB_LIBRARY)
++        message(FATAL_ERROR "System zlib not found (looked for zlib.h and libz). Install via: brew install zlib")
++    endif()
++    if(NOT TARGET ZLIB::zlib)
++        add_library(ZLIB::zlib UNKNOWN IMPORTED)
++        set_target_properties(ZLIB::zlib PROPERTIES
++            IMPORTED_LOCATION "${SYSTEM_ZLIB_LIBRARY}"
++            INTERFACE_INCLUDE_DIRECTORIES "${SYSTEM_ZLIB_INCLUDE_DIR}"
++        )
++    endif()
+ 
+     # spdlog for library and device logging
+     find_package(spdlog ${_QUIET} CONFIG REQUIRED)

.github/actions/install-macos-source-deps/patches/gtsam-4.2.1-eigen5.patch

@@ -0,0 +1,83 @@
+diff --git a/cmake/HandleEigen.cmake b/cmake/HandleEigen.cmake
+index b3b4f66b6..651cd1009 100644
+--- a/cmake/HandleEigen.cmake
++++ b/cmake/HandleEigen.cmake
+@@ -59,7 +59,12 @@ else()
+ endif()
+
+ # Detect Eigen version:
+-set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
++# Since Eigen 5.0.0 the version macros moved from Eigen/src/Core/util/Macros.h
++# to a dedicated Eigen/Version header, so check the new location first.
++set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/Version")
++if (NOT EXISTS ${EIGEN_VER_H})
++    set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
++endif()
+ if (EXISTS ${EIGEN_VER_H})
+     file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
+
+diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
+index cfedf6d8c..9c9771407 100644
+--- a/gtsam/base/Matrix.h
++++ b/gtsam/base/Matrix.h
+@@ -54,7 +54,7 @@ using Matrix7##N = Eigen::Matrix<double, 7, N>;  \
+ using Matrix8##N = Eigen::Matrix<double, 8, N>;  \
+ using Matrix9##N = Eigen::Matrix<double, 9, N>;  \
+ static const Eigen::MatrixBase<Matrix##N>::IdentityReturnType I_##N##x##N = Matrix##N::Identity(); \
+-static const Eigen::MatrixBase<Matrix##N>::ConstantReturnType Z_##N##x##N = Matrix##N::Zero();
++static const decltype(Matrix##N::Zero()) Z_##N##x##N = Matrix##N::Zero();
+
+ GTSAM_MAKE_MATRIX_DEFS(1)
+ GTSAM_MAKE_MATRIX_DEFS(2)
+diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h
+index f7923ff88..5410393f6 100644
+--- a/gtsam/base/Vector.h
++++ b/gtsam/base/Vector.h
+@@ -27,6 +27,7 @@
+
+ #include <gtsam/global_includes.h>
+ #include <Eigen/Core>
++#include <cassert>
+ #include <iosfwd>
+ #include <list>
+
+@@ -42,14 +43,14 @@ typedef Eigen::Matrix<double, 1, 1> Vector1;
+ typedef Eigen::Vector2d Vector2;
+ typedef Eigen::Vector3d Vector3;
+
+-static const Eigen::MatrixBase<Vector2>::ConstantReturnType Z_2x1 = Vector2::Zero();
+-static const Eigen::MatrixBase<Vector3>::ConstantReturnType Z_3x1 = Vector3::Zero();
++static const decltype(Vector2::Zero()) Z_2x1 = Vector2::Zero();
++static const decltype(Vector3::Zero()) Z_3x1 = Vector3::Zero();
+
+ // Create handy typedefs and constants for vectors with N>3
+ // VectorN and Z_Nx1, for N=1..9
+ #define GTSAM_MAKE_VECTOR_DEFS(N)                \
+   using Vector##N = Eigen::Matrix<double, N, 1>; \
+-  static const Eigen::MatrixBase<Vector##N>::ConstantReturnType Z_##N##x1 = Vector##N::Zero();
++  static const decltype(Vector##N::Zero()) Z_##N##x1 = Vector##N::Zero();
+
+ GTSAM_MAKE_VECTOR_DEFS(4)
+ GTSAM_MAKE_VECTOR_DEFS(5)
+diff --git a/gtsam/linear/iterative.h b/gtsam/linear/iterative.h
+index 22f65b8de..20a0c936e 100644
+--- a/gtsam/linear/iterative.h
++++ b/gtsam/linear/iterative.h
+@@ -61,7 +61,7 @@ namespace gtsam {
+
+     /** Apply operator A'*e */
+     Vector operator^(const Vector& e) const {
+-      return A_ ^ e;
++      return gtsam::operator^(A_, e);
+     }
+
+     /**
+@@ -71,7 +71,7 @@ namespace gtsam {
+
+     /** gradient of objective function 0.5*|Ax-b_|^2 at x = A_'*(Ax-b_) */
+     Vector gradient(const Vector& x) const {
+-      return A() ^ (A() * x - b());
++      return gtsam::operator^(A(), Vector(A() * x - b()));
+     }
+
+     /** Apply operator A */

.github/actions/install-macos-source-deps/patches/libnabo-1.1.2.patch

@@ -0,0 +1,87 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index a5f0c44..69340e4 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -78,18 +78,18 @@ elseif ()
+ 	endif ()
+ endif ()
+
+-# enable C++11 support.
++# enable C++14 support (required by recent Eigen versions).
+ if (CMAKE_VERSION VERSION_LESS "3.1")
+ 	if (MSVC)
+ 		message(FATAL_ERROR "CMake version 3.1 or later is required to compile ${PROJECT_NAME} with Microsoft Visual C++")
+ 	endif ()
+ 	if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+-		set (CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")
++		set (CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}")
+ 	else ()
+-		set (CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
++		set (CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}")
+ 	endif ()
+ else ()
+-	set (CMAKE_CXX_STANDARD 11)
++	set (CMAKE_CXX_STANDARD 14)
+ endif ()
+
+ #======================== External Dependencies ===============================
+diff --git a/experimental/kdtree_cpu.cpp b/experimental/kdtree_cpu.cpp
+index 302b672..d63fcd3 100644
+--- a/experimental/kdtree_cpu.cpp
++++ b/experimental/kdtree_cpu.cpp
+@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ #include "nabo_experimental.h"
+ #include "../nabo/index_heap.h"
++#include <cassert>
+ #include <iostream>
+ #include <stdexcept>
+ #include <limits>
+diff --git a/nabo/kdtree_cpu.cpp b/nabo/kdtree_cpu.cpp
+index cb1f8d1..52a444f 100644
+--- a/nabo/kdtree_cpu.cpp
++++ b/nabo/kdtree_cpu.cpp
+@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ #include <queue>
+ #include <algorithm>
+ #include <utility>
++#include <cassert>
+ #ifdef HAVE_OPENMP
+ #include <omp.h>
+ #endif
+diff --git a/nabo/kdtree_opencl.cpp b/nabo/kdtree_opencl.cpp
+index 5a9fee2..fb1345f 100644
+--- a/nabo/kdtree_opencl.cpp
++++ b/nabo/kdtree_opencl.cpp
+@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ #include "nabo_private.h"
+ #include "index_heap.h"
++#include <cassert>
+ #include <iostream>
+ #include <sstream>
+ #include <fstream>
+diff --git a/tests/knnshow.cpp b/tests/knnshow.cpp
+index 6f4d3fc..c612378 100644
+--- a/tests/knnshow.cpp
++++ b/tests/knnshow.cpp
+@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+ #include "nabo/nabo.h"
++#include <cassert>
+ #include <iostream>
+ #include <fstream>
+ #include <stdexcept>
+diff --git a/tests/knnvalidate.cpp b/tests/knnvalidate.cpp
+index 2430249..2a7dcc4 100644
+--- a/tests/knnvalidate.cpp
++++ b/tests/knnvalidate.cpp
+@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ #include "nabo/nabo.h"
+ #include "helpers.h"
+ //#include "experimental/nabo_experimental.h"
++#include <cassert>
+ #include <iostream>
+ #include <fstream>
+ #include <stdexcept>

.github/actions/install-macos-source-deps/patches/libpointmatcher-1.4.4-boost.patch

@@ -0,0 +1,32 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 9dabfd0..7b73418 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -128,9 +128,9 @@ endif()
+ #--------------------
+ # DEPENDENCY:  boost
+ #--------------------
+-find_package(Boost REQUIRED COMPONENTS thread system program_options date_time)
++find_package(Boost REQUIRED COMPONENTS thread program_options date_time)
+ if (Boost_MINOR_VERSION GREATER 47)
+-	find_package(Boost REQUIRED COMPONENTS thread system program_options date_time chrono)
++	find_package(Boost REQUIRED COMPONENTS thread program_options date_time chrono)
+ endif ()
+
+ #--------------------
+diff --git a/libpointmatcherConfig.cmake.in b/libpointmatcherConfig.cmake.in
+index 6de2c85..7c887fd 100644
+--- a/libpointmatcherConfig.cmake.in
++++ b/libpointmatcherConfig.cmake.in
+@@ -7,9 +7,9 @@
+ include(CMakeFindDependencyMacro)
+ find_dependency(libnabo REQUIRED)
+ find_dependency(yaml-cpp REQUIRED)
+-find_package(Boost COMPONENTS thread system program_options date_time REQUIRED)
++find_package(Boost COMPONENTS thread program_options date_time REQUIRED)
+ if (Boost_MINOR_VERSION GREATER 47)
+-  find_package(Boost COMPONENTS thread system program_options date_time chrono REQUIRED)
++  find_package(Boost COMPONENTS thread program_options date_time chrono REQUIRED)
+ endif ()
+ include(${CMAKE_CURRENT_LIST_DIR}/libpointmatcher-config.cmake)
+

.github/actions/install-macos-source-deps/patches/opengv-91f4b19c-macos.patch

@@ -0,0 +1,309 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 9660f55..0186da4 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -31,12 +31,12 @@ IF(MSVC)
+   add_definitions(-D_USE_MATH_DEFINES)
+ ELSE()
+   IF (CMAKE_SYSTEM_PROCESSOR MATCHES "(arm64)|(ARM64)|(aarch64)|(AARCH64)")
+-    add_definitions (-march=armv8-a)
++    #add_definitions (-march=armv8-a)
+   ELSEIF (CMAKE_SYSTEM_PROCESSOR MATCHES 
+           "(arm)|(ARM)|(armhf)|(ARMHF)|(armel)|(ARMEL)")
+-    add_definitions (-march=armv7-a)
++    #add_definitions (-march=armv7-a)
+   ELSE ()
+-    add_definitions (-march=native) #TODO use correct c++11 def once everybody has moved to gcc 4.7 # for now I even removed std=gnu++0x
++    #add_definitions (-march=native) #TODO use correct c++11 def once everybody has moved to gcc 4.7 # for now I even removed std=gnu++0x
+   ENDIF()
+   add_definitions (
+     -O3
+@@ -181,7 +181,7 @@ add_library( random_generators test/random_generators.cpp test/random_generators
+ set_target_properties( opengv random_generators PROPERTIES
+                     SOVERSION ${PROJECT_VERSION}
+                     VERSION ${PROJECT_VERSION}
+-                    CXX_STANDARD 11
++                    CXX_STANDARD 14
+                     CXX_STANDARD_REQUIRED ON
+                     DEBUG_POSTFIX d )
+ 
+@@ -329,7 +329,7 @@ IF (BUILD_TESTS)
+     test_Sturm
+ 
+     PROPERTIES
+-    CXX_STANDARD 11
++    CXX_STANDARD 14
+     CXX_STANDARD_REQUIRED ON
+     DEBUG_POSTFIX d )
+ 
+diff --git a/modules/FindEigen.cmake b/modules/FindEigen.cmake
+index 126f4a0..39b5524 100644
+--- a/modules/FindEigen.cmake
++++ b/modules/FindEigen.cmake
+@@ -30,7 +30,13 @@ if(NOT Eigen_FIND_VERSION)
+ endif(NOT Eigen_FIND_VERSION)
+ 
+ macro(_eigen3_check_version)
+-  file(READ "${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
++  # Since Eigen 5.0.0 the version macros moved from Eigen/src/Core/util/Macros.h
++  # to a dedicated Eigen/Version header, so check the new location first.
++  if(EXISTS "${EIGEN_INCLUDE_DIR}/Eigen/Version")
++    file(READ "${EIGEN_INCLUDE_DIR}/Eigen/Version" _eigen3_version_header)
++  else()
++    file(READ "${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
++  endif()
+ 
+   string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
+   set(EIGEN_WORLD_VERSION "${CMAKE_MATCH_1}")
+diff --git a/src/absolute_pose/CentralAbsoluteAdapter.cpp b/src/absolute_pose/CentralAbsoluteAdapter.cpp
+index 684fa7e..a4ff2bd 100644
+--- a/src/absolute_pose/CentralAbsoluteAdapter.cpp
++++ b/src/absolute_pose/CentralAbsoluteAdapter.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/absolute_pose/CentralAbsoluteAdapter.hpp>
+ 
+ 
+diff --git a/src/absolute_pose/MACentralAbsolute.cpp b/src/absolute_pose/MACentralAbsolute.cpp
+index 6edbabc..1687d45 100644
+--- a/src/absolute_pose/MACentralAbsolute.cpp
++++ b/src/absolute_pose/MACentralAbsolute.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/absolute_pose/MACentralAbsolute.hpp>
+ 
+ 
+diff --git a/src/absolute_pose/MANoncentralAbsolute.cpp b/src/absolute_pose/MANoncentralAbsolute.cpp
+index d9b5b09..a7ae689 100644
+--- a/src/absolute_pose/MANoncentralAbsolute.cpp
++++ b/src/absolute_pose/MANoncentralAbsolute.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/absolute_pose/MANoncentralAbsolute.hpp>
+ 
+ opengv::absolute_pose::MANoncentralAbsolute::MANoncentralAbsolute(
+diff --git a/src/absolute_pose/NoncentralAbsoluteAdapter.cpp b/src/absolute_pose/NoncentralAbsoluteAdapter.cpp
+index 30176aa..6a0e405 100644
+--- a/src/absolute_pose/NoncentralAbsoluteAdapter.cpp
++++ b/src/absolute_pose/NoncentralAbsoluteAdapter.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/absolute_pose/NoncentralAbsoluteAdapter.hpp>
+ 
+ opengv::absolute_pose::NoncentralAbsoluteAdapter::NoncentralAbsoluteAdapter(
+diff --git a/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp b/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
+index 88c237a..58a82f4 100644
+--- a/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
++++ b/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/absolute_pose/NoncentralAbsoluteMultiAdapter.hpp>
+ 
+ opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::NoncentralAbsoluteMultiAdapter(
+diff --git a/src/absolute_pose/methods.cpp b/src/absolute_pose/methods.cpp
+index b1f0889..19c4eaf 100644
+--- a/src/absolute_pose/methods.cpp
++++ b/src/absolute_pose/methods.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/absolute_pose/methods.hpp>
+ #include <opengv/Indices.hpp>
+ 
+diff --git a/src/absolute_pose/modules/main.cpp b/src/absolute_pose/modules/main.cpp
+index ed0c271..99f7f35 100644
+--- a/src/absolute_pose/modules/main.cpp
++++ b/src/absolute_pose/modules/main.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <Eigen/NonLinearOptimization>
+ #include <Eigen/NumericalDiff>
+ 
+diff --git a/src/math/arun.cpp b/src/math/arun.cpp
+index a0d6296..f5c0ac3 100644
+--- a/src/math/arun.cpp
++++ b/src/math/arun.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/math/arun.hpp>
+ 
+ opengv::rotation_t
+diff --git a/src/point_cloud/MAPointCloud.cpp b/src/point_cloud/MAPointCloud.cpp
+index 81fd5dd..cdccae3 100644
+--- a/src/point_cloud/MAPointCloud.cpp
++++ b/src/point_cloud/MAPointCloud.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/point_cloud/MAPointCloud.hpp>
+ 
+ opengv::point_cloud::MAPointCloud::MAPointCloud(
+diff --git a/src/point_cloud/PointCloudAdapter.cpp b/src/point_cloud/PointCloudAdapter.cpp
+index f9faaeb..28fbb7e 100644
+--- a/src/point_cloud/PointCloudAdapter.cpp
++++ b/src/point_cloud/PointCloudAdapter.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/point_cloud/PointCloudAdapter.hpp>
+ 
+ opengv::point_cloud::PointCloudAdapter::PointCloudAdapter(
+diff --git a/src/point_cloud/methods.cpp b/src/point_cloud/methods.cpp
+index 5409eeb..7a26e6a 100644
+--- a/src/point_cloud/methods.cpp
++++ b/src/point_cloud/methods.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/point_cloud/methods.hpp>
+ #include <opengv/Indices.hpp>
+ 
+diff --git a/src/relative_pose/CentralRelativeAdapter.cpp b/src/relative_pose/CentralRelativeAdapter.cpp
+index 38e9a62..5018bd8 100644
+--- a/src/relative_pose/CentralRelativeAdapter.cpp
++++ b/src/relative_pose/CentralRelativeAdapter.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/CentralRelativeAdapter.hpp>
+ 
+ opengv::relative_pose::CentralRelativeAdapter::CentralRelativeAdapter(
+diff --git a/src/relative_pose/CentralRelativeMultiAdapter.cpp b/src/relative_pose/CentralRelativeMultiAdapter.cpp
+index 2ab7476..49a3a07 100644
+--- a/src/relative_pose/CentralRelativeMultiAdapter.cpp
++++ b/src/relative_pose/CentralRelativeMultiAdapter.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/CentralRelativeMultiAdapter.hpp>
+ 
+ opengv::relative_pose::CentralRelativeMultiAdapter::CentralRelativeMultiAdapter(
+diff --git a/src/relative_pose/CentralRelativeWeightingAdapter.cpp b/src/relative_pose/CentralRelativeWeightingAdapter.cpp
+index a6ab478..7684526 100644
+--- a/src/relative_pose/CentralRelativeWeightingAdapter.cpp
++++ b/src/relative_pose/CentralRelativeWeightingAdapter.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/CentralRelativeWeightingAdapter.hpp>
+ 
+ opengv::relative_pose::CentralRelativeWeightingAdapter::CentralRelativeWeightingAdapter(
+diff --git a/src/relative_pose/MACentralRelative.cpp b/src/relative_pose/MACentralRelative.cpp
+index ec2959f..75e76d5 100644
+--- a/src/relative_pose/MACentralRelative.cpp
++++ b/src/relative_pose/MACentralRelative.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/MACentralRelative.hpp>
+ 
+ opengv::relative_pose::MACentralRelative::MACentralRelative(
+diff --git a/src/relative_pose/MANoncentralRelative.cpp b/src/relative_pose/MANoncentralRelative.cpp
+index cea9c14..8566aeb 100644
+--- a/src/relative_pose/MANoncentralRelative.cpp
++++ b/src/relative_pose/MANoncentralRelative.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/MANoncentralRelative.hpp>
+ 
+ opengv::relative_pose::MANoncentralRelative::MANoncentralRelative(
+diff --git a/src/relative_pose/MANoncentralRelativeMulti.cpp b/src/relative_pose/MANoncentralRelativeMulti.cpp
+index 49f8ecf..8b62e07 100644
+--- a/src/relative_pose/MANoncentralRelativeMulti.cpp
++++ b/src/relative_pose/MANoncentralRelativeMulti.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/MANoncentralRelativeMulti.hpp>
+ 
+ opengv::relative_pose::MANoncentralRelativeMulti::MANoncentralRelativeMulti(
+diff --git a/src/relative_pose/NoncentralRelativeAdapter.cpp b/src/relative_pose/NoncentralRelativeAdapter.cpp
+index 552f180..775d520 100644
+--- a/src/relative_pose/NoncentralRelativeAdapter.cpp
++++ b/src/relative_pose/NoncentralRelativeAdapter.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/NoncentralRelativeAdapter.hpp>
+ 
+ opengv::relative_pose::NoncentralRelativeAdapter::NoncentralRelativeAdapter(
+diff --git a/src/relative_pose/NoncentralRelativeMultiAdapter.cpp b/src/relative_pose/NoncentralRelativeMultiAdapter.cpp
+index f41edbe..733023c 100644
+--- a/src/relative_pose/NoncentralRelativeMultiAdapter.cpp
++++ b/src/relative_pose/NoncentralRelativeMultiAdapter.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/NoncentralRelativeMultiAdapter.hpp>
+ 
+ opengv::relative_pose::NoncentralRelativeMultiAdapter::NoncentralRelativeMultiAdapter(
+diff --git a/src/relative_pose/methods.cpp b/src/relative_pose/methods.cpp
+index 0027dae..7678567 100644
+--- a/src/relative_pose/methods.cpp
++++ b/src/relative_pose/methods.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/methods.hpp>
+ #include <opengv/Indices.hpp>
+ 
+diff --git a/src/relative_pose/modules/fivept_nister/modules.cpp b/src/relative_pose/modules/fivept_nister/modules.cpp
+index 4b134c5..258d416 100644
+--- a/src/relative_pose/modules/fivept_nister/modules.cpp
++++ b/src/relative_pose/modules/fivept_nister/modules.cpp
+@@ -29,6 +29,7 @@
+  ******************************************************************************/
+ 
+ 
++#include <cassert>
+ #include <opengv/relative_pose/modules/fivept_nister/modules.hpp>
+ #include <Eigen/NonLinearOptimization>
+ #include <Eigen/NumericalDiff>

.github/actions/install-macos-source-deps/patches/orbbecsdk-2.8.7-cmake-config-install.patch

@@ -0,0 +1,29 @@
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 261f2cda..644e068f 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -92,17 +92,20 @@ if(OB_IS_MAIN_PROJECT)
+     )
+ 
+     install(FILES "${CMAKE_CURRENT_BINARY_DIR}/generated/Export.h" DESTINATION include/libobsensor/h)
+-    install(EXPORT ${OB_SDK_LIB_NAME}Config NAMESPACE ob:: DESTINATION lib)
++    install(EXPORT ${OB_SDK_LIB_NAME}Config NAMESPACE ob:: DESTINATION lib/cmake/${OB_SDK_LIB_NAME})
+ 
+     include(CMakePackageConfigHelpers)
++    # Name the version file <pkg>ConfigVersion.cmake (not <pkg>Version.cmake) and
++    # install it next to the config in lib/cmake/<pkg>, so find_package(OrbbecSDK)
++    # discovers it in config mode and reads its version.
+     write_basic_package_version_file(
+-        "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}Version.cmake"
++        "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}ConfigVersion.cmake"
+         VERSION "${PROJECT_VERSION}"
+         COMPATIBILITY SameMajorVersion
+     )
+     install(
+-        FILES "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}Version.cmake"
+-        DESTINATION lib
++        FILES "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}ConfigVersion.cmake"
++        DESTINATION lib/cmake/${OB_SDK_LIB_NAME}
+     )
+     if(MSVC)
+         install(FILES $<TARGET_PDB_FILE:${OB_SDK_LIB_NAME}> DESTINATION bin OPTIONAL)

.github/actions/install-windows-cuda-deps/action.yml

@@ -0,0 +1,70 @@
+name: 'Install Windows Dependencies with CUDA'
+description: 'Installs PCL, Qt, VTK, g2o and others'
+runs:
+  using: "composite"
+  steps:
+    - name: Set up MSVC Developer Command Prompt
+      uses: ilammy/msvc-dev-cmd@v1
+      with:
+        arch: x64 
+  
+    - name: Install CUDA
+      uses: Jimver/cuda-toolkit@v0.2.30
+      id: cuda-toolkit
+      with:
+        cuda: '13.0.0'
+        use-github-cache: True
+
+    - name: Verify CUDA
+      shell: bash
+      run: |
+        nvcc --version
+        echo "CUDA Path: $CUDA_PATH"
+  
+    - name: Cache vcpkg
+      id: cache-vcpkg
+      uses: actions/cache@v4
+      with:
+        path: ${{ runner.workspace }}/vcpkg_installed
+        key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-cuda130_v5
+
+    - name: Download and Install vcpkg
+      if: steps.cache-vcpkg.outputs.cache-hit != 'true'
+      shell: pwsh
+      run: |
+        $install_dir = "${{ runner.workspace }}\vcpkg_installed"
+        $archivePath = "${{ runner.workspace }}\vcpkg-export.7z"
+
+        # The 7z is built locally with bundle_windows_deps_cuda.bat and uploaded to a
+        # GitHub release. Resolve it by filename via the API (authenticated with the
+        # built-in token) so it works even from a *draft* release and regardless of
+        # the (changing) asset id. Requires the workflow to run in-repo (github.token
+        # can't read introlab drafts from a fork PR).
+        $repo = "introlab/rtabmap"
+        $releaseTag = "0.23.8"
+        $assetName = "vcpkg-export-66c0373d-x64-vs2022-cuda130.7z"
+        $apiHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/vnd.github+json" }
+        # Select the release by tag_name (populated on drafts too, and unique), then
+        # take the asset from THAT release so concurrent releases can't be confused.
+        $rel = (Invoke-RestMethod -Uri "https://api.github.com/repos/$repo/releases?per_page=100" -Headers $apiHeaders) |
+               Where-Object { $_.tag_name -eq $releaseTag } | Select-Object -First 1
+        if (-not $rel) { throw "Release tagged $releaseTag not found (including drafts)" }
+        $asset = $rel.assets | Where-Object { $_.name -eq $assetName } | Select-Object -First 1
+        if (-not $asset) { throw "Asset $assetName not found in release $releaseTag" }
+        Write-Host "Downloading $assetName (asset id $($asset.id)) ..."
+        $dlHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/octet-stream" }
+        Invoke-WebRequest -Uri $asset.url -Headers $dlHeaders -OutFile $archivePath
+        & 7z x $archivePath "-o$install_dir" -y
+
+    - name: Add vcpkg to PATH and env variable
+      shell: pwsh
+      run: |
+        $vcpkg_path = "${{ runner.workspace }}\vcpkg_installed"
+        echo "VCPKG_EXPORT_PATH=$vcpkg_path" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+        echo "$vcpkg_path\installed\x64-windows-release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
+        # K4A runtime DLLs (k4a.dll, k4arecord.dll) live in the SDK bin; needed on PATH so fixup_bundle resolves them at package time.
+        echo "$vcpkg_path\installed\x64-windows-release\sdk\windows-desktop\amd64\release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
+        echo "${{env.CUDA_PATH}}\bin\x64" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
+        echo "${{env.CUDA_PATH}}\extras\CUPTI\lib64" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
+        echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\torch\lib" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
+        echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\numpy.libs" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append

.github/actions/install-windows-deps/action.yml

@@ -0,0 +1,54 @@
+name: 'Install Windows Dependencies'
+description: 'Installs PCL, Qt, VTK, g2o and others'
+runs:
+  using: "composite"
+  steps:
+    - name: Set up MSVC Developer Command Prompt
+      uses: ilammy/msvc-dev-cmd@v1
+      with:
+        arch: x64 
+  
+    - name: Cache vcpkg
+      id: cache-vcpkg
+      uses: actions/cache@v4
+      with:
+        path: ${{ runner.workspace }}/vcpkg_installed
+        key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-v7
+
+    - name: Download and Install vcpkg
+      if: steps.cache-vcpkg.outputs.cache-hit != 'true'
+      shell: pwsh
+      run: |
+        $install_dir = "${{ runner.workspace }}\vcpkg_installed"
+        $archivePath = "${{ runner.workspace }}\vcpkg-export.7z"
+
+        # The 7z is built locally with bundle_windows_deps.bat and uploaded to a
+        # GitHub release. Resolve it by filename via the API (authenticated with the
+        # built-in token) so it works even from a *draft* release and regardless of
+        # the (changing) asset id. Requires the workflow to run in-repo (github.token
+        # can't read introlab drafts from a fork PR).
+        $repo = "introlab/rtabmap"
+        $releaseTag = "0.23.8"
+        $assetName = "vcpkg-export-66c0373d-x64-vs2022.7z"
+        $apiHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/vnd.github+json" }
+        # Select the release by tag_name (populated on drafts too, and unique), then
+        # take the asset from THAT release so concurrent releases can't be confused.
+        $rel = (Invoke-RestMethod -Uri "https://api.github.com/repos/$repo/releases?per_page=100" -Headers $apiHeaders) |
+               Where-Object { $_.tag_name -eq $releaseTag } | Select-Object -First 1
+        if (-not $rel) { throw "Release tagged $releaseTag not found (including drafts)" }
+        $asset = $rel.assets | Where-Object { $_.name -eq $assetName } | Select-Object -First 1
+        if (-not $asset) { throw "Asset $assetName not found in release $releaseTag" }
+        Write-Host "Downloading $assetName (asset id $($asset.id)) ..."
+        $dlHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/octet-stream" }
+        Invoke-WebRequest -Uri $asset.url -Headers $dlHeaders -OutFile $archivePath
+        & 7z x $archivePath "-o$install_dir" -y
+
+    - name: Add vcpkg to PATH and env variable
+      shell: pwsh
+      run: |
+        $vcpkg_path = "${{ runner.workspace }}\vcpkg_installed"
+        echo "VCPKG_EXPORT_PATH=$vcpkg_path" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+        echo "$vcpkg_path\installed\x64-windows-release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
+        # K4A runtime DLLs (k4a.dll, k4arecord.dll) live in the SDK bin; needed on PATH so fixup_bundle resolves them at package time.
+        echo "$vcpkg_path\installed\x64-windows-release\sdk\windows-desktop\amd64\release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
+        echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\numpy.libs" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append

.github/scripts/ros-deps-env.sh

@@ -0,0 +1,19 @@
+# Puts the graph optimizers taken from the ROS 2 repo (see cmake-linux.yml) on
+# the loader path, for a shell that is about to run something built against
+# them. Sourced, not executed: it exports into the caller.
+#
+#   source .github/scripts/ros-deps-env.sh /opt/ros/humble
+#
+# A missing or empty prefix is a build that took every dependency from the
+# Ubuntu archive: nothing to add.
+#
+# Both directories are needed. GTSAM and g2o install their libraries in the
+# multiarch subdirectory, while the prefix's own lib/ holds the rest, and
+# libgtsam.so carries no RUNPATH -- so the loader finds neither it nor the
+# libmetis-gtsam.so it pulls in without being told where to look.
+ros_prefix="${1:-}"
+if [ -n "$ros_prefix" ] && [ -d "$ros_prefix" ]; then
+  ros_lib="$ros_prefix/lib"
+  export LD_LIBRARY_PATH="${ros_lib}:${ros_lib}/$(gcc -dumpmachine)${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}"
+  echo "LD_LIBRARY_PATH=$LD_LIBRARY_PATH"
+fi

.github/workflows/cleanup-pr-artifacts.yml

@@ -0,0 +1,15 @@
+name: Cleanup PR Artifacts
+on:
+  pull_request:
+    types: [closed]
+
+jobs:
+  delete-artifacts:
+    runs-on: ubuntu-latest
+    permissions:
+      actions: write
+    steps:
+      - name: Delete PR Artifacts
+        uses: geekyeggo/delete-artifact@v5
+        with:
+          name: build-output-*

.github/workflows/cmake-linux.yml

@@ -0,0 +1,214 @@
+name: CMake-Linux
+
+on:
+  push:
+    branches: 
+      - master
+  pull_request:
+    branches:
+      - '**'
+  workflow_dispatch:
+
+env:
+  BUILD_TYPE: Release
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+jobs:
+  build:
+    name: ${{ matrix.build_name }}
+    runs-on: ${{ matrix.os }}
+    concurrency:
+      group: ${{ github.workflow }}-${{ github.ref }}-${{ matrix.build_name }}
+      cancel-in-progress: true
+    strategy:
+      fail-fast: true
+      matrix:
+        build_name: [ubuntu-22.04, ubuntu-24.04, ubuntu-24.04-with-opengv, ubuntu-26.04]
+        include:
+        # GTSAM is in no Ubuntu release, and libg2o-dev only appears in the
+        # archive from noble on (jammy has no g2o at all).
+        #
+        # 26.04 builds GTSAM itself (gtsam_ref) rather than taking it from the
+        # ROS repo: that runner is on Ubuntu's amd64v3 variant, so rtabmap and
+        # the archive libraries are AVX builds where Eigen aligns to 32, while
+        # the ROS binary is plain x86-64 where it aligns to 16 and uses plain
+        # malloc/free. Allocating on one side and freeing on the other gives
+        # "double free or corruption (out)". Forcing EIGEN_MAX_ALIGN_BYTES=16
+        # on rtabmap would only move the mismatch onto PCL, g2o and Ceres.
+        - build_name: ubuntu-22.04
+          os: ubuntu-22.04
+          extra_deps: "libunwind-dev libceres-dev"
+          ros_deps: "ros-humble-libg2o ros-humble-gtsam"
+          ros_prefix: "/opt/ros/humble"
+          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DWITH_G2O=ON -DWITH_GTSAM=ON"
+        - build_name: ubuntu-24.04
+          os: ubuntu-24.04
+          extra_deps: "libg2o-dev libceres-dev"
+          ros_deps: "ros-jazzy-gtsam"
+          ros_prefix: "/opt/ros/jazzy"
+          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DWITH_G2O=ON -DWITH_GTSAM=ON"
+        - build_name: ubuntu-24.04-with-opengv
+          os: ubuntu-24.04
+          extra_deps: "libg2o-dev libceres-dev"
+          ros_deps: "ros-jazzy-gtsam"
+          ros_prefix: "/opt/ros/jazzy"
+          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DWITH_G2O=ON -DWITH_GTSAM=ON -DBUILD_OPENGV=ON"
+        - build_name: ubuntu-26.04
+          os: ubuntu-26.04
+          # libboost-all-dev for the GTSAM build
+          extra_deps: "libg2o-dev libceres-dev libboost-all-dev"
+          ros_deps: ""
+          ros_prefix: ""
+          # The tag ros-lyrical-gtsam 4.3.0 is built from
+          gtsam_ref: "4.3a0-ros"
+          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DWITH_G2O=ON -DWITH_GTSAM=ON -DBUILD_OPENGV=ON"
+
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Restore test data
+      id: cache-testdata
+      uses: actions/cache@v4
+      with:
+        # SQLite DBs are binary-portable -> share the cache across
+        # linux / macos / windows. Key omits runner.os on purpose so all
+        # three OSes hit the same entry.
+        path: data/tests/*.db
+        key: testdata-${{ hashFiles('data/tests/manifest.txt') }}
+
+    - name: Fetch test data
+      if: steps.cache-testdata.outputs.cache-hit != 'true'
+      shell: bash
+      run: bash scripts/fetch_test_data.sh
+
+    - name: Install Linux 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 curl gnupg lsb-release ${{ matrix.extra_deps }}
+
+    - name: Install Graph Optimizers From The ROS Repo
+      if: matrix.ros_deps != ''
+      env:
+        DEBIAN_FRONTEND: noninteractive
+      run: |
+        sudo curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
+          -o /usr/share/keyrings/ros-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" \
+          | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+        sudo apt-get update
+        sudo apt-get -y install ${{ matrix.ros_deps }}
+
+    # The compiler's x86-64 baseline, for the cache key: it decides Eigen's
+    # alignment, so a GTSAM built under one must not be restored under the
+    # other. v3 packages still declare Architecture: amd64, so dpkg cannot tell.
+    - name: Toolchain baseline
+      if: matrix.gtsam_ref != ''
+      id: toolchain
+      run: |
+        avx=$(echo | gcc -dM -E -x c++ - | grep -c __AVX__ || true)
+        echo "gcc $(gcc -dumpversion), __AVX__=$avx"
+        echo "id=gcc$(gcc -dumpversion)-avx${avx}" >> "$GITHUB_OUTPUT"
+
+    - name: Restore GTSAM
+      if: matrix.gtsam_ref != ''
+      id: cache-gtsam
+      uses: actions/cache@v4
+      with:
+        path: ${{github.workspace}}/gtsam-install
+        key: gtsam-${{ matrix.gtsam_ref }}-${{ matrix.os }}-${{ steps.toolchain.outputs.id }}
+
+    - name: Build GTSAM
+      if: matrix.gtsam_ref != '' && steps.cache-gtsam.outputs.cache-hit != 'true'
+      run: |
+        git clone --depth 1 --branch ${{ matrix.gtsam_ref }} https://github.com/borglab/gtsam.git ${{runner.temp}}/gtsam-src
+        # Tag-specific fixes, named after the tag.
+        patch_file="${{github.workspace}}/patches/gtsam_$(echo '${{ matrix.gtsam_ref }}' | tr '.' '_').patch"
+        if [ -f "$patch_file" ]; then
+          echo "Applying $patch_file"
+          git -C ${{runner.temp}}/gtsam-src apply "$patch_file"
+        fi
+        cmake -S ${{runner.temp}}/gtsam-src -B ${{runner.temp}}/gtsam-build \
+          -DCMAKE_BUILD_TYPE=Release \
+          -DCMAKE_INSTALL_PREFIX=${{github.workspace}}/gtsam-install \
+          -DGTSAM_USE_SYSTEM_EIGEN=ON \
+          -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
+          -DGTSAM_BUILD_WITH_WERROR=OFF \
+          -DGTSAM_BUILD_TESTS=OFF \
+          -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
+          -DGTSAM_BUILD_UNSTABLE=OFF \
+          -DGTSAM_BUILD_PYTHON=OFF \
+          -DBUILD_SHARED_LIBS=ON
+        cmake --build ${{runner.temp}}/gtsam-build --target install -j $(nproc)
+
+    - name: Set up Python
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.x'
+
+    - name: Install Python Dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install numpy pybind11
+
+    - name: Configure CMake
+      run: |
+        # Both prefixes when a job has both.
+        prefix_path="${{ matrix.ros_prefix }}"
+        if [ -d "${{github.workspace}}/gtsam-install" ]; then
+          prefix_path="${prefix_path:+$prefix_path;}${{github.workspace}}/gtsam-install"
+        fi
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DCMAKE_PREFIX_PATH="$prefix_path" -DPython3_EXECUTABLE=$(which python3) -Dpybind11_DIR=$(python3 -m pybind11 --cmakedir) ${{ matrix.extra_cmake_def }}
+
+    - name: Build
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Info
+      working-directory: ${{github.workspace}}/build/bin
+      run: |
+        source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{ matrix.ros_prefix }}"
+        source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{github.workspace}}/gtsam-install"
+        ./rtabmap-console --version
+
+    - name: Test
+      working-directory: ${{github.workspace}}/build
+      # PYTHONNOUSERSITE=1: prevent the embedded Python interpreter from
+      # loading numpy / other site-packages from ~/.local that were compiled
+      # against a different ABI than the build-time Python (causes numpy
+      # 1.x/2.x mismatch crashes in test_pydetector / test_pydescriptor /
+      # test_pymatcher).
+      env:
+        PYTHONNOUSERSITE: 1
+      run: |
+        source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{ matrix.ros_prefix }}"
+        source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{github.workspace}}/gtsam-install"
+        # Keep a core file per crashing test, for the backtrace step below: an
+        # abort otherwise leaves only its message, and may not reproduce
+        # elsewhere.
+        ulimit -c unlimited
+        sudo sysctl -w kernel.core_pattern="${{github.workspace}}/build/core.%e.%p" > /dev/null
+        ctest -C ${{env.BUILD_TYPE}} -V -LE performance
+
+    - name: Backtrace of crashed tests
+      if: failure()
+      working-directory: ${{github.workspace}}/build
+      run: |
+        shopt -s nullglob
+        cores=(core.*)
+        if [ ${#cores[@]} -eq 0 ]; then
+          echo "No core file: the failure was an assertion or a wrong value, not a crash."
+          exit 0
+        fi
+        sudo apt-get -y install gdb
+        source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{ matrix.ros_prefix }}"
+        source ${{github.workspace}}/.github/scripts/ros-deps-env.sh "${{github.workspace}}/gtsam-install"
+        for core in "${cores[@]}"; do
+          exe="${core#core.}"
+          exe="bin/${exe%.*}"
+          echo "::group::$core ($exe)"
+          gdb -batch -ex "thread apply all bt" "$exe" "$core" || true
+          echo "::endgroup::"
+        done

.github/workflows/cmake-macos.yml

@@ -0,0 +1,160 @@
+name: CMake-MacOS
+
+on:
+  push:
+    branches: 
+      - master
+  pull_request:
+    branches:
+      - '**'
+  workflow_dispatch:
+
+env:
+  BUILD_TYPE: Release
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+jobs:
+  build:
+    name: ${{ matrix.build_name }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: true
+      matrix:
+        build_name: [macos-sequoia-apple-silicon, macos-tahoe-apple-silicon, macos-tahoe-apple-silicon-cv5]
+        include:
+        # macos-sequoia-intel temporarily disabled. Had some g2o optimizer issues.
+        #- build_name: macos-sequoia-intel
+        #  os: macos-15-intel
+        #  cv: opencv@4
+        - build_name: macos-sequoia-apple-silicon
+          os: macos-15
+          cv: opencv@4
+        # - build_name: macos-tahoe-intel
+        #   os: macos-26-intel
+        #   cv: opencv@4
+        - build_name: macos-tahoe-apple-silicon
+          os: macos-26
+          cv: opencv@4
+        # - build_name: macos-tahoe-intel-cv5
+        #   os: macos-26-intel
+        #   cv: opencv
+        - build_name: macos-tahoe-apple-silicon-cv5
+          os: macos-26
+          cv: opencv
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Restore test data
+      id: cache-testdata
+      uses: actions/cache@v4
+      with:
+        # SQLite DBs are binary-portable -> share the cache across
+        # linux / macos / windows. Key omits runner.os on purpose so all
+        # three OSes hit the same entry.
+        path: data/tests/*.db
+        key: testdata-${{ hashFiles('data/tests/manifest.txt') }}
+
+    - name: Fetch test data
+      if: steps.cache-testdata.outputs.cache-hit != 'true'
+      shell: bash
+      run: bash scripts/fetch_test_data.sh
+
+    - name: Install Brew Dependencies
+      run: |
+        # Update brew and install from Brewfile if present, or specific packages
+        brew install pcl octomap pdal yaml-cpp librealsense libfreenect libusb zlib libomp suite-sparse ceres-solver ${{ matrix.cv }}
+
+    - name: Install Source Dependencies
+      # Build (and per-dependency cache) the source-only deps not available from
+      # Homebrew, then install them into /usr/local. See the composite action.
+      uses: ./.github/actions/install-macos-source-deps
+      with:
+        os: ${{ matrix.os }}
+        build_type: ${{ env.BUILD_TYPE }}
+
+    - name: Configure CMake
+      run: |
+        # Apple clang has no built-in OpenMP; point find_package(OpenMP) at
+        # Homebrew's keg-only libomp so PCL/g2o/rtabmap enable OpenMP instead of
+        # repeatedly logging "Could NOT find OpenMP".
+        LIBOMP=$(brew --prefix libomp)
+        cmake -B ${{github.workspace}}/build \
+          -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} \
+          -DBUILD_TESTING=ON \
+          -DBUILD_AS_BUNDLE=ON \
+          -DWITH_ORBBEC_SDK=ON \
+          -DWITH_DEPTHAI=ON \
+          -DWITH_CERES=ON \
+          -DOpenMP_C_FLAGS="-Xclang -fopenmp -I$LIBOMP/include" \
+          -DOpenMP_C_LIB_NAMES=omp \
+          -DOpenMP_CXX_FLAGS="-Xclang -fopenmp -I$LIBOMP/include" \
+          -DOpenMP_CXX_LIB_NAMES=omp \
+          -DOpenMP_omp_LIBRARY="$LIBOMP/lib/libomp.dylib"
+
+    - 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: Build MacOS Package
+      run: |
+        cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }} --target package
+
+    - name: Upload RTABMap Artifacts (DMG)
+      uses: actions/upload-artifact@v4
+      with:
+        name: RTABMap-Binaries-${{ matrix.build_name }}-nonsigned-zip
+        path: |
+          build/RTABMap-*.dmg
+        compression-level: 0
+        if-no-files-found: warn
+        retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
+
+    - name: Test
+      working-directory: ${{github.workspace}}/build
+      # PYTHONNOUSERSITE=1: prevent the embedded Python interpreter from
+      # loading numpy / other site-packages from the user's site that were
+      # compiled against a different ABI than the build-time Python.
+      env:
+        PYTHONNOUSERSITE: 1
+      run: |
+        ctest -C ${{env.BUILD_TYPE}} -V -LE performance
+
+    # A ctest SEGFAULT is reported as just "SEGFAULT" with no backtrace, which
+    # makes a crash inside a long integration test invisible -- the log simply
+    # stops mid-test. macOS's ReportCrash writes a symbolized .ips report for
+    # every crashed process, so surface any that appeared during this job.
+    - name: Dump macOS crash reports on failure
+      if: failure()
+      run: |
+        # ReportCrash can lag the process death by a few seconds.
+        sleep 20
+        found=0
+        for d in "$HOME/Library/Logs/DiagnosticReports" /Library/Logs/DiagnosticReports; do
+          [ -d "$d" ] || continue
+          while IFS= read -r f; do
+            found=1
+            echo "::group::$f"
+            cat "$f"
+            echo "::endgroup::"
+          done < <(find "$d" -type f \( -name '*.ips' -o -name '*.crash' \) -mtime -1 2>/dev/null | sort)
+        done
+        if [ "$found" = 0 ]; then
+          echo "No crash reports found -- the job may have failed without a crash."
+        fi
+
+    - name: Upload ctest log on failure
+      if: failure()
+      uses: actions/upload-artifact@v4
+      with:
+        name: ctest-log-${{ matrix.build_name }}
+        path: build/Testing/Temporary/LastTest.log
+        if-no-files-found: warn
+        retention-days: 7
+

.github/workflows/cmake-ros.yml

@@ -0,0 +1,100 @@
+name: CMake-ROS
+
+on:
+  push:
+    branches: 
+      - master
+  pull_request:
+    branches:
+      - '**'
+  workflow_dispatch:
+
+env:
+  BUILD_TYPE: Release
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+jobs:
+  build:
+    name: ${{ matrix.ros_distribution }}
+    runs-on: ubuntu-latest
+    concurrency:
+      group: ${{ github.workflow }}-${{ github.ref }}-${{ matrix.ros_distribution }}
+      cancel-in-progress: true
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distribution: [ humble, jazzy, kilted, lyrical, rolling]
+        include:
+        - ros_distribution: 'humble'
+          skip_keys: ""
+        - ros_distribution: 'jazzy'
+          skip_keys: ""
+        - ros_distribution: 'kilted'
+          skip_keys: ""
+        - ros_distribution: 'lyrical'
+          skip_keys: "libpointmatcher"
+        - ros_distribution: 'rolling'
+          skip_keys: "libpointmatcher gtsam"
+          use_ros2_testing: true # Rolling is using ros2-testing (nightly)
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-full
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Restore test data
+      id: cache-testdata
+      uses: actions/cache@v4
+      with:
+        path: data/tests/*.db
+        key: testdata-${{ hashFiles('data/tests/manifest.txt') }}
+
+    - name: Fetch test data
+      if: steps.cache-testdata.outputs.cache-hit != 'true'
+      shell: bash
+      run: |
+        # The ROS images are slim; fetch_test_data.sh needs curl, and 7-Zip for
+        # the assets that come as an archive. The package holding it is
+        # p7zip-full up to Ubuntu 24.04 and 7zip on the newer ones.
+        command -v curl >/dev/null || (apt-get update && apt-get install -y --no-install-recommends curl)
+        command -v 7z >/dev/null || command -v 7zz >/dev/null || (apt-get update && \
+          (apt-get install -y --no-install-recommends p7zip-full || \
+           apt-get install -y --no-install-recommends 7zip))
+        bash scripts/fetch_test_data.sh
+
+    # `${{ github.workspace }}` is expanded by the runner on the *host*
+    # (/home/runner/work/...), but this job runs in a container where the runner
+    # bind-mounts that directory somewhere else (/__w/...). Baking the host path
+    # into RTABMAP_TEST_DATA_ROOT points every data-driven test at a directory
+    # that does not exist in the container: the integration tests silently skip
+    # and the ones that imread() committed fixtures abort outright.
+    #
+    # Resolve the path inside the container instead. A `run` step's cwd is the
+    # checkout root -- the same assumption the relative `scripts/...` and
+    # `data/tests/*.db` paths in the steps above already rely on -- so derive it
+    # from $PWD rather than trusting a path computed outside the container. The
+    # existence checks then turn that into a verified precondition: a wrong
+    # mount point or a failed fetch fails here, with the path printed, instead
+    # of degrading into skipped tests.
+    - name: Resolve test data root in the container
+      id: testdata
+      shell: bash
+      run: |
+        root="$PWD/data"
+        test -f "$root/samples/17.jpg" || { echo "::error::test data root $root is missing committed fixtures"; exit 1; }
+        ls "$root"/tests/*.db >/dev/null || { echo "::error::no test databases in $root/tests"; exit 1; }
+        echo "root=$root" >> "$GITHUB_OUTPUT"
+
+    - uses: ros-tooling/setup-ros@v0.7
+      with:
+        required-ros-distributions: ${{ matrix.ros_distribution }}
+        use-ros2-testing: ${{ matrix.use_ros2_testing || false }}
+    - uses: ros-tooling/action-ros-ci@v0.4
+      with:
+        package-name: rtabmap
+        target-ros2-distro: ${{ matrix.ros_distribution }}
+        rosdep-skip-keys: "${{ matrix.skip_keys }}"
+        coverage-result: false
+        extra-cmake-args: -DTEST_DATA_ROOT=${{ steps.testdata.outputs.root }}

.github/workflows/cmake-windows.yml

@@ -0,0 +1,171 @@
+name: CMake-Windows
+
+on:
+  push:
+    branches: 
+      - master
+  pull_request:
+    branches:
+      - '**'
+  workflow_dispatch:
+
+env:
+  BUILD_TYPE: Release
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+jobs:
+  build:
+    name: ${{ matrix.build_name }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: true
+      matrix:
+        build_name: [windows-2022, windows-2022-cuda]
+        include:
+        - build_name: windows-2022
+          os: windows-2022
+          extra_deps: ""
+          extra_cmake_def: '-DWITH_TORCH=OFF -DWITH_ZED=OFF'
+        - build_name: windows-2022-cuda
+          os: windows-2022
+          extra_deps: ""
+          extra_cmake_def: '-DWITH_TORCH=ON -DWITH_ZED=ON -DWITH_CUDASIFT=ON'
+
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Restore test data
+      id: cache-testdata
+      if: matrix.build_name != 'windows-2022-cuda'
+      uses: actions/cache@v4
+      with:
+        # SQLite DBs are binary-portable -> share the cache across
+        # linux / macos / windows. Key omits runner.os on purpose so all
+        # three OSes hit the same entry.
+        path: data/tests/*.db
+        key: testdata-${{ hashFiles('data/tests/manifest.txt') }}
+
+    - name: Fetch test data
+      if: matrix.build_name != 'windows-2022-cuda' && steps.cache-testdata.outputs.cache-hit != 'true'
+      shell: bash
+      run: bash scripts/fetch_test_data.sh
+
+    - name: Install Windows Dependencies
+      if: matrix.build_name == 'windows-2022'
+      uses: ./.github/actions/install-windows-deps
+ 
+    - name: Install Windows Dependencies with CUDA
+      if: matrix.build_name == 'windows-2022-cuda'
+      uses: ./.github/actions/install-windows-cuda-deps
+
+    - name: Configure CMake
+      run: |
+        # K4A, K4W2 and ZED are located via these env vars (FindK4A.cmake / FindKinectSDK2.cmake
+        # and the install rules), pointing at the export where the bundle staged their SDK files.
+        $env:K4A_ROOT_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release"
+        $env:KINECTSDK20_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release"
+        $env:ZED_SDK_ROOT_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release"
+        cmake `
+          -B ${{github.workspace}}/build `
+          -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} `
+          -DBUILD_AS_BUNDLE=ON `
+          -DWITH_PYTHON=ON `
+          -DWITH_CERES=ON `
+          -DWITH_ORBBEC_SDK=ON `
+          -DWITH_FREENECT2=ON `
+          -DWITH_K4W2=ON `
+          -DWITH_K4A=ON `
+          -DWITH_DEPTHAI=ON `
+          -DWITH_REALSENSE2=ON `
+          -DWITH_CCCORELIB=ON `
+          ${{ matrix.extra_cmake_def }} `
+          -DBUILD_TESTING=ON `
+          -DVCPKG_MANIFEST_INSTALL=OFF `
+          -DVCPKG_TARGET_TRIPLET=x64-windows-release `
+          -DVCPKG_INSTALLED_DIR="${{env.VCPKG_EXPORT_PATH}}/installed" `
+          -DCMAKE_TOOLCHAIN_FILE=${{env.VCPKG_EXPORT_PATH}}/scripts/buildsystems/vcpkg.cmake `
+          -DTorch_DIR=${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release/tools/python3/Lib/site-packages/torch/share/cmake/Torch
+
+    - name: Build
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}} --target ALL_BUILD
+
+    - name: Test
+      # Not run on the CUDA build, which is a build+package job only.
+      #
+      # The runner has no NVIDIA GPU or driver (see the driver-DLL note in
+      # app/src/CMakeLists.txt), so no cv::cuda / CUDASIFT path can actually
+      # execute there -- everything falls back to CPU and the run just repeats
+      # the coverage the non-CUDA job already gives, on the same sources. It
+      # used to cost more than it returned: the two cv::cuda-touching tests
+      # (test_util3d_features, test_localgrid) had to be excluded because lazy
+      # CUDA-init stalled them past the 300 s timeout, and once WITH_ZED=ON was
+      # added to this job every remaining corelib test died in the loader with
+      # 0xc0000135 (STATUS_DLL_NOT_FOUND) before reaching main(): rtabmap_core
+      # links sl_zed64.dll, which imports the driver-only nvcuvid.dll /
+      # nvEncodeAPI64.dll that a driver-less runner does not have.
+      #
+      # So this job compiles, links and packages the CUDA artifact; the
+      # non-CUDA job is what verifies behaviour. Same reason the Info step
+      # below is skipped here.
+      if: matrix.build_name != 'windows-2022-cuda'
+      working-directory: ${{github.workspace}}/build
+      # PYTHONHOME points the embedded interpreter at vcpkg's bundled
+      # Python install (where Lib/, DLLs/ live). Without it Python emits
+      # "Could not find platform independent libraries <prefix>" at init
+      # and runs without a stdlib, breaking every numpy import.
+      # PYTHONNOUSERSITE=1: prevent the embedded Python interpreter from
+      # loading numpy / other site-packages from %APPDATA%\Python that
+      # were compiled against a different ABI than the build-time Python
+      # (numpy 1.x/2.x mismatch crashes in test_pydetector /
+      # test_pydescriptor / test_pymatcher).
+      env:
+        PYTHONHOME: ${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release/tools/python3
+        PYTHONNOUSERSITE: 1
+      run: |
+        ctest -C ${{env.BUILD_TYPE}} -V --timeout 300 -LE performance
+
+    - name: Info
+      # Skipped for CUDA: the binary links ZED (sl_zed64.dll -> nvcuvid/nvEncodeAPI64),
+      # which need the NVIDIA driver; the GPU-less runner can't load the exe.
+      if: matrix.build_name != 'windows-2022-cuda'
+      working-directory: ${{github.workspace}}/build/bin
+      run: |
+        ./rtabmap-console --version
+
+    - name: Build Windows Package
+      shell: pwsh
+      run: |
+        if ("${{ github.event_name }}" -eq "pull_request") {
+          cpack --config build/CPackConfig.cmake -G ZIP -B build
+        } else {
+          cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }} --target package
+        }
+
+    - name: Rename CUDA artifacts
+      if: matrix.build_name == 'windows-2022-cuda'
+      shell: pwsh
+      run: Get-ChildItem -Path "build" -Filter "RTABMap-*" | Rename-Item -NewName { $_.BaseName + "_cuda" + $_.Extension }
+
+    - name: Upload RTABMap Artifacts (ZIP)
+      uses: actions/upload-artifact@v4
+      with:
+        name: RTABMap-Binaries-${{ matrix.build_name }}-zip
+        path: |
+          build/RTABMap-*.zip
+        compression-level: 0
+        if-no-files-found: warn
+        retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
+
+    - name: Upload RTABMap Artifacts (Installer)
+      if: github.event_name != 'pull_request'
+      uses: actions/upload-artifact@v4
+      with:
+        name: RTABMap-Binaries-${{ matrix.build_name }}-exe
+        path: |
+          build/RTABMap-*.exe
+        compression-level: 0
+        if-no-files-found: warn
+        retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}

.github/workflows/coverage.yml

@@ -0,0 +1,198 @@
+name: Coverage
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - '**'
+  workflow_dispatch:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+permissions:
+  contents: read
+  id-token: write
+
+env:
+  BUILD_TYPE: Debug
+
+jobs:
+  coverage:
+    name: Coverage (ubuntu-24.04)
+    runs-on: ubuntu-24.04
+    env:
+      CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Restore test data
+        id: cache-testdata
+        uses: actions/cache@v4
+        with:
+          # Same key as the other workflows so all of them share one entry.
+          path: data/tests/*.db
+          key: testdata-${{ hashFiles('data/tests/manifest.txt') }}
+
+      - name: Fetch test data
+        if: steps.cache-testdata.outputs.cache-hit != 'true'
+        shell: bash
+        run: bash scripts/fetch_test_data.sh
+
+      - name: Install Linux dependencies
+        run: |
+          DEBIAN_FRONTEND=noninteractive
+          sudo apt-get update
+          sudo apt-get install -y \
+            lcov \
+            libopencv-dev \
+            libpcl-dev \
+            git \
+            cmake \
+            software-properties-common \
+            libyaml-cpp-dev \
+            libg2o-dev \
+            libceres-dev \
+            curl \
+            gnupg \
+            lsb-release
+
+          # GTSAM and libpointmatcher are not in the Ubuntu archive, and
+          # borglab's gtsam PPAs have no noble packages (gtsam-release-4.2 has
+          # no noble suite; gtsam-develop's noble Packages index is empty). The
+          # ROS 2 repo ships both for noble, which is also what the ROS CI jobs
+          # test against, so take them from there.
+          sudo curl -fsSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
+            -o /usr/share/keyrings/ros-archive-keyring.gpg
+          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" \
+            | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+          sudo apt-get update
+          sudo apt-get install -y \
+            ros-jazzy-gtsam \
+            ros-jazzy-libpointmatcher
+
+      - name: Configure CMake
+        run: |
+          cmake -B ${{ github.workspace }}/build \
+            -DCMAKE_BUILD_TYPE=${{ env.BUILD_TYPE }} \
+            -DENABLE_COVERAGE=ON \
+            -DCMAKE_PREFIX_PATH=/opt/ros/jazzy \
+            -DBUILD_TESTING=ON \
+            -DBUILD_APP=OFF \
+            -DBUILD_TOOLS=OFF \
+            -DBUILD_EXAMPLES=OFF \
+            -DWITH_QT=OFF \
+            -DWITH_PYTHON=OFF \
+            -DWITH_CERES=ON \
+            -DWITH_G2O=ON \
+            -DWITH_GTSAM=ON \
+            -DWITH_MRPT=OFF \
+            -DWITH_CVSBA=OFF \
+            -DWITH_POINTMATCHER=ON \
+            -DWITH_CCCORELIB=OFF \
+            -DWITH_OPEN3D=OFF \
+            -DWITH_LOAM=OFF \
+            -DWITH_FLOAM=OFF \
+            -DWITH_LIOSAM=OFF \
+            -DWITH_FLYCAPTURE2=OFF \
+            -DWITH_ZED=OFF \
+            -DWITH_ZEDOC=OFF \
+            -DWITH_REALSENSE=OFF
+
+      - name: Build
+        run: cmake --build ${{ github.workspace }}/build -j$(nproc)
+
+      - name: Test
+        working-directory: ${{ github.workspace }}/build
+        run: |
+          # The ROS packages are not on the default loader path. Both
+          # directories are needed: GTSAM and libpointmatcher land in
+          # /opt/ros/jazzy/lib, but gtsam's own libmetis-gtsam.so goes to the
+          # multiarch subdirectory, and libgtsam.so carries no RUNPATH, so the
+          # loader can only find it through LD_LIBRARY_PATH.
+          ROS_LIB=/opt/ros/jazzy/lib
+          export LD_LIBRARY_PATH="${{ github.workspace }}/build/bin:${ROS_LIB}:${ROS_LIB}/$(gcc -dumpmachine)${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}"
+          find ${{ github.workspace }}/build -name '*.gcda' -delete
+          # Unit tests only ("long" is the end-to-end replay suite).
+          #
+          # Two reasons. It costs ~90 min in this instrumented -O0 build, 94% of
+          # the job's test time, for ~3 points of coverage. And running it on
+          # some events but not others makes the numbers incomparable: Codecov
+          # measures a pull request against master, so a unit-only PR report
+          # against a full master report reads as a coverage regression on every
+          # PR. Same scope everywhere keeps the comparison meaningful.
+          #
+          # The replays still run (and gate) in the cmake-linux / macos /
+          # windows jobs; they are just not measured here.
+          ctest -V -LE "long|performance"
+
+      - name: Generate LCOV report
+        run: |
+          GCOV_VER="$(gcc -dumpversion | cut -d. -f1)"
+          if command -v "gcov-${GCOV_VER}" >/dev/null 2>&1; then
+            GCOV_TOOL="gcov-${GCOV_VER}"
+          else
+            GCOV_TOOL="gcov"
+          fi
+          LCOV_IGNORE=(--ignore-errors gcov,source,graph,mismatch,unused)
+
+          # The whole of corelib/utilite, test objects included, not just their src/.
+          # An inline function defined in a header is emitted in whichever
+          # translation unit wins comdat folding, which is often a test one, and
+          # its counters then live in that unit's .gcda: capturing only src/
+          # reports such a function as uncovered however often it is called. The
+          # test sources themselves are dropped below, after the counters are read.
+          lcov --gcov-tool "$GCOV_TOOL" "${LCOV_IGNORE[@]}" \
+            --capture \
+            --directory ${{ github.workspace }}/build/corelib \
+            --directory ${{ github.workspace }}/build/utilite \
+            --output-file lcov.info
+
+          lcov "${LCOV_IGNORE[@]}" --extract lcov.info \
+            '${{ github.workspace }}/*' \
+            --output-file lcov.info
+          # The test sources are the instrument, not the subject: a line in a
+          # test counts as uncovered only when the test skipped it (a defensive
+          # cleanup branch, a platform guard), which says nothing about the
+          # library. They are also near-fully covered by construction, so
+          # leaving them in inflates the overall number. Excluded here, before
+          # the upload, so the HTML artifact, the summary below and Codecov all
+          # report the same figure. Kept in sync with coverage-report.sh.
+          lcov "${LCOV_IGNORE[@]}" --remove lcov.info \
+            '*/sqlite3/*' \
+            '*/rtflann/*' \
+            '*/corelib/test/*' \
+            '*/utilite/test/*' \
+            '*/_deps/*' \
+            --output-file lcov.info
+
+          lcov --summary lcov.info
+
+      - name: HTML coverage report
+        run: genhtml --ignore-errors source,mismatch lcov.info --output-directory coverage-html --legend --demangle-cpp
+
+      - name: Upload HTML coverage artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: coverage-html
+          path: coverage-html
+          retention-days: 14
+
+      - name: Upload to Codecov
+        if: ${{ env.CODECOV_TOKEN != '' }}
+        uses: codecov/codecov-action@v5
+        with:
+          files: lcov.info
+          # Upload ONLY lcov.info. By default the CLI also searches the tree and
+          # runs gcov over every .gcno it finds, uploading those .gcov files
+          # alongside -- which re-introduced corelib/test and utilite/test on
+          # Codecov even though the lcov --remove step had dropped them (the
+          # HTML artifact, built from the same lcov.info, was correctly clean).
+          disable_search: true
+          plugins: noop
+          token: ${{ env.CODECOV_TOKEN }}
+          fail_ci_if_error: false

.github/workflows/docker.yml

@@ -0,0 +1,243 @@
+name: docker
+
+on:
+  push:
+    branches:
+      - 'master'
+  pull_request:
+    branches:
+      - '**'
+  workflow_dispatch:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+jobs:
+  docker_deps:
+
+    # Disabling ###-deps step from CI because it is too flaky (seg faults, arm64 build timeout...)
+    # Only way I was able to build all images is to do it from a ubuntu 20.04 computer with:
+    #    $ sudo add-apt-repository ppa:canonical-server/server-backports
+    #    $ sudo apt-get update
+    #    $ sudo apt-get upgrade qemu-user-static
+    #    $ docker run --rm --privileged multiarch/qemu-user-static --reset -p yes -c yes
+    # More info: https://github.com/introlab/rtabmap/issues/1454
+    # Skipped on pull requests; built and pushed only from master (push or
+    # manual dispatch), since it pushes the :*-deps tags to Docker Hub.
+    if: github.ref == 'refs/heads/master'
+
+    runs-on: ubuntu-latest
+    
+    strategy:
+      fail-fast: false
+      matrix:
+        docker_tag: [focal-deps, jammy-deps, noble-deps, noble-kilted-deps, resolute-deps]
+        include:
+        - docker_tag: focal-deps
+          docker_tags: |
+            introlab3it/rtabmap:focal-deps
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          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: noble-deps
+          docker_tags: |
+            introlab3it/rtabmap:noble-deps
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'noble/deps'
+        - docker_tag: noble-kilted-deps
+          docker_tags: |
+            introlab3it/rtabmap:noble-kilted-deps
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'noble-kilted/deps'
+        - docker_tag: resolute-deps
+          docker_tags: |
+            introlab3it/rtabmap:resolute-deps
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'resolute/deps'
+    
+    steps:
+      -
+        name: Checkout
+        uses: actions/checkout@v2
+      - 
+        name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: all
+      -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      -
+        name: Login to DockerHub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+      -
+        name: Build and push
+        uses: docker/build-push-action@v6
+        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
+    # Run even when docker_deps is skipped (it is, on pull requests).
+    # A manual dispatch is honored only on master, the only ref we push from.
+    if: ${{ !cancelled() && !failure() && (github.event_name != 'workflow_dispatch' || github.ref == 'refs/heads/master') }}
+    runs-on: ubuntu-latest
+    
+    strategy:
+      fail-fast: false
+      matrix:
+        docker_tag: [bionic, focal, jammy, noble, noble-kilted, resolute, 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
+          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: 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: noble-kilted
+          docker_tags: |
+            introlab3it/rtabmap:noble-kilted
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'noble-kilted'
+        - docker_tag: resolute
+          docker_tags: |
+            introlab3it/rtabmap:resolute
+            introlab3it/rtabmap:26.04
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'resolute'
+        - docker_tag: android23
+          docker_tags: |
+            introlab3it/rtabmap:android23
+            introlab3it/rtabmap:tango
+          docker_args: |
+            API_VERSION=23
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'noble/android/rtabmap_apiXX'
+        - docker_tag: android24
+          docker_tags: |
+            introlab3it/rtabmap:android24
+          docker_args: |
+            API_VERSION=24
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'noble/android/rtabmap_apiXX'
+        - docker_tag: android26
+          docker_tags: |
+            introlab3it/rtabmap:android26
+          docker_args: |
+            API_VERSION=26
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'noble/android/rtabmap_apiXX'
+        - docker_tag: android30
+          docker_tags: |
+            introlab3it/rtabmap:android30
+          docker_args: |
+            API_VERSION=30
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'noble/android/rtabmap_apiXX'
+    
+    steps:
+      -
+        name: Checkout
+        uses: actions/checkout@v2
+      - 
+        name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: all
+      -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      -
+        name: Login to DockerHub
+        # Only needed when pushing; skipped on pull requests (secrets are
+        # unavailable for fork PRs and we don't push there anyway).
+        if: github.event_name != 'pull_request'
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+      -
+        name: Build and push
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          push: ${{ github.event_name != 'pull_request' }}
+          platforms: ${{ github.event_name == 'pull_request' && 'linux/amd64' || matrix.docker_platforms }}
+          file: ./docker/${{ 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/docs-preview-cleanup.yml

@@ -0,0 +1,54 @@
+name: Documentation preview cleanup
+
+# Removes the per-PR documentation preview published by docs.yml under
+# gh-pages:preview/pr-<number>/ once the pull request is closed (merged or not).
+#
+# Deliberately has no `paths` filter: docs.yml only publishes a preview when
+# documentation-related files changed, but this must fire for every close so a
+# preview can never be orphaned on the branch.
+on:
+  pull_request:
+    types: [closed]
+
+permissions:
+  contents: read
+
+jobs:
+  cleanup:
+    name: Remove PR preview
+    # Forks never get a preview (their token is read-only), so nothing to clean.
+    if: github.event.pull_request.head.repo.full_name == github.repository
+    runs-on: ubuntu-24.04
+
+    # Same group as docs.yml's publish job: both push to gh-pages, and two
+    # concurrent pushes would collide.
+    concurrency:
+      group: gh-pages-publish
+      cancel-in-progress: false
+
+    permissions:
+      contents: write
+
+    steps:
+      - name: Checkout gh-pages
+        uses: actions/checkout@v4
+        with:
+          ref: gh-pages
+          fetch-depth: 1
+
+      - name: Remove preview directory
+        env:
+          PREVIEW_DIR: preview/pr-${{ github.event.number }}
+        run: |
+          set -eux
+          if [[ ! -d "${PREVIEW_DIR}" ]]; then
+            echo "No preview at ${PREVIEW_DIR}, nothing to do."
+            exit 0
+          fi
+          git config user.name 'github-actions[bot]'
+          git config user.email 'github-actions[bot]@users.noreply.github.com'
+          git rm -r --quiet "${PREVIEW_DIR}"
+          # Drop the parent too once the last preview is gone.
+          rmdir preview 2>/dev/null || true
+          git commit -m "Remove preview for PR #${{ github.event.number }}"
+          git push

.github/workflows/docs.yml

@@ -0,0 +1,218 @@
+name: Documentation
+
+on:
+  push:
+    branches:
+      - master
+    tags:
+      - '*'
+    # Publishing commits to the gh-pages branch, so only run when something that
+    # affects the documentation actually changed. Use the manual "Run workflow"
+    # button if a deploy is needed outside of these paths.
+    paths: &docs_paths
+      - '.github/workflows/docs.yml'
+      - 'CMakeLists.txt'
+      - 'Doxyfile.in'
+      - 'docs-report.sh'
+      - 'website/**'
+      - 'doxygen/**'
+      - 'package.xml'
+      - 'corelib/include/**'
+      - 'utilite/include/**'
+  pull_request:
+    branches:
+      - '**'
+    paths: *docs_paths
+  workflow_dispatch:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+    name: Build site (ubuntu-24.04)
+    runs-on: ubuntu-24.04
+
+    outputs:
+      version: ${{ steps.site.outputs.version }}
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install dependencies
+        run: |
+          DEBIAN_FRONTEND=noninteractive
+          sudo apt-get update
+          sudo apt-get install -y \
+            doxygen \
+            graphviz \
+            cmake \
+            libopencv-dev \
+            libpcl-dev \
+            libyaml-cpp-dev \
+            git
+
+      # Configures build-docs (CMake generates the export headers that are part
+      # of Doxygen's INPUT), runs Doxygen into build-docs/api/latest/. Same
+      # script used locally, so a local preview matches what gets published.
+      - name: Generate C++ API documentation (Doxygen)
+        run: ./docs-report.sh
+
+      # The theme emits absolute asset links built from site.baseurl, which
+      # GitHub's own Jekyll infers from the repository (/rtabmap). A PR preview
+      # is served from a deeper path, so those links would 404 there. Pin
+      # baseurl to the path this particular build gets published to.
+      - name: Set Jekyll baseurl
+        run: |
+          set -eux
+          if [ "${{ github.event_name }}" = "pull_request" ]; then
+            baseurl="/${{ github.event.repository.name }}/preview/pr-${{ github.event.number }}"
+          else
+            baseurl="/${{ github.event.repository.name }}"
+          fi
+          echo "baseurl: ${baseurl}" >> website/_config.yml
+
+      # Landing page: built here rather than by GitHub's own Jekyll, so that
+      # .nojekyll can be set below and the Doxygen output is served untouched.
+      - name: Build landing page (Jekyll)
+        uses: actions/jekyll-build-pages@v1
+        with:
+          source: ./website
+          destination: ./_site
+
+      - name: Assemble site
+        id: site
+        run: |
+          set -eux
+          # jekyll-build-pages is a container action running as root, so _site
+          # comes back owned by root and the steps below (running as the runner
+          # user) cannot write into it.
+          sudo chown -R "$(id -u):$(id -g)" _site
+
+          # Serve everything verbatim: the site is already built, and Jekyll
+          # would otherwise skip Doxygen files/folders starting with '_'.
+          touch _site/.nojekyll
+
+          mkdir -p _site/api
+          cp -r build-docs/api/latest _site/api/latest
+
+          # On a release tag (plain X.Y.Z, not the ROS-distro variants such as
+          # 0.23.7-jazzy), also publish under the version number. Older versions
+          # already on the branch are preserved by keep_files when publishing.
+          version=""
+          if [[ "${GITHUB_REF_TYPE}" == "tag" && "${GITHUB_REF_NAME}" =~ ^[0-9]+\.[0-9]+\.[0-9]+$ ]]; then
+            version="${GITHUB_REF_NAME}"
+            cp -r build-docs/api/latest "_site/api/${version}"
+          fi
+          echo "version=${version}" >> "$GITHUB_OUTPUT"
+
+          # The dropdown list is maintained by hand in the repository (one entry
+          # per release) and shared by every published version -- see the header
+          # comment in doxygen/versions.js.
+          cp doxygen/versions.js _site/api/versions.js
+
+          # /api/ has no content of its own: send it to the current docs so a
+          # bare .../api/ link lands somewhere useful instead of a 404. The
+          # target is relative, so it works at the site root and under a
+          # preview prefix alike.
+          printf '%s\n' \
+            '<!doctype html>' \
+            '<meta charset="utf-8">' \
+            '<title>RTAB-Map API documentation</title>' \
+            '<meta http-equiv="refresh" content="0; url=latest/">' \
+            '<link rel="canonical" href="latest/">' \
+            '<p>Redirecting to the <a href="latest/">latest API documentation</a>.</p>' \
+            > _site/api/index.html
+
+          test -f _site/index.html
+          test -f _site/api/index.html
+          test -f _site/api/latest/index.html
+
+      - name: Upload site artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: documentation-site
+          path: _site
+          # include-hidden-files keeps .nojekyll, which the publish job needs.
+          include-hidden-files: true
+          retention-days: 14
+
+  publish:
+    name: Publish to gh-pages
+    needs: build
+    # Forks are skipped for pull requests: their GITHUB_TOKEN is read-only, and
+    # granting write access to a workflow that builds untrusted code would be a
+    # security hole.
+    if: >-
+      github.event_name != 'pull_request' ||
+      github.event.pull_request.head.repo.full_name == github.repository
+    runs-on: ubuntu-24.04
+
+    # Serialize every push to gh-pages, including the preview cleanup workflow,
+    # and never cancel one in flight: two concurrent pushes would collide.
+    concurrency:
+      group: gh-pages-publish
+      cancel-in-progress: false
+
+    permissions:
+      contents: write
+
+    steps:
+      - name: Download site
+        uses: actions/download-artifact@v4
+        with:
+          name: documentation-site
+          path: _site
+
+      # Pull requests go to preview/pr-<number>/, everything else to the site
+      # root. keep_files preserves what this run does not carry: the published
+      # version folders (api/0.23.x/) and the other PRs' previews.
+      - name: Publish
+        uses: peaceiris/actions-gh-pages@v4
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_branch: gh-pages
+          publish_dir: ./_site
+          destination_dir: ${{ github.event_name == 'pull_request' && format('preview/pr-{0}', github.event.number) || '' }}
+          keep_files: true
+          # Do not let the action drop a .nojekyll at the *branch root*: that
+          # disables Jekyll for everything on the branch, including content
+          # published outside this deployment. The site we publish carries its
+          # own .nojekyll inside destination_dir, which is the only place it
+          # should apply.
+          enable_jekyll: true
+          user_name: 'github-actions[bot]'
+          user_email: 'github-actions[bot]@users.noreply.github.com'
+          commit_message: >-
+            ${{ github.event_name == 'pull_request'
+                && format('Preview for PR #{0}', github.event.number)
+                || format('Update documentation ({0})', needs.build.outputs.version || 'latest') }}
+
+      - name: Link the site
+        run: |
+          base="https://${{ github.repository_owner }}.github.io/${{ github.event.repository.name }}"
+          if [[ "${{ github.event_name }}" == "pull_request" ]]; then
+            url="${base}/preview/pr-${{ github.event.number }}"
+            note="Removed automatically when this pull request is closed."
+          else
+            url="${base}"
+            note=""
+          fi
+          {
+            echo "### Documentation"
+            echo ""
+            echo "- Landing page: ${url}/"
+            echo "- C++ API: ${url}/api/latest/"
+            # An `if` rather than `[[ ... ]] && { ... }`: as the last command in
+            # the group, a false test would make the group (and so the whole
+            # step) exit 1. `note` is empty on push, which failed every master
+            # run while pull requests passed.
+            if [[ -n "${note}" ]]; then
+              echo ""
+              echo "${note}"
+            fi
+          } >> "$GITHUB_STEP_SUMMARY"

.github/workflows/ios.yml

@@ -0,0 +1,115 @@
+name: iOS
+
+on:
+  push:
+    branches:
+      - master
+    paths: &ios_paths
+      - '.github/workflows/ios.yml'
+      - 'app/ios/**'
+      - 'app/android/jni/**'
+      - 'corelib/**'
+      - 'utilite/**'
+      - 'cmake_modules/**'
+      - 'CMakeLists.txt'
+  pull_request:
+    branches:
+      - '**'
+    paths: *ios_paths
+  workflow_dispatch:
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+env:
+  # Pre-built iOS dependencies (content of app/ios/RTABMapApp/Libraries, generated by install_deps.sh).
+  # Bump this when the dependency set changes (must match the Xcode toolchain below).
+  DEPS_URL: https://github.com/introlab/rtabmap/releases/download/0.23.1/libraries-ios-xcode26.5.zip
+  XCODE_VERSION: '26.5'
+
+jobs:
+  build:
+    name: build-ios
+    # macos-26 (Tahoe) ships Xcode 26.x, matching the toolchain used to build the prebuilt libraries.
+    runs-on: macos-26
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Select Xcode ${{ env.XCODE_VERSION }}
+        uses: maxim-lobanov/setup-xcode@v1
+        with:
+          xcode-version: ${{ env.XCODE_VERSION }}
+
+      - name: Versions
+        run: |
+          xcodebuild -version
+          cmake --version || brew install cmake
+
+      - name: Cache prebuilt dependencies archive
+        id: deps-cache
+        uses: actions/cache@v4
+        with:
+          path: deps.zip
+          # Keyed on the archive URL (release tag + filename), so the cache is
+          # reused until DEPS_URL is bumped, regardless of other workflow edits.
+          key: ${{ runner.os }}-ios-deps-${{ env.DEPS_URL }}
+
+      - name: Download prebuilt dependencies
+        if: steps.deps-cache.outputs.cache-hit != 'true'
+        run: curl -L "$DEPS_URL" -o deps.zip
+
+      - name: Extract dependencies into Libraries
+        run: |
+          set -eux
+          mkdir -p app/ios/RTABMapApp/Libraries
+          rm -rf deps_extract && mkdir -p deps_extract
+          unzip -q deps.zip -d deps_extract
+          # The archive holds the *content* of the Libraries folder (include/ lib/ share/),
+          # but tolerate an extra top-level Libraries/ wrapper just in case.
+          if [ -d deps_extract/Libraries ]; then
+            SRC=deps_extract/Libraries
+          else
+            SRC=deps_extract
+          fi
+          cp -R "$SRC"/. app/ios/RTABMapApp/Libraries/
+          test -d app/ios/RTABMapApp/Libraries/include
+          test -d app/ios/RTABMapApp/Libraries/lib
+
+      - name: Build rtabmap core (third-party deps are skipped, already provided by the archive)
+        working-directory: app/ios/RTABMapApp
+        run: ./install_deps.sh
+
+      - name: Build RTABMapApp
+        run: |
+          xcodebuild \
+            -project app/ios/RTABMapApp.xcodeproj \
+            -scheme RTABMapApp \
+            -configuration Release \
+            -sdk iphoneos \
+            -destination 'generic/platform=iOS' \
+            -derivedDataPath build \
+            CODE_SIGNING_ALLOWED=NO \
+            CODE_SIGNING_REQUIRED=NO \
+            CODE_SIGN_IDENTITY="" \
+            DEVELOPMENT_TEAM="" \
+            build
+
+      - name: Package app (unsigned .ipa)
+        run: |
+          set -eux
+          APP_DIR="build/Build/Products/Release-iphoneos"
+          rm -rf Payload && mkdir Payload
+          cp -R "$APP_DIR/RTABMapApp.app" Payload/
+          # Unsigned .ipa: not installable as-is, but ready for later (re)signing.
+          zip -q -r RTABMapApp-unsigned.ipa Payload
+
+      - name: Upload app artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: RTABMapApp-ios-unsigned
+          path: RTABMapApp-unsigned.ipa
+          compression-level: 0
+          if-no-files-found: error
+          retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}

.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 +10,25 @@ app/android/AndroidManifest.xml
 app/android/res/raw/
 compile_flags.txt
 tags
+build_*
+*.bak
+build-*
+
+# Coverage (coverage-report.sh / .github/workflows/coverage.yml)
+coverage-html/
+lcov.info
+*.gcda
+*.gcno
+
+# Doxygen (docs-report.sh / .github/workflows/docs.yml)
+doc/
+# Byte-code of doxygen/generate_parameters_page.py
+__pycache__/
+# Generated from Doxyfile.in by CMake.
+Doxyfile
+
+# Windows bundle: vcpkg tree, build output, and deps built from source (bundle_windows_deps.bat)
+vcpkg/
+vcpkg_installed/
+vcpkg_binaries/
+vcpkg_deps_from_source/

.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) 2010-2025, 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 +1,27 @@
-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]
+[![codecov](https://codecov.io/gh/introlab/rtabmap/graph/badge.svg?token=mPwvfZMOia)](https://codecov.io/gh/introlab/rtabmap)
 [![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-0.23.1-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).
+ * For the C++ API of the library, see the [API documentation](https://introlab.github.io/rtabmap/api/latest/), which also lists all [parameters](https://introlab.github.io/rtabmap/api/latest/parameters.html) and [command-line tools](https://introlab.github.io/rtabmap/api/latest/tools.html).
 
 To use RTAB-Map under ROS, visit the [rtabmap](http://wiki.ros.org/rtabmap) page on the ROS wiki.
 
@@ -25,3 +31,61 @@ 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>
+           <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-linux.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-linux.yml/badge.svg" alt="CMake Linux Build Status"/> <br> 
+           <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-windows.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-windows.yml/badge.svg" alt="CMake Windows Build Status"/> <br> 
+           <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-macos.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-macos.yml/badge.svg" alt="CMake MaCOS 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="CMake ROS 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="Docker 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="5">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>Jazzy</td>
+            <td><a href="http://build.ros2.org/job/Jbin_uN64__rtabmap__ubuntu_noble_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Jbin_uN64__rtabmap__ubuntu_noble_amd64__binary" alt="Build Status"/></td>
+        </tr>
+        <tr>
+            <td>Kilted</td>
+            <td><a href="http://build.ros2.org/job/Lbin_uR64__rtabmap__ubuntu_resolute_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Lbin_uR64__rtabmap__ubuntu_resolute_amd64__binary" alt="Build Status"/></td>
+        </tr>
+        <tr>
+            <td>Lyrical</td>
+            <td><a href="http://build.ros2.org/job/Kbin_uN64__rtabmap__ubuntu_noble_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Kbin_uN64__rtabmap__ubuntu_noble_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" 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 @CONF_OPENCV_VERSION_MAJOR@ COMPONENTS @CONF_OPENCV_COMPONENTS@ OPTIONAL_COMPONENTS @CONF_OPENCV_OPTIONAL_COMPONENTS@)
 
-#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

@@ -35,15 +35,18 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define RTABMAP_VERSION_MINOR @PROJECT_VERSION_MINOR@
 #define RTABMAP_VERSION_PATCH @PROJECT_VERSION_PATCH@
 
-#define RTABMAP_VERSION_COMPARE(major, minor, patch)  (major>=@PROJECT_VERSION_MAJOR@ || (major==@PROJECT_VERSION_MAJOR@ && minor>=@PROJECT_VERSION_MINOR@) || (major==@PROJECT_VERSION_MAJOR@ && minor==@PROJECT_VERSION_MINOR@ && patch >=@PROJECT_VERSION_PATCH@))
+#define RTABMAP_VERSION_COMPARE(OP, MAJOR, MINOR, PATCH) (RTABMAP_VERSION_MAJOR*10000+RTABMAP_VERSION_MINOR*100+RTABMAP_VERSION_PATCH OP MAJOR*10000+MINOR*100+PATCH)
 
 @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@
+@G2O_WITH_SBA_UTILS_CONF@#define RTABMAP_G2O_WITH_SBA_UTILS
 @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 +55,15 @@ 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
+@LIOSAM@#define RTABMAP_LIOSAM
 @DC1394@#define RTABMAP_DC1394
 @FLYCAPTURE2@#define RTABMAP_FLYCAPTURE2
 @ZED@#define RTABMAP_ZED
@@ -64,7 +73,10 @@ 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
+@ORBBEC_SDK@#define RTABMAP_ORBBEC_SDK
 @OCTOMAP@#define RTABMAP_OCTOMAP
+@GRIDMAP@#define RTABMAP_GRIDMAP
 @CPUTSDF@#define RTABMAP_CPUTSDF
 @ALICE_VISION@#define RTABMAP_ALICE_VISION
 @OPENCHISEL@#define RTABMAP_OPENCHISEL
@@ -73,12 +85,16 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @DVO@#define RTABMAP_DVO
 @OKVIS@#define RTABMAP_OKVIS
 @MSCKF_VIO@#define RTABMAP_MSCKF_VIO
-@VINS@#define RTABMAP_VINS
+@VINSFUSION@#define RTABMAP_VINS_FUSION
+@OPENVINS@#define RTABMAP_OPENVINS
+@CUVSLAM@#define RTABMAP_CUVSLAM
 @ORB_SLAM@#define RTABMAP_ORB_SLAM @ORB_SLAM_VERSION@
 @ORB_OCTREE@#define RTABMAP_ORB_OCTREE
 @TORCH@#define RTABMAP_TORCH
 @PYTHON@#define RTABMAP_PYTHON
 @MADGWICK@#define RTABMAP_MADGWICK
+@APRILTAG@#define RTABMAP_APRILTAG
+@APRILTAG_ARUCO@#define RTABMAP_APRILTAG_WITH_ARUCO
 
 #include <pcl/pcl_config.h>
 

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

@@ -3,8 +3,10 @@ SET(INCLUDE_DIRS
     ${CMAKE_CURRENT_SOURCE_DIR}
     ${CMAKE_CURRENT_SOURCE_DIR}/tango-gl/include
     ${CMAKE_CURRENT_SOURCE_DIR}/third-party/include
-	${PROJECT_SOURCE_DIR}/corelib/include
-	${PROJECT_SOURCE_DIR}/utilite/include
+	  ${PROJECT_BINARY_DIR}/corelib/include
+	  ${PROJECT_SOURCE_DIR}/corelib/include
+	  ${PROJECT_SOURCE_DIR}/utilite/include
+    ${CMAKE_CURRENT_BINARY_DIR}
     ${OpenCV_INCLUDE_DIRS}
     ${PCL_INCLUDE_DIRS}
     "${ANDROID_NDK}/platforms/android-${ANDROID_NATIVE_API_LEVEL}/arch-${ANDROID_ARCH_NAME}/usr/include"
@@ -23,14 +25,19 @@ set(sources
   point_cloud_drawable.cpp
   graph_drawable.cpp
   background_renderer.cc
+  text_drawable.cpp
+  quad_color.cpp
+  tango-gl/bounding_box.cpp 
   tango-gl/axis.cpp 
   tango-gl/camera.cpp 
+  tango-gl/circle.cpp 
   tango-gl/conversions.cpp 
   tango-gl/drawable_object.cpp 
   tango-gl/frustum.cpp 
   tango-gl/gesture_camera.cpp 
   tango-gl/grid.cpp 
   tango-gl/line.cpp 
+  tango-gl/mesh.cpp 
   tango-gl/shaders.cpp 
   tango-gl/trace.cpp 
   tango-gl/transform.cpp 
@@ -113,7 +120,35 @@ add_definitions(${PCL_DEFINITIONS})
 
 INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 
-add_library(NativeRTABMap SHARED ${sources})        
+####################################
+# Generate resources files
+####################################
+SET(RESOURCES
+    ${CMAKE_CURRENT_SOURCE_DIR}/resources/text_atlas.png
+)
+
+foreach(arg ${RESOURCES})
+   get_filename_component(filename ${arg} NAME)
+   string(REPLACE "." "_" output ${filename})
+   set(RESOURCES_HEADERS "${RESOURCES_HEADERS}" "${CMAKE_CURRENT_BINARY_DIR}/${output}.h")
+endforeach(arg ${RESOURCES})
+
+find_host_program(RTABMAP_RES_TOOL rtabmap-res_tool PATHS ${CMAKE_RUNTIME_OUTPUT_DIRECTORY})
+IF(NOT RTABMAP_RES_TOOL)
+  MESSAGE( FATAL_ERROR "RTABMAP_RES_TOOL is not defined (it is the path to \"rtabmap-res_tool\" application created by a non-Android build)." )
+ENDIF(NOT RTABMAP_RES_TOOL)
+
+ADD_CUSTOM_COMMAND(
+      OUTPUT ${RESOURCES_HEADERS}
+      COMMAND ${RTABMAP_RES_TOOL} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
+      COMMENT "[Creating resources]"
+      DEPENDS ${RESOURCES}
+)
+####################################
+# Generate resources files END
+####################################
+
+add_library(NativeRTABMap SHARED ${sources} ${RESOURCES_HEADERS})        
 target_link_libraries(NativeRTABMap ${LIBRARIES}
   android
   log

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, float upstreamRelocalizationAccThr):
+	CameraMobile(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, 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, float upstreamRelocalizationAccThr):
+	CameraMobile(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, 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 {
 
@@ -39,9 +41,6 @@ namespace rtabmap {
 //////////////////////////////
 // CameraMobile
 //////////////////////////////
-const float CameraMobile::bilateralFilteringSigmaS = 2.0f;
-const float CameraMobile::bilateralFilteringSigmaR = 0.075f;
-
 const rtabmap::Transform CameraMobile::opticalRotation = Transform(
 		0.0f,  0.0f,  1.0f, 0.0f,
 	   -1.0f,  0.0f,  0.0f, 0.0f,
@@ -51,15 +50,17 @@ 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(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)
 {
 }
 
@@ -71,46 +72,215 @@ 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()
+void CameraMobile::resetOrigin(const rtabmap::Transform & offset)
 {
+    manualOriginOffset_ = offset;
 	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_ = manualOriginOffset_.isNull() ? pose.translation().inverse() : manualOriginOffset_;
+			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_));
 	}
 }
 
@@ -124,218 +294,343 @@ 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::postUpdate()
+{
+	if(data_.isValid())
+    {
+        // adjust origin
+        if(!originOffset_.isNull())
+        {
+            dataPose_ = originOffset_ * dataPose_;
+            viewMatrix_ = glm::inverse(rtabmap::glmFromTransform(rtabmap::opengl_world_T_rtabmap_world * originOffset_ *rtabmap::rtabmap_world_T_opengl_world)*glm::inverse(viewMatrix_));
+            occlusionModel_.setLocalTransform(originOffset_ * occlusionModel_.localTransform());
+        }
+        
+        if(lastKnownGPS_.stamp() > 0.0 && data_.stamp()-lastKnownGPS_.stamp()<1.0)
+        {
+            data_.setGPS(lastKnownGPS_);
+        }
+        else if(lastKnownGPS_.stamp()>0.0)
+        {
+            LOGD("GPS too old (current time=%f, gps time = %f)", data_.stamp(), lastKnownGPS_.stamp());
+        }
+        
+        if(lastEnvSensors_.size())
+        {
+            data_.setEnvSensors(lastEnvSensors_);
+            lastEnvSensors_.clear();
+        }
+        
+        
+        // Rotate image depending on the camera orientation
+        if(colorCameraToDisplayRotation_ == ROTATION_90)
+        {
+            UDEBUG("ROTATION_90");
+            cv::Mat rgb, depth, confidence;
+            cv::Mat rgbt;
+            cv::flip(data_.imageRaw(),rgb,1);
+            cv::transpose(rgb,rgbt);
+            rgb = rgbt;
+            cv::Mat deptht;
+            cv::flip(data_.depthRaw(),depth,1);
+            cv::transpose(depth,deptht);
+            depth = deptht;
+            if(!data_.depthConfidenceRaw().empty()) {
+                cv::Mat conft;
+                cv::flip(data_.depthConfidenceRaw(),confidence,1);
+                cv::transpose(confidence,conft);
+                confidence = conft;
+            }
+            CameraModel model = data_.cameraModels()[0];
+            cv::Size sizet(model.imageHeight(), model.imageWidth());
+            model = CameraModel(
+                                model.fy(),
+                                model.fx(),
+                                model.cy(),
+                                model.cx()>0?model.imageWidth()-model.cx():0,
+                                model.localTransform()*rtabmap::Transform(0,-1,0,0, 1,0,0,0, 0,0,1,0));
+            model.setImageSize(sizet);
+            data_.setRGBDImage(rgb, depth, confidence, model);
+            
+            std::vector<cv::KeyPoint> keypoints = data_.keypoints();
+            for(size_t i=0; i<keypoints.size(); ++i)
+            {
+                keypoints[i].pt.x = data_.keypoints()[i].pt.y;
+                keypoints[i].pt.y = rgb.rows - data_.keypoints()[i].pt.x;
+            }
+            data_.setFeatures(keypoints, data_.keypoints3D(), cv::Mat());
+        }
+        else if(colorCameraToDisplayRotation_ == ROTATION_180)
+        {
+            UDEBUG("ROTATION_180");
+            cv::Mat rgb, depth, confidence;
+            cv::flip(data_.imageRaw(),rgb,1);
+            cv::flip(rgb,rgb,0);
+            cv::flip(data_.depthOrRightRaw(),depth,1);
+            cv::flip(depth,depth,0);
+            if(!data_.depthConfidenceRaw().empty()) {
+                cv::flip(data_.depthConfidenceRaw(),confidence,1);
+                cv::flip(confidence,confidence,0);
+            }
+            CameraModel model = data_.cameraModels()[0];
+            cv::Size sizet(model.imageWidth(), model.imageHeight());
+            model = CameraModel(
+                                model.fx(),
+                                model.fy(),
+                                model.cx()>0?model.imageWidth()-model.cx():0,
+                                model.cy()>0?model.imageHeight()-model.cy():0,
+                                model.localTransform()*rtabmap::Transform(0,0,0,0,0,1,0));
+            model.setImageSize(sizet);
+            data_.setRGBDImage(rgb, depth, confidence, model);
+            
+            std::vector<cv::KeyPoint> keypoints = data_.keypoints();
+            for(size_t i=0; i<keypoints.size(); ++i)
+            {
+                keypoints[i].pt.x = rgb.cols - data_.keypoints()[i].pt.x;
+                keypoints[i].pt.y = rgb.rows - data_.keypoints()[i].pt.y;
+            }
+            data_.setFeatures(keypoints, data_.keypoints3D(), cv::Mat());
+        }
+        else if(colorCameraToDisplayRotation_ == ROTATION_270)
+        {
+            UDEBUG("ROTATION_270");
+            cv::Mat rgb, depth, confidence;
+            cv::transpose(data_.imageRaw(),rgb);
+            cv::flip(rgb,rgb,1);
+            cv::transpose(data_.depthOrRightRaw(),depth);
+            cv::flip(depth,depth,1);
+            if(!data_.depthConfidenceRaw().empty()) {
+                cv::transpose(data_.depthConfidenceRaw(),confidence);
+                cv::flip(confidence,confidence,1);
+            }
+            CameraModel model = data_.cameraModels()[0];
+            cv::Size sizet(model.imageHeight(), model.imageWidth());
+            model = CameraModel(
+                                model.fy(),
+                                model.fx(),
+                                model.cy()>0?model.imageHeight()-model.cy():0,
+                                model.cx(),
+                                model.localTransform()*rtabmap::Transform(0,1,0,0, -1,0,0,0, 0,0,1,0));
+            model.setImageSize(sizet);
+            data_.setRGBDImage(rgb, depth, confidence, model);
+            
+            std::vector<cv::KeyPoint> keypoints = data_.keypoints();
+            for(size_t i=0; i<keypoints.size(); ++i)
+            {
+                keypoints[i].pt.x = rgb.cols - data_.keypoints()[i].pt.y;
+                keypoints[i].pt.y = data_.keypoints()[i].pt.x;
+            }
+            data_.setFeatures(keypoints, data_.keypoints3D(), cv::Mat());
+        }
+        else
+        {
+            UDEBUG("ROTATION_0");
+        }
 	}
 }
 
-void CameraMobile::mainLoop()
+SensorData CameraMobile::captureImage(SensorCaptureInfo * info)
 {
-	CameraInfo info;
-	SensorData data = this->captureImage(&info);
-
-	if(data.isValid() && !info.odomPose.isNull())
+	SensorData data;
+    bool firstFrame = true;
+    bool dataGoodTracking = true;
+    rtabmap::Transform dataPose;
+	if(dataReady_.acquire(1, 15000))
+	{
+		UScopeMutex lock(dataMutex_);
+		data = data_;
+        dataPose = dataPose_;
+        firstFrame = firstFrame_;
+        dataGoodTracking = dataGoodTracking_;
+        firstFrame_ = false;
+        dataGoodTracking_ = true;
+		data_ = SensorData();
+        dataPose_.setNull();
+	}
+	if(data.isValid())
 	{
-		if(lastKnownGPS_.stamp() > 0.0 && data.stamp()-lastKnownGPS_.stamp()<1.0)
-		{
-			data.setGPS(lastKnownGPS_);
-		}
-		else if(lastKnownGPS_.stamp()>0.0)
-		{
-			LOGD("GPS too old (current time=%f, gps time = %f)", data.stamp(), lastKnownGPS_.stamp());
-		}
-
-		if(lastEnvSensors_.size())
-		{
-			data.setEnvSensors(lastEnvSensors_);
-			lastEnvSensors_.clear();
-		}
-
-		if(smoothing_ && !data.depthRaw().empty())
-		{
-			//UTimer t;
-			data.setDepthOrRightRaw(rtabmap::util2d::fastBilateralFiltering(data.depthRaw(), bilateralFilteringSigmaS, bilateralFilteringSigmaR));
-			//LOGD("Bilateral filtering, time=%fs", t.ticks());
-		}
-
-		// Rotate image depending on the camera orientation
-		if(colorCameraToDisplayRotation_ == ROTATION_90)
-		{
-			UDEBUG("ROTATION_90");
-			cv::Mat rgb, depth;
-			cv::Mat rgbt(data.imageRaw().cols, data.imageRaw().rows, data.imageRaw().type());
-			cv::flip(data.imageRaw(),rgb,1);
-			cv::transpose(rgb,rgbt);
-			rgb = rgbt;
-			cv::Mat deptht(data.depthRaw().cols, data.depthRaw().rows, data.depthRaw().type());
-			cv::flip(data.depthRaw(),depth,1);
-			cv::transpose(depth,deptht);
-			depth = deptht;
-			CameraModel model = data.cameraModels()[0];
-			cv::Size sizet(model.imageHeight(), model.imageWidth());
-			model = CameraModel(
-					model.fy(),
-					model.fx(),
-					model.cy(),
-					model.cx()>0?model.imageWidth()-model.cx():0,
-					model.localTransform()*rtabmap::Transform(0,-1,0,0, 1,0,0,0, 0,0,1,0));
-			model.setImageSize(sizet);
-			data.setRGBDImage(rgb, depth, model);
-
-			std::vector<cv::KeyPoint> keypoints = data.keypoints();
-			for(size_t i=0; i<keypoints.size(); ++i)
-			{
-				keypoints[i].pt.x = data.keypoints()[i].pt.y;
-				keypoints[i].pt.y = rgb.rows - data.keypoints()[i].pt.x;
-			}
-			data.setFeatures(keypoints, data.keypoints3D(), cv::Mat());
-		}
-		else if(colorCameraToDisplayRotation_ == ROTATION_180)
-		{
-			UDEBUG("ROTATION_180");
-			cv::Mat rgb, depth;
-			cv::flip(data.imageRaw(),rgb,1);
-			cv::flip(rgb,rgb,0);
-			cv::flip(data.depthOrRightRaw(),depth,1);
-			cv::flip(depth,depth,0);
-			CameraModel model = data.cameraModels()[0];
-			cv::Size sizet(model.imageWidth(), model.imageHeight());
-			model = CameraModel(
-					model.fx(),
-					model.fy(),
-					model.cx()>0?model.imageWidth()-model.cx():0,
-					model.cy()>0?model.imageHeight()-model.cy():0,
-					model.localTransform()*rtabmap::Transform(0,0,0,0,0,1,0));
-			model.setImageSize(sizet);
-			data.setRGBDImage(rgb, depth, model);
-
-			std::vector<cv::KeyPoint> keypoints = data.keypoints();
-			for(size_t i=0; i<keypoints.size(); ++i)
-			{
-				keypoints[i].pt.x = rgb.cols - data.keypoints()[i].pt.x;
-				keypoints[i].pt.y = rgb.rows - data.keypoints()[i].pt.y;
-			}
-			data.setFeatures(keypoints, data.keypoints3D(), cv::Mat());
-		}
-		else if(colorCameraToDisplayRotation_ == ROTATION_270)
-		{
-			UDEBUG("ROTATION_270");
-			cv::Mat rgb(data.imageRaw().cols, data.imageRaw().rows, data.imageRaw().type());
-			cv::transpose(data.imageRaw(),rgb);
-			cv::flip(rgb,rgb,1);
-			cv::Mat depth(data.depthOrRightRaw().cols, data.depthOrRightRaw().rows, data.depthOrRightRaw().type());
-			cv::transpose(data.depthOrRightRaw(),depth);
-			cv::flip(depth,depth,1);
-			CameraModel model = data.cameraModels()[0];
-			cv::Size sizet(model.imageHeight(), model.imageWidth());
-			model = CameraModel(
-					model.fy(),
-					model.fx(),
-					model.cy()>0?model.imageHeight()-model.cy():0,
-					model.cx(),
-					model.localTransform()*rtabmap::Transform(0,1,0,0, -1,0,0,0, 0,0,1,0));
-			model.setImageSize(sizet);
-			data.setRGBDImage(rgb, depth, model);
-
-			std::vector<cv::KeyPoint> keypoints = data.keypoints();
-			for(size_t i=0; i<keypoints.size(); ++i)
-			{
-				keypoints[i].pt.x = rgb.cols - data.keypoints()[i].pt.y;
-				keypoints[i].pt.y = data.keypoints()[i].pt.x;
-			}
-			data.setFeatures(keypoints, data.keypoints3D(), cv::Mat());
-		}
-
-		rtabmap::Transform pose = info.odomPose;
 		data.setGroundTruth(Transform());
-
-		// convert stamp to epoch
-		bool firstFrame = previousPose_.isNull();
-		if(firstFrame)
-		{
-			stampEpochOffset_ = UTimer::now()-data.stamp();
-		}
 		data.setStamp(stampEpochOffset_ + data.stamp());
-		OdometryInfo info;
-		if(!firstFrame)
+
+		if(info)
 		{
-			info.interval = data.stamp()-previousStamp_;
-			info.transform = previousPose_.inverse() * pose;
+			// 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;
 		}
-		// 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())
+	else
 	{
-		LOGW("Odometry lost");
-		this->post(new OdometryEvent());
+		UWARN("CameraMobile::captureImage() invalid data!");
 	}
+	return data;
 }
 
-SensorData CameraMobile::captureImage(CameraInfo * info)
+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(info)
-	{
-		info->odomPose = pose_;
-	}
-	return data_;
+    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

@@ -68,66 +68,101 @@ 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(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
-	void resetOrigin();
+	// 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(const rtabmap::Transform & offset = rtabmap::Transform());
 	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_;}
-	void setSmoothing(bool enabled) {smoothing_ = enabled;}
 	virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height) {colorCameraToDisplayRotation_ = colorCameraToDisplayRotation;}
 	void setGPS(const GPS & gps);
 	void addEnvSensor(int type, float value);
-	void setData(const SensorData & data, const Transform & pose);
 
-	void spinOnce(); // Should only be called if not thread is not running, otherwise it does nothing
+    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_;
 	GPS lastKnownGPS_;
 	EnvSensors lastEnvSensors_;
 	Transform originOffset_;
 	bool originUpdate_;
+    rtabmap::Transform manualOriginOffset_;
+	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);
 	}
 }
 
@@ -104,13 +114,11 @@ void onTangoEventAvailableRouter(void* context, const TangoEvent* event)
 //////////////////////////////
 // CameraTango
 //////////////////////////////
-CameraTango::CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing) :
-		CameraMobile(smoothing),
+CameraTango::CameraTango(bool colorCamera, int decimation, bool publishRawScan) :
 		tango_config_(0),
 		colorCamera_(colorCamera),
 		decimation_(decimation),
 		rawScanPublished_(publishRawScan),
-		cloudStamp_(0),
 		tangoColorType_(0),
 		tangoColorStamp_(0)
 {
@@ -185,6 +193,8 @@ 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 +440,12 @@ 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 +457,242 @@ 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 +700,11 @@ 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 +764,115 @@ 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) == 0)
+	{
+		boost::mutex::scoped_lock  lock(tangoDataMutex_);
+		data = tangoData_;
+		tangoData_ = SensorData();
+		pose = data.groundTruth();
+		data.setGroundTruth(Transform());
+	}
 	return data;
 
 }

app/android/jni/CameraTango.h

@@ -45,14 +45,13 @@ namespace rtabmap {
 
 class CameraTango : public CameraMobile {
 public:
-	CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing);
+	CameraTango(bool colorCamera, int decimation, bool publishRawScan);
 	virtual ~CameraTango();
 
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
 	virtual void close(); // close Tango connection
 	virtual std::string getSerial() const;
 	rtabmap::Transform tangoPoseToTransform(const TangoPoseData * tangoPose) const;
-	void 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/Measure.h

@@ -0,0 +1,65 @@
+/*
+Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef MEASURE_H_
+#define MEASURE_H_
+
+#include <opencv2/opencv.hpp>
+
+class Measure
+{
+public:
+	Measure(
+			const cv::Point3f & pt1,
+			const cv::Point3f & pt2,
+			const cv::Vec3f & n1,
+			const cv::Vec3f & n2) :
+				pt1_(pt1),
+				pt2_(pt2),
+				n1_(n1),
+				n2_(n2)
+	{
+		length_ = cv::norm(pt2_ - pt1_);
+	}
+	virtual ~Measure() {}
+
+	float length() const {return length_;}
+	const cv::Point3f & pt1() const {return pt1_;}
+	const cv::Point3f & pt2() const {return pt2_;}
+	const cv::Vec3f & n1() const {return n1_;}
+	const cv::Vec3f & n2() const {return n2_;}
+
+private:
+	cv::Point3f pt1_;
+	cv::Point3f pt2_;
+	cv::Vec3f n1_;
+	cv::Vec3f n2_;
+	float length_;
+};
+
+
+#endif /* MEASURE_H_ */

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>
@@ -38,27 +40,53 @@ 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>
 #include <pcl/TextureMesh.h>
 
+#include "Measure.h"
 
 // RTABMapApp handles the application lifecycle and resources.
 class RTABMapApp : public UEventsHandler {
  public:
   // Constructor and deconstructor.
+#ifdef __ANDROID__
   RTABMapApp(JNIEnv* env, jobject caller_activity);
+#else // __APPLE__
+  RTABMapApp();
+  void setupSwiftCallbacks(void * classPtr,
+                           void(*progressCallback)(void *, int, int),
+                           void(*initCallback)(void *, int, const char*),
+                           void(*statsUpdatedCallback)(void *,
+                                                    int, int, int, int,
+                                                    float,
+                                                    int, int, int, int, int ,int,
+                                                    float,
+                                                    int,
+                                                    float,
+                                                    int,
+                                                    float, float, float, float,
+                                                    int, int,
+                                                    float, float, float, float, float, float),
+                           void(*cameraInfoCallback)(void *, int, const char*, const char*));
+    
+#endif
   ~RTABMapApp();
 
   void setScreenRotation(int displayRotation, int cameraRotation);
 
-  int openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, 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();
 
@@ -100,6 +128,7 @@ class RTABMapApp : public UEventsHandler {
   void setLighting(bool enabled);
   void setBackfaceCulling(bool enabled);
   void setWireframe(bool enabled);
+  void setTextureColorSeamsHidden(bool hidden);
   void setLocalizationMode(bool enabled);
   void setTrajectoryMode(bool enabled);
   void setGraphOptimization(bool enabled);
@@ -110,23 +139,29 @@ class RTABMapApp : public UEventsHandler {
   void setCameraColor(bool enabled);
   void setFullResolution(bool enabled);
   void setSmoothing(bool enabled);
+  void setDepthBleedingError(float value);
   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,
@@ -144,27 +179,43 @@ class RTABMapApp : public UEventsHandler {
 		  int optimizedMinClusterSize,
 		  float optimizedMaxTextureDistance,
 		  int optimizedMinTextureClusterSize,
+      int textureVertexColorPolicy,
 		  bool blockRendering);
   bool postExportation(bool visualize);
   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 clearMeasures();
+  void showMeasures(bool x, bool y, bool z, bool custom);
+  void setMeasuringMode(int mode);
+  void addMeasureButtonClicked();
+  void teleportButtonClicked();
+  void removeMeasure();
+  void setMetricSystem(bool enabled);
+  void setMeasuringTextSize(float size);
 
   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();
+  void updateMeasuringState();
   bool smoothMesh(int id, rtabmap::Mesh & mesh);
   void gainCompensation(bool full = false);
   std::vector<pcl::Vertices> filterOrganizedPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
@@ -173,6 +224,7 @@ class RTABMapApp : public UEventsHandler {
  private:
   int cameraDriver_;
   rtabmap::CameraMobile * camera_;
+  rtabmap::SensorCaptureThread * sensorCaptureThread_;
   rtabmap::RtabmapThread * rtabmapThread_;
   rtabmap::Rtabmap * rtabmap_;
   rtabmap::LogHandler * logHandler_;
@@ -184,19 +236,25 @@ class RTABMapApp : public UEventsHandler {
   bool trajectoryMode_;
   bool rawScanSaved_;
   bool smoothing_;
+  float depthBleedingError_;
   bool depthFromMotion_;
   bool cameraColor_;
   bool fullResolution_;
   bool appendMode_;
+  bool useExternalLidar_;
   float maxCloudDepth_;
   float minCloudDepth_;
   int cloudDensityLevel_;
   int meshTrianglePix_;
   float meshAngleToleranceDeg_;
+  float meshDecimationFactor_;
   float clusterRatio_;
   float maxGainRadius_;
   int renderingTextureDecimation_;
   float backgroundColor_;
+  unsigned char depthConfidence_;
+  float upstreamRelocalizationMaxAcc_;
+  std::string exportPointCloudFormat_;
 
   rtabmap::ParametersMap mappingParameters_;
 
@@ -210,7 +268,6 @@ class RTABMapApp : public UEventsHandler {
   bool bilateralFilteringOnNextRender_;
   bool takeScreenshotOnNextRender_;
   bool cameraJustInitialized_;
-  int meshDecimation_;
   int totalPoints_;
   int totalPolygons_;
   int lastDrawnCloudsCount_;
@@ -221,17 +278,34 @@ class RTABMapApp : public UEventsHandler {
 
   bool visualizingMesh_;
   bool exportedMeshUpdated_;
-  pcl::TextureMesh::Ptr optMesh_;
+  pcl::TextureMesh::Ptr optTextureMesh_;
   cv::Mat optTexture_;
+  rtabmap::Mesh optMesh_;
   int optRefId_;
   rtabmap::Transform * optRefPose_; // App crashes when loading native library if not dynamic
-
+  std::list<Measure> measures_; // In opengl frame
+  bool measuresUpdated_;
+  bool metricSystem_;
+  float measuringTextSize_;
+  float snapAxisThr_;
+  std::vector<cv::Vec3f> snapAxes_;
+  int measuringMode_;
+  bool addMeasureClicked_;
+  bool teleportClicked_;
+  bool removeMeasureClicked_;
+  std::vector<cv::Point3f> measuringTmpPts_; // In opengl frame
+  std::vector<cv::Point3f> measuringTmpNormals_; // In opengl frame
+  pcl::PointCloud<pcl::PointXYZRGB>::Ptr targetPoint_;
+  pcl::PointCloud<pcl::PointXYZ>::Ptr quadSample_;
+  std::vector<pcl::Vertices> quadSamplePolygons_;
   // 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 +313,7 @@ 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 +325,24 @@ 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
 	{
@@ -512,6 +512,19 @@ Java_com_introlab_rtabmap_RTABMapLib_setSmoothing(
 	}
 }
 JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setDepthBleedingError(
+		JNIEnv*, jclass, jlong native_application, float value)
+{
+	if(native_application)
+	{
+		return native(native_application)->setDepthBleedingError(value);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_setDepthFromMotion(
 		JNIEnv*, jclass, jlong native_application, bool enabled)
 {
@@ -550,6 +563,20 @@ 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)
@@ -807,6 +834,7 @@ Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
 					optimizedMinClusterSize,
 					optimizedMaxTextureDistance,
 					optimizedMinTextureClusterSize,
+					0,
 					blockRendering);
 	}
 	else
@@ -867,13 +895,39 @@ 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 +937,43 @@ 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
@@ -166,10 +170,12 @@ const std::string kTextureMeshVertexShader =
     "precision highp float;\n"
     "precision mediump int;\n"
     "attribute vec3 aVertex;\n"
+	"attribute vec3 aColor;\n"
     "attribute vec2 aTexCoord;\n"
 
     "uniform mat4 uMVP;\n"
 
+	"varying vec3 vColor;\n"
     "varying vec2 vTexCoord;\n"
     "varying float vLightWeighting;\n"
 
@@ -183,12 +189,14 @@ const std::string kTextureMeshVertexShader =
     "    vTexCoord = aTexCoord;\n"
     "  }\n"
 
+	"  vColor = aColor;\n"
     "  vLightWeighting = 1.0;\n"
     "}\n";
 const std::string kTextureMeshLightingVertexShader =
     "precision highp float;\n"
     "precision mediump int;\n"
     "attribute vec3 aVertex;\n"
+	"attribute vec3 aColor;\n"
 	"attribute vec3 aNormal;\n"
     "attribute vec2 aTexCoord;\n"
 
@@ -196,6 +204,7 @@ const std::string kTextureMeshLightingVertexShader =
     "uniform mat3 uN;\n"
     "uniform vec3 uLightingDirection;\n"
 
+	"varying vec3 vColor;\n"
     "varying vec2 vTexCoord;\n"
     "varying float vLightWeighting;\n"
 
@@ -209,6 +218,7 @@ const std::string kTextureMeshLightingVertexShader =
     "    vTexCoord = aTexCoord;\n"
     "  }\n"
 
+	"  vColor = aColor;\n"
     "  vec3 transformedNormal = uN * aNormal;\n"
     "  vLightWeighting = max(dot(transformedNormal, uLightingDirection)*0.5+0.5, 0.0);\n"
     "  if(vLightWeighting<0.5) \n"
@@ -221,11 +231,22 @@ const std::string kTextureMeshFragmentShader =
 	"uniform float uGainR;\n"
 	"uniform float uGainG;\n"
 	"uniform float uGainB;\n"
+	"uniform int uHideSeams;\n"
+	"varying vec3 vColor;\n"
     "varying vec2 vTexCoord;\n"
 	"varying float vLightWeighting;\n"
 	""
     "void main() {\n"
-    "  vec4 textureColor = texture2D(uTexture, vTexCoord);\n"
+	"  vec4 textureColor;\n"
+	"  if(uHideSeams==1) {\n"
+	"    if(vTexCoord.x>0.99 && vTexCoord.y>0.99) {\n"
+	"      textureColor = vec4(vColor.z, vColor.y, vColor.x, 1.0);\n"
+	"    } else {\n"
+    "      textureColor = texture2D(uTexture, vTexCoord);\n"
+	"    }\n"
+    "  } else {\n"
+    "    textureColor = texture2D(uTexture, vTexCoord) * vec4(vColor.z, vColor.y, vColor.x, 1.0);\n"
+    "  }\n"
 	"  gl_FragColor = vec4(textureColor.r * uGainR * vLightWeighting, textureColor.g * uGainG * vLightWeighting, textureColor.b * uGainB * vLightWeighting, textureColor.a);\n"
     "}\n";
 const std::string kTextureMeshBlendingFragmentShader =
@@ -239,11 +260,12 @@ const std::string kTextureMeshBlendingFragmentShader =
 	"uniform vec2 uScreenScale;\n"
 	"uniform float uNearZ;\n"
 	"uniform float uFarZ;\n"
+	"varying vec3 vColor;\n"
     "varying vec2 vTexCoord;\n"
 	"varying float vLightWeighting;\n"
 	""
     "void main() {\n"
-    "  vec4 textureColor = texture2D(uTexture, vTexCoord);\n"
+	"  vec4 textureColor = texture2D(uTexture, vTexCoord);\n"
     "  float alpha = 1.0;\n"
 	"  vec2 coord = uScreenScale * gl_FragCoord.xy;\n;"
 	"  vec4 depthPacked = texture2D(uDepthTexture, coord);\n"
@@ -257,7 +279,7 @@ 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 +327,8 @@ 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 +338,16 @@ 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 +357,83 @@ 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 +441,44 @@ 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 +486,51 @@ 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 +547,23 @@ 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 +580,19 @@ 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 +600,40 @@ 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 +643,22 @@ 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 +667,17 @@ 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 +685,10 @@ 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 +699,20 @@ 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 +745,11 @@ 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 +780,48 @@ 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 +830,14 @@ 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 +888,7 @@ 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 +916,7 @@ 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 +924,11 @@ 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 +938,13 @@ 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 +956,17 @@ 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())
 	{
@@ -880,16 +1026,17 @@ void PointCloudDrawable::Render(
 		float nearClipPlane,
 	    float farClipPlane,
 		bool packDepthToColorChannel,
-		bool wireFrame) const
+		bool wireFrame,
+        bool hideSeams) 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;
 		}
@@ -992,31 +1139,35 @@ 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);
 
 				attribute_texture = glGetAttribLocation(program, "aTexCoord");
 				glEnableVertexAttribArray(attribute_texture);
+                
+                if(depthTexture == 0)
+                {
+                    GLuint hideSeams_handle = glGetUniformLocation(program, "uHideSeams");
+                    glUniform1i(hideSeams_handle, hideSeams?1:0);
+                }
 			}
-			else
-			{
-				attribute_color = glGetAttribLocation(program, "aColor");
-				glEnableVertexAttribArray(attribute_color);
-			}
+
+            attribute_color = glGetAttribLocation(program, "aColor");
+            glEnableVertexAttribArray(attribute_color);
 		}
 		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)
 			{
 				glVertexAttribPointer(attribute_texture, 2, GL_FLOAT, GL_FALSE, (hasNormals_?9:6)*sizeof(GLfloat), (GLvoid*) (4 * sizeof(GLfloat)));
 			}
-			else if(!packDepthToColorChannel)
+			if(!packDepthToColorChannel)
 			{
 				glVertexAttribPointer(attribute_color, 3, GL_UNSIGNED_BYTE, GL_TRUE,  (hasNormals_?9:6)*sizeof(GLfloat), (GLvoid*) (3 * sizeof(GLfloat)));
 			}
@@ -1040,53 +1191,49 @@ 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 +1249,7 @@ 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_;}
@@ -96,7 +98,8 @@ private:
 		  float nearClipPlane = 0, // nonnull if depthTexture>0
 		  float farClipPlane = 0,  // nonnull if depthTexture>0
 		  bool packDepthToColorChannel = false,
-		  bool wireFrame = false) const;
+		  bool wireFrame = false,
+          bool hideSeams = false) const;
 
  private:
   template<class PointT>
@@ -113,14 +116,10 @@ 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/quad_color.cpp

@@ -0,0 +1,69 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "quad_color.h"
+#include "tango-gl/util.h"
+
+static const float vertices[] = {-1.0f, -1.0f, 1.0f, -1.0f,
+                                 -1.0f, 1.0f,  1.0f, 1.0f};
+
+QuadColor::QuadColor(float size) {
+	SetShader();
+
+	vertices_.resize(8);
+	for(int i=0; i<8; ++i)
+	{
+		vertices_[i] = vertices[i]*size;
+	}
+}
+
+QuadColor::QuadColor(
+		float widthLeft,
+		float widthRight,
+		float heightBottom,
+		float heightTop) {
+	SetShader();
+
+	vertices_.resize(8);
+	vertices_[0] = vertices[0]*widthLeft;
+	vertices_[1] = vertices[1]*heightBottom;
+	vertices_[2] = vertices[2]*widthRight;
+	vertices_[3] = vertices[3]*heightBottom;
+	vertices_[4] = vertices[4]*widthLeft;
+	vertices_[5] = vertices[5]*heightTop;
+	vertices_[6] = vertices[6]*widthRight;
+	vertices_[7] = vertices[7]*heightTop;
+}
+
+void QuadColor::Render(const glm::mat4& projection_mat,
+                  const glm::mat4& view_mat) const {
+  glUseProgram(shader_program_);
+
+  // Calculate MVP matrix and pass it to shader.
+  glm::mat4 model_mat = GetTransformationMatrix();
+  glm::mat4 mvp_mat = projection_mat * view_mat * model_mat;
+  glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+
+  glUniform4f(uniform_color_, red_, green_, blue_, alpha_);
+
+  // Vertice binding
+  glEnableVertexAttribArray(attrib_vertices_);
+  glVertexAttribPointer(attrib_vertices_, 2, GL_FLOAT, GL_FALSE, 0, &vertices_[0]);
+  glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+  glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
+  glUseProgram(0);
+}

app/android/jni/quad_color.h

@@ -0,0 +1,35 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_QUADCOLOR_H_
+#define TANGO_GL_QUADCOLOR_H_
+
+#include "tango-gl/drawable_object.h"
+
+class QuadColor : public tango_gl::DrawableObject {
+ public:
+	QuadColor(float size);
+	QuadColor(float widthLeft,
+			float widthRight,
+			float heightBottom,
+			float heightTop);
+	QuadColor(const QuadColor& other) = delete;
+	QuadColor& operator=(const QuadColor&) = delete;
+	virtual ~QuadColor() {}
+
+	void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
+};
+#endif  // TANGO_GL_QUADCOLOR_H_

app/android/jni/scene.cpp

@@ -36,7 +36,7 @@
 // add an offset in z to our origin. We'll set this offset to 1.3 meters based
 // on the average height of a human standing with a Tango device. This allows us
 // to place a grid roughly on the ground for most users.
-const glm::vec3 kHeightOffset = glm::vec3(0.0f, -1.3f, 0.0f);
+const glm::vec3 Scene::kHeightOffset = glm::vec3(0.0f, -1.3f, 0.0f);
 
 // Color of the motion tracking trajectory.
 const tango_gl::Color kTraceColor(0.66f, 0.66f, 0.66f);
@@ -88,21 +88,22 @@ Scene::Scene() :
 		mapRendering_(true),
 		meshRendering_(true),
 		meshRenderingTexture_(true),
-		pointSize_(5.0f),
+		pointSize_(10.0f),
 		boundingBoxRendering_(false),
 		lighting_(false),
 		backfaceCulling_(true),
 		wireFrame_(false),
+		textureColorSeamsHidden_(true),
 		r_(0.0f),
 		g_(0.0f),
 		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);
@@ -124,6 +125,7 @@ void Scene::InitGLContent()
 
 	UASSERT(axis_ == 0);
 
+    TextDrawable::createShaderProgram();
 
 	axis_ = new tango_gl::Axis();
 	frustum_ = new tango_gl::Frustum();
@@ -166,6 +168,7 @@ void Scene::DeleteResources() {
 		background_renderer_ = 0;
 	}
 
+    TextDrawable::releaseShaderProgram();
 	PointCloudDrawable::releaseShaderPrograms();
 
 	if (graph_shader_program_) {
@@ -179,8 +182,8 @@ void Scene::DeleteResources() {
 		fboId_ = 0;
 		glDeleteRenderbuffers(1, &rboId_);
 		rboId_ = 0;
-		glDeleteTextures(1, &depthTexture_);
-		depthTexture_ = 0;
+        glDeleteTextures(1, &depthTexture_);
+        depthTexture_ = 0;
 	}
 
 	clear();
@@ -198,6 +201,10 @@ void Scene::clear()
 	{
 		delete iter->second;
 	}
+    clearLines();
+    clearQuads();
+    clearTexts();
+    clearCircles();
 	if(trace_)
 	{
 		trace_->ClearVertexArray();
@@ -215,16 +222,52 @@ void Scene::clear()
 	}
 }
 
+void Scene::clearLines()
+{
+    for(std::map<int, tango_gl::Line*>::iterator iter=lines_.begin(); iter!=lines_.end(); ++iter)
+    {
+        delete iter->second;
+    }
+    lines_.clear();
+}
+void Scene::clearTexts()
+{
+    for(std::map<int, TextDrawable*>::iterator iter=texts_.begin(); iter!=texts_.end(); ++iter)
+    {
+        delete iter->second;
+    }
+    texts_.clear();
+}
+void Scene::clearQuads()
+{
+    for(std::map<int, QuadColor*>::iterator iter=quads_.begin(); iter!=quads_.end(); ++iter)
+    {
+        delete iter->second;
+    }
+    quads_.clear();
+}
+void Scene::clearCircles()
+{
+    for(std::map<int, tango_gl::Circle*>::iterator iter=circles_.begin(); iter!=circles_.end(); ++iter)
+    {
+        delete iter->second;
+    }
+    circles_.clear();
+}
+
 //Should only be called in OpenGL thread!
 void Scene::SetupViewPort(int w, int h) {
 	if (h == 0) {
 		LOGE("Setup graphic height not valid");
 	}
+    
 	UASSERT(gesture_camera_ != 0);
 	gesture_camera_->SetWindowSize(static_cast<float>(w), static_cast<float>(h));
 	glViewport(0, 0, w, h);
 	if(screenWidth_ != w || screenHeight_ != h || fboId_ == 0)
 	{
+        UINFO("Setup viewport OpenGL: %dx%d", w, h);
+        
 		if(fboId_>0)
 		{
 			glDeleteFramebuffers(1, &fboId_);
@@ -232,9 +275,12 @@ 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 +295,7 @@ 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 +306,9 @@ 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 +381,9 @@ 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 +422,8 @@ 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 +456,21 @@ 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);
@@ -431,8 +484,14 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 	std::vector<glm::vec4> planes = computeFrustumPlanes(projectionMatrix*viewMatrix, true);
 	std::vector<PointCloudDrawable*> cloudsToDraw(pointClouds_.size());
 	int oi=0;
+    int positiveCloudIds = 0;
 	for(std::map<int, PointCloudDrawable*>::const_iterator iter=pointClouds_.begin(); iter!=pointClouds_.end(); ++iter)
 	{
+        if(iter->first > 0)
+        {
+            positiveCloudIds++;
+        }
+        
 		if(!mapRendering_ && iter->first > 0)
 		{
 			break;
@@ -467,34 +526,45 @@ 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_ &&
+         (positiveCloudIds > 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 +572,16 @@ 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 +600,15 @@ 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 +636,10 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 		{
 			trace_->Render(projectionMatrix, viewMatrix);
 		}
+        else
+        {
+            trace_->ClearVertexArray();
+        }
 	}
 
 	if(gridVisible_ && !renderBackgroundCamera)
@@ -595,15 +675,80 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 				cloud->getPose().z() - openglCamera.z());
 		float distanceToCameraSqr = cloudToCamera[0]*cloudToCamera[0] + cloudToCamera[1]*cloudToCamera[1] + cloudToCamera[2]*cloudToCamera[2];
 
-		cloud->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, meshRenderingTexture_, lighting_, distanceToCameraSqr, onlineBlending?depthTexture_:0, screenWidth_, screenHeight_, gesture_camera_->getNearClipPlane(), gesture_camera_->getFarClipPlane(), false, wireFrame_);
+		cloud->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, meshRenderingTexture_, lighting_, distanceToCameraSqr, onlineBlending?depthTexture_:0, screenWidth_, screenHeight_, gesture_camera_->getNearClipPlane(), gesture_camera_->getFarClipPlane(), false, wireFrame_, textureColorSeamsHidden_);
 	}
+    
+    if(quads_.find(55556)!=quads_.end())
+    {
+        glEnable(GL_BLEND);
+        glDisable(GL_CULL_FACE);
+        const QuadColor * quad = quads_.at(55556);
+        quad->Render(projectionMatrix, viewMatrix);
+        glEnable(GL_CULL_FACE);
+    }
 
 	if(onlineBlending)
 	{
+        if(renderBackgroundCamera && meshRendering_)
+        {
+            background_renderer_->Draw(uvsTransformed, depthTexture_, screenWidth_, screenHeight_, mapping);
+        }
+        
 		glDisable (GL_BLEND);
 		glDepthMask(GL_TRUE);
 	}
+    
+    ///////
+    glDisable (GL_DEPTH_TEST);
+    if(lines_.size())
+    {
+        for(std::map<int, tango_gl::Line*>::const_iterator iter=lines_.begin(); iter!=lines_.end(); ++iter)
+        {
+            const tango_gl::Line * line = iter->second;
+            line->Render(projectionMatrix, viewMatrix);
+        }
+    }
 
+    if(quads_.size())
+    {
+        glEnable(GL_BLEND);
+        glDisable(GL_CULL_FACE);
+        for(std::map<int, QuadColor*>::const_iterator iter=quads_.begin(); iter!=quads_.end(); ++iter)
+        {
+            if(iter->first!=55556)
+            {
+                const QuadColor * quad = iter->second;
+                quad->Render(projectionMatrix, viewMatrix);
+            }
+        }
+    }
+    if(circles_.size())
+    {
+        glEnable(GL_BLEND);
+        glDisable(GL_CULL_FACE);
+        for(std::map<int, tango_gl::Circle*>::const_iterator iter=circles_.begin(); iter!=circles_.end(); ++iter)
+        {
+            const tango_gl::Circle * circle = iter->second;
+            circle->Render(projectionMatrix, viewMatrix);
+        }
+    }
+    if(texts_.size())
+    {
+        glDisable(GL_CULL_FACE);
+        glEnable(GL_BLEND);
+
+        glm::mat4 viewMatrixRotInv = viewMatrix;
+        viewMatrixRotInv[3][0] = 0;
+        viewMatrixRotInv[3][1] = 0;
+        viewMatrixRotInv[3][2] = 0;
+        viewMatrixRotInv = glm::inverse(viewMatrixRotInv);
+        for(std::map<int, TextDrawable*>::const_iterator iter=texts_.begin(); iter!=texts_.end(); ++iter)
+        {
+            const TextDrawable * text = iter->second;
+            text->Render(projectionMatrix, viewMatrix, viewMatrixRotInv);
+        }
+    }
+    
 	//draw markers on foreground
 	for(std::map<int, tango_gl::Axis*>::const_iterator iter=markers_.begin(); iter!=markers_.end(); ++iter)
 	{
@@ -680,18 +825,10 @@ 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)
@@ -769,12 +906,7 @@ void Scene::addCloud(
 		const rtabmap::Transform & pose)
 {
 	LOGI("add cloud %d (%d points %d indices)", id, (int)cloud->size(), indices.get()?(int)indices->size():0);
-	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
-	if(iter != pointClouds_.end())
-	{
-		delete iter->second;
-		pointClouds_.erase(iter);
-	}
+    removeCloudOrMesh(id);
 
 	//create
 	PointCloudDrawable * drawable = new PointCloudDrawable(cloud, indices);
@@ -782,6 +914,16 @@ void Scene::addCloud(
 	pointClouds_.insert(std::make_pair(id, drawable));
 }
 
+void Scene::removeCloudOrMesh(int id)
+{
+    std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
+    if(iter != pointClouds_.end())
+    {
+        delete iter->second;
+        pointClouds_.erase(iter);
+    }
+}
+
 void Scene::addMesh(
 		int id,
 		const rtabmap::Mesh & mesh,
@@ -789,12 +931,7 @@ void Scene::addMesh(
 		bool createWireframe)
 {
 	LOGI("add mesh %d", id);
-	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
-	if(iter != pointClouds_.end())
-	{
-		delete iter->second;
-		pointClouds_.erase(iter);
-	}
+    removeCloudOrMesh(id);
 
 	//create
 	PointCloudDrawable * drawable = new PointCloudDrawable(mesh, createWireframe);
@@ -854,6 +991,160 @@ void Scene::addMesh(
 	}
 }
 
+void Scene::addLine(
+        int id,
+        const cv::Point3f & pt1,
+        const cv::Point3f & pt2,
+        const tango_gl::Color & color)
+{
+    LOGI("add line %d", id);
+    removeLine(id);
+
+    //create
+    tango_gl::Line * line = new tango_gl::Line(2.0f, GL_LINES);
+    line->SetShader();
+    std::vector<glm::vec3> vertices(2);
+    vertices[0].x = pt1.x;
+    vertices[0].y = pt1.y;
+    vertices[0].z = pt1.z;
+    vertices[1].x = pt2.x;
+    vertices[1].y = pt2.y;
+    vertices[1].z = pt2.z;
+    line->UpdateLineVertices(vertices);
+    line->SetColor(color);
+    lines_.insert(std::make_pair(id, line));
+}
+
+void Scene::removeLine(int id)
+{
+    std::map<int, tango_gl::Line*>::iterator iter=lines_.find(id);
+    if(iter != lines_.end())
+    {
+        delete iter->second;
+        lines_.erase(iter);
+    }
+}
+
+void Scene::addText(
+        int id,
+        const std::string & text,
+        const rtabmap::Transform & pose,
+        float size,
+        const tango_gl::Color & color)
+{
+    LOGI("add text %d", id);
+    removeText(id);
+
+    //create
+    TextDrawable * textD = new TextDrawable(text, pose, size, color);
+    texts_.insert(std::make_pair(id, textD));
+}
+void Scene::removeText(int id)
+{
+    std::map<int, TextDrawable*>::iterator iter=texts_.find(id);
+    if(iter != texts_.end())
+    {
+        delete iter->second;
+        texts_.erase(iter);
+    }
+}
+
+void Scene::addQuad(
+        int id,
+        float size,
+        const rtabmap::Transform & pose,
+        const tango_gl::Color & color,
+        float alpha)
+{
+    //LOGI("add quad %d", id);
+    std::map<int, QuadColor*>::iterator iter=quads_.find(id);
+    if(iter != quads_.end())
+    {
+        delete iter->second;
+        quads_.erase(iter);
+    }
+
+    //create
+    QuadColor * quad = new QuadColor(size);
+    quad->SetTransformationMatrix(glmFromTransform(pose));
+    quad->SetColor(color);
+    quad->SetAlpha(alpha);
+    quads_.insert(std::make_pair(id, quad));
+}
+
+void Scene::addQuad(
+        int id,
+        float widthLeft,
+        float widthRight,
+        float heightBottom,
+        float heightTop,
+        const rtabmap::Transform & pose,
+        const tango_gl::Color & color,
+        float alpha)
+{
+    //LOGI("add quad %d", id);
+    removeQuad(id);
+
+    //create
+    QuadColor * quad = new QuadColor(widthLeft, widthRight, heightBottom, heightTop);
+    quad->SetTransformationMatrix(glmFromTransform(pose));
+    quad->SetColor(color);
+    quad->SetAlpha(alpha);
+    quads_.insert(std::make_pair(id, quad));
+}
+
+void Scene::removeQuad(int id)
+{
+    std::map<int, QuadColor*>::iterator iter=quads_.find(id);
+    if(iter != quads_.end())
+    {
+        delete iter->second;
+        quads_.erase(iter);
+    }
+}
+
+bool Scene::hasQuad(int id) const
+{
+    return quads_.find(id) != quads_.end();
+}
+
+void Scene::addCircle(
+        int id,
+        float radius,
+        const rtabmap::Transform & pose,
+        const tango_gl::Color & color,
+        float alpha)
+{
+    //LOGI("add quad %d", id);
+    std::map<int, tango_gl::Circle*>::iterator iter=circles_.find(id);
+    if(iter != circles_.end())
+    {
+        delete iter->second;
+        circles_.erase(iter);
+    }
+
+    //create
+    tango_gl::Circle * circle = new tango_gl::Circle(radius, 12);
+    circle->SetTransformationMatrix(glmFromTransform(pose));
+    circle->SetColor(color);
+    circle->SetAlpha(alpha);
+    circles_.insert(std::make_pair(id, circle));
+}
+
+void Scene::removeCircle(int id)
+{
+    std::map<int, tango_gl::Circle*>::iterator iter=circles_.find(id);
+    if(iter != circles_.end())
+    {
+        delete iter->second;
+        circles_.erase(iter);
+    }
+}
+
+bool Scene::hasCircle(int id) const
+{
+    return circles_.find(id) != circles_.end();
+}
 
 void Scene::setCloudPose(int id, const rtabmap::Transform & pose)
 {

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>
 
@@ -31,20 +33,25 @@
 #include <tango-gl/trace.h>
 #include <tango-gl/transform.h>
 #include <tango-gl/util.h>
+#include <tango-gl/circle.h>
 
 #include <rtabmap/core/Transform.h>
 #include <rtabmap/core/Link.h>
 
-#include <point_cloud_drawable.h>
-#include <graph_drawable.h>
-#include <bounding_box_drawable.h>
-#include <background_renderer.h>
+#include "point_cloud_drawable.h"
+#include "graph_drawable.h"
+#include "bounding_box_drawable.h"
+#include "background_renderer.h"
+#include "text_drawable.h"
+#include "quad_color.h"
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 
 // Scene provides OpenGL drawable objects and renders them for visualization.
 class Scene {
+ public:
+    static const glm::vec3 kHeightOffset;
  public:
   // Constructor and destructor.
   Scene();
@@ -65,6 +72,10 @@ class Scene {
   void setScreenRotation(rtabmap::ScreenRotation colorCameraToDisplayRotation) {color_camera_to_display_rotation_ = colorCameraToDisplayRotation;}
 
   void clear(); // removed all point clouds
+  void clearLines();
+  void clearTexts();
+  void clearQuads();
+  void clearCircles();
 
   // Render loop.
   // @param: cur_pose_transformation, latest pose's transformation.
@@ -72,7 +83,7 @@ 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.
   //
@@ -117,11 +128,50 @@ class Scene {
   		  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
 		  const pcl::IndicesPtr & indices,
   		  const rtabmap::Transform & pose);
+  void removeCloudOrMesh(int id);
   void addMesh(
   		int id,
   		const rtabmap::Mesh & mesh,
   		const rtabmap::Transform & pose,
 		bool createWireframe = false);
+  void addLine(
+        int id,
+        const cv::Point3f & pt1,
+        const cv::Point3f & pt2,
+        const tango_gl::Color & color = tango_gl::Color(1.0f, 1.0f, 1.0f));
+  void removeLine(int id);
+  void addText(
+        int id,
+        const std::string & text,
+        const rtabmap::Transform & pose,
+        float size,
+        const tango_gl::Color & color);
+  void removeText(int id);
+  void addQuad(
+        int id,
+        float size,
+        const rtabmap::Transform & pose,
+        const tango_gl::Color & color,
+        float alpha = 1.0f);
+  void addQuad(
+        int id,
+        float widthLeft,
+        float widthRight,
+        float heightBottom,
+        float heightTop,
+        const rtabmap::Transform & pose,
+        const tango_gl::Color & color,
+        float alpha =1.0f);
+  void removeQuad(int id);
+  bool hasQuad(int id) const;
+  void addCircle(
+          int id,
+          float radius,
+          const rtabmap::Transform & pose,
+          const tango_gl::Color & color,
+          float alpha = 1.0f);
+  void removeCircle(int id);
+  bool hasCircle(int id) const;
 
   void setCloudPose(int id, const rtabmap::Transform & pose);
   void setCloudVisible(int id, bool visible);
@@ -143,6 +193,7 @@ class Scene {
   void setLighting(bool enabled) {lighting_ = enabled;}
   void setBackfaceCulling(bool enabled) {backfaceCulling_ = enabled;}
   void setWireframe(bool enabled) {wireFrame_ = enabled;}
+  void setTextureColorSeamsHidden(bool hidden) {textureColorSeamsHidden_ = hidden;}
   void setBackgroundColor(float r, float g, float b) {r_=r; g_=g; b_=b;} // 0.0f <> 1.0f
   void setGridColor(float r, float g, float b);
 
@@ -153,6 +204,7 @@ 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_;
 
@@ -185,6 +237,10 @@ class Scene {
   rtabmap::ScreenRotation color_camera_to_display_rotation_;
 
   std::map<int, PointCloudDrawable*> pointClouds_;
+  std::map<int, tango_gl::Line*> lines_;
+  std::map<int, TextDrawable*> texts_;
+  std::map<int, QuadColor*> quads_;
+  std::map<int, tango_gl::Circle*> circles_;
 
   rtabmap::Transform * currentPose_;
 
@@ -200,12 +256,13 @@ class Scene {
   bool lighting_;
   bool backfaceCulling_;
   bool wireFrame_;
+  bool textureColorSeamsHidden_;
   float r_;
   float g_;
   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/circle.cpp

@@ -28,8 +28,8 @@ Circle::Circle(float radius, int resolution) : Mesh(GL_TRIANGLE_FAN){
   for (int i = resolution; i >= 0; i--) {
     float theta = delta_theta * static_cast<float>(i);
     vertices.push_back(cos(theta) * radius);
-    vertices.push_back(0);
     vertices.push_back(sin(theta) * radius);
+    vertices.push_back(0);
   }
   SetVertices(vertices);
 }

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/text_drawable.cpp

@@ -0,0 +1,366 @@
+/*
+Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifdef __ANDROID__
+#include <jni.h>
+#endif
+
+#include <tango-gl/util.h>
+#include <vector>
+#include <rtabmap/core/Transform.h>
+#include "util.h"
+#include "text_drawable.h"
+#include "text_atlas_png.h"
+#include <rtabmap/utilite/UConversion.h>
+
+const std::string kTextVertexShader =
+	"uniform mat4 uMVPMatrix;"
+	"attribute vec4 vPosition;"
+	"attribute vec2 a_texCoord;"
+	"varying vec2 v_texCoord;"
+	"void main() {"
+	"  gl_Position = uMVPMatrix * vPosition;"
+	"  v_texCoord = a_texCoord;"
+	"}";
+const std::string kTextFragmentShader =
+	"precision mediump float;"
+	"uniform vec3 uColor;"
+	"varying vec2 v_texCoord;"
+	"uniform sampler2D s_texture;"
+	"void main() {"
+	"  gl_FragColor = texture2D( s_texture, v_texCoord );"
+	"  gl_FragColor.rgb = uColor;"
+	"}";
+
+const int RI_TEXT_TEXTURE_SIZE = 512; // 512
+const float RI_TEXT_HEIGHT_BASE = 32.0f;
+const char RI_TEXT_START = ' ';
+const char RI_TEXT_STOP = '~'+1;
+
+GLuint TextDrawable::textProgram_ = 0;
+GLuint TextDrawable::textTextureId_ = 0;
+float TextDrawable::textUVWidth_ = 0;
+float TextDrawable::textUVHeight_ = 0;
+float TextDrawable::textHeight_ = 0;
+std::vector<float> TextDrawable::textCharacterWidths_;
+
+void TextDrawable::createShaderProgram()
+{
+	releaseShaderProgram();
+
+	// hard-coded with text_atlas.png resource
+	textCharacterWidths_.resize(95);
+	textCharacterWidths_[0]=8;
+	textCharacterWidths_[1]=9.000000;
+	textCharacterWidths_[2]=10.000000;
+	textCharacterWidths_[3]=19.000000;
+	textCharacterWidths_[4]=18.000000;
+	textCharacterWidths_[5]=24.000000;
+	textCharacterWidths_[6]=21.000000;
+	textCharacterWidths_[7]=5.000000;
+	textCharacterWidths_[8]=11.000000;
+	textCharacterWidths_[9]=11.000000;
+	textCharacterWidths_[10]=15.000000;
+	textCharacterWidths_[11]=17.000000;
+	textCharacterWidths_[12]=8.000000;
+	textCharacterWidths_[13]=12.000000;
+	textCharacterWidths_[14]=9.000000;
+	textCharacterWidths_[15]=12.000000;
+	textCharacterWidths_[16]=18.000000;
+	textCharacterWidths_[17]=18.000000;
+	textCharacterWidths_[18]=18.000000;
+	textCharacterWidths_[19]=18.000000;
+	textCharacterWidths_[20]=18.000000;
+	textCharacterWidths_[21]=18.000000;
+	textCharacterWidths_[22]=18.000000;
+	textCharacterWidths_[23]=18.000000;
+	textCharacterWidths_[24]=18.000000;
+	textCharacterWidths_[25]=18.000000;
+	textCharacterWidths_[26]=9.000000;
+	textCharacterWidths_[27]=8.000000;
+	textCharacterWidths_[28]=16.000000;
+	textCharacterWidths_[29]=18.000000;
+	textCharacterWidths_[30]=17.000000;
+	textCharacterWidths_[31]=16.000000;
+	textCharacterWidths_[32]=29.000000;
+	textCharacterWidths_[33]=22.000000;
+	textCharacterWidths_[34]=20.000000;
+	textCharacterWidths_[35]=21.000000;
+	textCharacterWidths_[36]=21.000000;
+	textCharacterWidths_[37]=18.000000;
+	textCharacterWidths_[38]=18.000000;
+	textCharacterWidths_[39]=22.000000;
+	textCharacterWidths_[40]=23.000000;
+	textCharacterWidths_[41]=9.000000;
+	textCharacterWidths_[42]=18.000000;
+	textCharacterWidths_[43]=20.000000;
+	textCharacterWidths_[44]=17.000000;
+	textCharacterWidths_[45]=28.000000;
+	textCharacterWidths_[46]=23.000000;
+	textCharacterWidths_[47]=22.000000;
+	textCharacterWidths_[48]=21.000000;
+	textCharacterWidths_[49]=22.000000;
+	textCharacterWidths_[50]=20.000000;
+	textCharacterWidths_[51]=20.000000;
+	textCharacterWidths_[52]=20.000000;
+	textCharacterWidths_[53]=21.000000;
+	textCharacterWidths_[54]=21.000000;
+	textCharacterWidths_[55]=28.000000;
+	textCharacterWidths_[56]=20.000000;
+	textCharacterWidths_[57]=20.000000;
+	textCharacterWidths_[58]=19.000000;
+	textCharacterWidths_[59]=9.000000;
+	textCharacterWidths_[60]=14.000000;
+	textCharacterWidths_[61]=9.000000;
+	textCharacterWidths_[62]=14.000000;
+	textCharacterWidths_[63]=14.000000;
+	textCharacterWidths_[64]=11.000000;
+	textCharacterWidths_[65]=17.000000;
+	textCharacterWidths_[66]=18.000000;
+	textCharacterWidths_[67]=17.000000;
+	textCharacterWidths_[68]=18.000000;
+	textCharacterWidths_[69]=17.000000;
+	textCharacterWidths_[70]=11.000000;
+	textCharacterWidths_[71]=18.000000;
+	textCharacterWidths_[72]=18.000000;
+	textCharacterWidths_[73]=8.000000;
+	textCharacterWidths_[74]=8.000000;
+	textCharacterWidths_[75]=17.000000;
+	textCharacterWidths_[76]=8.000000;
+	textCharacterWidths_[77]=28.000000;
+	textCharacterWidths_[78]=18.000000;
+	textCharacterWidths_[79]=18.000000;
+	textCharacterWidths_[80]=18.000000;
+	textCharacterWidths_[81]=18.000000;
+	textCharacterWidths_[82]=12.000000;
+	textCharacterWidths_[83]=16.000000;
+	textCharacterWidths_[84]=11.000000;
+	textCharacterWidths_[85]=18.000000;
+	textCharacterWidths_[86]=16.000000;
+	textCharacterWidths_[87]=24.000000;
+	textCharacterWidths_[88]=16.000000;
+	textCharacterWidths_[89]=16.000000;
+	textCharacterWidths_[90]=16.000000;
+	textCharacterWidths_[91]=11.000000;
+	textCharacterWidths_[92]=8.000000;
+	textCharacterWidths_[93]=11.000000;
+	textCharacterWidths_[94]=21.000000;
+	textUVWidth_=0.062500;
+	textUVHeight_=0.082031;
+	textHeight_=42.000000;
+
+	textProgram_ = tango_gl::util::CreateProgram(kTextVertexShader.c_str(), kTextFragmentShader.c_str());
+	UASSERT(textProgram_ != 0);
+
+	glGenTextures(1, &textTextureId_);
+	UASSERT(textTextureId_);
+
+	// gen texture from image
+	glBindTexture(GL_TEXTURE_2D, textTextureId_);
+	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);
+
+	std::vector<char> data = uHex2Bytes(rtabmap::TEXT_ATLAS_PNG);
+
+	cv::Mat rgbImage = cv::imdecode(data, cv::IMREAD_UNCHANGED);
+
+	glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
+	glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, rgbImage.cols, rgbImage.rows, 0, GL_RGBA, GL_UNSIGNED_BYTE, rgbImage.data);
+
+	GLint error = glGetError();
+	UASSERT(error == GL_NO_ERROR);
+}
+
+void TextDrawable::releaseShaderProgram()
+{
+	if(textProgram_)
+	{
+		glDeleteShader(textProgram_);
+		textProgram_ = 0;
+	}
+}
+
+TextDrawable::TextDrawable(
+		const std::string & text,
+		const rtabmap::Transform & pose,
+		float textSize, // meters
+		const tango_gl::Color & color) :
+		poseGl_(glmFromTransform(pose)),
+		color_(color)
+{
+	if(textProgram_ > 0)
+	{
+		vertexBuffer_ = std::vector<float>(text.size() * 12);
+		textureBuffer_ = std::vector<float>(text.size() * 8);
+		drawListBuffer_ = std::vector<unsigned short>(text.size() * 6);
+
+		int index_vecs = 0;
+		int index_indices = 0;
+		int index_uvs = 0;
+		float x=0.0f;
+		float y=0.0f;
+		float uniformscale = textSize/textHeight_;
+		for(unsigned int i=0; i<text.size(); ++i)
+		{
+			// get ascii value
+			char c = text[i];
+			int c_val = (int)c;
+
+			int indx = c_val-RI_TEXT_START;
+
+			if(indx<0 || indx>=textCharacterWidths_.size()) {
+				// unknown character, we will add a space for it to be save.
+				indx = 0;
+			}
+
+			int colCount = RI_TEXT_TEXTURE_SIZE/(int)RI_TEXT_HEIGHT_BASE;
+
+			// Calculate the uv parts
+			int row = indx / colCount;
+			int col = indx % colCount;
+
+			float v = row * textUVHeight_;
+			float v2 = v + textUVHeight_;
+			float u = col * textUVWidth_;
+			float u2 = u + textCharacterWidths_[indx]/(float)RI_TEXT_TEXTURE_SIZE;
+
+			// Creating the triangle information
+			std::vector<float> vec(12);
+			std::vector<float> uv(8);
+
+			vec[0] = x;
+			vec[1] = y + (textHeight_ * uniformscale);
+			vec[2] = 0;
+			vec[3] = x;
+			vec[4] = y;
+			vec[5] = 0;
+			vec[6] = x + (textCharacterWidths_[indx] * uniformscale);
+			vec[7] = y;
+			vec[8] = 0;
+			vec[9] = x + (textCharacterWidths_[indx] * uniformscale);
+			vec[10] = y + (textHeight_ * uniformscale);
+			vec[11] = 0;
+
+			// 0.001f = texture bleeding hack/fix
+			uv[0] = u+0.001f;
+			uv[1] = v+0.001f;
+			uv[2] = u+0.001f;
+			uv[3] = v2-0.001f;
+			uv[4] = u2-0.001f;
+			uv[5] = v2-0.001f;
+			uv[6] = u2-0.001f;
+			uv[7] = v+0.001f;
+
+			unsigned short inds[6] = {0, 1, 2, 0, 2, 3};
+
+			// We need a base value because the object has indices related to
+			// that object and not to this collection so basicly we need to
+			// translate the indices to align with the vertexlocation in ou
+			// vecs array of vectors.
+			short base = (short) (index_vecs / 3);
+
+			// We should add the vec, translating the indices to our saved vector
+			for(int i=0;i<vec.size();i++)
+			{
+				vertexBuffer_[index_vecs] = vec[i];
+				index_vecs++;
+			}
+
+			// We should add the uvs
+			for(int i=0;i<uv.size();i++)
+			{
+				textureBuffer_[index_uvs] = uv[i];
+				index_uvs++;
+			}
+
+			// We handle the indices
+			for(int j=0;j<6;j++)
+			{
+				drawListBuffer_[index_indices] = (unsigned short) (base + inds[j]);
+				index_indices++;
+			}
+
+			// Calculate the new position
+			x += (textCharacterWidths_[indx]  * uniformscale);
+		}
+	}
+}
+
+void TextDrawable::Render(
+		const glm::mat4 & projectionMatrix,
+		const glm::mat4 & viewMatrix,
+		const glm::mat4 & viewMatrixRotInv) const
+{
+	glUseProgram(textProgram_);
+
+	// get handle to vertex shader's vPosition member
+	int mPositionHandle = glGetAttribLocation(textProgram_, "vPosition");
+
+	// Enable a handle to the triangle vertices
+	glEnableVertexAttribArray(mPositionHandle);
+
+	// Prepare the background coordinate data
+	glVertexAttribPointer(mPositionHandle, 3, GL_FLOAT, false, 0, &vertexBuffer_[0]);
+
+	int mTexCoordLoc = glGetAttribLocation(textProgram_, "a_texCoord" );
+
+	// Prepare the texturecoordinates
+	glVertexAttribPointer ( mTexCoordLoc, 2, GL_FLOAT, false, 0, &textureBuffer_[0]);
+
+	glEnableVertexAttribArray ( mPositionHandle );
+	glEnableVertexAttribArray ( mTexCoordLoc );
+
+	// get handle to shape's transformation matrix
+	int mtrxhandle = glGetUniformLocation(textProgram_, "uMVPMatrix");
+
+	// Apply the projection and view transformation
+	//glUniformMatrix4fv(mtrxhandle, 1, false, m, 0);
+	glm::mat4 mvp_mat = projectionMatrix * viewMatrix * poseGl_ * viewMatrixRotInv;//glm::toMat4(gesture_camera_->GetParent()->GetRotation());
+	glUniformMatrix4fv(mtrxhandle, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+
+	// get handle to color value
+	int colorhandle = glGetUniformLocation(textProgram_, "uColor");
+	glUniform3f(colorhandle, color_.r, color_.g, color_.b);
+
+	int mSamplerLoc = glGetUniformLocation (textProgram_, "s_texture" );
+
+	// Texture activate unit 0
+	glActiveTexture(GL_TEXTURE0);
+	// Bind the texture to this unit.
+	glBindTexture(GL_TEXTURE_2D, textTextureId_);
+	// Set the sampler texture unit to our selected id
+	glUniform1i ( mSamplerLoc, 0);
+
+	// Draw the triangle
+	glDrawElements(GL_TRIANGLES, drawListBuffer_.size(), GL_UNSIGNED_SHORT, &drawListBuffer_[0]);
+
+	// Disable vertex array
+	glDisableVertexAttribArray(mPositionHandle);
+	glDisableVertexAttribArray(mTexCoordLoc);
+}

app/android/jni/text_drawable.h

@@ -0,0 +1,71 @@
+/*
+Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef TANGO_TEXT_DRAWABLE_H_
+#define TANGO_TEXT_DRAWABLE_H_
+
+#include <vector>
+#include <rtabmap/core/Transform.h>
+#include <tango-gl/color.h>
+
+// PointCloudDrawable is responsible for the point cloud rendering.
+class TextDrawable {
+private:
+	static GLuint textProgram_;
+	static GLuint textTextureId_;
+	static float textUVWidth_;
+	static float textUVHeight_;
+	static float textHeight_;
+	static std::vector<float> textCharacterWidths_;
+
+public:
+	static void createShaderProgram();
+	static void releaseShaderProgram();
+
+public:
+	TextDrawable(
+			const std::string & text,
+			const rtabmap::Transform & pose,
+			float textSize = 0.1f, // meters
+			const tango_gl::Color & color = tango_gl::Color(1,0,0));
+
+  virtual ~TextDrawable() {}
+
+  void Render(
+		  const glm::mat4 & projectionMatrix,
+		  const glm::mat4 & viewMatrix,
+		  const glm::mat4 & viewMatrixRotInv) const;
+
+ private:
+	std::vector<float> vertexBuffer_;
+	std::vector<float> textureBuffer_;
+	std::vector<unsigned short> drawListBuffer_;
+	glm::mat4 poseGl_;
+	tango_gl::Color color_;
+};
+
+#endif  // TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_

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

@@ -97,16 +97,30 @@
 	            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"
 		        android:summary="@string/pref_summary_smoothing"
 		        android:defaultValue="@string/pref_default_smoothing"/>
+			<ListPreference
+		        android:key="@string/pref_key_depth_bleeding_error"
+		        android:title="@string/pref_title_depth_bleeding_error"
+		        android:summary="@string/pref_summary_depth_bleeding_error"
+		        android:entries="@array/pref_depth_bleeding_error_keys"
+		   	    android:entryValues="@array/pref_depth_bleeding_error_values"
+		   		android:defaultValue="@string/pref_default_depth_bleeding_error"/>
 		    <com.introlab.rtabmap.CustomSwitchPreference
 		        android:key="@string/pref_key_fisheye"
 		        android:title="@string/pref_title_fisheye"

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 +75,24 @@
     <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_depth_bleeding_error">pref_key_depth_bleeding_error</string>
+    <string name="pref_default_depth_bleeding_error">0.0</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 +102,7 @@
     <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 +166,7 @@
     <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>
@@ -324,15 +328,19 @@
     <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>
     <string name="pref_summary_resolution">Save HD images of the color camera if you want very detailed textures. More memory will be required.</string>
     <string name="pref_title_smoothing">Smoothing</string>
     <string name="pref_summary_smoothing">Smooth the point clouds.</string>
+    <string name="pref_title_depth_bleeding_error">Depth Bleeding Filtering Error</string>
+    <string name="pref_summary_depth_bleeding_error">Filter noisy depth points on the edges.</string>
     <string name="pref_title_fisheye">Fish Eye Camera</string>
     <string name="pref_summary_fisheye">Use fish eye camera instead of the color camera. May not work on some devices.</string>
     <string name="pref_title_update_rate">Update Rate</string>
@@ -373,16 +381,18 @@
     <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 +416,50 @@
         <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_depth_bleeding_error_keys">
+        <item>"Disabled"</item>
+        <item>"2.5 cm"</item>
+        <item>"5 cm"</item>
+        <item>"10 cm"</item>
+        <item>"15 cm"</item>
+        <item>"20 cm"</item>
+        <item>"25 cm"</item>
+        <item>"30 cm"</item>
+    </string-array>
+    <string-array name="pref_depth_bleeding_error_values">
+        <item>"0"</item>
+        <item>"0.025"</item>
+        <item>"0.05"</item>
+        <item>"0.10"</item>
+        <item>"0.15"</item>
+        <item>"0.20"</item>
+        <item>"0.25"</item>
+        <item>"0.30"</item>
+    </string-array>
     <string-array name="pref_max_speed_keys">
         <item>"No Limit"</item>
         <item>"High"</item>
@@ -433,7 +487,7 @@
         <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 +583,25 @@
         <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 +762,9 @@
         <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 +777,8 @@
     <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 +884,7 @@
     <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 +918,10 @@
         <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)))
 		{
@@ -992,9 +1140,11 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 			RTABMapLib.setRawScanSaved(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_raw_scan_saved), Boolean.parseBoolean(getString(R.string.pref_default_raw_scan_saved))));
 			RTABMapLib.setFullResolution(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_resolution), Boolean.parseBoolean(getString(R.string.pref_default_resolution))));
 			RTABMapLib.setSmoothing(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_smoothing), Boolean.parseBoolean(getString(R.string.pref_default_smoothing))));
+			RTABMapLib.setDepthBleedingError(nativeApplication, Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_depth_bleeding_error), getString(R.string.pref_default_depth_bleeding_error))));
 			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 +1225,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 
 		setAndroidOrientation();
 
+		updateCameraDriverSettings();
 		updatePreferences();
 
 		if(mState == State.STATE_MAPPING || mState == State.STATE_CAMERA)
@@ -1166,7 +1317,7 @@ 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 +1387,7 @@ 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 +1638,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		}
 
 		updateState(mState);
-
+		
 		return true;
 	}
 
@@ -1624,16 +1776,19 @@ 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 +1810,7 @@ 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 +2062,14 @@ 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 +2151,7 @@ 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 +2184,6 @@ 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 +2302,7 @@ 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 +2375,12 @@ 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 +2790,7 @@ 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 +2944,109 @@ 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 +3472,7 @@ 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 +3504,7 @@ 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 +3537,7 @@ 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 +3591,7 @@ 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 +3605,7 @@ 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 +3631,7 @@ 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 +3658,7 @@ 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 +3677,14 @@ 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 +3706,7 @@ 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 +3733,7 @@ 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 +3812,6 @@ 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);
@@ -72,9 +73,11 @@ public class RTABMapLib
     public static native void setRawScanSaved(long nativeApplication, boolean enabled);
     public static native void setFullResolution(long nativeApplication, boolean enabled);
     public static native void setSmoothing(long nativeApplication, boolean enabled);
+    public static native void setDepthBleedingError(long nativeApplication, float value);
     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 +137,29 @@ 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 +222,8 @@ 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_depth_bleeding_error))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_depth_bleeding_error))).getEntry() + ") "+getString(R.string.pref_summary_depth_bleeding_error));
+		((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 +286,8 @@ 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_depth_bleeding_error))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_depth_bleeding_error));
+			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/