explicitly set deps to install instead of relying on buildfarm (#1012 )

* explicitly set deps to install instead of relying on buildfarm rtabmap (in case buildfarm build is failing) * use rosdep instead * missing rosdep update * updated rosdep command * removed rosdep init * fixed qt_gui_cpp not found * revert last commit, should be able to use qt_gui_cpp in rosdep * removed deprecated 18.04
bump 0.21.1
2026-09-10 13:30:20 +08:00 · 2023-04-09 14:40:57 -07:00 · 2023-04-09 12:00:53 -07:00 · 2023-04-06 20:57:35 -07:00 · 2023-04-05 22:19:54 -07:00 · 2023-03-25 22:41:28 -07:00
29 changed files with 758 additions and 703 deletions
@@ -22,10 +22,8 @@ jobs:
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
-        ros_distribution: [melodic, noetic, foxy, humble, rolling]
+        ros_distribution: [ noetic, foxy, humble, rolling]
        include:
-        - ros_distribution: 'melodic' 
-          os: ubuntu-18.04
        - ros_distribution: 'noetic'
          os: ubuntu-20.04
        - ros_distribution: 'foxy'
@@ -44,13 +42,13 @@ jobs:
      with:
        required-ros-distributions: ${{ matrix.ros_distribution }}
    
+    - uses: actions/checkout@v2
+
    - name: Install dependencies
      run: |
-        sudo apt-get update
-        sudo apt-get -y install ros-${{ matrix.ros_distribution }}-rtabmap
-        sudo apt-get -y remove ros-${{ matrix.ros_distribution }}-rtabmap
-
-    - uses: actions/checkout@v2
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        rosdep update
+        rosdep install --from-paths ${{github.workspace}} -y

    - name: Configure CMake
      run: |
@@ -17,7 +17,7 @@ jobs:
    runs-on: ${{ matrix.os }}
    strategy:
      matrix:
-        os: [ubuntu-22.04, ubuntu-20.04, ubuntu-18.04]
+        os: [ubuntu-22.04, ubuntu-20.04]

    steps:    
    - name: Install dependencies
@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
 SET(RTABMAP_MINOR_VERSION 21)
-SET(RTABMAP_PATCH_VERSION 0)
+SET(RTABMAP_PATCH_VERSION 1)
 SET(RTABMAP_VERSION
  ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
  
@@ -314,8 +314,8 @@ IF(WITH_QT)
      IF("${VTK_MAJOR_VERSION}" GREATER 5)
        IF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
          FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui OpenGL PrintSupport QUIET OPTIONAL_COMPONENTS Svg)
-	    ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
-	  ENDIF("${VTK_MAJOR_VERSION}" GREATER 5)
+        ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
+      ENDIF("${VTK_MAJOR_VERSION}" GREATER 5)

      IF(NOT Qt5_FOUND)
        IF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "4")
@@ -328,8 +328,8 @@ IF(WITH_QT)
        IF("${VTK_MAJOR_VERSION}" EQUAL 5)
            FIND_PACKAGE(QVTK REQUIRED) # only for VTK 5
        ELSE()
-		    list(FIND PCL_LIBRARIES VTK::GUISupportQt value)
-			IF(value EQUAL -1)
+            list(FIND PCL_LIBRARIES VTK::GUISupportQt value)
+            IF(value EQUAL -1)
                list(FIND PCL_LIBRARIES vtkGUISupportQt value)
                IF(value EQUAL -1)
                    IF(NOT(${VTK_MAJOR_VERSION} LESS 9))
@@ -339,8 +339,8 @@ IF(WITH_QT)
                    ENDIF()
                    SET(ADD_VTK_GUI_SUPPORT_QT_TO_CONF TRUE)
                ENDIF(value EQUAL -1)
-		    ENDIF(value EQUAL -1)
-		    
+            ENDIF(value EQUAL -1)
+
            MESSAGE(STATUS "VTK_RENDERING_BACKEND=${VTK_RENDERING_BACKEND}")

            IF(VTK_RENDERING_BACKEND STREQUAL "OpenGL2")
@@ -358,12 +358,12 @@ IF(WITH_QT)
                ENDIF(value EQUAL -1)
            ELSEIF("${VTK_MAJOR_VERSION}" EQUAL 9)
                list(FIND PCL_LIBRARIES VTK::RenderingOpenGL2 value)
-			    IF(NOT value EQUAL -1)
-			        list(FIND PCL_LIBRARIES VTK::RenderingVolumeOpenGL2 value)
+                IF(NOT value EQUAL -1)
+                    list(FIND PCL_LIBRARIES VTK::RenderingVolumeOpenGL2 value)
                    IF(value EQUAL -1)
                        SET(PCL_LIBRARIES "${PCL_LIBRARIES};VTK::RenderingVolumeOpenGL2")
                    ENDIF(value EQUAL -1)
-			    ENDIF(NOT value EQUAL -1)
+                ENDIF(NOT value EQUAL -1)
            ENDIF()

        ENDIF()
@@ -426,7 +426,7 @@ ENDIF(WITH_FREENECT2)

 IF(WITH_K4W2 AND WIN32)
    FIND_PACKAGE(KinectSDK2 QUIET)
-	IF(KinectSDK2_FOUND)
+    IF(KinectSDK2_FOUND)
       MESSAGE(STATUS "Found Kinect for Windows 2: ${KinectSDK2_INCLUDE_DIRS}")
    ENDIF(KinectSDK2_FOUND)
 ENDIF(WITH_K4W2 AND WIN32)
@@ -441,7 +441,7 @@ IF(WITH_K4A)
            SET(k4a_FOUND FALSE)
        ENDIF(NOT (k4a_FOUND AND k4arecord_FOUND))
    ENDIF()
-	IF(k4a_FOUND)
+    IF(k4a_FOUND)
       MESSAGE(STATUS "Found Kinect for Azure: ${k4a_INCLUDE_DIRS}")
    ENDIF(k4a_FOUND)
 ENDIF(WITH_K4A)
@@ -465,10 +465,10 @@ IF(WITH_G2O)
    FIND_PACKAGE(g2o NO_MODULE)
    IF(g2o_FOUND)
       MESSAGE(STATUS "Found g2o (targets)")
-	     SET(G2O_FOUND ${g2o_FOUND})
-	     get_target_property(G2O_INCLUDES g2o::core INTERFACE_INCLUDE_DIRECTORIES)
-	     MESSAGE(STATUS "g2o include dir: ${G2O_INCLUDES}")
-	     FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h 
+         SET(G2O_FOUND ${g2o_FOUND})
+         get_target_property(G2O_INCLUDES g2o::core INTERFACE_INCLUDE_DIRECTORIES)
+         MESSAGE(STATUS "g2o include dir: ${G2O_INCLUDES}")
+         FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h 
         PATHS ${G2O_INCLUDES}
         NO_DEFAULT_PATH)
       FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
@@ -528,8 +528,8 @@ IF(libpointmatcher_FOUND OR GTSAM_FOUND)
        find_package(Boost COMPONENTS thread filesystem system program_options date_time chrono timer serialization REQUIRED)
    ENDIF(Boost_MINOR_VERSION GREATER 47)
    IF(WIN32)
-	    MESSAGE(STATUS "Boost_LIBRARY_DIRS=${Boost_LIBRARY_DIRS}")
-	    link_directories(${Boost_LIBRARY_DIRS})
+        MESSAGE(STATUS "Boost_LIBRARY_DIRS=${Boost_LIBRARY_DIRS}")
+        link_directories(${Boost_LIBRARY_DIRS})
    ENDIF(WIN32)
 ENDIF(libpointmatcher_FOUND OR GTSAM_FOUND)

@@ -766,57 +766,57 @@ IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
 ENDIF(WITH_ORB_SLAM AND NOT G2O_FOUND)

 IF(NOT MSVC)
-    IF(Qt6_FOUND)
+    IF(Qt6_FOUND OR (G2O_FOUND AND G2O_CPP11 EQUAL 1))
      # Qt6 requires c++17
      include(CheckCXXCompilerFlag)
-	  CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
-	  IF(COMPILER_SUPPORTS_CXX17)
-	    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
-	    set(CMAKE_CXX_STANDARD 17)
-	  ELSE()
-	    message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++17 support. Please use a different C++ compiler if you want to use Qt6.")
-	  ENDIF()
+      CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
+      IF(COMPILER_SUPPORTS_CXX17)
+        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
+        set(CMAKE_CXX_STANDARD 17)
+      ELSE()
+        message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++17 support. Please use a different C++ compiler if you want to use Qt6.")
+      ENDIF()
+    ENDIF()
+    IF((NOT (${CMAKE_CXX_STANDARD} STREQUAL "17")) AND ((NOT WITH_MSCKF_VIO OR NOT msckf_vio_FOUND) AND (loam_velodyne_FOUND OR floam_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND OR Open3D_FOUND)))
+     #LOAM, PCL>=1.10, latest g2o and CCCoreLib require c++14, but MSCKF_VIO requires c++11
+     include(CheckCXXCompilerFlag)
+      CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
+      IF(COMPILER_SUPPORTS_CXX14)
+        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
+        set(CMAKE_CXX_STANDARD 14)
+      ELSE()
+        message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler if you want to use LOAM, latest PCL or g2o.")
+      ENDIF()
    ENDIF()
-	IF((NOT (${CMAKE_CXX_STANDARD} STREQUAL "17")) AND ((NOT WITH_MSCKF_VIO OR NOT msckf_vio_FOUND) AND (loam_velodyne_FOUND OR floam_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND OR Open3D_FOUND)))
-	 #LOAM, PCL>=1.10, latest g2o and CCCoreLib require c++14, but MSCKF_VIO requires c++11
-	 include(CheckCXXCompilerFlag)
-	  CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
-	  IF(COMPILER_SUPPORTS_CXX14)
-	    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
-	    set(CMAKE_CXX_STANDARD 14)
-	  ELSE()
-	    message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler if you want to use LOAM, latest PCL or g2o.")
-	  ENDIF()
-	ENDIF()

-	IF( (NOT (${CMAKE_CXX_STANDARD} STREQUAL "17") AND NOT (${CMAKE_CXX_STANDARD} STREQUAL "14")) AND (
-	       G2O_FOUND OR
-	       GTSAM_FOUND OR
-	       CERES_FOUND OR
-	       ZED_FOUND OR
-	       ZEDOC_FOUND OR
-	       ANDROID OR
-	       RealSense_FOUND OR
-	       realsense2_FOUND OR
-	       ORB_SLAM_FOUND OR
-	       okvis_FOUND OR
-	       open_chisel_FOUND OR
-	       msckf_vio_FOUND OR
-	       vins_FOUND OR
-	       ov_msckf_FOUND OR
-	       libpointmatcher_FOUND))
-	 #Newest versions require std11
-	 include(CheckCXXCompilerFlag)
-	  CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
-	  CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
-	  IF(COMPILER_SUPPORTS_CXX11)
-	    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-	  ELSEIF(COMPILER_SUPPORTS_CXX0X)
-	    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
-	  ELSE()
-	    message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
-	  ENDIF()
-	ENDIF()
+    IF( (NOT (${CMAKE_CXX_STANDARD} STREQUAL "17") AND NOT (${CMAKE_CXX_STANDARD} STREQUAL "14")) AND (
+           G2O_FOUND OR
+           GTSAM_FOUND OR
+           CERES_FOUND OR
+           ZED_FOUND OR
+           ZEDOC_FOUND OR
+           ANDROID OR
+           RealSense_FOUND OR
+           realsense2_FOUND OR
+           ORB_SLAM_FOUND OR
+           okvis_FOUND OR
+           open_chisel_FOUND OR
+           msckf_vio_FOUND OR
+           vins_FOUND OR
+           ov_msckf_FOUND OR
+           libpointmatcher_FOUND))
+     #Newest versions require std11
+     include(CheckCXXCompilerFlag)
+      CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+      CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+      IF(COMPILER_SUPPORTS_CXX11)
+        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+      ELSEIF(COMPILER_SUPPORTS_CXX0X)
+        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+      ELSE()
+        message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+      ENDIF()
+    ENDIF()
 ENDIF()

 ####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
@@ -432,23 +432,25 @@ LaserScan CameraMobile::scanFromPointCloudData(
            //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))
+            if(pt.z > 0)
            {
-                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;
+                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);

@@ -1007,7 +1007,7 @@
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/lib",
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
 				);
-				MARKETING_VERSION = 0.20.19;
+				MARKETING_VERSION = 0.21.0;
 				OTHER_CFLAGS = "";
 				PRODUCT_BUNDLE_IDENTIFIER = com.introlab.rtabmap;
 				PRODUCT_NAME = "$(TARGET_NAME)";
@@ -1020,7 +1020,7 @@
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include/eigen3\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include/pcl-1.11\"",
-					"\"$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.20\"",
+					"\"$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.21\"",
 					"\"$(SRCROOT)/../android/jni/tango-gl/include\"",
 					"\"$(SRCROOT)/../android/jni/third-party/include\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/lib/vtk.framework/Headers\"",
@@ -1064,7 +1064,7 @@
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/lib",
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
 				);
-				MARKETING_VERSION = 0.20.19;
+				MARKETING_VERSION = 0.21.0;
 				ONLY_ACTIVE_ARCH = YES;
 				OTHER_CFLAGS = "";
 				PRODUCT_BUNDLE_IDENTIFIER = com.introlab.rtabmap;
@@ -1078,7 +1078,7 @@
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include/eigen3\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include/pcl-1.11\"",
-					"\"$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.20\"",
+					"\"$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.21\"",
 					"\"$(SRCROOT)/../android/jni/tango-gl/include\"",
 					"\"$(SRCROOT)/../android/jni/third-party/include\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/lib/vtk.framework/Headers\"",
@@ -489,13 +489,6 @@ void setGridVisibleNative(const void *object, bool visible)
    else
        UERROR("object is null!");
 }
-void setRawScanSavedNative(const void *object, bool enabled)
-{
-    if(object)
-        native(object)->setRawScanSaved(enabled);
-    else
-        UERROR("object is null!");
-}
 void setFullResolutionNative(const void *object, bool enabled)
 {
    if(object)
@@ -97,7 +97,6 @@ void setGraphOptimizationNative(const void *object, bool enabled);
 void setNodesFilteringNative(const void *object, bool enabled);
 void setGraphVisibleNative(const void *object, bool visible);
 void setGridVisibleNative(const void *object, bool visible);
-void setRawScanSavedNative(const void *object, bool enabled);
 void setFullResolutionNative(const void *object, bool enabled);
 void setSmoothingNative(const void *object, bool enabled);
 void setAppendModeNative(const void *object, bool enabled);
@@ -405,9 +405,6 @@ class RTABMap {
    func setGridVisible(visible: Bool) {
        setGridVisibleNative(native_rtabmap, visible)
    }
-    func setRawScanSaved(enabled: Bool) {
-        setRawScanSavedNative(native_rtabmap, enabled)
-    }
    func setFullResolution(enabled: Bool) {
        setFullResolutionNative(native_rtabmap, enabled)
    }
@@ -1319,7 +1319,6 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
        // update preference
        rtabmap!.setOnlineBlending(enabled: defaults.bool(forKey: "Blending"));
        rtabmap!.setNodesFiltering(enabled: defaults.bool(forKey: "NodesFiltering"));
-        rtabmap!.setRawScanSaved(enabled: defaults.bool(forKey: "SaveRawScan"));
        rtabmap!.setFullResolution(enabled: defaults.bool(forKey: "HDMode"));
        rtabmap!.setSmoothing(enabled: defaults.bool(forKey: "Smoothing"));
        rtabmap!.setAppendMode(enabled: defaults.bool(forKey: "AppendMode"));
@@ -13,7 +13,7 @@
 			<string>
 ======= RTAB-Map =======
 RTAB-Map - https://github.com/introlab/rtabmap
-Copyright (c) 2010-2022, Mathieu Labbe - IntRoLab - Universite de Sherbrooke, all rights reserved.
+Copyright (c) 2010-2023, 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
@@ -552,50 +552,50 @@
 			<key>DefaultValue</key>
 			<true/>
 		</dict>
-        <dict>
-            <key>Type</key>
-            <string>PSGroupSpecifier</string>
-            <key>FooterText</key>
-            <string>Used only in localization mode (when clicking First-P. View during visualization). This is used to get smoother localizations and to verify localization transforms (when Max Optimization Error is not disabled) to make sure we don't teleport to a location very similar to one we previously localized on.</string>
-        </dict>
-        <dict>
-            <key>Type</key>
-            <string>PSMultiValueSpecifier</string>
-            <key>Title</key>
-            <string>Maximum odometry cache size</string>
-            <key>Key</key>
-            <string>MaximumOdometryCacheSize</string>
-            <key>DefaultValue</key>
-            <string>10</string>
-            <key>Titles</key>
-            <array>
-                <string>500</string>
-                <string>200</string>
-                <string>100</string>
-                <string>75</string>
-                <string>50</string>
-                <string>40</string>
-                <string>30</string>
-                <string>20</string>
-                <string>10</string>
-                <string>5</string>
-                <string>Disabled</string>
-            </array>
-            <key>Values</key>
-            <array>
-                <string>500</string>
-                <string>200</string>
-                <string>100</string>
-                <string>75</string>
-                <string>50</string>
-                <string>40</string>
-                <string>30</string>
-                <string>20</string>
-                <string>10</string>
-                <string>5</string>
-                <string>0</string>
-            </array>
-        </dict>
+		<dict>
+			<key>Type</key>
+			<string>PSGroupSpecifier</string>
+			<key>FooterText</key>
+			<string>Used only in localization mode (when clicking First-P. View during visualization). This is used to get smoother localizations and to verify localization transforms (when Max Optimization Error is not disabled) to make sure we don&apos;t teleport to a location very similar to one we previously localized on.</string>
+		</dict>
+		<dict>
+			<key>Type</key>
+			<string>PSMultiValueSpecifier</string>
+			<key>Title</key>
+			<string>Maximum odometry cache size</string>
+			<key>Key</key>
+			<string>MaximumOdometryCacheSize</string>
+			<key>DefaultValue</key>
+			<string>10</string>
+			<key>Titles</key>
+			<array>
+				<string>500</string>
+				<string>200</string>
+				<string>100</string>
+				<string>75</string>
+				<string>50</string>
+				<string>40</string>
+				<string>30</string>
+				<string>20</string>
+				<string>10</string>
+				<string>5</string>
+				<string>Disabled</string>
+			</array>
+			<key>Values</key>
+			<array>
+				<string>500</string>
+				<string>200</string>
+				<string>100</string>
+				<string>75</string>
+				<string>50</string>
+				<string>40</string>
+				<string>30</string>
+				<string>20</string>
+				<string>10</string>
+				<string>5</string>
+				<string>0</string>
+			</array>
+		</dict>
 		<dict>
 			<key>Type</key>
 			<string>PSGroupSpecifier</string>
@@ -752,22 +752,6 @@
 			<key>DefaultValue</key>
 			<true/>
 		</dict>
-		<dict>
-			<key>Type</key>
-			<string>PSGroupSpecifier</string>
-			<key>FooterText</key>
-			<string>Save raw point clouds in database.</string>
-		</dict>
-		<dict>
-			<key>Type</key>
-			<string>PSToggleSwitchSpecifier</string>
-			<key>Title</key>
-			<string>Save Raw Scan</string>
-			<key>Key</key>
-			<string>SaveRawScan</string>
-			<key>DefaultValue</key>
-			<true/>
-		</dict>
 		<dict>
 			<key>Type</key>
 			<string>PSGroupSpecifier</string>
@@ -454,7 +454,7 @@
 		</dict>
 		<dict>
 			<key>FooterText</key>
-			<string>Copyright (c) 2010-2022, Mathieu Labbe - IntRoLab - Université de Sherbrooke. All rights reserved.</string>
+			<string>Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Université de Sherbrooke. All rights reserved.</string>
 			<key>Title</key>
 			<string>About</string>
 			<key>Type</key>
@@ -462,7 +462,7 @@
 		</dict>
 		<dict>
 			<key>DefaultValue</key>
-			<string>0.20.19</string>
+			<string>0.21.0</string>
 			<key>Key</key>
 			<string>Version</string>
 			<key>Title</key>
@@ -24,7 +24,11 @@ IF(WIN32)
  ELSE( MINGW )
    SET(SRC_FILES ${SRC_FILES} ${PROJECT_NAME}.rc)
  ENDIF( MINGW )
-ENDIF(WIN32)
+ENDIF(WIN32)
+
+IF(BUILD_AS_BUNDLE)
+  ADD_DEFINITIONS("-DBUILD_AS_BUNDLE")
+ENDIF()

 # Add binary
 IF(APPLE AND BUILD_AS_BUNDLE)
@@ -199,9 +203,9 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
 	" COMPONENT runtime)
 
  # directories to look for dependencies
-  SET(DIRS ${QT_LIBRARY_DIRS} ${PROJECT_SOURCE_DIR}/bin)
+  SET(DIRS ${QT_LIBRARY_DIRS} ${PROJECT_BINARY_DIR}/bin)
  IF(APPLE)
-    SET(DIRS ${DIRS} /usr/local /usr/local/lib)
+    SET(DIRS ${DIRS} /usr/local /usr/local/lib /opt/homebrew /opt/homebrew/lib /opt/homebrew/lib/gcc/current)
  ENDIF(APPLE)

  # Now the work of copying dependencies into the bundle/package
@@ -39,6 +39,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <vtkVersionMacros.h>
 #include <vtkObject.h>

+#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
+#include <QVTKRenderWidget.h>
+#endif
+
 using namespace rtabmap;

 int main(int argc, char* argv[])
@@ -51,9 +55,13 @@ int main(int argc, char* argv[])
 	CoInitialize(nullptr);
 #endif

-#if VTK_MAJOR_VERSION >= 8
+#if VTK_MAJOR_VERSION >= 8 && defined(BUILD_AS_BUNDLE)
 	vtkObject::GlobalWarningDisplayOff();
 #endif
+#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
+    // needed to ensure appropriate OpenGL context is created for VTK rendering.
+    QSurfaceFormat::setDefaultFormat(QVTKRenderWidget::defaultFormat());
+#endif

 	/* Create tasks */
 	QApplication * app = new QApplication(argc, argv);
@@ -663,7 +663,8 @@ class RTABMAP_CORE_EXPORT Parameters
 #else
    RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.05,  "Max distance for point correspondences.");
 #endif
-    RTABMAP_PARAM(Icp, Iterations,                int, 30,      "Max iterations.");
+	RTABMAP_PARAM(Icp, ReciprocalCorrespondences, bool, true,   "To be a valid correspondence, the corresponding point in target cloud to point in source cloud should be both their closest closest correspondence.");
+	RTABMAP_PARAM(Icp, Iterations,                int, 30,      "Max iterations.");
    RTABMAP_PARAM(Icp, Epsilon,                   float, 0,     "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.");
    RTABMAP_PARAM(Icp, CorrespondenceRatio,       float, 0.1,   "Ratio of matching correspondences to accept the transform.");
    RTABMAP_PARAM(Icp, Force4DoF,                 bool, false,   uFormat("Limit ICP to x, y, z and yaw DoF. Available if %s > 0.", kIcpStrategy().c_str()));
@@ -64,6 +64,7 @@ private:
 	float _rangeMin;
 	float _rangeMax;
 	float _maxCorrespondenceDistance;
+	bool _reciprocalCorrespondences;
 	int _maxIterations;
 	float _epsilon;
 	float _correspondenceRatio;
@@ -65,26 +65,30 @@ void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
 		double maxCorrespondenceDistance,
 		double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
 		double & variance,
-		int & correspondencesOut);
+		int & correspondencesOut,
+		bool reciprocal);
 void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
 		const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudA,
 		const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudB,
 		double maxCorrespondenceDistance,
 		double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
 		double & variance,
-		int & correspondencesOut);
+		int & correspondencesOut,
+		bool reciprocal);
 void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
 		const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudA,
 		const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudB,
 		double maxCorrespondenceDistance,
 		double & variance,
-		int & correspondencesOut);
+		int & correspondencesOut,
+		bool reciprocal);
 void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
 		const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudA,
 		const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudB,
 		double maxCorrespondenceDistance,
 		double & variance,
-		int & correspondencesOut);
+		int & correspondencesOut,
+		bool reciprocal);

 Transform RTABMAP_CORE_EXPORT icp(
 		const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
@@ -64,6 +64,7 @@ RegistrationIcp::RegistrationIcp(const ParametersMap & parameters, Registration
 	_rangeMin(Parameters::defaultIcpRangeMin()),
 	_rangeMax(Parameters::defaultIcpRangeMax()),
 	_maxCorrespondenceDistance(Parameters::defaultIcpMaxCorrespondenceDistance()),
+	_reciprocalCorrespondences(Parameters::defaultIcpReciprocalCorrespondences()),
 	_maxIterations(Parameters::defaultIcpIterations()),
 	_epsilon(Parameters::defaultIcpEpsilon()),
 	_correspondenceRatio(Parameters::defaultIcpCorrespondenceRatio()),
@@ -109,6 +110,7 @@ void RegistrationIcp::parseParameters(const ParametersMap & parameters)
 	Parameters::parse(parameters, Parameters::kIcpRangeMin(), _rangeMin);
 	Parameters::parse(parameters, Parameters::kIcpRangeMax(), _rangeMax);
 	Parameters::parse(parameters, Parameters::kIcpMaxCorrespondenceDistance(), _maxCorrespondenceDistance);
+	Parameters::parse(parameters, Parameters::kIcpReciprocalCorrespondences(), _reciprocalCorrespondences);
 	Parameters::parse(parameters, Parameters::kIcpIterations(), _maxIterations);
 	Parameters::parse(parameters, Parameters::kIcpEpsilon(), _epsilon);
 	Parameters::parse(parameters, Parameters::kIcpCorrespondenceRatio(), _correspondenceRatio);
@@ -649,7 +651,8 @@ Transform RegistrationIcp::computeTransformationImpl(
 							_maxCorrespondenceDistance,
 							_maxRotation,
 							variance,
-							correspondences);
+							correspondences,
+							_reciprocalCorrespondences);
 				}
 			}
 			////////////////////
@@ -840,7 +843,8 @@ Transform RegistrationIcp::computeTransformationImpl(
 							toCloud,
 							_maxCorrespondenceDistance,
 							variance,
-							correspondences);
+							correspondences,
+							_reciprocalCorrespondences);
 				}
 			} // END Registration PointToPLane to PointToPoint
 			UDEBUG("ICP (iterations=%d) time = %f s", _maxIterations, timer.ticks());
@@ -1018,7 +1018,7 @@ Transform OdometryORBSLAM::computeTransform(
 	if(orbslam_->mpTracker == 0)
 	{
 		CameraModel model = data.cameraModels().size()==1?data.cameraModels()[0]:data.stereoCameraModels()[0].left();
-		if(!orbslam_->init(model, stereo, data.stereoCameraModels()[0].baseline(), imuLocalTransform_))
+		if(!orbslam_->init(model, stereo, data.cameraModels().size()==1?0.0f:data.stereoCameraModels()[0].baseline(), imuLocalTransform_))
 		{
 			return t;
 		}
@@ -1078,7 +1078,7 @@ Transform OdometryORBSLAM::computeTransform(
 		}
 		else
 		{
-			float baseline = data.stereoCameraModels()[0].baseline();
+			float baseline = data.cameraModels().size()==1?0.0f:data.stereoCameraModels()[0].baseline();
 			if(baseline <= 0.0f)
 			{
 				baseline = rtabmap::Parameters::defaultOdomORBSLAMBf();
@@ -154,7 +154,7 @@ OptimizerG2O::OptimizerG2O(const ParametersMap & parameters) :
 	if(!g2o::Factory::instance()->knowsTag("CACHE_SE3_OFFSET"))
 	{
 #if defined(RTABMAP_G2O_CPP11) && RTABMAP_G2O_CPP11 == 1
-		g2o::Factory::instance()->registerType("CACHE_SE3_OFFSET", g2o::make_unique<g2o::HyperGraphElementCreator<g2o::CacheSE3Offset> >());
+		g2o::Factory::instance()->registerType("CACHE_SE3_OFFSET", std::make_unique<g2o::HyperGraphElementCreator<g2o::CacheSE3Offset> >());
 #else
 		g2o::Factory::instance()->registerType("CACHE_SE3_OFFSET", new g2o::HyperGraphElementCreator<g2o::CacheSE3Offset>);
 #endif
@@ -250,17 +250,17 @@ std::map<int, Transform> OptimizerG2O::optimize(
 		if(solver_ == 3)
 		{
 			//eigen
-			auto linearSolver = g2o::make_unique<SlamLinearEigenSolver>();
+			auto linearSolver = std::make_unique<SlamLinearEigenSolver>();
 			linearSolver->setBlockOrdering(false);
-			blockSolver = g2o::make_unique<SlamBlockSolver>(std::move(linearSolver));
+			blockSolver = std::make_unique<SlamBlockSolver>(std::move(linearSolver));
 		}
 #ifdef G2O_HAVE_CHOLMOD
 		else if(solver_ == 2)
 		{
 			//chmold
-			auto linearSolver = g2o::make_unique<SlamLinearCholmodSolver>();
+			auto linearSolver = std::make_unique<SlamLinearCholmodSolver>();
 			linearSolver->setBlockOrdering(false);
-			blockSolver = g2o::make_unique<SlamBlockSolver>(std::move(linearSolver));
+			blockSolver = std::make_unique<SlamBlockSolver>(std::move(linearSolver));
 		}
 #endif
 #ifdef G2O_HAVE_CSPARSE
@@ -268,16 +268,16 @@ std::map<int, Transform> OptimizerG2O::optimize(
 		{

 			//csparse
-			auto linearSolver = g2o::make_unique<SlamLinearCSparseSolver>();
+			auto linearSolver = std::make_unique<SlamLinearCSparseSolver>();
 			linearSolver->setBlockOrdering(false);
-			blockSolver = g2o::make_unique<SlamBlockSolver>(std::move(linearSolver));
+			blockSolver = std::make_unique<SlamBlockSolver>(std::move(linearSolver));
 		}
 #endif
 		else
 		{
 			//pcg
-			auto linearSolver = g2o::make_unique<SlamLinearPCGSolver>();
-			blockSolver = g2o::make_unique<SlamBlockSolver>(std::move(linearSolver));
+			auto linearSolver = std::make_unique<SlamLinearPCGSolver>();
+			blockSolver = std::make_unique<SlamBlockSolver>(std::move(linearSolver));
 		}

 		if(optimizer_ == 1)
@@ -1427,7 +1427,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA(
 		{
 			//eigen
 #ifdef RTABMAP_G2O_CPP11
-			linearSolver = g2o::make_unique<g2o::LinearSolverEigen<g2o::BlockSolver_6_3::PoseMatrixType> >();
+			linearSolver = std::make_unique<g2o::LinearSolverEigen<g2o::BlockSolver_6_3::PoseMatrixType> >();
 #else
 			linearSolver = new g2o::LinearSolverEigen<g2o::BlockSolver_6_3::PoseMatrixType>();
 #endif
@@ -1437,7 +1437,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA(
 		{
 			//chmold
 #ifdef RTABMAP_G2O_CPP11
-			linearSolver = g2o::make_unique<g2o::LinearSolverCholmod<g2o::BlockSolver_6_3::PoseMatrixType> >();
+			linearSolver = std::make_unique<g2o::LinearSolverCholmod<g2o::BlockSolver_6_3::PoseMatrixType> >();
 #else
 			linearSolver = new g2o::LinearSolverCholmod<g2o::BlockSolver_6_3::PoseMatrixType>();
 #endif
@@ -1448,7 +1448,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA(
 		{
 			//csparse
 #ifdef RTABMAP_G2O_CPP11
-			linearSolver = g2o::make_unique<g2o::LinearSolverCSparse<g2o::BlockSolver_6_3::PoseMatrixType> >();
+			linearSolver = std::make_unique<g2o::LinearSolverCSparse<g2o::BlockSolver_6_3::PoseMatrixType> >();
 #else
 			linearSolver = new g2o::LinearSolverCSparse<g2o::BlockSolver_6_3::PoseMatrixType>();
 #endif
@@ -1458,7 +1458,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA(
 		{
 			//pcg
 #ifdef RTABMAP_G2O_CPP11
-			linearSolver = g2o::make_unique<g2o::LinearSolverPCG<g2o::BlockSolver_6_3::PoseMatrixType> >();
+			linearSolver = std::make_unique<g2o::LinearSolverPCG<g2o::BlockSolver_6_3::PoseMatrixType> >();
 #else
 			linearSolver = new g2o::LinearSolverPCG<g2o::BlockSolver_6_3::PoseMatrixType>();
 #endif
@@ -1470,7 +1470,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA(
 		{
 #ifdef RTABMAP_G2O_CPP11
 			optimizer.setAlgorithm(new g2o::OptimizationAlgorithmGaussNewton(
-					g2o::make_unique<g2o::BlockSolver_6_3>(std::move(linearSolver))));
+					std::make_unique<g2o::BlockSolver_6_3>(std::move(linearSolver))));
 #else
 			optimizer.setAlgorithm(new g2o::OptimizationAlgorithmGaussNewton(new g2o::BlockSolver_6_3(linearSolver)));
 #endif
@@ -1480,7 +1480,7 @@ std::map<int, Transform> OptimizerG2O::optimizeBA(
 		{
 #if defined(RTABMAP_G2O_CPP11) && !defined(RTABMAP_ORB_SLAM)
 			optimizer.setAlgorithm(new g2o::OptimizationAlgorithmLevenberg(
-					g2o::make_unique<g2o::BlockSolver_6_3>(std::move(linearSolver))));
+					std::make_unique<g2o::BlockSolver_6_3>(std::move(linearSolver))));
 #else
 			optimizer.setAlgorithm(new g2o::OptimizationAlgorithmLevenberg(new g2o::BlockSolver_6_3(linearSolver)));
 #endif
@@ -244,7 +244,8 @@ void computeVarianceAndCorrespondencesImpl(
 		double maxCorrespondenceDistance,
 		double maxCorrespondenceAngle,
 		double & variance,
-		int & correspondencesOut)
+		int & correspondencesOut,
+		bool reciprocal)
 {
 	variance = 1;
 	correspondencesOut = 0;
@@ -255,7 +256,7 @@ void computeVarianceAndCorrespondencesImpl(
 	est->setInputTarget(target);
 	est->setInputSource(source);
 	pcl::Correspondences correspondences;
-	est->determineCorrespondences(correspondences, maxCorrespondenceDistance);
+	est->determineReciprocalCorrespondences(correspondences, maxCorrespondenceDistance);

 	if(correspondences.size())
 	{
@@ -305,9 +306,10 @@ void computeVarianceAndCorrespondences(
 		double maxCorrespondenceDistance,
 		double maxCorrespondenceAngle,
 		double & variance,
-		int & correspondencesOut)
+		int & correspondencesOut,
+		bool reciprocal)
 {
-	computeVarianceAndCorrespondencesImpl<pcl::PointNormal>(cloudA, cloudB, maxCorrespondenceDistance, maxCorrespondenceAngle, variance, correspondencesOut);
+	computeVarianceAndCorrespondencesImpl<pcl::PointNormal>(cloudA, cloudB, maxCorrespondenceDistance, maxCorrespondenceAngle, variance, correspondencesOut, reciprocal);
 }

 void computeVarianceAndCorrespondences(
@@ -316,9 +318,10 @@ void computeVarianceAndCorrespondences(
 		double maxCorrespondenceDistance,
 		double maxCorrespondenceAngle,
 		double & variance,
-		int & correspondencesOut)
+		int & correspondencesOut,
+		bool reciprocal)
 {
-	computeVarianceAndCorrespondencesImpl<pcl::PointXYZINormal>(cloudA, cloudB, maxCorrespondenceDistance, maxCorrespondenceAngle, variance, correspondencesOut);
+	computeVarianceAndCorrespondencesImpl<pcl::PointXYZINormal>(cloudA, cloudB, maxCorrespondenceDistance, maxCorrespondenceAngle, variance, correspondencesOut, reciprocal);
 }

 template<typename PointT>
@@ -327,7 +330,8 @@ void computeVarianceAndCorrespondencesImpl(
 		const typename pcl::PointCloud<PointT>::ConstPtr & cloudB,
 		double maxCorrespondenceDistance,
 		double & variance,
-		int & correspondencesOut)
+		int & correspondencesOut,
+		bool reciprocal)
 {
 	variance = 1;
 	correspondencesOut = 0;
@@ -336,7 +340,7 @@ void computeVarianceAndCorrespondencesImpl(
 	est->setInputTarget(cloudA->size()>cloudB->size()?cloudA:cloudB);
 	est->setInputSource(cloudA->size()>cloudB->size()?cloudB:cloudA);
 	pcl::Correspondences correspondences;
-	est->determineCorrespondences(correspondences, maxCorrespondenceDistance);
+	est->determineReciprocalCorrespondences(correspondences, maxCorrespondenceDistance);

 	if(correspondences.size()>=3)
 	{
@@ -360,9 +364,10 @@ void computeVarianceAndCorrespondences(
 		const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudB,
 		double maxCorrespondenceDistance,
 		double & variance,
-		int & correspondencesOut)
+		int & correspondencesOut,
+		bool reciprocal)
 {
-	computeVarianceAndCorrespondencesImpl<pcl::PointXYZ>(cloudA, cloudB, maxCorrespondenceDistance, variance, correspondencesOut);
+	computeVarianceAndCorrespondencesImpl<pcl::PointXYZ>(cloudA, cloudB, maxCorrespondenceDistance, variance, correspondencesOut, reciprocal);
 }

 void computeVarianceAndCorrespondences(
@@ -370,9 +375,10 @@ void computeVarianceAndCorrespondences(
 		const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudB,
 		double maxCorrespondenceDistance,
 		double & variance,
-		int & correspondencesOut)
+		int & correspondencesOut,
+		bool reciprocal)
 {
-	computeVarianceAndCorrespondencesImpl<pcl::PointXYZI>(cloudA, cloudB, maxCorrespondenceDistance, variance, correspondencesOut);
+	computeVarianceAndCorrespondencesImpl<pcl::PointXYZI>(cloudA, cloudB, maxCorrespondenceDistance, variance, correspondencesOut, reciprocal);
 }

 // return transform from source to target (All points must be finite!!!)
@@ -78,7 +78,7 @@ then
      fi
      SCAN="--Icp/PointToPlane false --Icp/Iterations 10 --Odom/ScanKeyFrameThr 0.8 $SCAN"
   fi
-   SCAN="--scan --Reg/Strategy $REG --OdomF2M/ScanMaxSize 10000 --OdomF2M/ScanSubtractRadius 0.5 --Odom/LOAMSensor 2 --Icp/MaxTranslation 2 --Icp/Epsilon 0.0001 --Icp/MaxCorrespondenceDistance 1.5 --Icp/CorrespondenceRatio 0.01 --Icp/PM true --Icp/PMOutlierRatio 0.7 --Icp/PMMatcherKnn 3 --Icp/PMMatcherEpsilon 1  $SCAN"
+   SCAN="--scan --Reg/Strategy $REG --OdomF2M/ScanMaxSize 10000 --OdomF2M/ScanSubtractRadius 0.5 --Odom/LOAMSensor 2 --Icp/MaxTranslation 2 --Icp/Epsilon 0.0001 --Icp/MaxCorrespondenceDistance 1.5 --Icp/CorrespondenceRatio 0.01 --Icp/PM true --Icp/PMOutlierRatio 0.7 --Icp/PMMatcherKnn 3 --Icp/PMMatcherEpsilon 1 --Icp/ReciprocalCorrespondences false  $SCAN"
 fi

 RTABMAP_KITTI_TOOL="rtabmap-kitti_dataset"
@@ -82,7 +82,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <vtkOpenGLRenderer.h>
 #endif

-
 #if VTK_MAJOR_VERSION >= 8
 #include <vtkGenericOpenGLRenderWindow.h>
 #endif
@@ -140,11 +139,8 @@ CloudViewer::CloudViewer(QWidget *parent, CloudViewerInteractorStyle * style) :
 		_intensityAbsMax(100.0f),
 		_coordinateFrameScale(1.0)
 {
-	UDEBUG("");
 	this->setMinimumSize(200, 200);

-	vtkObject::GlobalWarningDisplayOff();
-
 	int argc = 0;
 	UASSERT(style!=0);
 	style->setCloudViewer(this);
@@ -208,12 +204,13 @@ CloudViewer::CloudViewer(QWidget *parent, CloudViewerInteractorStyle * style) :
 	this->SetRenderWindow(_visualizer->getRenderWindow());
 #endif

-	// Replaced by the second line, to avoid a crash in Mac OS X on close, as well as
-	// the "Invalid drawable" warning when the view is not visible.
-	//_visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow());
+    // Replaced by the second line, to avoid a crash in Mac OS X on close, as well as
+    // the "Invalid drawable" warning when the view is not visible.
 #if VTK_MAJOR_VERSION > 8
+    //_visualizer->setupInteractor(this->interactor(), this->renderWindow());
 	this->interactor()->SetInteractorStyle (_visualizer->getInteractorStyle());
 #else
+    //_visualizer->setupInteractor(this->GetInteractor(), this->GetRenderWindow());
 	this->GetInteractor()->SetInteractorStyle (_visualizer->getInteractorStyle());
 #endif
 	// setup a simple point picker
@@ -1502,11 +1499,11 @@ bool CloudViewer::addTextureMesh (
   // Save the viewpoint transformation matrix to the global actor map
  (*_visualizer->getCloudActorMap())[id].viewpoint_transformation_ = transformation;
 #endif
-
+
 #if VTK_MAJOR_VERSION >= 7
-  actor->GetProperty()->SetAmbient(0.1);
-#else
-  actor->GetProperty()->SetAmbient(0.5);
+  actor->GetProperty()->SetAmbient(0.1);
+#else
+  actor->GetProperty()->SetAmbient(0.5);
 #endif
  actor->GetProperty()->SetLighting(_aSetLighting->isChecked());
  actor->GetProperty()->SetInterpolation(_aSetFlatShading->isChecked()?VTK_FLAT:VTK_PHONG);
@@ -412,6 +412,7 @@ DatabaseViewer::DatabaseViewer(const QString & ini, QWidget * parent) :
 	connect(ui_->graphicsView_B, SIGNAL(configChanged()), this, SLOT(configModified()));
 	connect(ui_->comboBox_logger_level, SIGNAL(currentIndexChanged(int)), this, SLOT(configModified()));
 	connect(ui_->actionVertical_Layout, SIGNAL(toggled(bool)), this, SLOT(configModified()));
+	connect(ui_->checkBox_alignPosesWithGPS, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
 	connect(ui_->checkBox_alignPosesWithGroundTruth, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
 	connect(ui_->checkBox_alignScansCloudsWithGroundTruth, SIGNAL(stateChanged(int)), this, SLOT(updateGraphView()));
 	connect(ui_->checkBox_ignoreIntermediateNodes, SIGNAL(stateChanged(int)), this, SLOT(configModified()));
@@ -717,6 +718,7 @@ void DatabaseViewer::restoreDefaultSettings()
 {
 	// reset GUI parameters
 	ui_->comboBox_logger_level->setCurrentIndex(1);
+	ui_->checkBox_alignPosesWithGPS->setChecked(true);
 	ui_->checkBox_alignPosesWithGroundTruth->setChecked(true);
 	ui_->checkBox_alignScansCloudsWithGroundTruth->setChecked(false);
 	ui_->checkBox_ignoreIntermediateNodes->setChecked(false);
@@ -1070,6 +1072,7 @@ bool DatabaseViewer::closeDatabase()
 		ui_->checkBox_showOptimized->setEnabled(false);
 		ui_->toolBox_statistics->clear();
 		databaseFileName_.clear();
+		ui_->checkBox_alignPosesWithGPS->setVisible(false);
 		ui_->checkBox_alignPosesWithGroundTruth->setVisible(false);
 		ui_->checkBox_alignScansCloudsWithGroundTruth->setVisible(false);
 		ui_->doubleSpinBox_optimizationScale->setVisible(false);
@@ -1078,6 +1081,7 @@ bool DatabaseViewer::closeDatabase()
 		ui_->label_rmse_title->setVisible(false);
 		ui_->checkBox_ignoreIntermediateNodes->setVisible(false);
 		ui_->label_ignoreINtermediateNdoes->setVisible(false);
+		ui_->label_alignPosesWithGPS->setVisible(false);
 		ui_->label_alignPosesWithGroundTruth->setVisible(false);
 		ui_->label_alignScansCloudsWithGroundTruth->setVisible(false);
 		ui_->label_optimizeFrom->setText(tr("Root"));
@@ -1701,6 +1705,7 @@ void DatabaseViewer::updateIds()
 	gpsValues_.clear();
 	lastSliderIndexBrowsed_ = 0;
 	ui_->checkBox_wmState->setVisible(false);
+	ui_->checkBox_alignPosesWithGPS->setVisible(false);
 	ui_->checkBox_alignPosesWithGroundTruth->setVisible(false);
 	ui_->checkBox_alignScansCloudsWithGroundTruth->setVisible(false);
 	ui_->doubleSpinBox_optimizationScale->setVisible(false);
@@ -1709,6 +1714,7 @@ void DatabaseViewer::updateIds()
 	ui_->label_rmse_title->setVisible(false);
 	ui_->checkBox_ignoreIntermediateNodes->setVisible(false);
 	ui_->label_ignoreINtermediateNdoes->setVisible(false);
+	ui_->label_alignPosesWithGPS->setVisible(false);
 	ui_->label_alignPosesWithGroundTruth->setVisible(false);
 	ui_->label_alignScansCloudsWithGroundTruth->setVisible(false);
 	ui_->menuEdit->setEnabled(true);
@@ -1891,26 +1897,18 @@ void DatabaseViewer::updateIds()
 	uSleep(100);
 	QApplication::processEvents();

-	if(!groundTruthPoses_.empty() || !gpsPoses_.empty())
-	{
-		ui_->checkBox_alignPosesWithGroundTruth->setVisible(true);
-		ui_->doubleSpinBox_optimizationScale->setVisible(true);
-		ui_->label_scale_title->setVisible(true);
-		ui_->label_rmse->setVisible(true);
-		ui_->label_rmse_title->setVisible(true);
-		ui_->label_alignPosesWithGroundTruth->setVisible(true);
+	ui_->doubleSpinBox_optimizationScale->setVisible(!groundTruthPoses_.empty());
+	ui_->label_scale_title->setVisible(!groundTruthPoses_.empty());
+	ui_->label_rmse->setVisible(!groundTruthPoses_.empty());
+	ui_->label_rmse_title->setVisible(!groundTruthPoses_.empty());
+
+	ui_->checkBox_alignPosesWithGPS->setVisible(!gpsPoses_.empty());
+	ui_->label_alignPosesWithGPS->setVisible(!gpsPoses_.empty());
+	ui_->checkBox_alignPosesWithGroundTruth->setVisible(!groundTruthPoses_.empty());
+	ui_->label_alignPosesWithGroundTruth->setVisible(!groundTruthPoses_.empty());
+	ui_->checkBox_alignScansCloudsWithGroundTruth->setVisible(!groundTruthPoses_.empty());
+	ui_->label_alignScansCloudsWithGroundTruth->setVisible(!groundTruthPoses_.empty());

-		if(!groundTruthPoses_.empty())
-		{
-			ui_->label_alignPosesWithGroundTruth->setText(tr("Align poses with ground truth"));
-			ui_->checkBox_alignScansCloudsWithGroundTruth->setVisible(true);
-			ui_->label_alignScansCloudsWithGroundTruth->setVisible(true);
-		}
-		else
-		{
-			ui_->label_alignPosesWithGroundTruth->setText(tr("Align poses with GPS"));
-		}
-	}
 	if(!gpsValues_.empty())
 	{
 		ui_->menuExport_GPS->setEnabled(true);
@@ -2553,10 +2551,11 @@ void DatabaseViewer::exportPoses(int format)
 			optimizedPoses = uValueAt(graphes_, ui_->horizontalSlider_iterations->value());
 		}

-		if(ui_->checkBox_alignPosesWithGroundTruth->isChecked())
+		if(ui_->checkBox_alignPosesWithGPS->isChecked() ||
+		   ui_->checkBox_alignPosesWithGroundTruth->isChecked())
 		{
 			std::map<int, Transform> refPoses = groundTruthPoses_;
-			if(refPoses.empty())
+			if(ui_->checkBox_alignPosesWithGPS->isChecked())
 			{
 				refPoses = gpsPoses_;
 			}
@@ -2593,7 +2592,7 @@ void DatabaseViewer::exportPoses(int format)
 						rotational_min,
 						rotational_max);

-				if(ui_->checkBox_alignPosesWithGroundTruth->isChecked() && !gtToMap.isIdentity())
+				if(!gtToMap.isIdentity())
 				{
 					for(std::map<int, Transform>::iterator iter=optimizedPoses.begin(); iter!=optimizedPoses.end(); ++iter)
 					{
@@ -6666,7 +6665,7 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
 		std::map<int, rtabmap::Transform> graph = uValueAt(graphes_, value);

 		std::map<int, Transform> refPoses = groundTruthPoses_;
-		if(refPoses.empty())
+		if(ui_->checkBox_alignPosesWithGPS->isChecked())
 		{
 			refPoses = gpsPoses_;
 		}
@@ -6730,7 +6729,9 @@ void DatabaseViewer::sliderIterationsValueChanged(int value)
 			UINFO("rotational_min=%f", rotational_min);
 			UINFO("rotational_max=%f", rotational_max);

-			if(ui_->checkBox_alignPosesWithGroundTruth->isChecked() && !gtToMap.isIdentity())
+			if((ui_->checkBox_alignPosesWithGPS->isChecked() ||
+				ui_->checkBox_alignPosesWithGroundTruth->isChecked()) &&
+			   !gtToMap.isIdentity())
 			{
 				for(std::map<int, Transform>::iterator iter=graph.begin(); iter!=graph.end(); ++iter)
 				{
@@ -7174,6 +7175,15 @@ void DatabaseViewer::updateGraphView()
 	ui_->label_poses->clear();
 	ui_->label_rmse->clear();

+	if(sender() == ui_->checkBox_alignPosesWithGPS && ui_->checkBox_alignPosesWithGPS->isChecked())
+	{
+		ui_->checkBox_alignPosesWithGroundTruth->setChecked(false);
+	}
+	else if(sender() == ui_->checkBox_alignPosesWithGroundTruth && ui_->checkBox_alignPosesWithGroundTruth->isChecked())
+	{
+		ui_->checkBox_alignPosesWithGPS->setChecked(false);
+	}
+
 	if(odomPoses_.size())
 	{
 		int fromId = ui_->spinBox_optimizationsFrom->value();
@@ -7600,6 +7610,7 @@ void DatabaseViewer::updateGraphView()
 			ui_->spinBox_optimizationsFrom->setEnabled(false);
 			ui_->checkBox_spanAllMaps->setEnabled(false);
 			ui_->checkBox_wmState->setEnabled(false);
+			ui_->checkBox_alignPosesWithGPS->setEnabled(false);
 			ui_->checkBox_alignPosesWithGroundTruth->setEnabled(false);
 			ui_->checkBox_alignScansCloudsWithGroundTruth->setEnabled(false);
 			ui_->checkBox_ignoreIntermediateNodes->setEnabled(false);
@@ -7612,6 +7623,7 @@ void DatabaseViewer::updateGraphView()
 			ui_->spinBox_optimizationsFrom->setEnabled(true);
 			ui_->checkBox_spanAllMaps->setEnabled(true);
 			ui_->checkBox_wmState->setEnabled(true);
+			ui_->checkBox_alignPosesWithGPS->setEnabled(true);
 			ui_->checkBox_alignPosesWithGroundTruth->setEnabled(true);
 			ui_->checkBox_alignScansCloudsWithGroundTruth->setEnabled(true);
 			ui_->checkBox_ignoreIntermediateNodes->setEnabled(true);
@@ -1194,6 +1194,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->loopClosure_icpRangeMin->setObjectName(Parameters::kIcpRangeMin().c_str());
 	_ui->loopClosure_icpRangeMax->setObjectName(Parameters::kIcpRangeMax().c_str());
 	_ui->loopClosure_icpMaxCorrespondenceDistance->setObjectName(Parameters::kIcpMaxCorrespondenceDistance().c_str());
+	_ui->loopClosure_icpReciprocalCorrespondences->setObjectName(Parameters::kIcpReciprocalCorrespondences().c_str());
 	_ui->loopClosure_icpIterations->setObjectName(Parameters::kIcpIterations().c_str());
 	_ui->loopClosure_icpEpsilon->setObjectName(Parameters::kIcpEpsilon().c_str());
 	_ui->loopClosure_icpRatio->setObjectName(Parameters::kIcpCorrespondenceRatio().c_str());
@@ -1269,81 +1269,23 @@
     </item>
     <item>
      <layout class="QGridLayout" name="gridLayout_5" columnstretch="0,1">
-       <item row="9" column="0">
-        <widget class="QLabel" name="label_loopClosures">
+       <item row="2" column="1">
+        <widget class="QLabel" name="label_alignPosesWithGroundTruth">
         <property name="text">
-          <string/>
+          <string>Align poses with ground truth</string>
         </property>
-         <property name="textInteractionFlags">
-          <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-         </property>
-        </widget>
-       </item>
-       <item row="6" column="0">
-        <widget class="QLabel" name="label_timeGrid">
-         <property name="text">
-          <string/>
-         </property>
-         <property name="textInteractionFlags">
-          <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-         </property>
-        </widget>
-       </item>
-       <item row="5" column="0">
-        <widget class="QLabel" name="label_timeOptimization">
-         <property name="text">
-          <string/>
-         </property>
-         <property name="textInteractionFlags">
-          <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-         </property>
-        </widget>
-       </item>
-       <item row="0" column="0">
-        <widget class="QSpinBox" name="spinBox_optimizationsFrom"/>
-       </item>
-       <item row="8" column="1">
-        <widget class="QLabel" name="label_52">
-         <property name="text">
-          <string>Poses</string>
-         </property>
-        </widget>
-       </item>
-       <item row="5" column="1">
-        <widget class="QLabel" name="label_39">
-         <property name="text">
-          <string>Time optimization (s)</string>
-         </property>
-        </widget>
-       </item>
-       <item row="9" column="1">
-        <widget class="QLabel" name="label_41">
-         <property name="text">
-          <string>Links (N, NM, G, LS, LT, U, P, LM, GR)</string>
-         </property>
-        </widget>
-       </item>
-       <item row="4" column="1">
-        <widget class="QLabel" name="label_10">
-         <property name="text">
-          <string>Path length (m)</string>
-         </property>
-        </widget>
-       </item>
-       <item row="6" column="1">
-        <widget class="QLabel" name="label_45">
-         <property name="text">
-          <string>Time grid (s)</string>
+         <property name="wordWrap">
+          <bool>true</bool>
         </property>
        </widget>
       </item>
       <item row="4" column="0">
-        <widget class="QLabel" name="label_pathLength">
+        <widget class="QCheckBox" name="checkBox_ignoreIntermediateNodes">
         <property name="text">
          <string/>
         </property>
-         <property name="textInteractionFlags">
-          <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+         <property name="checked">
+          <bool>false</bool>
         </property>
        </widget>
       </item>
@@ -1375,7 +1317,31 @@
         </item>
        </layout>
       </item>
-       <item row="8" column="0">
+       <item row="7" column="1">
+        <widget class="QLabel" name="label_45">
+         <property name="text">
+          <string>Time grid (s)</string>
+         </property>
+        </widget>
+       </item>
+       <item row="8" column="1">
+        <widget class="QLabel" name="label_rmse_title">
+         <property name="text">
+          <string>RMSE (m)</string>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="0">
+        <widget class="QCheckBox" name="checkBox_alignScansCloudsWithGroundTruth">
+         <property name="text">
+          <string/>
+         </property>
+         <property name="checked">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item row="9" column="0">
        <widget class="QLabel" name="label_poses">
         <property name="text">
          <string/>
@@ -1385,38 +1351,8 @@
         </property>
        </widget>
       </item>
-       <item row="1" column="1">
-        <widget class="QLabel" name="label_alignPosesWithGroundTruth">
-         <property name="text">
-          <string>Align poses with ground truth</string>
-         </property>
-         <property name="wordWrap">
-          <bool>true</bool>
-         </property>
-        </widget>
-       </item>
-       <item row="3" column="0">
-        <widget class="QCheckBox" name="checkBox_ignoreIntermediateNodes">
-         <property name="text">
-          <string/>
-         </property>
-         <property name="checked">
-          <bool>false</bool>
-         </property>
-        </widget>
-       </item>
-       <item row="1" column="0">
-        <widget class="QCheckBox" name="checkBox_alignPosesWithGroundTruth">
-         <property name="text">
-          <string/>
-         </property>
-         <property name="checked">
-          <bool>true</bool>
-         </property>
-        </widget>
-       </item>
-       <item row="7" column="0">
-        <widget class="QLabel" name="label_rmse">
+       <item row="6" column="0">
+        <widget class="QLabel" name="label_timeOptimization">
         <property name="text">
          <string/>
         </property>
@@ -1426,23 +1362,6 @@
        </widget>
       </item>
       <item row="3" column="1">
-        <widget class="QLabel" name="label_ignoreINtermediateNdoes">
-         <property name="text">
-          <string>Ignore intermediate nodes</string>
-         </property>
-         <property name="wordWrap">
-          <bool>true</bool>
-         </property>
-        </widget>
-       </item>
-       <item row="7" column="1">
-        <widget class="QLabel" name="label_rmse_title">
-         <property name="text">
-          <string>RMSE (m)</string>
-         </property>
-        </widget>
-       </item>
-       <item row="2" column="1">
        <widget class="QLabel" name="label_alignScansCloudsWithGroundTruth">
         <property name="text">
          <string>Align scans/clouds with ground truth</string>
@@ -1452,8 +1371,109 @@
         </property>
        </widget>
       </item>
+       <item row="8" column="0">
+        <widget class="QLabel" name="label_rmse">
+         <property name="text">
+          <string/>
+         </property>
+         <property name="textInteractionFlags">
+          <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+         </property>
+        </widget>
+       </item>
+       <item row="7" column="0">
+        <widget class="QLabel" name="label_timeGrid">
+         <property name="text">
+          <string/>
+         </property>
+         <property name="textInteractionFlags">
+          <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+         </property>
+        </widget>
+       </item>
+       <item row="10" column="1">
+        <widget class="QLabel" name="label_41">
+         <property name="text">
+          <string>Links (N, NM, G, LS, LT, U, P, LM, GR)</string>
+         </property>
+        </widget>
+       </item>
+       <item row="5" column="1">
+        <widget class="QLabel" name="label_10">
+         <property name="text">
+          <string>Path length (m)</string>
+         </property>
+        </widget>
+       </item>
+       <item row="9" column="1">
+        <widget class="QLabel" name="label_52">
+         <property name="text">
+          <string>Poses</string>
+         </property>
+        </widget>
+       </item>
+       <item row="5" column="0">
+        <widget class="QLabel" name="label_pathLength">
+         <property name="text">
+          <string/>
+         </property>
+         <property name="textInteractionFlags">
+          <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="0">
+        <widget class="QSpinBox" name="spinBox_optimizationsFrom"/>
+       </item>
+       <item row="10" column="0">
+        <widget class="QLabel" name="label_loopClosures">
+         <property name="text">
+          <string/>
+         </property>
+         <property name="textInteractionFlags">
+          <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="1">
+        <widget class="QLabel" name="label_ignoreINtermediateNdoes">
+         <property name="text">
+          <string>Ignore intermediate nodes</string>
+         </property>
+         <property name="wordWrap">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item row="6" column="1">
+        <widget class="QLabel" name="label_39">
+         <property name="text">
+          <string>Time optimization (s)</string>
+         </property>
+        </widget>
+       </item>
       <item row="2" column="0">
-        <widget class="QCheckBox" name="checkBox_alignScansCloudsWithGroundTruth">
+        <widget class="QCheckBox" name="checkBox_alignPosesWithGroundTruth">
+         <property name="text">
+          <string/>
+         </property>
+         <property name="checked">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="1">
+        <widget class="QLabel" name="label_alignPosesWithGPS">
+         <property name="text">
+          <string>Align poses with GPS</string>
+         </property>
+         <property name="wordWrap">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="0">
+        <widget class="QCheckBox" name="checkBox_alignPosesWithGPS">
         <property name="text">
          <string/>
         </property>
@@ -63,7 +63,7 @@
          <property name="geometry">
           <rect>
            <x>0</x>
-            <y>-314</y>
+            <y>0</y>
            <width>756</width>
            <height>3657</height>
           </rect>
@@ -95,7 +95,7 @@
                <enum>QFrame::Raised</enum>
               </property>
               <property name="currentIndex">
-                <number>5</number>
+                <number>22</number>
               </property>
               <widget class="QWidget" name="page_22">
                <layout class="QVBoxLayout" name="verticalLayout_29" stretch="0,0">
@@ -19953,16 +19953,10 @@ Lower the ratio -&gt; higher the precision.</string>
                    </item>
                    <item>
                     <layout class="QGridLayout" name="gridLayout_48" columnstretch="0,1">
-                      <item row="9" column="0">
-                       <widget class="QDoubleSpinBox" name="loopClosure_icpEpsilon">
-                        <property name="suffix">
-                         <string> m</string>
-                        </property>
+                      <item row="19" column="0">
+                       <widget class="QDoubleSpinBox" name="loopClosure_icpPointToPlaneNormalsMinComplexity">
                        <property name="decimals">
-                         <number>6</number>
-                        </property>
-                        <property name="minimum">
-                         <double>0.000000000000000</double>
+                         <number>3</number>
                        </property>
                        <property name="maximum">
                         <double>1.000000000000000</double>
@@ -19970,12 +19964,79 @@ Lower the ratio -&gt; higher the precision.</string>
                        <property name="singleStep">
                         <double>0.010000000000000</double>
                        </property>
+                       </widget>
+                      </item>
+                      <item row="6" column="0">
+                       <widget class="QDoubleSpinBox" name="loopClosure_icpRangeMax">
+                        <property name="suffix">
+                         <string> m</string>
+                        </property>
+                        <property name="decimals">
+                         <number>2</number>
+                        </property>
+                        <property name="minimum">
+                         <double>0.000000000000000</double>
+                        </property>
+                        <property name="maximum">
+                         <double>999.000000000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>1.000000000000000</double>
+                        </property>
                        <property name="value">
                         <double>0.000000000000000</double>
                        </property>
                       </widget>
                      </item>
-                      <item row="12" column="1">
+                      <item row="9" column="1">
+                       <widget class="QLabel" name="label_124">
+                        <property name="text">
+                         <string>Max iterations.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="0" column="0">
+                       <widget class="QComboBox" name="comboBox_icpStrategy">
+                        <item>
+                         <property name="text">
+                          <string>PCL (Point Cloud Library)</string>
+                         </property>
+                        </item>
+                        <item>
+                         <property name="text">
+                          <string>libpointmatcher</string>
+                         </property>
+                        </item>
+                        <item>
+                         <property name="text">
+                          <string>CCCoreLib (CloudCompare)</string>
+                         </property>
+                        </item>
+                       </widget>
+                      </item>
+                      <item row="3" column="0">
+                       <widget class="QSpinBox" name="loopClosure_icpDownsamplingStep">
+                        <property name="minimum">
+                         <number>1</number>
+                        </property>
+                        <property name="maximum">
+                         <number>999999</number>
+                        </property>
+                        <property name="singleStep">
+                         <number>1</number>
+                        </property>
+                        <property name="value">
+                         <number>1</number>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="13" column="1">
                       <widget class="QLabel" name="label_446">
                        <property name="text">
                         <string>Outlier ratio used when ICP strategy is not PCL. For libpointmatcher, this parameter set TrimmedDistOutlierFilter / ratio for convenience when configuration file is not set. For CCCoreLib, this parameter set the &quot;finalOverlapRatio&quot;. </string>
@@ -19988,10 +20049,10 @@ Lower the ratio -&gt; higher the precision.</string>
                        </property>
                       </widget>
                      </item>
-                      <item row="19" column="1">
-                       <widget class="QLabel" name="label_607">
+                      <item row="21" column="1">
+                       <widget class="QLabel" name="label_640">
                        <property name="text">
-                         <string>Stuctural complexity strategy. If structural complexity is below the minimum complexity threshold: set to 0 to so that the transform is automatically rejected, set to 1 to limit ICP correction in axes with most constraints (e.g., for a corridor-like environment, the resulting transform will be limited in y and yaw, x will taken from the guess), set to 2 to accept &quot;as is&quot; the transform computed by PointToPoint.</string>
+                         <string>Export scans used for ICP in the specified format (a warning on terminal will be shown with the file paths used). Supported formats are &quot;pcd&quot;, &quot;ply&quot; or &quot;vtk&quot;. If logger level is debug, from and to scans will stamped, so previous files won't be overwritten.</string>
                        </property>
                        <property name="wordWrap">
                         <bool>true</bool>
@@ -20001,6 +20062,26 @@ Lower the ratio -&gt; higher the precision.</string>
                        </property>
                       </widget>
                      </item>
+                      <item row="7" column="1">
+                       <widget class="QLabel" name="label_122">
+                        <property name="text">
+                         <string>Max distance for point correspondences.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="14" column="0">
+                       <widget class="QCheckBox" name="loopClosure_icpPointToPlane">
+                        <property name="text">
+                         <string/>
+                        </property>
+                       </widget>
+                      </item>
                      <item row="2" column="1">
                       <widget class="QLabel" name="label_55">
                        <property name="text">
@@ -20014,7 +20095,7 @@ Lower the ratio -&gt; higher the precision.</string>
                        </property>
                       </widget>
                      </item>
-                      <item row="14" column="0">
+                      <item row="15" column="0">
                       <widget class="QSpinBox" name="loopClosure_icpPointToPlaneNormals">
                        <property name="minimum">
                         <number>1</number>
@@ -20027,203 +20108,8 @@ Lower the ratio -&gt; higher the precision.</string>
                        </property>
                       </widget>
                      </item>
-                      <item row="18" column="1">
-                       <widget class="QLabel" name="label_429">
-                        <property name="text">
-                         <string>Minimum structural complexity (0.0=low, 1.0=high) of the scan to do PointToPlane registration, otherwise PointToPoint registration is done instead and strategy from %s is used. This check is done only when PointToPlane is enabled.</string>
-                        </property>
-                        <property name="wordWrap">
-                         <bool>true</bool>
-                        </property>
-                        <property name="textInteractionFlags">
-                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="4" column="1">
-                       <widget class="QLabel" name="label_125">
-                        <property name="text">
-                         <string>Uniform sampling voxel size. Set to 0 to disable.</string>
-                        </property>
-                        <property name="wordWrap">
-                         <bool>true</bool>
-                        </property>
-                        <property name="textInteractionFlags">
-                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="8" column="0">
-                       <widget class="QSpinBox" name="loopClosure_icpIterations">
-                        <property name="minimum">
-                         <number>1</number>
-                        </property>
-                        <property name="maximum">
-                         <number>1000</number>
-                        </property>
-                        <property name="value">
-                         <number>10</number>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="16" column="0">
-                       <widget class="QDoubleSpinBox" name="loopClosure_icpPointToPlaneNormalsRadius">
-                        <property name="singleStep">
-                         <double>0.010000000000000</double>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="10" column="1">
-                       <widget class="QLabel" name="label_133">
-                        <property name="text">
-                         <string>Ratio of matching correspondences to accept the transform. If the maximum laser scans is set, this is the minimum ratio of correspondences on laser scan maximum size to accept the transform.</string>
-                        </property>
-                        <property name="wordWrap">
-                         <bool>true</bool>
-                        </property>
-                        <property name="textInteractionFlags">
-                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="0" column="1">
-                       <widget class="QLabel" name="label_617">
-                        <property name="text">
-                         <string>Strategy.</string>
-                        </property>
-                        <property name="wordWrap">
-                         <bool>true</bool>
-                        </property>
-                        <property name="textInteractionFlags">
-                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="1" column="1">
-                       <widget class="QLabel" name="label_51">
-                        <property name="text">
-                         <string>Maximum ICP translation correction accepted (&gt;0). A large translation difference between the visual transformation and ICP transformation results in wrong transformations in most cases.</string>
-                        </property>
-                        <property name="wordWrap">
-                         <bool>true</bool>
-                        </property>
-                        <property name="textInteractionFlags">
-                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="7" column="0">
-                       <widget class="QDoubleSpinBox" name="loopClosure_icpMaxCorrespondenceDistance">
-                        <property name="decimals">
-                         <number>3</number>
-                        </property>
-                        <property name="minimum">
-                         <double>0.001000000000000</double>
-                        </property>
-                        <property name="maximum">
-                         <double>9999.989999999999782</double>
-                        </property>
-                        <property name="singleStep">
-                         <double>0.010000000000000</double>
-                        </property>
-                        <property name="value">
-                         <double>0.100000000000000</double>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="5" column="1">
-                       <widget class="QLabel" name="label_559">
-                        <property name="text">
-                         <string>Minimum range filtering. Set to 0 to disable.</string>
-                        </property>
-                        <property name="wordWrap">
-                         <bool>true</bool>
-                        </property>
-                        <property name="textInteractionFlags">
-                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="13" column="0">
-                       <widget class="QCheckBox" name="loopClosure_icpPointToPlane">
-                        <property name="text">
-                         <string/>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="6" column="1">
-                       <widget class="QLabel" name="label_560">
-                        <property name="text">
-                         <string>Maximum range filtering. Set to 0 to disable.</string>
-                        </property>
-                        <property name="wordWrap">
-                         <bool>true</bool>
-                        </property>
-                        <property name="textInteractionFlags">
-                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="10" column="0">
-                       <widget class="QDoubleSpinBox" name="loopClosure_icpRatio">
-                        <property name="minimum">
-                         <double>0.000000000000000</double>
-                        </property>
-                        <property name="maximum">
-                         <double>1.000000000000000</double>
-                        </property>
-                        <property name="singleStep">
-                         <double>0.010000000000000</double>
-                        </property>
-                        <property name="value">
-                         <double>0.700000000000000</double>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="17" column="0">
-                       <widget class="QDoubleSpinBox" name="loopClosure_icpPointToPlaneGroundNormalsUp">
-                        <property name="decimals">
-                         <number>2</number>
-                        </property>
-                        <property name="maximum">
-                         <double>1.000000000000000</double>
-                        </property>
-                        <property name="singleStep">
-                         <double>0.010000000000000</double>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="17" column="1">
-                       <widget class="QLabel" name="label_608">
-                        <property name="text">
-                         <string>Invert normals on ground if they are pointing down (useful for ring-like 3D LiDARs). 0 means disabled, 1 means only normals perfectly aligned with -z axis. This is only done with 3D scans.</string>
-                        </property>
-                        <property name="wordWrap">
-                         <bool>true</bool>
-                        </property>
-                        <property name="textInteractionFlags">
-                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="5" column="0">
-                       <widget class="QDoubleSpinBox" name="loopClosure_icpRangeMin">
-                        <property name="suffix">
-                         <string> m</string>
-                        </property>
-                        <property name="decimals">
-                         <number>2</number>
-                        </property>
-                        <property name="minimum">
-                         <double>0.000000000000000</double>
-                        </property>
-                        <property name="singleStep">
-                         <double>1.000000000000000</double>
-                        </property>
-                        <property name="value">
-                         <double>0.000000000000000</double>
-                        </property>
-                       </widget>
+                      <item row="21" column="0">
+                       <widget class="QLineEdit" name="loopClosure_icpDebugExportFormat"/>
                      </item>
                      <item row="1" column="0">
                       <widget class="QDoubleSpinBox" name="globalDetection_icpMaxTranslation">
@@ -20244,45 +20130,23 @@ Lower the ratio -&gt; higher the precision.</string>
                        </property>
                       </widget>
                      </item>
-                      <item row="11" column="1">
-                       <widget class="QLabel" name="label_622">
-                        <property name="text">
-                         <string>Force 4 DoF: Limit ICP to x, y, z and yaw DoF. Available only with libpointmatcher or CCCoreLib strategies.</string>
-                        </property>
-                        <property name="wordWrap">
-                         <bool>true</bool>
-                        </property>
-                        <property name="textInteractionFlags">
-                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="12" column="0">
-                       <widget class="QDoubleSpinBox" name="doubleSpinBox_icpOutlierRatio">
-                        <property name="suffix">
-                         <string/>
-                        </property>
-                        <property name="decimals">
-                         <number>2</number>
-                        </property>
+                      <item row="9" column="0">
+                       <widget class="QSpinBox" name="loopClosure_icpIterations">
                        <property name="minimum">
-                         <double>0.010000000000000</double>
+                         <number>1</number>
                        </property>
                        <property name="maximum">
-                         <double>1.000000000000000</double>
-                        </property>
-                        <property name="singleStep">
-                         <double>0.100000000000000</double>
+                         <number>1000</number>
                        </property>
                        <property name="value">
-                         <double>0.850000000000000</double>
+                         <number>10</number>
                        </property>
                       </widget>
                      </item>
-                      <item row="14" column="1">
-                       <widget class="QLabel" name="label_212">
+                      <item row="19" column="1">
+                       <widget class="QLabel" name="label_429">
                        <property name="text">
-                         <string>Number of neighbors to compute normals for point to plane. Normals won't be recomputed if uniform sampling is disabled and that there are already normals in the laser scans.</string>
+                         <string>Minimum structural complexity (0.0=low, 1.0=high) of the scan to do PointToPlane registration, otherwise PointToPoint registration is done instead and strategy from %s is used. This check is done only when PointToPlane is enabled.</string>
                        </property>
                        <property name="wordWrap">
                         <bool>true</bool>
@@ -20292,10 +20156,23 @@ Lower the ratio -&gt; higher the precision.</string>
                        </property>
                       </widget>
                      </item>
-                      <item row="16" column="1">
-                       <widget class="QLabel" name="label_426">
+                      <item row="3" column="1">
+                       <widget class="QLabel" name="label_139">
                        <property name="text">
-                         <string>Search radius to compute normals for point to plane. Normals won't be recomputed if uniform sampling is disabled and that there are already normals in the laser scans.</string>
+                         <string>Downsampling step of the cloud. Set to 1 to disable. This is done before uniform sampling.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="0" column="1">
+                       <widget class="QLabel" name="label_617">
+                        <property name="text">
+                         <string>Strategy.</string>
                        </property>
                        <property name="wordWrap">
                         <bool>true</bool>
@@ -20324,20 +20201,36 @@ Lower the ratio -&gt; higher the precision.</string>
                        </property>
                       </widget>
                      </item>
-                      <item row="3" column="1">
-                       <widget class="QLabel" name="label_139">
-                        <property name="text">
-                         <string>Downsampling step of the cloud. Set to 1 to disable. This is done before uniform sampling.</string>
+                      <item row="10" column="0">
+                       <widget class="QDoubleSpinBox" name="loopClosure_icpEpsilon">
+                        <property name="suffix">
+                         <string> m</string>
                        </property>
-                        <property name="wordWrap">
-                         <bool>true</bool>
+                        <property name="decimals">
+                         <number>6</number>
                        </property>
-                        <property name="textInteractionFlags">
-                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        <property name="minimum">
+                         <double>0.000000000000000</double>
+                        </property>
+                        <property name="maximum">
+                         <double>1.000000000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.010000000000000</double>
+                        </property>
+                        <property name="value">
+                         <double>0.000000000000000</double>
                        </property>
                       </widget>
                      </item>
-                      <item row="19" column="0">
+                      <item row="12" column="0">
+                       <widget class="QCheckBox" name="loopClosure_icpForce4DoF">
+                        <property name="text">
+                         <string/>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="20" column="0">
                       <widget class="QComboBox" name="loopClosure_icpPointToPlaneLowComplexityStrategy">
                        <item>
                         <property name="text">
@@ -20356,33 +20249,75 @@ Lower the ratio -&gt; higher the precision.</string>
                        </item>
                       </widget>
                      </item>
-                      <item row="11" column="0">
-                       <widget class="QCheckBox" name="loopClosure_icpForce4DoF">
+                      <item row="17" column="1">
+                       <widget class="QLabel" name="label_426">
                        <property name="text">
-                         <string/>
+                         <string>Search radius to compute normals for point to plane. Normals won't be recomputed if uniform sampling is disabled and that there are already normals in the laser scans.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
                        </property>
                       </widget>
                      </item>
-                      <item row="0" column="0">
-                       <widget class="QComboBox" name="comboBox_icpStrategy">
-                        <item>
-                         <property name="text">
-                          <string>PCL (Point Cloud Library)</string>
-                         </property>
-                        </item>
-                        <item>
-                         <property name="text">
-                          <string>libpointmatcher</string>
-                         </property>
-                        </item>
-                        <item>
-                         <property name="text">
-                          <string>CCCoreLib (CloudCompare)</string>
-                         </property>
-                        </item>
+                      <item row="11" column="0">
+                       <widget class="QDoubleSpinBox" name="loopClosure_icpRatio">
+                        <property name="minimum">
+                         <double>0.000000000000000</double>
+                        </property>
+                        <property name="maximum">
+                         <double>1.000000000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.010000000000000</double>
+                        </property>
+                        <property name="value">
+                         <double>0.700000000000000</double>
+                        </property>
                       </widget>
                      </item>
-                      <item row="9" column="1">
+                      <item row="12" column="1">
+                       <widget class="QLabel" name="label_622">
+                        <property name="text">
+                         <string>Force 4 DoF: Limit ICP to x, y, z and yaw DoF. Available only with libpointmatcher or CCCoreLib strategies.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="20" column="1">
+                       <widget class="QLabel" name="label_607">
+                        <property name="text">
+                         <string>Stuctural complexity strategy. If structural complexity is below the minimum complexity threshold: set to 0 to so that the transform is automatically rejected, set to 1 to limit ICP correction in axes with most constraints (e.g., for a corridor-like environment, the resulting transform will be limited in y and yaw, x will taken from the guess), set to 2 to accept &quot;as is&quot; the transform computed by PointToPoint.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="18" column="0">
+                       <widget class="QDoubleSpinBox" name="loopClosure_icpPointToPlaneGroundNormalsUp">
+                        <property name="decimals">
+                         <number>2</number>
+                        </property>
+                        <property name="maximum">
+                         <double>1.000000000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.010000000000000</double>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="10" column="1">
                       <widget class="QLabel" name="label_136">
                        <property name="text">
                         <string>Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.</string>
@@ -20395,7 +20330,7 @@ Lower the ratio -&gt; higher the precision.</string>
                        </property>
                       </widget>
                      </item>
-                      <item row="13" column="1">
+                      <item row="14" column="1">
                       <widget class="QLabel" name="label_144">
                        <property name="text">
                         <string>Point to plane ICP.</string>
@@ -20408,10 +20343,10 @@ Lower the ratio -&gt; higher the precision.</string>
                        </property>
                       </widget>
                      </item>
-                      <item row="8" column="1">
-                       <widget class="QLabel" name="label_124">
+                      <item row="15" column="1">
+                       <widget class="QLabel" name="label_212">
                        <property name="text">
-                         <string>Max iterations.</string>
+                         <string>Number of neighbors to compute normals for point to plane. Normals won't be recomputed if uniform sampling is disabled and that there are already normals in the laser scans.</string>
                        </property>
                        <property name="wordWrap">
                         <bool>true</bool>
@@ -20421,23 +20356,10 @@ Lower the ratio -&gt; higher the precision.</string>
                        </property>
                       </widget>
                      </item>
-                      <item row="18" column="0">
-                       <widget class="QDoubleSpinBox" name="loopClosure_icpPointToPlaneNormalsMinComplexity">
-                        <property name="decimals">
-                         <number>3</number>
-                        </property>
-                        <property name="maximum">
-                         <double>1.000000000000000</double>
-                        </property>
-                        <property name="singleStep">
-                         <double>0.010000000000000</double>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="7" column="1">
-                       <widget class="QLabel" name="label_122">
+                      <item row="11" column="1">
+                       <widget class="QLabel" name="label_133">
                        <property name="text">
-                         <string>Max distance for point correspondences.</string>
+                         <string>Ratio of matching correspondences to accept the transform. If the maximum laser scans is set, this is the minimum ratio of correspondences on laser scan maximum size to accept the transform.</string>
                        </property>
                        <property name="wordWrap">
                         <bool>true</bool>
@@ -20447,22 +20369,6 @@ Lower the ratio -&gt; higher the precision.</string>
                        </property>
                       </widget>
                      </item>
-                      <item row="3" column="0">
-                       <widget class="QSpinBox" name="loopClosure_icpDownsamplingStep">
-                        <property name="minimum">
-                         <number>1</number>
-                        </property>
-                        <property name="maximum">
-                         <number>999999</number>
-                        </property>
-                        <property name="singleStep">
-                         <number>1</number>
-                        </property>
-                        <property name="value">
-                         <number>1</number>
-                        </property>
-                       </widget>
-                      </item>
                      <item row="2" column="0">
                       <widget class="QDoubleSpinBox" name="globalDetection_icpMaxRotation">
                        <property name="suffix">
@@ -20482,32 +20388,10 @@ Lower the ratio -&gt; higher the precision.</string>
                        </property>
                       </widget>
                      </item>
-                      <item row="6" column="0">
-                       <widget class="QDoubleSpinBox" name="loopClosure_icpRangeMax">
-                        <property name="suffix">
-                         <string> m</string>
-                        </property>
-                        <property name="decimals">
-                         <number>2</number>
-                        </property>
-                        <property name="minimum">
-                         <double>0.000000000000000</double>
-                        </property>
-                        <property name="maximum">
-                         <double>999.000000000000000</double>
-                        </property>
-                        <property name="singleStep">
-                         <double>1.000000000000000</double>
-                        </property>
-                        <property name="value">
-                         <double>0.000000000000000</double>
-                        </property>
-                       </widget>
-                      </item>
-                      <item row="20" column="1">
-                       <widget class="QLabel" name="label_640">
+                      <item row="5" column="1">
+                       <widget class="QLabel" name="label_559">
                        <property name="text">
-                         <string>Export scans used for ICP in the specified format (a warning on terminal will be shown with the file paths used). Supported formats are &quot;pcd&quot;, &quot;ply&quot; or &quot;vtk&quot;. If logger level is debug, from and to scans will stamped, so previous files won't be overwritten.</string>
+                         <string>Minimum range filtering. Set to 0 to disable.</string>
                        </property>
                        <property name="wordWrap">
                         <bool>true</bool>
@@ -20517,8 +20401,144 @@ Lower the ratio -&gt; higher the precision.</string>
                        </property>
                       </widget>
                      </item>
-                      <item row="20" column="0">
-                       <widget class="QLineEdit" name="loopClosure_icpDebugExportFormat"/>
+                      <item row="1" column="1">
+                       <widget class="QLabel" name="label_51">
+                        <property name="text">
+                         <string>Maximum ICP translation correction accepted (&gt;0). A large translation difference between the visual transformation and ICP transformation results in wrong transformations in most cases.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="13" column="0">
+                       <widget class="QDoubleSpinBox" name="doubleSpinBox_icpOutlierRatio">
+                        <property name="suffix">
+                         <string/>
+                        </property>
+                        <property name="decimals">
+                         <number>2</number>
+                        </property>
+                        <property name="minimum">
+                         <double>0.010000000000000</double>
+                        </property>
+                        <property name="maximum">
+                         <double>1.000000000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.100000000000000</double>
+                        </property>
+                        <property name="value">
+                         <double>0.850000000000000</double>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="18" column="1">
+                       <widget class="QLabel" name="label_608">
+                        <property name="text">
+                         <string>Invert normals on ground if they are pointing down (useful for ring-like 3D LiDARs). 0 means disabled, 1 means only normals perfectly aligned with -z axis. This is only done with 3D scans.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="6" column="1">
+                       <widget class="QLabel" name="label_560">
+                        <property name="text">
+                         <string>Maximum range filtering. Set to 0 to disable.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="5" column="0">
+                       <widget class="QDoubleSpinBox" name="loopClosure_icpRangeMin">
+                        <property name="suffix">
+                         <string> m</string>
+                        </property>
+                        <property name="decimals">
+                         <number>2</number>
+                        </property>
+                        <property name="minimum">
+                         <double>0.000000000000000</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>1.000000000000000</double>
+                        </property>
+                        <property name="value">
+                         <double>0.000000000000000</double>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="4" column="1">
+                       <widget class="QLabel" name="label_125">
+                        <property name="text">
+                         <string>Uniform sampling voxel size. Set to 0 to disable.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="17" column="0">
+                       <widget class="QDoubleSpinBox" name="loopClosure_icpPointToPlaneNormalsRadius">
+                        <property name="singleStep">
+                         <double>0.010000000000000</double>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="7" column="0">
+                       <widget class="QDoubleSpinBox" name="loopClosure_icpMaxCorrespondenceDistance">
+                        <property name="decimals">
+                         <number>3</number>
+                        </property>
+                        <property name="minimum">
+                         <double>0.001000000000000</double>
+                        </property>
+                        <property name="maximum">
+                         <double>9999.989999999999782</double>
+                        </property>
+                        <property name="singleStep">
+                         <double>0.010000000000000</double>
+                        </property>
+                        <property name="value">
+                         <double>0.100000000000000</double>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="8" column="1">
+                       <widget class="QLabel" name="label_654">
+                        <property name="text">
+                         <string>Reciprocal correspondences. To be a valid correspondence, the corresponding point in target cloud to point in source cloud should be both their closest closest correspondence.</string>
+                        </property>
+                        <property name="wordWrap">
+                         <bool>true</bool>
+                        </property>
+                        <property name="textInteractionFlags">
+                         <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                        </property>
+                       </widget>
+                      </item>
+                      <item row="8" column="0">
+                       <widget class="QCheckBox" name="loopClosure_icpReciprocalCorrespondences">
+                        <property name="text">
+                         <string/>
+                        </property>
+                       </widget>
                      </item>
                     </layout>
                    </item>
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
  <name>rtabmap</name>
-  <version>0.21.0</version>
+  <version>0.21.1</version>
  <description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
  <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
  <author>Mathieu Labbe</author>
@@ -32,6 +32,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <vtkObject.h>
 #include <vtkVersionMacros.h>

+#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
+#include <QVTKRenderWidget.h>
+#endif
+
 int main(int argc, char * argv[])
 {
 	ULogger::setType(ULogger::kTypeConsole);
@@ -41,8 +45,9 @@ int main(int argc, char * argv[])
 	CoInitialize(nullptr);
 #endif

-#if VTK_MAJOR_VERSION >= 8
-	vtkObject::GlobalWarningDisplayOff();
+#if VTK_MAJOR_VERSION > 9 || (VTK_MAJOR_VERSION==9 && VTK_MINOR_VERSION >= 1)
+    // needed to ensure appropriate OpenGL context is created for VTK rendering.
+    QSurfaceFormat::setDefaultFormat(QVTKRenderWidget::defaultFormat());
 #endif

 	QApplication * app = new QApplication(argc, argv);
Author	SHA1	Message	Date
matlabbe	0070de4aaf	explicitly set deps to install instead of relying on buildfarm (#1012 ) * explicitly set deps to install instead of relying on buildfarm rtabmap (in case buildfarm build is failing) * use rosdep instead * missing rosdep update * updated rosdep command * removed rosdep init * fixed qt_gui_cpp not found * revert last commit, should be able to use qt_gui_cpp in rosdep * removed deprecated 18.04	2023-04-09 14:40:57 -07:00
matlabbe	11b4becdde	bump 0.21.1	2023-04-09 12:00:53 -07:00
matlabbe	8b8a512cbb	Added Icp/ReciprocalCorrespondences (new default true)	2023-04-06 20:57:35 -07:00
matlabbe	141f2d3334	DbViewer: added align gps checkbox	2023-04-05 22:19:54 -07:00
matlabbe	6dca8ab0f3	Fixed seg fault on start with >= VTK9.1, MACOSX: fixed bundle with homebrew	2023-03-25 22:41:28 -07:00
matlabbe	fc7a6708c5	iOS: updated copyright years	2023-03-25 14:19:34 -07:00
matlabbe	11e5437eba	iOS: Addressing #998 #1001	2023-03-25 14:11:42 -07:00
matlabbe	c4e94bcdc3	fix comment removed	2023-03-22 22:20:09 -07:00
matlabbe	51a7122dbe	fixed cmake	2023-03-22 20:58:12 -07:00
matlabbe	d13f594d9c	Fixed build with g2o binaries	2023-03-22 20:49:08 -07:00
matlabbe	85cc6fe3c7	fixed build with latest g2o c++17 (#999 )	2023-03-22 20:42:33 -07:00
PonyPC	50a0961f4e	Update OdometryORBSLAM.cpp (#991 ) Fix RGBD with ORB SLAM	2023-03-20 19:35:39 -07:00