merged master->humble

* iOS CI

* g2o hard-coded path

* bump ios version

* Fixed opencv 4.10.0 build on docker resolute

.appveyor.yml

@@ -1,152 +0,0 @@
-
-branches:
-  only:
-    - master
-    - devel
-
-os: Visual Studio 2015
-
-clone_folder: c:\projects\rtabmap
-
-platform: x64
-configuration: Release
-
-init:
-  - cmake --version
-  - call "C:\Program Files\Microsoft SDKs\Windows\v7.1\Bin\SetEnv.cmd" /x64
-  - call "C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" x86_amd64
-
-install:
-  # To download from google drive
-  - set PATH=C:\Python38-x64;C:\Python38-x64\Scripts;%PATH%
-  - ps: py -m pip --disable-pip-version-check install gdown>=5.1.0 
-  # Qt
-  - set QTDIR=C:\Qt\5.10.1\msvc2015_64
-  # make sure Qt bin path is before cmake bin path to avoid copying qt5 dlls from cmake before qt installation
-  - set PATH=%QTDIR%\bin;%PATH%
-  # Boost
-  - set PATH=%PATH%;C:\Libraries\boost_1_62_0\lib64-msvc-14.0
-  # Openni2
-  - ps: wget 'https://dl.dropboxusercontent.com/s/d98jv79l6oy9fxz/OpenNI2.exe?dl=0' -outfile OpenNI2.exe
-  - cmd: OpenNI2.exe -o"C:\Program Files" -y
-  - ECHO "Installed OpenNI2:"
-  - ps: "ls \"C:/Program Files/OpenNI2\""
-  - set PATH=%PATH%;C:\Program Files\OpenNI2\Redist
-  - set OPENNI2_INCLUDE64=C:\Program Files\OpenNI2\Include
-  - set OPENNI2_LIB64=C:\Program Files\OpenNI2\Lib
-  - set OPENNI2_REDIST64=C:\Program Files\OpenNI2\Redist
-  # OpenCV
-  #- appveyor-retry appveyor DownloadFile http://downloads.sourceforge.net/project/opencvlibrary/4.5.2/opencv-4.5.2-vc14_vc15.exe
-  #- cmd: opencv-4.5.2-vc14_vc15.exe -o"C:\Program Files" -y
-  #- ECHO "Installed OpenCV:"
-  #- ps: "ls \"C:/Program Files/opencv/build\""
-  #- set PATH=%PATH%;C:\Program Files\opencv\build\x64\vc14\bin
-  - ps: wget 'https://dl.dropboxusercontent.com/s/o6ofn491bc0jso1/opencv450_vc14.exe?dl=0' -outfile opencv.exe
-  - cmd: opencv.exe -o"C:\Program Files" -y
-  - ECHO "Installed OpenCV:"
-  - ps: "ls \"C:/Program Files/opencv\""
-  - set PATH=%PATH%;C:\Program Files\opencv\x64\vc14\bin
-  # VTK (including QVTK)
-  - ps: wget 'https://dl.dropboxusercontent.com/s/1l33b5l3f3y52gf/VTK-6_3-msvc140.exe?dl=0' -outfile VTK-6_3.exe
-  - cmd: VTK-6_3.exe -o"C:\Program Files" -y
-  - ECHO "Installed VTK:"
-  - ps: "ls \"C:/Program Files/VTK\""
-  - set PATH=%PATH%;C:\Program Files\VTK\bin
-  # QHull 
-  - ps: wget 'https://dl.dropboxusercontent.com/s/9widnk9msdsh2b8/Qhull-msvc140.exe?dl=0' -outfile Qhull.exe
-  - cmd: Qhull.exe -o"C:\Program Files" -y
-  - ECHO "Installed QHull:"
-  - ps: "ls \"C:/Program Files/Qhull\""
-  - set PATH=%PATH%;C:\Program Files\Qhull\bin
-  # FLANN 
-  - ps: wget 'https://dl.dropboxusercontent.com/s/7k58jbmqa51sxmh/FLANN-msvc140.exe?dl=0' -outfile FLANN.exe
-  - cmd: FLANN.exe -o"C:\Program Files" -y
-  - ECHO "Installed FLANN:"
-  - ps: "ls \"C:/Program Files/FLANN\""
-  - set PATH=%PATH%;C:\Program Files\FLANN\bin
-  # Eigen 
-  - ps: wget 'https://dl.dropboxusercontent.com/s/3v6i9i8dxj4o8ji/Eigen.exe?dl=0' -outfile Eigen.exe
-  - cmd: Eigen.exe -o"C:\Program Files" -y
-  - ECHO "Installed Eigen:"
-  - ps: "ls \"C:/Program Files/Eigen\""
-  # PCL
-  - ps: wget 'https://dl.dropboxusercontent.com/s/2iayr4lyqa50i9j/PCL_181_August2018_x64_vc14.exe?dl=0' -outfile PCL_1.8.1.exe
-  - cmd: PCL_1.8.1.exe -o"C:\Program Files" -y
-  - ECHO "Installed PCL:"
-  - ps: "ls \"C:/Program Files/PCL\""
-  - set PATH=%PATH%;C:\Program Files\PCL\bin
-  # zlib
-  - ps: gdown -q 0B46akLGdg-uaYm9MTTI4MUtUcmc
-  - ps: Expand-Archive zlib-1.2.8-vc2010-x64.zip -DestinationPath 'C:\Program Files'
-  - ECHO "Installed zlib:"
-  - ps: "ls \"C:/Program Files/zlib\""
-  - set PATH=%PATH%;C:\Program Files\zlib\bin
-  # g2o
-  - ps: wget 'https://dl.dropboxusercontent.com/s/ht74s5pa21wokzw/g2o.exe?dl=0' -outfile g2o.exe
-  - cmd: g2o.exe -o"C:\Program Files" -y
-  - ECHO "Installed g2o:"
-  - ps: "ls \"C:/Program Files/g2o\""
-  - set PATH=%PATH%;C:\Program Files\g2o\bin
-  # GTSAM
-  - ps: wget 'https://dl.dropboxusercontent.com/s/0fpr6r4cgsqmvhf/GTSAM-4_0_0_alpha2-msvc140.exe?dl=0' -outfile GTSAM.exe
-  - cmd: GTSAM.exe -o"C:\Program Files" -y
-  - ECHO "Installed GTSAM:"
-  - ps: "ls \"C:/Program Files/GTSAM\""
-  - set PATH=%PATH%;C:\Program Files\GTSAM\bin
-  # OctoMap
-  - ps: wget 'https://dl.dropboxusercontent.com/s/6jpxu0nm8ne6e54/octomap_x64_vc14.exe?dl=0' -outfile octomap.exe
-  - cmd: octomap.exe -o"C:\Program Files" -y
-  - ECHO "Installed OctoMap:"
-  - ps: "ls \"C:/Program Files/octomap-distribution\""
-  - set PATH=%PATH%;C:\Program Files\octomap-distribution\bin
-  # CPU-TSDF
-  - ps: wget 'https://dl.dropboxusercontent.com/s/mgges9va1uzxr0q/cpu_tsdf_sept2015_x64_vc14.exe?dl=0' -outfile cpu_tsdf.exe
-  - cmd: cpu_tsdf.exe -o"C:\Program Files" -y
-  - ECHO "Installed CPU-TSDF:"
-  - ps: "ls \"C:/Program Files/cpu_tsdf\""
-  - set PATH=%PATH%;C:\Program Files\cpu_tsdf\bin
-  # Open Chisel
-  - ps: wget 'https://dl.dropboxusercontent.com/s/0aaphcde4acrinm/open_chisel_x64_vc14.exe?dl=0' -outfile open_chisel.exe
-  - cmd: open_chisel.exe -o"C:\Program Files" -y
-  - ECHO "Installed Open Chisel:"
-  - ps: "ls \"C:/Program Files/open_chisel\""
-  - set PATH=%PATH%;C:\Program Files\open_chisel\bin
-  # yaml-cpp
-  - ps: wget 'https://dl.dropboxusercontent.com/s/22qfvftwj6zq8tj/yaml-cpp_x64_vc14.exe?dl=0' -outfile yaml-cpp.exe
-  - cmd: yaml-cpp.exe -o"C:\Program Files" -y
-  - ECHO "Installed yaml-cpp:"
-  - ps: "ls \"C:/Program Files/yaml-cpp\""
-  # RealSense2
-  - ps: wget 'https://github.com/IntelRealSense/librealsense/releases/download/v2.40.0/Intel.RealSense.SDK-WIN10-2.40.0.2482.exe' -outfile realsense2.exe
-  - cmd: realsense2.exe /VERYSILENT
-  - ECHO "Installed RealSense2:"
-  - ps: "ls \"C:/Program Files (x86)/Intel RealSense SDK 2.0\""
-  - set PATH=%PATH%;C:\Program Files (x86)\Intel RealSense SDK 2.0\bin\x64
-  - set RealSense2_ROOT_DIR=C:\Program Files (x86)\Intel RealSense SDK 2.0
-  # Kinect 4 Azure
-  - ps: wget 'https://download.microsoft.com/download/3/d/6/3d6d9e99-a251-4cf3-8c6a-8e108e960b4b/Azure%20Kinect%20SDK%201.4.1.exe' -outfile azure.exe
-  - cmd: azure.exe /quiet
-  - ECHO "Installed Kinect For Azure:"
-  - ps: "ls \"C:/Program Files/Azure Kinect SDK v1.4.1\""
-  - set PATH=%PATH%;C:\Program Files\Azure Kinect SDK v1.4.1\tools
-  - set K4A_ROOT_DIR=C:\Program Files\Azure Kinect SDK v1.4.1
-  
-before_build:
-  - cd c:\projects\rtabmap\build
-  - ECHO %PROGRAMFILES%
-  - ECHO %PATH%
-  - cmake -G "Visual Studio 14 2015 Win64" -DOpenCV_DIR="C:\Program Files\opencv\build" -DPCL_DIR="C:\Program Files\PCL\cmake" -DCPUTSDF_DIR="C:\Program Files\cpu_tsdf\share\cpu_tsdf" -Dyaml-cpp_DIR="C:\Program Files\yaml-cpp\CMake" -DBUILD_AS_BUNDLE=ON ..
-  
-after_build :
-  - cmake --build . --config Release --target package
-
-artifacts:
-  - path: build\RTABMap-*
-  
-notifications:
-  - provider: Email
-    to:
-      - matlabbe@gmail.com
-    on_build_success: false
-    on_build_failure: false
-    on_build_status_changed: true

.devcontainer/focal/Dockerfile

@@ -0,0 +1,21 @@
+FROM introlab3it/rtabmap:focal-deps
+
+RUN apt-get update && apt-get install -y sudo && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN set -ex && \
+    groupadd --gid ${USER_GID} ${USERNAME} && \
+    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
+    usermod -a -G sudo ${USERNAME} && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME}
+
+RUN mkdir -p /home/${USERNAME}/Documents/RTAB-Map && chown -R ${USERNAME} /home/${USERNAME}
+
+RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
+
+

.devcontainer/focal/devcontainer.json

@@ -1,8 +1,18 @@
 {
-    "image": "introlab3it/rtabmap:20.04",
+    "build": {
+      "dockerfile": "Dockerfile"
+    },
     "customizations": {
         "vscode": {
           "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
         }
-      }
+      },
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
+    "workspaceFolder": "/home/vscode/rtabmap",
+    //"mounts": ["source=${localEnv:HOME}/Documents/RTAB-Map,target=/home/vscode/Documents/RTAB-Map,type=bind,consistency=cached"],
+    "settings": {
+      "terminal.integrated.defaultProfile.linux": "bash"
+    },
+    "remoteUser": "vscode",
+    "runArgs": ["--privileged", "--network=host"]
 }

.devcontainer/jammy/Dockerfile

@@ -0,0 +1,21 @@
+FROM introlab3it/rtabmap:jammy-deps
+
+RUN apt-get update && apt-get install -y sudo && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN set -ex && \
+    groupadd --gid ${USER_GID} ${USERNAME} && \
+    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
+    usermod -a -G sudo ${USERNAME} && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME}
+
+RUN mkdir -p /home/${USERNAME}/Documents/RTAB-Map && chown -R ${USERNAME} /home/${USERNAME}
+
+RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
+
+

.devcontainer/jammy/devcontainer.json

@@ -1,8 +1,18 @@
 {
-    "image": "introlab3it/rtabmap:22.04",
+    "build": {
+      "dockerfile": "Dockerfile"
+    },
     "customizations": {
         "vscode": {
           "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
         }
-      }
+      },
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
+    "workspaceFolder": "/home/vscode/rtabmap",
+    //"mounts": ["source=${localEnv:HOME}/Documents/RTAB-Map,target=/home/vscode/Documents/RTAB-Map,type=bind,consistency=cached"],
+    "settings": {
+      "terminal.integrated.defaultProfile.linux": "bash"
+    },
+    "remoteUser": "vscode",
+    "runArgs": ["--privileged", "--network=host"]
 }

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

@@ -0,0 +1,104 @@
+ARG ROS_DISTRO=jazzy
+
+FROM osrf/ros:${ROS_DISTRO}-desktop
+
+# Install build dependencies with Qt6 (issue: rtabmap has black window)
+#RUN apt-get update && \
+#    apt-get install -y git software-properties-common ros-${ROS_DISTRO}-rtabmap-ros libqt6* qt6* qml6* && \
+#    apt-get remove -y ros-${ROS_DISTRO}-rtabmap* ros-${ROS_DISTRO}-gtsam ros-${ROS_DISTRO}-libg2o libpcl* libqt5* qt5* libvtk* libopencv* && \
+#    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# Install build dependencies with Qt5
+RUN apt-get update && \
+    apt-get install -y git software-properties-common ros-${ROS_DISTRO}-rtabmap-ros && \
+    apt-get remove -y ros-${ROS_DISTRO}-rtabmap* ros-${ROS_DISTRO}-gtsam ros-${ROS_DISTRO}-libg2o libpcl* libvtk* libopencv* && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+# remove ubuntu user
+RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
+
+RUN apt-get update && apt-get install -y sudo && \
+    apt-get clean && rm -rf /var/lib/apt/lists/
+
+ARG USERNAME=vscode
+ARG USER_UID=1000
+ARG USER_GID=1000
+
+RUN set -ex && \
+    groupadd --gid ${USER_GID} ${USERNAME} && \
+    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
+    usermod -a -G sudo ${USERNAME} && \
+    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME}
+
+RUN mkdir -p /home/${USERNAME}/Documents/RTAB-Map
+
+RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
+
+WORKDIR /home/${USERNAME}/
+
+RUN rm /bin/sh && ln -s /bin/bash /bin/sh
+
+# We build main dependencies from source, cleaning up the
+# build directory after install but keeping the source code
+# to change version/reinstall from inside the dev container
+# if needed.
+
+# Build latest VTK with Qt6
+RUN git clone https://github.com/Kitware/VTK.git
+RUN cd VTK && \
+    mkdir build && \
+    cd build && \
+    cmake -DVTK_GROUP_ENABLE_Qt=YES .. && \
+    make -j$(nproc) && \
+    make install && \
+    make clean
+    
+# Build latest PCL with latest VTK
+# Make sure all libraries depending on Eigen are built with same CXX standard (17)
+RUN git clone https://github.com/PointCloudLibrary/pcl.git
+RUN cd pcl && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_CXX_STANDARD=17 -DBUILD_tools=ON -DPCL_ENABLE_AVX=OFF -DPCL_ENABLE_MARCHNATIVE=OFF -DPCL_ENABLE_SSE=OFF .. && \
+    make -j$(nproc) && \
+    make install && \
+    make clean
+    
+# Build latest OpenCV
+RUN git clone https://github.com/opencv/opencv.git
+RUN git clone https://github.com/opencv/opencv_contrib.git
+RUN cd opencv && \
+    mkdir build && \
+    cd build && \
+    cmake -DBUILD_opencv_python3=OFF -DBUILD_opencv_python_bindings_generator=OFF -DBUILD_opencv_python_tests=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF -DOPENCV_ENABLE_NONFREE=ON -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules .. && \
+    make -j$(nproc) && \
+    make install && \
+    make clean
+
+# Build latest gtsam
+RUN git clone https://github.com/borglab/gtsam.git
+RUN cd gtsam && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_CXX_STANDARD=17 -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_STATIC_LIBRARY=OFF -DGTSAM_BUILD_UNSTABLE=OFF -DGTSAM_INSTALL_CPPUNILITE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j$(nproc) && \
+    make install && \
+    make clean
+
+# Build latest g2o
+RUN git clone https://github.com/RainerKuemmerle/g2o.git
+RUN cd g2o && \
+    mkdir build && \
+    cd build && \
+    cmake -DCMAKE_CXX_STANDARD=17 -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF -DG2O_USE_OPENGL=OFF -DCMAKE_BUILD_TYPE=Release .. && \
+    make -j$(nproc) && \
+    make install && \
+    make clean
+
+# ros2 seems not sourcing by default its multi-arch folders
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/${ROS_DISTRO}/lib/x86_64-linux-gnu
+
+RUN ldconfig
+
+RUN chown -R ${USERNAME} /home/${USERNAME}

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

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

.devcontainer/noble/Dockerfile

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

.devcontainer/noble/devcontainer.json

@@ -1,8 +1,30 @@
 {
-    "image": "introlab3it/rtabmap:24.04",
+    "build": {
+      "dockerfile": "Dockerfile"
+    },
     "customizations": {
         "vscode": {
-          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools", "ms-vscode.cpptools-extension-pack"]
         }
-      }
+      },
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
+    "workspaceFolder": "/home/vscode/rtabmap",
+    //"mounts": ["source=${localEnv:HOME}/Documents/RTAB-Map,target=/home/vscode/Documents/RTAB-Map,type=bind,consistency=cached"],
+    "settings": {
+      "terminal.integrated.defaultProfile.linux": "bash"
+    },
+    "remoteUser": "vscode",
+    "hostRequirements": {
+        "gpu": "optional"
+    },
+    "runArgs": ["--privileged",
+                "--network=host",
+                "--gpus=all",
+                //"--runtime=nvidia", // uncommment this if rtabmap doesn't show up in nvidia-smi on the host computer
+                "--env=DISPLAY",
+                "--env=QT_X11_NO_MITSHM=1",
+                "--volume=/tmp/.X11-unix:/tmp/.X11-unix"],
+    "containerEnv": {
+        "NVIDIA_VISIBLE_DEVICES": "all"
+    }
 }

.devcontainer/resolute/Dockerfile

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

.devcontainer/resolute/devcontainer.json

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

.devcontainer/rolling/Dockerfile

@@ -6,11 +6,12 @@ ENV DEBIAN_FRONTEND=noninteractive
 # Install ROS2
 RUN apt update && \
     apt install software-properties-common -y && \
-    add-apt-repository universe && \
+    add-apt-repository universe -y && \
     apt update && \
     apt install curl -y && \
-    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
-    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}') && \
+    curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" && \
+    apt install /tmp/ros2-apt-source.deb && \
     apt-get clean && rm -rf /var/lib/apt/lists/
 
 # Install build dependencies
@@ -73,5 +74,7 @@ RUN set -ex && \
     echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
     chmod 0440 /etc/sudoers.d/${USERNAME}
 
+RUN mkdir -p /home/${USERNAME}/Documents/RTAB-Map && chown -R ${USERNAME} /home/${USERNAME}
+
 RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
 

.devcontainer/rolling/devcontainer.json

@@ -9,9 +9,22 @@
       },
     "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
     "workspaceFolder": "/home/vscode/rtabmap",
+    //"mounts": ["source=${localEnv:HOME}/Documents/RTAB-Map,target=/home/vscode/Documents/RTAB-Map,type=bind,consistency=cached"],
     "settings": {
       "terminal.integrated.defaultProfile.linux": "bash"
     },
     "remoteUser": "vscode",
-    "runArgs": ["--privileged", "--network=host"]
+    "hostRequirements": {
+        "gpu": "optional"
+    },
+    "runArgs": ["--privileged",
+                "--network=host",
+                "--gpus=all",
+                //"--runtime=nvidia", // uncommment this if rtabmap doesn't show up in nvidia-smi on the host computer
+                "--env=DISPLAY",
+                "--env=QT_X11_NO_MITSHM=1",
+                "--volume=/tmp/.X11-unix:/tmp/.X11-unix"],
+    "containerEnv": {
+        "NVIDIA_VISIBLE_DEVICES": "all"
+    }
 }

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

@@ -0,0 +1,53 @@
+name: 'Install Windows Dependencies with CUDA'
+description: 'Installs PCL, Qt, VTK, g2o and others'
+runs:
+  using: "composite"
+  steps:
+    - name: Set up MSVC Developer Command Prompt
+      uses: ilammy/msvc-dev-cmd@v1
+      with:
+        arch: x64 
+  
+    - name: Install CUDA
+      uses: Jimver/cuda-toolkit@v0.2.30
+      id: cuda-toolkit
+      with:
+        cuda: '13.0.0'
+        use-github-cache: True
+
+    - name: Verify CUDA
+      shell: bash
+      run: |
+        nvcc --version
+        echo "CUDA Path: $CUDA_PATH"
+  
+    - name: Cache vcpkg
+      id: cache-vcpkg
+      uses: actions/cache@v4
+      with:
+        path: ${{ runner.workspace }}/vcpkg_installed
+        key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-cuda130_v1
+
+    - name: Download and Install vcpkg
+      if: steps.cache-vcpkg.outputs.cache-hit != 'true'
+      shell: pwsh
+      run: |
+        $install_dir = "${{ runner.workspace }}\vcpkg_installed"
+        $archivePath = "${{ runner.workspace }}\vcpkg-export.7z"
+
+        # The file has been built locally with bundle-windows-deps.bat
+        $url = "https://github.com/introlab/rtabmap/releases/download/0.23.1/vcpkg-export-66c0373d-x64-vs2022-cuda130.7z"
+
+        Invoke-WebRequest -Uri $url -OutFile $archivePath
+        & 7z x $archivePath "-o$install_dir" -y
+
+    - name: Add vcpkg to PATH and env variable
+      shell: pwsh
+      run: |
+        $vcpkg_path = "${{ runner.workspace }}\vcpkg_installed"
+        echo "VCPKG_EXPORT_PATH=$vcpkg_path" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+        echo "$vcpkg_path\installed\x64-windows-release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append     
+        echo "${{env.CUDA_PATH}}\bin\x64" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
+        echo "${{env.CUDA_PATH}}\extras\CUPTI\lib64" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
+        echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\torch\lib" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
+        echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\numpy.libs" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append

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

@@ -0,0 +1,37 @@
+name: 'Install Windows Dependencies'
+description: 'Installs PCL, Qt, VTK, g2o and others'
+runs:
+  using: "composite"
+  steps:
+    - name: Set up MSVC Developer Command Prompt
+      uses: ilammy/msvc-dev-cmd@v1
+      with:
+        arch: x64 
+  
+    - name: Cache vcpkg
+      id: cache-vcpkg
+      uses: actions/cache@v4
+      with:
+        path: ${{ runner.workspace }}/vcpkg_installed
+        key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-v4
+
+    - name: Download and Install vcpkg
+      if: steps.cache-vcpkg.outputs.cache-hit != 'true'
+      shell: pwsh
+      run: |
+        $install_dir = "${{ runner.workspace }}\vcpkg_installed"
+        $archivePath = "${{ runner.workspace }}\vcpkg-export.7z"
+
+        # The file has been built locally with bundle-windows-deps.bat
+        $url = "https://github.com/introlab/rtabmap/releases/download/0.23.1/vcpkg-export-66c0373d-x64-vs2022.7z"
+
+        Invoke-WebRequest -Uri $url -OutFile $archivePath
+        & 7z x $archivePath "-o$install_dir" -y
+
+    - name: Add vcpkg to PATH and env variable
+      shell: pwsh
+      run: |
+        $vcpkg_path = "${{ runner.workspace }}\vcpkg_installed"
+        echo "VCPKG_EXPORT_PATH=$vcpkg_path" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+        echo "$vcpkg_path\installed\x64-windows-release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
+        echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\numpy.libs" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append

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

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

.github/workflows/cmake-linux.yml

@@ -0,0 +1,80 @@
+name: CMake-Linux
+
+on:
+  push:
+    branches: 
+      - master
+  pull_request:
+    branches: 
+      - '**'
+
+env:
+  BUILD_TYPE: Release
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+jobs:
+  build:
+    name: ${{ matrix.build_name }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: true
+      matrix:
+        build_name: [ubuntu-22.04, ubuntu-24.04, ubuntu-24.04-with-opengv, ubuntu-26.04]
+        include:
+        - build_name: ubuntu-22.04
+          os: ubuntu-22.04
+          extra_deps: "libunwind-dev libceres-dev"
+          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON"
+        - build_name: ubuntu-24.04
+          os: ubuntu-24.04
+          extra_deps: "libg2o-dev libceres-dev"
+          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON"
+        - build_name: ubuntu-24.04-with-opengv
+          os: ubuntu-24.04
+          extra_deps: "libg2o-dev libceres-dev"
+          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DBUILD_OPENGV=ON"
+        - build_name: ubuntu-26.04
+          os: ubuntu-26.04
+          extra_deps: "libg2o-dev libceres-dev"
+          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DBUILD_OPENGV=ON"
+
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Install Linux Dependencies
+      run: |
+        DEBIAN_FRONTEND=noninteractive
+        sudo apt-get update
+        sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev ${{ matrix.extra_deps }}
+
+    - name: Set up Python
+      uses: actions/setup-python@v5
+      with:
+        python-version: '3.x'
+
+    - name: Install Python Dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install numpy pybind11
+
+    - name: Configure CMake
+      run: |
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DPython3_EXECUTABLE=$(which python3) -Dpybind11_DIR=$(python3 -m pybind11 --cmakedir) ${{ matrix.extra_cmake_def }}
+
+    - name: Build
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Info
+      working-directory: ${{github.workspace}}/build/bin
+      run: |
+        ./rtabmap-console --version
+
+#    - name: Test
+#      working-directory: ${{github.workspace}}/build
+#      # Execute tests defined by the CMake configuration.  
+#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+#      run: ctest -C ${{env.BUILD_TYPE}}
+      

.github/workflows/cmake-macos.yml

@@ -0,0 +1,83 @@
+name: CMake-MacOS
+
+on:
+  push:
+    branches: 
+      - master
+  pull_request:
+    branches: 
+      - '**'
+
+env:
+  BUILD_TYPE: Release
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+jobs:
+  build:
+    name: ${{ matrix.build_name }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: true
+      matrix:
+        build_name: [macos-sequoia-intel, macos-sequoia-apple-silicon, macos-tahoe-intel, macos-tahoe-apple-silicon]
+        include:
+        - build_name: macos-sequoia-intel
+          os: macos-15-intel
+          extra_deps: ""
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
+        - build_name: macos-sequoia-apple-silicon
+          os: macos-15
+          extra_deps: ""
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
+        - build_name: macos-tahoe-intel
+          os: macos-26-intel
+          extra_deps: ""
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
+        - build_name: macos-tahoe-apple-silicon
+          os: macos-26
+          extra_deps: ""
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON'
+
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Install Brew Dependencies
+      run: |
+        # Update brew and install from Brewfile if present, or specific packages
+        brew install pcl opencv octomap g2o pdal
+
+    - name: Configure CMake
+      run: |
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{ matrix.extra_cmake_def }}
+
+    - name: Build
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Info
+      working-directory: ${{github.workspace}}/build/bin
+      run: |
+        ./rtabmap-console --version
+
+#    - name: Build MacOS Package
+#      run: |
+#        cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }} --target package
+
+#    - name: Upload RTABMap Artifacts (DMG)
+#      uses: actions/upload-artifact@v4
+#      with:
+#        name: RTABMap-Binaries-${{ matrix.build_name }}-zip
+#        path: |
+#          build/RTABMap-*.dmg
+#        compression-level: 0
+#        if-no-files-found: warn
+#        retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
+
+#    - name: Test
+#      working-directory: ${{github.workspace}}/build
+#      # Execute tests defined by the CMake configuration.  
+#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+#      run: ctest -C ${{env.BUILD_TYPE}}
+      

.github/workflows/cmake-ros.yml

@@ -3,7 +3,7 @@ name: CMake-ROS
 on:
   push:
     branches: 
-      - master
+      - humble-devel
   pull_request:
     branches: 
       - '**'
@@ -12,63 +12,35 @@ env:
   # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
   BUILD_TYPE: Release
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
 jobs:
   build:
     # The CMake configure and build commands are platform agnostic and should work equally
     # well on Windows or Mac.  You can convert this to a matrix build if you need
     # cross-platform coverage.
     # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
-    name: Build on ros ${{ matrix.ros_distribution }} and ${{ matrix.os }}
-    runs-on: ${{ matrix.os }}
+    name: ${{ matrix.ros_distribution }}
+    runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        ros_distribution: [ humble, jazzy, kilted, rolling ]
+        ros_distribution: [ humble ]
         include:
         - ros_distribution: 'humble'
-          os: ubuntu-22.04
-        - ros_distribution: 'jazzy'
-          os: ubuntu-24.04
-        - ros_distribution: 'kilted'
-          os: ubuntu-24.04
-        - ros_distribution: 'rolling'
-          os: ubuntu-24.04
-
+          skip_keys: ""
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-full
     steps:   
-    - name: Setup ROS2
-      # https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
-      run: |
-        sudo apt install software-properties-common
-        sudo add-apt-repository universe
-        sudo apt update && sudo apt install curl -y
-        export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
-        curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb"
-        sudo apt install /tmp/ros2-apt-source.deb
-        sudo apt update
-
+    - uses: actions/checkout@v4
     - uses: ros-tooling/setup-ros@v0.7
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
-    
-    - uses: actions/checkout@v4
-
-    - name: Install dependencies
-      run: |
-        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
-        rosdep update
-        rosdep install --from-paths ${{github.workspace}} -y
-
-    - name: Configure CMake
-      run: |
-        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
-        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
-
-    - name: Build
-      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
-
-    - name: Info
-      working-directory: ${{github.workspace}}/build/bin
-      run: |
-        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
-        ./rtabmap-console --version
+    - uses: ros-tooling/action-ros-ci@v0.4
+      with:
+        package-name: rtabmap
+        target-ros2-distro: ${{ matrix.ros_distribution }}
+        rosdep-skip-keys: "${{ matrix.skip_keys }}"
       

.github/workflows/cmake-windows.yml

@@ -0,0 +1,107 @@
+name: CMake-Windows
+
+on:
+  push:
+    branches: 
+      - master
+  pull_request:
+    branches: 
+      - '**'
+
+env:
+  BUILD_TYPE: Release
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+jobs:
+  build:
+    name: ${{ matrix.build_name }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: true
+      matrix:
+        build_name: [windows-2022, windows-2022-cuda]
+        include:
+        - build_name: windows-2022
+          os: windows-2022
+          extra_deps: ""
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON -DWITH_TORCH=OFF'
+        - build_name: windows-2022-cuda
+          os: windows-2022
+          extra_deps: ""
+          extra_cmake_def: '-DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON -DWITH_TORCH=ON'
+
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Install Windows Dependencies
+      if: matrix.build_name == 'windows-2022'
+      uses: ./.github/actions/install-windows-deps
+ 
+    - name: Install Windows Dependencies with CUDA
+      if: matrix.build_name == 'windows-2022-cuda'
+      uses: ./.github/actions/install-windows-cuda-deps
+
+    - name: Configure CMake
+      run: |
+        cmake `
+          -B ${{github.workspace}}/build `
+          -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} `
+          ${{ matrix.extra_cmake_def }} `
+          -DVCPKG_MANIFEST_INSTALL=OFF `
+          -DVCPKG_TARGET_TRIPLET=x64-windows-release `
+          -DVCPKG_INSTALLED_DIR="${{env.VCPKG_EXPORT_PATH}}/installed" `
+          -DCMAKE_TOOLCHAIN_FILE=${{env.VCPKG_EXPORT_PATH}}/scripts/buildsystems/vcpkg.cmake `
+          -DTorch_DIR=${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release/tools/python3/Lib/site-packages/torch/share/cmake/Torch
+
+    - name: Build
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Build Windows Package
+      shell: pwsh
+      run: |
+        if ("${{ github.event_name }}" -eq "pull_request") {
+          cpack --config build/CPackConfig.cmake -G ZIP -B build
+        } else {
+          cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }} --target package
+        }
+
+    - name: Rename CUDA artifacts
+      if: matrix.build_name == 'windows-2022-cuda'
+      shell: pwsh
+      run: Get-ChildItem -Path "build" -Filter "RTABMap-*" | Rename-Item -NewName { $_.BaseName + "_cuda" + $_.Extension }
+
+    - name: Info
+      working-directory: ${{github.workspace}}/build/bin
+      run: |
+        ./rtabmap-console --version
+
+    - name: Upload RTABMap Artifacts (ZIP)
+      uses: actions/upload-artifact@v4
+      with:
+        name: RTABMap-Binaries-${{ matrix.build_name }}-zip
+        path: |
+          build/RTABMap-*.zip
+        compression-level: 0
+        if-no-files-found: warn
+        retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
+
+    - name: Upload RTABMap Artifacts (Installer)
+      if: github.event_name != 'pull_request'
+      uses: actions/upload-artifact@v4
+      with:
+        name: RTABMap-Binaries-${{ matrix.build_name }}-exe
+        path: |
+          build/RTABMap-*.exe
+        compression-level: 0
+        if-no-files-found: warn
+        retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
+
+#    - name: Test
+#      working-directory: ${{github.workspace}}/build
+#      # Execute tests defined by the CMake configuration.  
+#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+#      run: ctest -C ${{env.BUILD_TYPE}}
+      

.github/workflows/cmake.yml

@@ -1,56 +0,0 @@
-name: CMake
-
-on:
-  push:
-    branches: 
-      - master
-  pull_request:
-    branches: 
-      - '**'
-
-env:
-  BUILD_TYPE: Release
-
-jobs:
-  build:
-    name: ${{ matrix.os }}
-    runs-on: ${{ matrix.os }}
-    strategy:
-      fail-fast: false
-      matrix:
-        os: [ubuntu-24.04, ubuntu-22.04]
-        include:
-        - os: ubuntu-22.04
-          extra_deps: "libunwind-dev libceres-dev"
-          extra_cmake_def: ""
-        - os: ubuntu-24.04
-          extra_deps: "libg2o-dev libceres-dev"
-          extra_cmake_def: "-DWITH_CERES=ON"
-
-    steps:    
-    - name: Install dependencies
-      run: |
-        DEBIAN_FRONTEND=noninteractive
-        sudo apt-get update
-        sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev ${{ matrix.extra_deps }}
-
-    - uses: actions/checkout@v4
-
-    - name: Configure CMake
-      run: |
-        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} ${{ matrix.extra_cmake_def }}
-
-    - name: Build
-      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
-
-    - name: Info
-      working-directory: ${{github.workspace}}/build/bin
-      run: |
-        ./rtabmap-console --version
-
-#    - name: Test
-#      working-directory: ${{github.workspace}}/build
-#      # Execute tests defined by the CMake configuration.  
-#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
-#      run: ctest -C ${{env.BUILD_TYPE}}
-      

.github/workflows/docker.yml

@@ -4,6 +4,13 @@ on:
   push:
     branches:
       - 'master'
+  pull_request:
+    branches:
+      - '**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
 
 jobs:
   docker_deps:
@@ -15,14 +22,15 @@ jobs:
     #    $ sudo apt-get upgrade qemu-user-static
     #    $ docker run --rm --privileged multiarch/qemu-user-static --reset -p yes -c yes
     # More info: https://github.com/introlab/rtabmap/issues/1454
-    # if: false
+    # Skipped on pull requests; built and pushed only on push to master.
+    if: github.event_name != 'pull_request'
 
     runs-on: ubuntu-latest
     
     strategy:
       fail-fast: false
       matrix:
-        docker_tag: [focal-deps, jammy-deps, noble-deps, noble-kilted-deps]
+        docker_tag: [focal-deps, jammy-deps, noble-deps, noble-kilted-deps, resolute-deps]
         include:
         - docker_tag: focal-deps
           docker_tags: |
@@ -52,6 +60,13 @@ jobs:
             linux/amd64
             linux/arm64
           docker_path: 'noble-kilted/deps'
+        - docker_tag: resolute-deps
+          docker_tags: |
+            introlab3it/rtabmap:resolute-deps
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'resolute/deps'
     
     steps:
       -
@@ -85,12 +100,14 @@ jobs:
   
   docker:
     needs: docker_deps
+    # Run even when docker_deps is skipped (it is, on pull requests).
+    if: ${{ !cancelled() && !failure() }}
     runs-on: ubuntu-latest
     
     strategy:
       fail-fast: false
       matrix:
-        docker_tag: [bionic, focal, jammy, noble, noble-kilted, android23, android24, android26, android30]
+        docker_tag: [bionic, focal, jammy, noble, noble-kilted, resolute, android23, android24, android26, android30]
         include:
         - docker_tag: bionic
           docker_tags: |
@@ -142,6 +159,16 @@ jobs:
             linux/amd64
             linux/arm64
           docker_path: 'noble-kilted'
+        - docker_tag: resolute
+          docker_tags: |
+            introlab3it/rtabmap:resolute
+            introlab3it/rtabmap:26.04
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'resolute'
         - docker_tag: android23
           docker_tags: |
             introlab3it/rtabmap:android23
@@ -190,6 +217,9 @@ jobs:
         uses: docker/setup-buildx-action@v3
       -
         name: Login to DockerHub
+        # Only needed when pushing; skipped on pull requests (secrets are
+        # unavailable for fork PRs and we don't push there anyway).
+        if: github.event_name != 'pull_request'
         uses: docker/login-action@v3
         with:
           username: ${{ secrets.DOCKERHUB_USERNAME }}
@@ -199,8 +229,8 @@ jobs:
         uses: docker/build-push-action@v6
         with:
           context: .
-          push: true
-          platforms: ${{ matrix.docker_platforms }}
+          push: ${{ github.event_name != 'pull_request' }}
+          platforms: ${{ github.event_name == 'pull_request' && 'linux/amd64' || matrix.docker_platforms }}
           file: ./docker/${{ matrix.docker_path }}/Dockerfile
           build-args: |
             ${{ matrix.docker_args }}

.github/workflows/ios.yml

@@ -0,0 +1,114 @@
+name: iOS
+
+on:
+  push:
+    branches:
+      - master
+    paths: &ios_paths
+      - '.github/workflows/ios.yml'
+      - 'app/ios/**'
+      - 'app/android/jni/**'
+      - 'corelib/**'
+      - 'utilite/**'
+      - 'cmake_modules/**'
+      - 'CMakeLists.txt'
+  pull_request:
+    branches:
+      - '**'
+    paths: *ios_paths
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+env:
+  # Pre-built iOS dependencies (content of app/ios/RTABMapApp/Libraries, generated by install_deps.sh).
+  # Bump this when the dependency set changes (must match the Xcode toolchain below).
+  DEPS_URL: https://github.com/introlab/rtabmap/releases/download/0.23.1/libraries-ios-xcode26.5.zip
+  XCODE_VERSION: '26.5'
+
+jobs:
+  build:
+    name: build-ios
+    # macos-26 (Tahoe) ships Xcode 26.x, matching the toolchain used to build the prebuilt libraries.
+    runs-on: macos-26
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Select Xcode ${{ env.XCODE_VERSION }}
+        uses: maxim-lobanov/setup-xcode@v1
+        with:
+          xcode-version: ${{ env.XCODE_VERSION }}
+
+      - name: Versions
+        run: |
+          xcodebuild -version
+          cmake --version || brew install cmake
+
+      - name: Cache prebuilt dependencies archive
+        id: deps-cache
+        uses: actions/cache@v4
+        with:
+          path: deps.zip
+          # Keyed on the archive URL (release tag + filename), so the cache is
+          # reused until DEPS_URL is bumped, regardless of other workflow edits.
+          key: ${{ runner.os }}-ios-deps-${{ env.DEPS_URL }}
+
+      - name: Download prebuilt dependencies
+        if: steps.deps-cache.outputs.cache-hit != 'true'
+        run: curl -L "$DEPS_URL" -o deps.zip
+
+      - name: Extract dependencies into Libraries
+        run: |
+          set -eux
+          mkdir -p app/ios/RTABMapApp/Libraries
+          rm -rf deps_extract && mkdir -p deps_extract
+          unzip -q deps.zip -d deps_extract
+          # The archive holds the *content* of the Libraries folder (include/ lib/ share/),
+          # but tolerate an extra top-level Libraries/ wrapper just in case.
+          if [ -d deps_extract/Libraries ]; then
+            SRC=deps_extract/Libraries
+          else
+            SRC=deps_extract
+          fi
+          cp -R "$SRC"/. app/ios/RTABMapApp/Libraries/
+          test -d app/ios/RTABMapApp/Libraries/include
+          test -d app/ios/RTABMapApp/Libraries/lib
+
+      - name: Build rtabmap core (third-party deps are skipped, already provided by the archive)
+        working-directory: app/ios/RTABMapApp
+        run: ./install_deps.sh
+
+      - name: Build RTABMapApp
+        run: |
+          xcodebuild \
+            -project app/ios/RTABMapApp.xcodeproj \
+            -scheme RTABMapApp \
+            -configuration Release \
+            -sdk iphoneos \
+            -destination 'generic/platform=iOS' \
+            -derivedDataPath build \
+            CODE_SIGNING_ALLOWED=NO \
+            CODE_SIGNING_REQUIRED=NO \
+            CODE_SIGN_IDENTITY="" \
+            DEVELOPMENT_TEAM="" \
+            build
+
+      - name: Package app (unsigned .ipa)
+        run: |
+          set -eux
+          APP_DIR="build/Build/Products/Release-iphoneos"
+          rm -rf Payload && mkdir Payload
+          cp -R "$APP_DIR/RTABMapApp.app" Payload/
+          # Unsigned .ipa: not installable as-is, but ready for later (re)signing.
+          zip -q -r RTABMapApp-unsigned.ipa Payload
+
+      - name: Upload app artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: RTABMapApp-ios-unsigned
+          path: RTABMapApp-unsigned.ipa
+          compression-level: 0
+          if-no-files-found: error
+          retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}

CMakeLists.txt

@@ -1,5 +1,6 @@
 # Top-Level CmakeLists.txt
 cmake_minimum_required(VERSION 3.14)
+
 PROJECT( RTABMap )
 SET(PROJECT_PREFIX rtabmap)
 
@@ -11,6 +12,7 @@ IF(NOT MULTI_ARCH AND NOT DEFINED CMAKE_INSTALL_LIBDIR)
 ENDIF(NOT MULTI_ARCH AND NOT DEFINED CMAKE_INSTALL_LIBDIR)
 
 INCLUDE(GNUInstallDirs)
+INCLUDE(FetchContent)
 
 ####### local cmake modules #######
 SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
@@ -19,10 +21,18 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 # VERSION
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
-SET(RTABMAP_MINOR_VERSION 22)
-SET(RTABMAP_PATCH_VERSION 1)
+SET(RTABMAP_MINOR_VERSION 23)
+SET(RTABMAP_PATCH_VERSION 7)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
+
+# Make sure we have valid version so that RTABMAP_VERSION_COMPARE logic in Version.h works
+IF(RTABMAP_MINOR_VERSION GREATER 99)
+MESSAGE(FATAL_ERROR "RTABMAP_MINOR_VERSION must be < 100, bump major version and restart minor to 0!")
+ENDIF()
+IF(RTABMAP_PATCH_VERSION GREATER 99)
+MESSAGE(FATAL_ERROR "RTABMAP_PATCH_VERSION must be < 100, bump minor version and restart patch to 0!")
+ENDIF()
   
 SET(PROJECT_VERSION "${RTABMAP_VERSION}")
 
@@ -83,14 +93,6 @@ IF(MINGW)
     SET(CMAKE_SHARED_LINKER_FLAGS "-Wl,--enable-auto-import")
 ENDIF(MINGW)
 
-# GCC 4 required
-IF(UNIX OR MINGW)
-    EXEC_PROGRAM( gcc ARGS "-dumpversion" OUTPUT_VARIABLE GCC_VERSION )
-    IF(GCC_VERSION VERSION_LESS "4.0.0")
-        MESSAGE(FATAL_ERROR "GCC ${GCC_VERSION} found, but version 4.x.x minimum is required")
-    ENDIF(GCC_VERSION VERSION_LESS "4.0.0")
-ENDIF(UNIX OR MINGW)
-
 #The CDT Error Parser cannot handle error messages that span 
 #more than one line, which is the default gcc behavior. 
 #In order to force gcc to generate single line error messages with no line wrapping
@@ -198,15 +200,17 @@ option(WITH_CCCORELIB     "Include CCCoreLib support"            OFF)
 option(WITH_OPEN3D        "Include Open3D support"               OFF)
 option(WITH_LOAM          "Include LOAM support"                 OFF)
 option(WITH_FLOAM         "Include FLOAM support"                OFF)
+option(WITH_LIOSAM        "Include LIO-SAM support"              OFF)
 option(WITH_FLYCAPTURE2   "Include FlyCapture2/Triclops support" ON)
 option(WITH_ZED           "Include ZED sdk support"              ON)
 option(WITH_ZEDOC         "Include ZED Open Capture support"     ON)
 option(WITH_REALSENSE     "Include RealSense support"            ON)
 option(WITH_REALSENSE_SLAM "Include RealSenseSlam support"       ON)
-option(WITH_REALSENSE2    "Include RealSense support"            ON)
+option(WITH_REALSENSE2    "Include RealSense2 support"           ON)
 option(WITH_MYNTEYE       "Include mynteye-s support"            ON)
 option(WITH_DEPTHAI       "Include depthai-core support"         OFF)
 option(WITH_XVSDK         "Include XVisio SDK support"           OFF)
+option(WITH_ORBBEC_SDK    "Include Orbbec SDK v2 support"        OFF)
 option(WITH_OCTOMAP       "Include OctoMap support"              ON)
 option(WITH_GRIDMAP       "Include GridMap support"              OFF)
 option(WITH_CPUTSDF       "Include CPUTSDF support"              OFF)
@@ -218,12 +222,15 @@ option(WITH_DVO           "Include DVO support"                  OFF)
 option(WITH_ORB_SLAM      "Include ORB_SLAM2 or ORB_SLAM3  support" OFF)
 option(WITH_OKVIS         "Include OKVIS support"                OFF)
 option(WITH_MSCKF_VIO     "Include MSCKF_VIO support"            OFF)
-option(WITH_VINS          "Include VINS-Fusion support"          OFF)
+option(WITH_VINS_FUSION   "Include VINS-Fusion support"          OFF)
 option(WITH_OPENVINS      "Include OpenVINS support"             OFF)
+option(WITH_CUVSLAM       "Include cuVSLAM support"              OFF)
 option(WITH_MADGWICK      "Include Madgwick IMU filtering support" ON)
 option(WITH_FASTCV        "Include FastCV support"               ON)
 option(WITH_OPENMP        "Include OpenMP support"               ON)
 option(WITH_OPENGV        "Include OpenGV support"               ON)
+option(BUILD_OPENGV       "Build OpenGV internally instead of using the system one" OFF)
+option(WITH_APRILTAG      "Include AprilTag support"             OFF)
 IF(MOBILE_BUILD)
 option(PCL_OMP            "With PCL OMP implementations"         OFF)
 ELSE()
@@ -396,7 +403,7 @@ IF(NOT VTK_FOUND)
 ENDIF(NOT VTK_FOUND)
 
 IF(WITH_TORCH)
-    FIND_PACKAGE(Torch QUIET)
+    FIND_PACKAGE(Torch)
     IF(TORCH_FOUND)
         MESSAGE(STATUS "Found Torch: ${TORCH_INCLUDE_DIRS}")
     ENDIF(TORCH_FOUND)
@@ -418,14 +425,14 @@ IF(WITH_PDAL)
 ENDIF(WITH_PDAL)
 
 IF(WITH_LIBLAS)
-    FIND_PACKAGE(libLAS QUIET)
+    FIND_PACKAGE(libLAS)
     IF(libLAS_FOUND)
        MESSAGE(STATUS "Found libLAS ${libLAS_VERSION}: ${libLAS_INCLUDE_DIRS}")
     ENDIF(libLAS_FOUND)
 ENDIF(WITH_LIBLAS)
 
 IF(WITH_CUDASIFT)
-    FIND_PACKAGE(CudaSift 3 QUIET)
+    FIND_PACKAGE(CudaSift 3)
     IF(CudaSift_FOUND)
        MESSAGE(STATUS "Found CudaSift")
     ENDIF(CudaSift_FOUND)
@@ -496,35 +503,34 @@ ENDIF(WITH_DC1394)
 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 
+        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
             PATHS ${G2O_INCLUDES}
             NO_DEFAULT_PATH)
-         FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
-         STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
-         IF(${matchres} EQUAL -1)
+        FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
+        STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
+        IF(${matchres} EQUAL -1)
             MESSAGE(STATUS "Old g2o factory version detected without shared ptr (factory file: ${G2O_FACTORY_FILE}).")
             SET(G2O_CPP11 2)
-         ELSE()
+        ELSE()
             MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
             SET(G2O_CPP11 1)
-         ENDIF()
+        ENDIF()
+        FIND_FILE(G2O_SBA_UTILS_FILE g2o/types/sba/sba_utils.h
+            PATHS ${G2O_INCLUDES}
+            NO_DEFAULT_PATH)
+        IF(G2O_SBA_UTILS_FILE)
+            SET(G2O_WITH_SBA_UTILS 1)
+        ELSE()
+            SET(G2O_WITH_SBA_UTILS 0)
+        ENDIF()
     ELSE()
         FIND_PACKAGE(G2O QUIET)
         IF(G2O_FOUND)
             MESSAGE(STATUS "Found g2o: ${G2O_INCLUDE_DIRS}")
-            FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h 
-               PATHS ${G2O_INCLUDES}
-               NO_DEFAULT_PATH)
-            FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
-            STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
-            IF(NOT ${matchres} EQUAL -1)
-               MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
-               SET(G2O_CPP11 1)
-            ENDIF()
         ENDIF(G2O_FOUND)
     ENDIF()
 ENDIF(WITH_G2O)
@@ -532,6 +538,16 @@ ENDIF(WITH_G2O)
 IF(WITH_GTSAM)
     # Force config mode to ignore PCL's findGTSAM.cmake file
     FIND_PACKAGE(GTSAM CONFIG QUIET)
+    IF(GTSAM_FOUND)
+      # For issue https://github.com/introlab/rtabmap/pull/1626
+      FIND_FILE(GTSAM_NOISE_MODEL_FACTOR_N_FILE gtsam/nonlinear/NoiseModelFactorN.h
+         PATHS ${GTSAM_INCLUDE_DIR}
+         NO_DEFAULT_PATH)
+      IF(GTSAM_NOISE_MODEL_FACTOR_N_FILE)
+         MESSAGE(STATUS "GTSAM with NoiseModelFactorN.h")
+         ADD_DEFINITIONS("-DGTSAM_WITH_NOISE_MODEL_FACTOR_N")
+      ENDIF(GTSAM_NOISE_MODEL_FACTOR_N_FILE)
+    ENDIF(GTSAM_FOUND)
 ENDIF(WITH_GTSAM)
 
 IF(WITH_MRPT)
@@ -550,7 +566,7 @@ IF(WITH_FLYCAPTURE2)
 ENDIF(WITH_FLYCAPTURE2)
 
 IF(WITH_CVSBA)
-    FIND_PACKAGE(cvsba QUIET)
+    FIND_PACKAGE(cvsba)
     IF(cvsba_FOUND)
        MESSAGE(STATUS "Found cvsba: ${cvsba_INCLUDE_DIRS}")
     ENDIF(cvsba_FOUND)
@@ -576,10 +592,14 @@ IF(WITH_POINTMATCHER)
 ENDIF(WITH_POINTMATCHER)
 
 IF(libpointmatcher_FOUND OR GTSAM_FOUND)
-    find_package(Boost COMPONENTS thread filesystem system program_options date_time REQUIRED)
-    IF(Boost_MINOR_VERSION GREATER 47)
+    find_package(Boost COMPONENTS thread filesystem program_options date_time REQUIRED)
+    IF(Boost_MINOR_VERSION GREATER 80)
+        find_package(Boost COMPONENTS thread filesystem program_options date_time chrono timer serialization REQUIRED)
+    ELSEIF(Boost_MINOR_VERSION GREATER 47)
         find_package(Boost COMPONENTS thread filesystem system program_options date_time chrono timer serialization REQUIRED)
-    ENDIF(Boost_MINOR_VERSION GREATER 47)
+    ELSE()
+        find_package(Boost COMPONENTS thread filesystem system program_options date_time REQUIRED)
+    ENDIF()
     IF(WIN32)
         MESSAGE(STATUS "Boost_LIBRARY_DIRS=${Boost_LIBRARY_DIRS}")
         link_directories(${Boost_LIBRARY_DIRS})
@@ -587,7 +607,7 @@ IF(libpointmatcher_FOUND OR GTSAM_FOUND)
 ENDIF(libpointmatcher_FOUND OR GTSAM_FOUND)
 
 IF(WITH_CCCORELIB)
-    find_package(CCCoreLib QUIET)
+    find_package(CCCoreLib)
     IF(CCCoreLib_FOUND)
        MESSAGE(STATUS "Found CCCoreLib: ${CCCoreLib_INCLUDE_DIRS}")
     ENDIF(CCCoreLib_FOUND)
@@ -599,7 +619,7 @@ IF(WITH_OPEN3D)
     ELSE()
        # Build Open3D like this to avoid linker errors in rtabmap:
        # cmake -DBUILD_SHARED_LIBS=ON -DGLIBCXX_USE_CXX11_ABI=ON -DCMAKE_BUILD_TYPE=Release ..
-       find_package(Open3D QUIET)
+       find_package(Open3D)
        IF(Open3D_FOUND)
           MESSAGE(STATUS "Found Open3D: ${Open3DINCLUDE_DIRS}")
        ENDIF(Open3D_FOUND)
@@ -607,19 +627,25 @@ IF(WITH_OPEN3D)
 ENDIF(WITH_OPEN3D)
 
 IF(WITH_LOAM)
-    find_package(loam_velodyne QUIET)
+    find_package(loam_velodyne)
     IF(loam_velodyne_FOUND)
        MESSAGE(STATUS "Found loam_velodyne: ${loam_velodyne_INCLUDE_DIRS}")
     ENDIF(loam_velodyne_FOUND)
 ENDIF(WITH_LOAM)
 
 IF(WITH_FLOAM)
-    find_package(floam QUIET)
+    find_package(floam)
     IF(floam_FOUND)
        MESSAGE(STATUS "Found floam: ${floam_INCLUDE_DIRS}")
-       FIND_PACKAGE(Ceres QUIET REQUIRED)
+       FIND_PACKAGE(Ceres REQUIRED)
     ENDIF(floam_FOUND)
 ENDIF(WITH_FLOAM)
+IF(WITH_LIOSAM)
+    find_package(lio_sam QUIET)
+    IF(lio_sam_FOUND)
+       MESSAGE(STATUS "Found lio_sam: ${lio_sam_INCLUDE_DIRS}")
+    ENDIF(lio_sam_FOUND)
+ENDIF(WITH_LIOSAM)
 
 SET(ZED_FOUND FALSE)
 IF(WITH_ZED)
@@ -632,7 +658,8 @@ IF(WITH_ZED)
        IF(CUDA_FOUND)
         MESSAGE(STATUS "Found CUDA: ${CUDA_INCLUDE_DIRS}")
        ELSE()
-        MESSAGE(FATAL_ERROR "CUDA is required to build with Zed sdk! Set -DWITH_ZED=OFF if you don't have CUDA.")
+        MESSAGE(WARNING "CUDA is required to build with Zed sdk! Set -DWITH_ZED=OFF if you don't have CUDA.")
+		SET(ZED_FOUND FALSE)
        ENDIF()
     ENDIF(ZED_FOUND)
 ENDIF(WITH_ZED)
@@ -684,19 +711,26 @@ IF(WITH_MYNTEYE)
 ENDIF(WITH_MYNTEYE)
 
 IF(WITH_DEPTHAI)
-    FIND_PACKAGE(depthai 2.24 QUIET)
+    FIND_PACKAGE(depthai 2.24)
     IF(depthai_FOUND)
        MESSAGE(STATUS "Found depthai-core (targets)")
     ENDIF(depthai_FOUND)
 ENDIF(WITH_DEPTHAI)
 
 IF(WITH_XVSDK)
-    FIND_PACKAGE(xvsdk QUIET)
+    FIND_PACKAGE(xvsdk)
     IF(xvsdk_FOUND)
        MESSAGE(STATUS "Found xvsdk (targets)")
     ENDIF(xvsdk_FOUND)
 ENDIF(WITH_XVSDK)
 
+IF(WITH_ORBBEC_SDK)
+    FIND_PACKAGE(OrbbecSDK 2)
+    IF(OrbbecSDK_FOUND)
+       MESSAGE(STATUS "Found OrbbecSDK v2 (targets)")
+    ENDIF(OrbbecSDK_FOUND)
+ENDIF(WITH_ORBBEC_SDK)
+
 IF(WITH_OCTOMAP)
     FIND_PACKAGE(octomap QUIET)
     IF(octomap_FOUND)
@@ -708,35 +742,35 @@ IF(WITH_OCTOMAP)
 ENDIF(WITH_OCTOMAP)
 
 IF(WITH_GRIDMAP)
-    FIND_PACKAGE(grid_map_core QUIET)
+    FIND_PACKAGE(grid_map_core)
     IF(grid_map_core_FOUND)
        MESSAGE(STATUS "Found grid_map_core ${grid_map_core_VERSION}: ${grid_map_core_INCLUDE_DIRS}")
     ENDIF(grid_map_core_FOUND)
 ENDIF(WITH_GRIDMAP)
 
 IF(WITH_CPUTSDF)
-    FIND_PACKAGE(CPUTSDF QUIET)
+    FIND_PACKAGE(CPUTSDF)
     IF(CPUTSDF_FOUND)
        MESSAGE(STATUS "Found CPUTSDF: ${CPUTSDF_INCLUDE_DIRS}")
     ENDIF(CPUTSDF_FOUND)
 ENDIF(WITH_CPUTSDF)
 
 IF(WITH_OPENCHISEL)
-    find_package(open_chisel QUIET)
+    find_package(open_chisel)
     if(open_chisel_FOUND)
         MESSAGE(STATUS "Found open_chisel: ${open_chisel_INCLUDE_DIRS}")
     endif(open_chisel_FOUND)
 ENDIF(WITH_OPENCHISEL)
 
 IF(WITH_ALICE_VISION)
-    find_package(AliceVision CONFIG QUIET)
+    find_package(AliceVision CONFIG)
     IF(AliceVision_FOUND)
         IF(${AliceVision_VERSION} VERSION_LESS_EQUAL "2.2")
            find_package(Boost COMPONENTS log log_setup container REQUIRED)
         ENDIF(${AliceVision_VERSION} VERSION_LESS_EQUAL "2.2")
         SET(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH};/usr/local/lib/cmake/modules")
-        find_package(Geogram REQUIRED QUIET)
-        find_package(assimp QUIET)
+        find_package(Geogram REQUIRED)
+        find_package(assimp)
         add_definitions("-DRTABMAP_ALICE_VISION_MAJOR=${AliceVision_VERSION_MAJOR}")
         add_definitions("-DRTABMAP_ALICE_VISION_MINOR=${AliceVision_VERSION_MINOR}")
         add_definitions("-DRTABMAP_ALICE_VISION_PATCH=${AliceVision_VERSION_PATCH}")
@@ -744,34 +778,32 @@ IF(WITH_ALICE_VISION)
 ENDIF(WITH_ALICE_VISION)
 
 IF(WITH_FOVIS)
-    FIND_PACKAGE(libfovis QUIET)
+    FIND_PACKAGE(libfovis)
     IF(libfovis_FOUND)
        MESSAGE(STATUS "Found libfovis: ${libfovis_INCLUDE_DIRS}")
     ENDIF(libfovis_FOUND)
 ENDIF(WITH_FOVIS)
 
 IF(WITH_VISO2)
-    FIND_PACKAGE(libviso2 QUIET)
+    FIND_PACKAGE(libviso2)
     IF(libviso2_FOUND)
        MESSAGE(STATUS "Found libviso2: ${libviso2_INCLUDE_DIRS}")
     ENDIF(libviso2_FOUND)
 ENDIF(WITH_VISO2)
 
 IF(WITH_DVO)
-    FIND_PACKAGE(dvo_core QUIET)
+    FIND_PACKAGE(dvo_core)
     IF(dvo_core_FOUND)
        MESSAGE(STATUS "Found dvo_core: ${dvo_core_INCLUDE_DIRS}")
     ENDIF(dvo_core_FOUND)
 ENDIF(WITH_DVO)
 
 IF(WITH_OKVIS)
-    FIND_PACKAGE(okvis 1.1 QUIET)
+    FIND_PACKAGE(okvis 1.1)
     IF(okvis_FOUND)
        MESSAGE(STATUS "Found okvis: ${OKVIS_INCLUDE_DIRS}")
        find_package(brisk 2 REQUIRED)
        MESSAGE(STATUS "Found brisk: ${BRISK_INCLUDE_DIRS}")
-       find_package(opengv REQUIRED)
-       MESSAGE(STATUS "Found opengv: ${OPENGV_INCLUDE_DIRS}")
        find_package(Ceres 1.9.0 REQUIRED EXACT) # OKVIS requires this specific version
        MESSAGE(STATUS "Found ceres ${Ceres_VERSION}: ${CERES_INCLUDE_DIRS}")
     ENDIF(okvis_FOUND)
@@ -780,7 +812,7 @@ ENDIF(WITH_OKVIS)
 # If built with okvis, we found already ceres above
 IF(WITH_CERES)
   IF(NOT okvis_FOUND AND NOT floam_FOUND)
-    FIND_PACKAGE(Ceres QUIET)
+    FIND_PACKAGE(Ceres)
     MESSAGE(STATUS "Found ceres ${Ceres_VERSION}: ${CERES_INCLUDE_DIRS}")
   ENDIF(NOT okvis_FOUND AND NOT floam_FOUND)
 ELSEIF(Ceres_FOUND)
@@ -788,39 +820,29 @@ ELSEIF(Ceres_FOUND)
 ENDIF()
 
 IF(WITH_MSCKF_VIO)
-    FIND_PACKAGE(msckf_vio QUIET)
+    FIND_PACKAGE(msckf_vio)
     IF(msckf_vio_FOUND)
        MESSAGE(STATUS "Found msckf_vio: ${msckf_vio_INCLUDE_DIRS}")
     ENDIF(msckf_vio_FOUND)
 ENDIF(WITH_MSCKF_VIO)
 
-IF(WITH_VINS)
-    FIND_PACKAGE(vins QUIET)
+IF(WITH_VINS AND NOT WITH_VINS_FUSION)
+message(DEPRECATION "The option WITH_VINS is deprecated and will be removed in a future version. Please use WITH_VINS_FUSION instead.")
+set(WITH_VINS_FUSION ON)
+ENDIF(WITH_VINS AND NOT WITH_VINS_FUSION)
+
+IF(WITH_VINS_FUSION)
+    FIND_PACKAGE(vins)
     IF(vins_FOUND)
-       MESSAGE(STATUS "Found vins: ${vins_INCLUDE_DIRS}")
+       MESSAGE(STATUS "Found vins-fusion: ${vins_INCLUDE_DIRS}")
        IF(okvis_FOUND)
-           MESSAGE(WARNING "VINS and OKVIS will be both linked to project, make sure VINS has been built with against same Ceres version than OKVIS to avoid some crashes.")
+           MESSAGE(WARNING "VINS-Fusion and OKVIS will be both linked to project, make sure VINS-Fusion has been built with against same Ceres version than OKVIS to avoid some crashes.")
        ENDIF(okvis_FOUND)
     ENDIF(vins_FOUND)
-ENDIF(WITH_VINS)
+ENDIF(WITH_VINS_FUSION)
 
 IF(WITH_OPENVINS)
-    FIND_PACKAGE(ov_msckf QUIET)
-    # On ROS2, the indirect includes and libraries
-    # are not forwarded by ov_msckf target, append them manually
-    FIND_PACKAGE(ov_core QUIET)
-    FIND_PACKAGE(ov_init QUIET)
-    IF(ov_msckf_FOUND AND ov_core_FOUND AND ov_init_FOUND)
-      SET(ov_msckf_INCLUDE_DIRS
-         ${ov_msckf_INCLUDE_DIRS}
-         ${ov_core_INCLUDE_DIRS}
-         ${ov_init_INCLUDE_DIRS})
-      SET(ov_msckf_LIBRARIES
-         ${ov_msckf_LIBRARIES}
-         ${ov_core_LIBRARIES}
-         ${ov_init_LIBRARIES})
-      MESSAGE(STATUS "Found OpenVINS: ${ov_msckf_INCLUDE_DIRS}")
-    ENDIF()
+   FIND_PACKAGE(OpenVINS)
 ENDIF(WITH_OPENVINS)
 
 IF(WITH_FASTCV)
@@ -830,27 +852,97 @@ IF(WITH_FASTCV)
     ENDIF(FastCV_FOUND)
 ENDIF(WITH_FASTCV)
 
-IF(WITH_OPENGV)
-    FIND_PACKAGE(opengv QUIET)
-    IF(opengv_FOUND)
-       MESSAGE(STATUS "Found OpenGV: ${opengv_INCLUDE_DIRS}")
-    ENDIF(opengv_FOUND)
-ENDIF(WITH_OPENGV)
+IF(WITH_APRILTAG)
+    FIND_PACKAGE(apriltag QUIET)
+    IF(apriltag_FOUND)
+      get_target_property(APRILTAG_LOCATION apriltag::apriltag LOCATION)
+      get_target_property(APRILTAG_INCLUDES apriltag::apriltag INTERFACE_INCLUDE_DIRECTORIES)
+      FIND_FILE(apriltag_aruco_4x4_50_header NAMES tagAruco4x4_50.h PATH_SUFFIXES aruco PATHS ${APRILTAG_INCLUDES} NO_DEFAULT_PATH)
+      SET(WITH_APRILTAG_ARUCO NO)
+      IF(apriltag_aruco_4x4_50_header)
+         SET(WITH_APRILTAG_ARUCO YES)
+      ENDIF()
+      MESSAGE(STATUS "Found apriltag (with aruco=${WITH_APRILTAG_ARUCO}): ${APRILTAG_LOCATION} ${APRILTAG_INCLUDES}")
+    ENDIF(apriltag_FOUND)
+ENDIF(WITH_APRILTAG)
+
+IF(WITH_OPENGV OR okvis_FOUND)
+   if(NOT BUILD_OPENGV)
+      FIND_PACKAGE(opengv QUIET)
+   endif()
+
+   if(opengv_FOUND)
+      MESSAGE(STATUS "Found system-installed OpenGV: ${opengv_INCLUDE_DIRS}")
+   elseif(BUILD_OPENGV)
+      SET(PCL_USING_MARCHNATIVE OFF)
+      if(PCL_COMPILE_OPTIONS)
+         if("${PCL_COMPILE_OPTIONS}" MATCHES "-march=native")
+            set(PCL_USING_MARCHNATIVE ON)
+         endif()
+      elseif("${PCL_DEFINITIONS}" MATCHES "-march=native")
+         set(PCL_USING_MARCHNATIVE ON)
+      endif()
+      SET(MSG_EXTRA "without -march-native (not used by PCL)")
+      if(PCL_USING_MARCHNATIVE)
+         set(MSG_EXTRA "with -march-native (used by PCL)")
+      endif()
+   
+      message(STATUS "Download/Build OpenGV internally (BUILD_OPENGV=ON) ${MSG_EXTRA}.")     
+      function(add_submodule_opengv)
+         FetchContent_Declare(
+            opengv
+            GIT_REPOSITORY https://github.com/laurentkneip/opengv.git
+            GIT_TAG        91f4b19c73450833a40e463ad3648aae80b3a7f3
+            PATCH_COMMAND ${CMAKE_COMMAND} 
+                  -DPATCH_FILE=${CMAKE_CURRENT_LIST_DIR}/patches/opengv_91f4b19c.patch
+                  -P ${CMAKE_CURRENT_LIST_DIR}/patches/apply_patch.cmake
+         )
+         set(BUILD_SHARED_LIBS OFF)
+         set(BUILD_TESTS OFF)
+         set(CMAKE_BUILD_TYPE Release)
+         set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
+         # OpenGV's CMakeLists.txt declares cmake_minimum_required(VERSION 2.x),
+         # which CMake >= 4.0 (e.g. recent Ubuntu) rejects. Allow it to configure.
+         set(CMAKE_POLICY_VERSION_MINIMUM 3.5)
+         # Eigen should have been already added by PCL, just populate the compatible variables
+         IF(EIGEN_INCLUDE_DIRS)
+            set(EIGEN_INCLUDE_DIRS "${EIGEN_INCLUDE_DIRS}" CACHE PATH "Eigen include dirs" FORCE)
+            set(EIGEN_INCLUDE_DIR "${EIGEN_INCLUDE_DIRS}" CACHE PATH "Eigen include dir" FORCE)
+         ELSEIF(Eigen3_INCLUDE_DIRS)
+            set(EIGEN_INCLUDE_DIRS "${Eigen3_INCLUDE_DIRS}" CACHE PATH "Eigen include dirs" FORCE)
+            set(EIGEN_INCLUDE_DIR "${Eigen3_INCLUDE_DIRS}" CACHE PATH "Eigen include dir" FORCE)
+         ENDIF()
+         set(BUILD_WITH_MARCHNATIVE ${PCL_USING_MARCHNATIVE})
+         FetchContent_MakeAvailable(opengv)
+      endfunction()
+
+      add_submodule_opengv()
+      set(opengv_FOUND TRUE)
+      set(opengv_VERSION "internal")
+   endif()
+ENDIF()
 
 IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
-    FIND_PACKAGE(ORB_SLAM QUIET)
+    FIND_PACKAGE(ORB_SLAM)
     IF(ORB_SLAM_FOUND)
        MESSAGE(STATUS "Found ORB_SLAM${ORB_SLAM_VERSION}: ${ORB_SLAM_INCLUDE_DIRS}")
     ENDIF(ORB_SLAM_FOUND)
 ENDIF(WITH_ORB_SLAM AND NOT G2O_FOUND)
 
+IF(WITH_CUVSLAM)
+    FIND_PACKAGE(CuVSLAM 14.0.0)
+    IF(CUVSLAM_FOUND)
+        MESSAGE(STATUS "Found cuVSLAM: ${CUVSLAM_INCLUDE_DIRS}")
+    ENDIF()
+ENDIF(WITH_CUVSLAM)
+
 SET(DISABLE_NEW_DTAGS_FLAG "--disable-new-dtags")
 IF(NOT (APPLE OR WIN32) AND BUILD_WITH_RPATH_NOT_RUNPATH)
     ADD_LINK_OPTIONS(LINKER:${DISABLE_NEW_DTAGS_FLAG})
 ENDIF()
 
 IF(NOT MSVC)
-    IF(Qt6_FOUND OR (G2O_FOUND AND G2O_CPP11 EQUAL 1) OR TORCH_FOUND OR MRPT_FOUND)
+    IF(Qt6_FOUND OR (G2O_FOUND AND G2O_CPP11 EQUAL 1) OR (GTSAM_FOUND AND GTSAM_VERSION VERSION_GREATER_EQUAL "4.3.0") OR TORCH_FOUND OR MRPT_FOUND)
       # Qt6 requires c++17
       include(CheckCXXCompilerFlag)
       CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
@@ -938,10 +1030,14 @@ ENDIF()
 IF(NOT G2O_FOUND)
    SET(G2O "//")
    SET(G2O_CPP_CONF "//")
+   SET(G2O_WITH_SBA_UTILS "//")
 ELSE()
    IF(NOT G2O_CPP11)
      SET(G2O_CPP_CONF "//")
    ENDIF(NOT G2O_CPP11)
+   IF(NOT G2O_WITH_SBA_UTILS)
+     SET(G2O_WITH_SBA_UTILS_CONF "//")
+   ENDIF(NOT G2O_WITH_SBA_UTILS)
 ENDIF()
 IF(NOT GTSAM_FOUND)
    SET(GTSAM "//")
@@ -973,6 +1069,12 @@ ENDIF(NOT Open3D_FOUND)
 IF(NOT FastCV_FOUND)
    SET(FASTCV "//")
 ENDIF(NOT FastCV_FOUND)
+IF(NOT apriltag_FOUND)
+   SET(APRILTAG "//")
+   SET(APRILTAG_ARUCO "//")
+ELSEIF(NOT WITH_APRILTAG_ARUCO)
+   SET(APRILTAG_ARUCO "//")
+ENDIF()
 IF(NOT opengv_FOUND OR NOT WITH_OPENGV)
    SET(OPENGV "//")
 ENDIF(NOT opengv_FOUND OR NOT WITH_OPENGV)
@@ -991,6 +1093,9 @@ ENDIF(NOT loam_velodyne_FOUND)
 IF(NOT floam_FOUND)
    SET(FLOAM "//")
 ENDIF(NOT floam_FOUND)
+IF(NOT lio_sam_FOUND)
+   SET(LIOSAM "//")
+ENDIF(NOT lio_sam_FOUND)
 IF(NOT Freenect_FOUND)
    SET(FREENECT "//")
 ENDIF()
@@ -1067,6 +1172,9 @@ IF(NOT xvsdk_FOUND)
 ELSE()
    SET(CONF_WITH_XVSDK 1)
 ENDIF()
+IF(NOT OrbbecSDK_FOUND)
+   SET(ORBBEC_SDK "//")
+ENDIF(NOT OrbbecSDK_FOUND)
 IF(NOT octomap_FOUND)
    SET(OCTOMAP "//")
    SET(CONF_WITH_OCTOMAP 0)
@@ -1101,11 +1209,14 @@ IF(NOT msckf_vio_FOUND)
    SET(MSCKF_VIO "//")
 ENDIF()
 IF(NOT vins_FOUND)
-   SET(VINS "//")
+   SET(VINSFUSION "//")
 ENDIF()
-IF(NOT ov_msckf_FOUND)
+IF(NOT OpenVINS_FOUND)
    SET(OPENVINS "//")
 ENDIF()
+IF(NOT CUVSLAM_FOUND)
+   SET(CUVSLAM "//")
+ENDIF()
 IF(NOT ORB_SLAM_FOUND)
    SET(ORB_SLAM "//")
 ENDIF()
@@ -1249,7 +1360,17 @@ install(FILES package.xml DESTINATION "${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_PR
 #######################
 IF(BUILD_AS_BUNDLE)
   SET(CMAKE_INSTALL_SYSTEM_RUNTIME_COMPONENT runtime)
+  IF(WIN32)
+    set(CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP TRUE)
+	set(CPACK_NSIS_EXTRA_INSTALL_COMMANDS "
+      ExecWait '\\\"$INSTDIR\\\\vc_redist.x64.exe\\\" /quiet /norestart'
+    ")
+  ENDIF()
   INCLUDE(InstallRequiredSystemLibraries)
+  set(CPACK_NSIS_COMPONENT_INSTALL OFF)
+  set(CPACK_ARCHIVE_COMPONENT_INSTALL ON)
+  set(CPACK_COMPONENTS_GROUPING ALL_COMPONENTS_IN_ONE)
+  set(CPACK_COMPONENTS_ALL runtime)
 ENDIF(BUILD_AS_BUNDLE)
 
 SET(CPACK_PACKAGE_NAME "${PROJECT_NAME}")
@@ -1363,28 +1484,33 @@ ENDIF(PCL_COMPILE_OPTIONS)
 MESSAGE(STATUS "")
 MESSAGE(STATUS "Optional dependencies ('*' affects some default parameters) :")
 IF(OpenCV_FOUND)
+  IF(OPENCV_ARUCO_FOUND)
+    set(ARUCO_STR "YES")
+  ELSE()
+    set(ARUCO_STR "NO")
+  ENDIF()
   IF(OpenCV_VERSION_MAJOR EQUAL 2)
     IF(OPENCV_NONFREE_FOUND)
-      MESSAGE(STATUS " *With OpenCV 2 nonfree module (SIFT/SURF) = YES (License: Non commercial)")
+      MESSAGE(STATUS " *With OpenCV 2 nonfree module (SIFT/SURF) = YES, aruco = ${ARUCO_STR} (License: Non commercial)")
     ELSE()
-      MESSAGE(STATUS " *With OpenCV 2 nonfree module (SIFT/SURF) = NO (not found, License: BSD)")
+      MESSAGE(STATUS " *With OpenCV 2 nonfree module (SIFT/SURF) = NO, aruco = ${ARUCO_STR} (not found, License: BSD)")
     ENDIF()
   ELSE()
     IF(OPENCV_XFEATURES2D_FOUND)
       IF(NONFREE STREQUAL "//")
         IF((OpenCV_VERSION_MAJOR LESS 4) OR ((OpenCV_VERSION_MAJOR EQUAL 4) AND (OpenCV_VERSION_MINOR LESS 5)))
-          MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = NO (License: BSD)")
+          MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = NO, aruco = ${ARUCO_STR} (License: BSD)")
         ELSE()
-          MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = NO (License: Apache 2)")
+          MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = NO, aruco = ${ARUCO_STR} (License: Apache 2)")
         ENDIF()
       ELSE()
-        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = YES (License: Non commercial)")
+        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = YES, aruco = ${ARUCO_STR} (License: Non commercial)")
       ENDIF()
     ELSE()
       IF((OpenCV_VERSION_MAJOR LESS 4) OR ((OpenCV_VERSION_MAJOR EQUAL 4) AND (OpenCV_VERSION_MINOR LESS 5)))
-        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = NO, nonfree = NO (License: BSD)")
+        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = NO, nonfree = NO, aruco = ${ARUCO_STR} (License: BSD)")
       ELSE()
-        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = NO, nonfree = NO (License: Apache 2)")
+        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = NO, nonfree = NO, aruco = ${ARUCO_STR} (License: Apache 2)")
       ENDIF()
     ENDIF()
   ENDIF()
@@ -1419,15 +1545,26 @@ MESSAGE(STATUS "  With ORB OcTree           = NO (WITH_ORB_OCTREE=OFF)")
 ENDIF()
 
 IF(TORCH_FOUND)
-MESSAGE(STATUS "  With SuperPoint          = YES (License: GPLv3) libtorch=${Torch_VERSION}")
+MESSAGE(STATUS "  With SuperPoint           = YES (License: GPLv3) libtorch=${Torch_VERSION}")
 ELSEIF(NOT WITH_TORCH)
-MESSAGE(STATUS "  With SuperPoint          = NO (WITH_TORCH=OFF)")
+MESSAGE(STATUS "  With SuperPoint           = NO (WITH_TORCH=OFF)")
 ELSE()
-MESSAGE(STATUS "  With SuperPoint          = NO (libtorch not found)")
+MESSAGE(STATUS "  With SuperPoint           = NO (libtorch not found)")
 ENDIF()
 
+IF(TORCH_FOUND AND WITH_PYTHON AND Python3_FOUND)
+MESSAGE(STATUS "  With Superpoint Rpautrat  = YES (Liscense: MIT) libtorch=${Torch_VERSION}")
+ELSEIF(NOT WITH_TORCH)
+MESSAGE(STATUS "  With Superpoint Rpautrat  = NO (WITH_TORCH=OFF)")
+ELSEIF(NOT WITH_PYTHON)
+MESSAGE(STATUS "  With Superpoint Rpautrat  = NO (WITH_PYTHON=OFF)")
+ELSE()
+MESSAGE(STATUS "  Wtih Superpoint Rpautrat  = NO (libtorch and/or python3 not found)")
+ENDIF()
+
+
 IF(WITH_PYTHON AND Python3_FOUND)
-MESSAGE(STATUS "  With Python${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}            = YES (License: PSF)")
+MESSAGE(STATUS "  With Python${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}           = YES (License: PSF)")
 ELSEIF(NOT WITH_PYTHON)
 MESSAGE(STATUS "  With Python3              = NO (WITH_PYTHON=OFF)")
 ELSE()
@@ -1448,6 +1585,14 @@ ELSE()
 MESSAGE(STATUS "  With FastCV               = NO (FastCV not found)")
 ENDIF()
 
+IF(apriltag_FOUND)
+MESSAGE(STATUS "  With AprilTag ${apriltag_VERSION}       = YES (aruco=${WITH_APRILTAG_ARUCO}) (License: BSD 2-Clause License)")
+ELSEIF(NOT WITH_APRILTAG)
+MESSAGE(STATUS "  With AprilTag             = NO (WITH_APRILTAG=OFF)")
+ELSE()
+MESSAGE(STATUS "  With AprilTag             = NO (apriltag not found)")
+ENDIF()
+
 IF(PDAL_FOUND)
 MESSAGE(STATUS "  With PDAL ${PDAL_VERSION}           = YES (License: BSD)")
 ELSEIF(NOT WITH_PDAL)
@@ -1557,7 +1702,11 @@ MESSAGE(STATUS "  With Open3D               = NO (Open3D not found)")
 ENDIF()
 
 IF(opengv_FOUND AND WITH_OPENGV)
+IF(opengv_VERSION STREQUAL "internal")
+MESSAGE(STATUS "  With OpenGV (internal)    = YES (License: BSD)")
+ELSE()
 MESSAGE(STATUS "  With OpenGV ${opengv_VERSION}           = YES (License: BSD)")
+ENDIF()
 ELSEIF(NOT WITH_OPENGV)
 MESSAGE(STATUS "  With OpenGV               = NO (WITH_OPENGV=OFF)")
 ELSE()
@@ -1576,7 +1725,7 @@ ENDIF()
 
 IF(grid_map_core_FOUND)
 MESSAGE(STATUS "  With GridMap ${grid_map_core_VERSION}        = YES (License: BSD)")
-ELSEIF(NOT WITH_OCTOMAP)
+ELSEIF(NOT WITH_GRIDMAP)
 MESSAGE(STATUS "  With GridMap              = NO (WITH_GRIDMAP=OFF)")
 ELSE()
 MESSAGE(STATUS "  With GridMap              = NO (grid_map_core not found)")
@@ -1672,7 +1821,7 @@ ELSE()
 MESSAGE(STATUS "  With FlyCapture2/Triclops = NO (Point Grey SDK not found)")
 ENDIF()
 
-IF(ZED_FOUND AND CUDA_FOUND)
+IF(ZED_FOUND)
 MESSAGE(STATUS "  With ZED                  = YES")
 ELSEIF(NOT WITH_ZED)
 MESSAGE(STATUS "  With ZED                  = NO (WITH_ZED=OFF)")
@@ -1739,6 +1888,14 @@ ELSE()
 MESSAGE(STATUS "  With XVisio SDK           = NO (xvsdk not found)")
 ENDIF()
 
+IF(OrbbecSDK_FOUND)
+MESSAGE(STATUS "  With Orbbec SDK ${OrbbecSDK_VERSION}     = YES (License: MIT)")
+ELSEIF(NOT WITH_ORBBEC_SDK)
+MESSAGE(STATUS "  With Orbbec SDK           = NO (WITH_ORBBEC_SDK=OFF)")
+ELSE()
+MESSAGE(STATUS "  With Orbbec SDK           = NO (OrbbecSDK v2 not found)")
+ENDIF()
+
 MESSAGE(STATUS "")
 MESSAGE(STATUS " Odometry Approaches:")
 IF(loam_velodyne_FOUND)
@@ -1756,6 +1913,13 @@ MESSAGE(STATUS "  With floam                = NO (WITH_FLOAM=OFF)")
 ELSE()
 MESSAGE(STATUS "  With floam                = NO (floam not found)")
 ENDIF()
+IF(lio_sam_FOUND)
+MESSAGE(STATUS "  With lio_sam              = YES (License: BSD)")
+ELSEIF(NOT WITH_LIOSAM)
+MESSAGE(STATUS "  With lio_sam              = NO (WITH_LIOSAM=OFF)")
+ELSE()
+MESSAGE(STATUS "  With lio_sam              = NO (lio_sam not found)")
+ENDIF()
 
 IF(libfovis_FOUND)
 MESSAGE(STATUS "  With libfovis             = YES (License: GPLv2)")
@@ -1800,12 +1964,12 @@ ENDIF()
 IF(vins_FOUND)
 MESSAGE(STATUS "  With VINS-Fusion          = YES (License: GPLv3)")
 ELSEIF(NOT WITH_VINS)
-MESSAGE(STATUS "  With VINS-Fusion          = NO (WITH_VINS=OFF)")
+MESSAGE(STATUS "  With VINS-Fusion          = NO (WITH_VINS_FUSION=OFF)")
 ELSE()
 MESSAGE(STATUS "  With VINS-Fusion          = NO (VINS-Fusion not found)")
 ENDIF()
 
-IF(ov_msckf_FOUND)
+IF(OpenVINS_FOUND)
 MESSAGE(STATUS "  With OpenVINS             = YES (License: GPLv3)")
 ELSEIF(NOT WITH_OPENVINS)
 MESSAGE(STATUS "  With OpenVINS             = NO (WITH_OPENVINS=OFF)")
@@ -1823,6 +1987,14 @@ ELSE()
 MESSAGE(STATUS "  With ORB_SLAM             = NO (ORB_SLAM2 and ORB_SLAM3 not found, make sure environment variable ORB_SLAM_ROOT_DIR is set)")
 ENDIF()
 
+IF(CUVSLAM_FOUND)
+MESSAGE(STATUS "  With cuVSLAM              = YES (License: NVIDIA ISAAC ROS SOFTWARE LICENSE)")
+ELSEIF(NOT WITH_CUVSLAM)
+MESSAGE(STATUS "  With cuVSLAM              = NO (WITH_CUVSLAM=OFF)")
+ELSE()
+MESSAGE(STATUS "  With cuVSLAM              = NO (cuVSLAM not found, make sure cuVSLAM is installed)")
+ENDIF()
+
 MESSAGE(STATUS "Show all options with: cmake -LA | grep WITH_")
 MESSAGE(STATUS "--------------------------------------------")
 

README.md

@@ -7,7 +7,7 @@ rtabmap
 [![Downloads][downloads-image]][downloads]
 [![License][license-image]][license]
 
-[release-image]: https://img.shields.io/badge/release-0.21.4-green.svg?style=flat
+[release-image]: https://img.shields.io/badge/release-0.23.1-green.svg?style=flat
 [releases]: https://github.com/introlab/rtabmap/releases
 
 [downloads-image]: https://img.shields.io/github/downloads/introlab/rtabmap/total?label=downloads
@@ -35,13 +35,12 @@ This project is supported by [IntRoLab - Intelligent / Interactive / Integrated
   <table>
     <tbody>
         <tr>
-           <td>Linux</td>
-           <td><a href="https://github.com/introlab/rtabmap/actions/workflows/cmake.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/rtabmap/actions/workflows/docker.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/docker.yml/badge.svg" alt="Build Status"/>
-           </td>
-        </tr>
-        <tr>
-           <td>Windows</td>
-           <td><a href="https://ci.appveyor.com/project/matlabbe/rtabmap/branch/master"><img src="https://ci.appveyor.com/api/projects/status/hr73xspix9oqa26h/branch/master?svg=true" alt="Build Status"/>
+           <td>
+           <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-linux.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-linux.yml/badge.svg" alt="CMake Linux Build Status"/> <br> 
+           <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-windows.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-windows.yml/badge.svg" alt="CMake Windows Build Status"/> <br> 
+           <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-macos.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-macos.yml/badge.svg" alt="CMake MaCOS Build Status"/> <br> 
+           <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml/badge.svg" alt="CMake ROS Build Status"/> <br> 
+           <a href="https://github.com/introlab/rtabmap/actions/workflows/docker.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/docker.yml/badge.svg" alt="Docker Build Status"/>
            </td>
         </tr>
      </tbody>
@@ -59,7 +58,7 @@ This project is supported by [IntRoLab - Intelligent / Interactive / Integrated
             <td><a href="http://build.ros.org/job/Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary/"><img src="http://build.ros.org/buildStatus/icon?job=Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary" alt="Build Status"/></td>
         </tr>
         <tr>
-            <td rowspan="3">ROS 2</td>
+            <td rowspan="4">ROS 2</td>
             <td>Humble</td>
             <td><a href="http://build.ros2.org/job/Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
         </tr>
@@ -67,6 +66,10 @@ This project is supported by [IntRoLab - Intelligent / Interactive / Integrated
             <td>Jazzy</td>
             <td><a href="http://build.ros2.org/job/Jbin_uN64__rtabmap__ubuntu_noble_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Jbin_uN64__rtabmap__ubuntu_noble_amd64__binary" alt="Build Status"/></td>
         </tr>
+        <tr>
+            <td>Kilted</td>
+            <td><a href="http://build.ros2.org/job/Kbin_uN64__rtabmap__ubuntu_noble_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Kbin_uN64__rtabmap__ubuntu_noble_amd64__binary" alt="Build Status"/></td>
+        </tr>
         <tr>
             <td>Rolling</td>
             <td><a href="http://build.ros2.org/job/Rbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>

Version.h.in

@@ -35,12 +35,13 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define RTABMAP_VERSION_MINOR @PROJECT_VERSION_MINOR@
 #define RTABMAP_VERSION_PATCH @PROJECT_VERSION_PATCH@
 
-#define RTABMAP_VERSION_COMPARE(major, minor, patch)  (major>=@PROJECT_VERSION_MAJOR@ || (major==@PROJECT_VERSION_MAJOR@ && minor>=@PROJECT_VERSION_MINOR@) || (major==@PROJECT_VERSION_MAJOR@ && minor==@PROJECT_VERSION_MINOR@ && patch >=@PROJECT_VERSION_PATCH@))
+#define RTABMAP_VERSION_COMPARE(OP, MAJOR, MINOR, PATCH) (RTABMAP_VERSION_MAJOR*10000+RTABMAP_VERSION_MINOR*100+RTABMAP_VERSION_PATCH OP MAJOR*10000+MINOR*100+PATCH)
 
 @NONFREE@#define RTABMAP_NONFREE
 @TORO@#define RTABMAP_TORO
 @G2O@#define RTABMAP_G2O
 @G2O_CPP_CONF@#define RTABMAP_G2O_CPP11 @G2O_CPP11@
+@G2O_WITH_SBA_UTILS_CONF@#define RTABMAP_G2O_WITH_SBA_UTILS
 @GTSAM@#define RTABMAP_GTSAM
 @CERES@#define RTABMAP_CERES
 @MRPT@#define RTABMAP_MRPT
@@ -62,6 +63,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @CUDASIFT@#define RTABMAP_CUDASIFT
 @LOAM@#define RTABMAP_LOAM
 @FLOAM@#define RTABMAP_FLOAM
+@LIOSAM@#define RTABMAP_LIOSAM
 @DC1394@#define RTABMAP_DC1394
 @FLYCAPTURE2@#define RTABMAP_FLYCAPTURE2
 @ZED@#define RTABMAP_ZED
@@ -72,6 +74,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @MYNTEYE@#define RTABMAP_MYNTEYE
 @DEPTHAI@#define RTABMAP_DEPTHAI
 @XVSDK@#define RTABMAP_XVSDK
+@ORBBEC_SDK@#define RTABMAP_ORBBEC_SDK
 @OCTOMAP@#define RTABMAP_OCTOMAP
 @GRIDMAP@#define RTABMAP_GRIDMAP
 @CPUTSDF@#define RTABMAP_CPUTSDF
@@ -82,13 +85,16 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @DVO@#define RTABMAP_DVO
 @OKVIS@#define RTABMAP_OKVIS
 @MSCKF_VIO@#define RTABMAP_MSCKF_VIO
-@VINS@#define RTABMAP_VINS
+@VINSFUSION@#define RTABMAP_VINS_FUSION
 @OPENVINS@#define RTABMAP_OPENVINS
+@CUVSLAM@#define RTABMAP_CUVSLAM
 @ORB_SLAM@#define RTABMAP_ORB_SLAM @ORB_SLAM_VERSION@
 @ORB_OCTREE@#define RTABMAP_ORB_OCTREE
 @TORCH@#define RTABMAP_TORCH
 @PYTHON@#define RTABMAP_PYTHON
 @MADGWICK@#define RTABMAP_MADGWICK
+@APRILTAG@#define RTABMAP_APRILTAG
+@APRILTAG_ARUCO@#define RTABMAP_APRILTAG_WITH_ARUCO
 
 #include <pcl/pcl_config.h>
 

app/android/jni/RTABMapApp.cpp

@@ -3000,7 +3000,7 @@ void RTABMapApp::setTrajectoryMode(bool enabled)
 void RTABMapApp::setGraphOptimization(bool enabled)
 {
 	graphOptimization_ = enabled;
-	if((sensorCaptureThread_ == 0) && rtabmap_ && rtabmap_->getMemory()->getLastWorkingSignature()!=0)
+	if((sensorCaptureThread_ == 0) && rtabmap_ && rtabmap_->getMemory()->getLastWorkingSignature(false)!=0)
 	{
 		std::map<int, rtabmap::Transform> poses;
 		std::multimap<int, rtabmap::Link> links;

app/ios/RTABMapApp.xcodeproj/project.pbxproj

@@ -1065,7 +1065,7 @@
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/lib/opencv4/3rdparty",
 				);
-				MARKETING_VERSION = 0.22.0;
+				MARKETING_VERSION = 0.23.7;
 				OTHER_CFLAGS = "";
 				PRODUCT_BUNDLE_IDENTIFIER = com.introlab.rtabmap;
 				PRODUCT_NAME = "$(TARGET_NAME)";
@@ -1078,7 +1078,7 @@
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include/eigen3\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include/pcl-1.15\"",
-					"\"$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.22\"",
+					"\"$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.23\"",
 					"\"$(SRCROOT)/../android/jni/tango-gl/include\"",
 					"\"$(SRCROOT)/../android/jni/third-party/include\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/lib/vtk.framework/Headers\"",
@@ -1125,7 +1125,7 @@
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/lib/opencv4/3rdparty",
 				);
-				MARKETING_VERSION = 0.22.0;
+				MARKETING_VERSION = 0.23.7;
 				ONLY_ACTIVE_ARCH = YES;
 				OTHER_CFLAGS = "";
 				PRODUCT_BUNDLE_IDENTIFIER = com.introlab.rtabmap;
@@ -1139,7 +1139,7 @@
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include/eigen3\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include/pcl-1.15\"",
-					"\"$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.22\"",
+					"\"$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.23\"",
 					"\"$(SRCROOT)/../android/jni/tango-gl/include\"",
 					"\"$(SRCROOT)/../android/jni/third-party/include\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/lib/vtk.framework/Headers\"",

app/ios/RTABMapApp/install_deps.sh

@@ -175,6 +175,18 @@ cd $pwd
 #rm -rf g2o
 fi
 
+# g2o's installed CMake config hard-codes the absolute build-time prefix of its
+# external dependencies (e.g. suitesparse) in INTERFACE_INCLUDE_DIRECTORIES. That
+# path doesn't exist when the prebuilt Libraries archive is unpacked on another
+# machine (CI), breaking find_package(g2o) with "includes non-existent path".
+# Rewrite those absolute paths to be relocatable (relative to the config file).
+# Run unconditionally (outside the build guard above) so it also fixes the prebuilt
+# archive in CI, where the g2o build step is skipped.
+find "$prefix/lib" -path '*/cmake/g2o/*.cmake' -print0 | while IFS= read -r -d '' f
+do
+  sed -i '' -E 's#[^";]*/Libraries#${CMAKE_CURRENT_LIST_DIR}/../../..#g' "$f"
+done
+
 # VTK
 if [ ! -e $prefix/lib/vtk.framework ]
 then
@@ -288,6 +300,6 @@ cmake -DANDROID_PREBUILD=ON ../../../../..
 cmake --build . --config Release
 mkdir -p ios
 cd ios
-cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DCMAKE_FIND_ROOT_PATH=$prefix -DWITH_QT=OFF -DBUILD_APP=OFF -DBUILD_TOOLS=OFF -DWITH_TORO=OFF -DWITH_VERTIGO=OFF -DWITH_MADGWICK=OFF -DWITH_ORB_OCTREE=ON  -DBUILD_EXAMPLES=OFF -DWITH_LIBLAS=ON ../../../../../..
+cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DCMAKE_FIND_ROOT_PATH=$prefix -DWITH_QT=OFF -DBUILD_APP=OFF -DBUILD_TOOLS=OFF -DWITH_TORO=OFF -DWITH_VERTIGO=OFF -DWITH_MADGWICK=OFF -DWITH_ORB_OCTREE=ON  -DBUILD_EXAMPLES=OFF -DWITH_LIBLAS=ON -DWITH_OPENGV=OFF ../../../../../..
 cmake --build . --config Release
 cmake --build . --config Release --target install

app/src/CMakeLists.txt

@@ -34,7 +34,7 @@ ENDIF()
 IF(APPLE AND BUILD_AS_BUNDLE)
   ADD_EXECUTABLE(rtabmap_app MACOSX_BUNDLE ${SRC_FILES})
 ELSEIF(WIN32 AND BUILD_AS_BUNDLE)
-  ADD_EXECUTABLE(rtabmap_app WIN32 ${SRC_FILES})
+  ADD_EXECUTABLE(rtabmap_app ${SRC_FILES})
 ELSE()
   ADD_EXECUTABLE(rtabmap_app ${SRC_FILES})
 ENDIF()
@@ -95,9 +95,11 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
           DESTINATION ${thirdparty_dest_dir} 
           COMPONENT runtime 
           REGEX ".*pdb" EXCLUDE)
-    INSTALL(FILES "${OpenNI2_BIN_DIR}/OpenNI.ini" 
+	IF(NOT WIN32)
+		INSTALL(FILES "${OpenNI2_BIN_DIR}/OpenNI.ini" 
           DESTINATION ${thirdparty_dest_dir} 
           COMPONENT runtime)
+	ENDIF()
   ENDIF(OpenNI2_FOUND)
   
   IF(k4a_FOUND)
@@ -110,24 +112,135 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
 	ENDIF(WIN32)
   ENDIF(k4a_FOUND)
   
+  IF(ZED_FOUND)
+	# Install needed zlibwapi.dll
+    IF(WIN32)
+		file(TO_CMAKE_PATH "$ENV{ZED_SDK_ROOT_DIR}" ENV_ZED_SDK_ROOT_DIR)
+		INSTALL(FILES "${ENV_ZED_SDK_ROOT_DIR}/bin/zlibwapi.dll" 
+          DESTINATION ${thirdparty_dest_dir} 
+          COMPONENT runtime)
+	ENDIF(WIN32)
+  ENDIF(ZED_FOUND)
+
+  IF(OrbbecSDK_FOUND)
+	# Install needed "extensions" folder
+    IF(WIN32)
+        find_path(OrbbecSDK_BIN_DIR NAMES OrbbecSDK.dll)
+        IF(NOT OrbbecSDK_BIN_DIR)
+            MESSAGE(FATAL_ERROR "OrbbecSDK.dll not found! Verify your PATH.")
+        ENDIF(NOT OrbbecSDK_BIN_DIR)
+		MESSAGE(FATAL "OrbbecSDK_BIN_DIR=${OrbbecSDK_BIN_DIR}")
+        INSTALL(DIRECTORY "${OrbbecSDK_BIN_DIR}/extensions" 
+          DESTINATION ${thirdparty_dest_dir} 
+          COMPONENT runtime 
+          FILES_MATCHING
+          PATTERN "*.lib" EXCLUDE
+          PATTERN "*")
+	ENDIF(WIN32)
+  ENDIF(OrbbecSDK_FOUND)
+  
   IF(Torch_FOUND)
-	# Install needed cudnn_ops_infer64_8.dll and cudnn_cnn_infer64_8.dll
-	# TODO: should be a more general way to include them if version is different
+	# Install needed cudnn dlls
     IF(WIN32 AND CUDA_FOUND)
-		find_file(CUDNN_OPS_DLL NAMES cudnn_ops_infer64_8.dll)
-		find_file(CUDNN_CNN_DLL NAMES cudnn_cnn_infer64_8.dll)
-		IF(CUDNN_OPS_DLL AND CUDNN_CNN_DLL)
-			MESSAGE(STATUS "Found ${CUDNN_OPS_DLL}")
-			MESSAGE(STATUS "Found ${CUDNN_CNN_DLL}")
-			INSTALL(FILES ${CUDNN_OPS_DLL} ${CUDNN_CNN_DLL}
-			  DESTINATION ${thirdparty_dest_dir} 
-			  COMPONENT runtime)
-		ELSE()
-			MESSAGE(AUTHOR_WARNING "Using Torch with CUDA, but cudnn_ops_infer64_8.dll and cudnn_cnn_infer64_8.dll are not found on the PATH, so it won't be added to package.")
+	    find_path(cuDNN_BIN_DIR NAMES cudnn.dll cudnn64.dll cudnn64_9.dll)
+        IF(NOT cuDNN_BIN_DIR)
+            MESSAGE(FATAL_ERROR "cudnn dlls not found! Make sure the dlls are in a directory on your PATH.")
+        ENDIF(NOT cuDNN_BIN_DIR)
+		MESSAGE(STATUS "cuDNN_BIN_DIR = ${cuDNN_BIN_DIR}")
+		file(GLOB CUDNN_DLLS "${cuDNN_BIN_DIR}/cudnn*.dll")
+		IF(CUDNN_DLLS)
+			MESSAGE(STATUS "Found cuDNN DLLs: ${CUDNN_DLLS}")
+			INSTALL(FILES ${CUDNN_DLLS}
+					DESTINATION ${thirdparty_dest_dir} 
+					COMPONENT runtime)
 		ENDIF()
 	ENDIF(WIN32 AND CUDA_FOUND)
   ENDIF(Torch_FOUND)
+  
+  set(python_pyd_dir "")
+  IF(Python3_FOUND)
+	# bundle python3
+    IF(WIN32)
+		set(python_pyd_dir "bin/Lib/site-packages")
+		set(PYTHON_ZIP_NAME "python${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR}.zip")
+		get_filename_component(PYTHON_ROOT "${Python3_EXECUTABLE}" DIRECTORY)
+		file(TO_CMAKE_PATH "${Python3_STDLIB}" SANITIZED_STDLIB)
 
+		MESSAGE(STATUS "Python3_EXECUTABLE=${Python3_EXECUTABLE}")
+		MESSAGE(STATUS "Python3_STDLIB=${SANITIZED_STDLIB}")
+		
+		install(FILES "${Python3_EXECUTABLE}" DESTINATION bin COMPONENT runtime)
+		
+		# when using python-opencv, it expects python3.dll, not python312.dll
+		get_filename_component(VCPKG_TRIPLET_ROOT "${PYTHON_TOOLS_DIR}/../../" ABSOLUTE)
+		set(VCPKG_BIN_DIR "${VCPKG_TRIPLET_ROOT}/bin")
+		find_file(PYTHON3_STABLE_DLL 
+			NAMES python3.dll 
+			PATHS "${VCPKG_BIN_DIR}"
+			NO_DEFAULT_PATH
+		)
+		if(PYTHON3_STABLE_DLL)
+			message(STATUS "Found python3.dll at: ${PYTHON3_STABLE_DLL}")
+			install(FILES "${PYTHON3_STABLE_DLL}" DESTINATION bin COMPONENT runtime)
+		endif()
+
+		# install python Lib in python312.zip (without site-packages, which is installed separatly afterwards)
+		file(TO_CMAKE_PATH "${Python3_STDLIB}" SANITIZED_STDLIB)
+		file(GLOB LIB_CONTENTS RELATIVE "${SANITIZED_STDLIB}" "${SANITIZED_STDLIB}/*")
+		list(REMOVE_ITEM LIB_CONTENTS "site-packages")
+		install(CODE "
+			execute_process(
+				COMMAND \"${CMAKE_COMMAND}\" -E tar cf \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/bin/${PYTHON_ZIP_NAME}\" --format=zip -- ${LIB_CONTENTS}
+				WORKING_DIRECTORY \"${SANITIZED_STDLIB}\"
+			)
+		" COMPONENT runtime)
+		set(PYTHON_SITE_PACKAGES "${SANITIZED_STDLIB}/site-packages")
+		
+		install(DIRECTORY "${PYTHON_SITE_PACKAGES}/"
+				DESTINATION "${thirdparty_dest_dir}/Lib/site-packages"
+				COMPONENT runtime
+				PATTERN "*.exe" EXCLUDE
+				PATTERN "*.lib" EXCLUDE
+				PATTERN "*.hpp" EXCLUDE
+				PATTERN "*.h" EXCLUDE
+				PATTERN "*/torch/*" EXCLUDE
+		)
+		if(EXISTS "${PYTHON_SITE_PACKAGES}/torch")
+			install(DIRECTORY "${PYTHON_SITE_PACKAGES}/torch"
+					DESTINATION "${thirdparty_dest_dir}/Lib/site-packages/"
+					COMPONENT runtime
+					PATTERN "*.exe" EXCLUDE
+					PATTERN "*.lib" EXCLUDE
+					PATTERN "*.hpp" EXCLUDE
+					PATTERN "*.h" EXCLUDE
+					PATTERN "*.dll" EXCLUDE
+			)
+			file(GLOB_RECURSE PY_DLL_FILES "${PYTHON_SITE_PACKAGES}/torch/*.dll")
+			if(PY_DLL_FILES)
+				install(FILES ${PY_DLL_FILES} DESTINATION bin COMPONENT runtime)
+			endif()
+		endif()
+
+		# install python DDLs
+		file(GLOB_RECURSE PY_DLL_FILES \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${python_pyd_dir}/*.dll\")
+		install(DIRECTORY "${PYTHON_ROOT}/DLLs"
+				DESTINATION "${thirdparty_dest_dir}/"
+				COMPONENT runtime
+				FILES_MATCHING 
+				PATTERN "*.dll"
+				PATTERN "*.pyd"
+		)
+
+		# install our python scripts in share for convenience
+		install(DIRECTORY "${PROJECT_SOURCE_DIR}/corelib/src/python/"
+				DESTINATION share
+				COMPONENT runtime
+				FILES_MATCHING
+				PATTERN "*.py"
+		)
+	ENDIF(WIN32)
+  ENDIF(Python3_FOUND)
+  
   IF(Qt6_FOUND)
 	# Reference: https://doc-snapshots.qt.io/qt6-6.4/qt-deploy-runtime-dependencies.html
 	# The following script must only be executed at install time
@@ -221,8 +334,8 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
   SET(DIRS "${QT_LIBRARY_DIRS}" "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/lib")
   IF(APPLE)
     SET(DIRS ${DIRS} /usr/local /usr/local/lib /opt/homebrew /opt/homebrew/lib /opt/homebrew/lib/gcc/current)
-  ENDIF(APPLE)
- 
+  ENDIF(APPLE)
+
   # Now the work of copying dependencies into the bundle/package
   # The quotes are escaped and variables to use at install time have their $ escaped
   # An alternative is the do a configure_file() on a script and use install(SCRIPT  ...).
@@ -230,11 +343,26 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
   # over.
   # To find dependencies, cmake use "otool" on Apple and "dumpbin" on Windows (make sure you have one of them).
   install(CODE "
-   file(GLOB_RECURSE QTPLUGINS \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${plugin_dest_dir}/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
+    # Glob Qt Plugins
+    file(GLOB_RECURSE ALL_LIBS \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${plugin_dest_dir}/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
+    
+    if(NOT \"${python_pyd_dir}\" STREQUAL \"\")
+        file(GLOB_RECURSE PYD_FILES \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${python_pyd_dir}/*.pyd\")
+        if(PYD_FILES)
+            list(APPEND ALL_LIBS \${PYD_FILES})
+        endif()
+		if(WIN32)
+			file(GLOB_RECURSE DLL_FILES \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${python_pyd_dir}/torch/*.dll\")
+			if(DLL_FILES)
+				list(APPEND ALL_LIBS \${DLL_FILES})
+			endif()
+		endif()
+    endif()
+	
     set(BU_CHMOD_BUNDLE_ITEMS ON)
     include(\"BundleUtilities\")
-    fixup_bundle(\"${APPS}\" \"\${QTPLUGINS}\" \"${DIRS}\")
-  " COMPONENT runtime)
-
+    fixup_bundle(\"${APPS}\" \"\${ALL_LIBS}\" \"${DIRS}\")
+  " COMPONENT runtime)
+  
 ENDIF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
   

archive/2022-IlluminationInvariant/results_common.m

@@ -15,7 +15,7 @@ RAMaddOverhead = 0;
 % Inliers_ratio = 'Loop/Visual_inliers/' ./ 'Keypoint/Current_frame/words'
 % Odometry_average = 'Memory/Distance_travelled/m'(2:end) - 'Memory/Distance_travelled/m'(1:end-1)
 
-statNames = {'Loop/Odom_correction_norm/m', 'Loop/Visual_inliers/', 'Inliers_ratio_%', 'Timing/Total/ms', 'Memory/RAM_usage/MB', 'Memory/RAM_estimated/MB', 'Keypoint/Current_frame/words', 'Loop/Map_id/', 'Memory/Local_graph_size/', 'Keypoint/Dictionary_size/words', 'Loop/Distance_since_last_loc/'}; % 'Odometry_average'
+statNames = {'Loop/Odom_correction_norm/m', 'Loop/Visual_inliers/', 'Inliers_ratio_%', 'Timing/Total/ms', 'Memory/RAM_usage/MB', 'Memory/RAM_estimated/MB', 'Keypoint/Current_frame/words', 'Loop/Map_id/', 'Memory/Local_graph_size/', 'Keypoint/Dictionary_size/words', 'Loop/Distance_since_last_loc/m'}; % 'Odometry_average'
 
  
 datasets = [ 0 1 6 7 9 14 11 111 ]; % 0 1 6 7 9 12 14 11
@@ -26,7 +26,7 @@ if resultsToShow == 2
   sep = [0, 1000, 3000, 5000, 7000, 9000];
   sepName = {'17:27', '17:54', '18:27', '18:56', '19:35'};
   prefix = 'Consecutive';
-  statNames = {'Loop/Distance_since_last_loc/', 'Distance_since_last_loc_under_50cm'};
+  statNames = {'Loop/Distance_since_last_loc/m', 'Distance_since_last_loc_under_50cm'};
 endif
 
 MapsN = length(sepName);
@@ -52,7 +52,7 @@ if strcmp(statName,'Inliers_ratio_%')
 elseif strcmp(statName, 'Odometry_average')
   data = dlmread([dataDir '/' prefix num2str(datasets(d)) '-' 'Memory-Distance_travelled-m' '.txt'], '\t', 1, 0, "emptyvalue", 0);
 elseif strcmp(statName, 'Distance_since_last_loc_under_50cm')
-  data = dlmread([dataDir '/' prefix num2str(datasets(d)) '-' 'Loop-Distance_since_last_loc-' '.txt'], '\t', 1, 0, "emptyvalue", 0);
+  data = dlmread([dataDir '/' prefix num2str(datasets(d)) '-' 'Loop-Distance_since_last_loc-m' '.txt'], '\t', 1, 0, "emptyvalue", 0);
 else
   data = dlmread([dataDir '/' prefix num2str(datasets(d)) '-' statName '.txt'], '\t', 1, 0, "emptyvalue", 0);
 endif

archive/2022-IlluminationInvariant/scripts/export_stats.sh

@@ -13,7 +13,7 @@ source rtabmap_latest.bash
 
 for d in "${DETECTOR[@]}"
 do
-  rtabmap-report --export --export_prefix "Stat$d" --loc 32  Loop/Odom_correction_norm/m Loop/Visual_inliers/ Timing/Total/ms Timing/Proximity_by_space_visual/ms Timing/Likelihood_computation/ms Timing/Posterior_computation/ms TimingMem/Keypoints_detection/ms TimingMem/Descriptors_extraction/ms TimingMem/Add_new_words/ms Loop/Map_id/ Keypoint/Current_frame/words Memory/RAM_usage/MB Memory/RAM_estimated/MB Memory/Distance_travelled/m Loop/Distance_since_last_loc/ Memory/Local_graph_size/ Keypoint/Dictionary_size/words "$DATA/$d/loc"
-  rtabmap-report --export --export_prefix "Consecutive$d" --loc 32 Loop/Map_id/ Loop/Distance_since_last_loc/ "$DATA/$d/consecutive_loc"
+  rtabmap-report --export --export_prefix "Stat$d" --loc 32  Loop/Odom_correction_norm/m Loop/Visual_inliers/ Timing/Total/ms Timing/Proximity_by_space_visual/ms Timing/Likelihood_computation/ms Timing/Posterior_computation/ms TimingMem/Keypoints_detection/ms TimingMem/Descriptors_extraction/ms TimingMem/Add_new_words/ms Loop/Map_id/ Keypoint/Current_frame/words Memory/RAM_usage/MB Memory/RAM_estimated/MB Memory/Distance_travelled/m Loop/Distance_since_last_loc/m Memory/Local_graph_size/ Keypoint/Dictionary_size/words "$DATA/$d/loc"
+  rtabmap-report --export --export_prefix "Consecutive$d" --loc 32 Loop/Map_id/ Loop/Distance_since_last_loc/m "$DATA/$d/consecutive_loc"
 done
 

bundle_windows_deps.bat

@@ -0,0 +1,227 @@
+@echo off
+setlocal enabledelayedexpansion
+
+:: --- CONFIGURATION ---
+set "VCPKG_ROOT=%~dp0vcpkg"
+set "EXPORT_DIR=%~dp0vcpkg_binaries"
+set "TRIPLET=x64-windows-release"
+set "SEVENZIP_EXE=C:\Program Files\7-Zip\7z.exe"
+
+set "VCPKG_JSON=%~dp0vcpkg.json"
+for /f "usebackq tokens=*" %%a in (`powershell -NoProfile -Command "(Get-Content '%VCPKG_JSON%' -Raw | ConvertFrom-Json).'builtin-baseline'"` ) do set "VCPKG_COMMIT=%%a"
+echo [+] Detected VCPKG baseline commit: %VCPKG_COMMIT%
+
+if "%VCPKG_COMMIT%"=="" (
+    echo [X] Error: Could not find 'builtin-baseline' in %VCPKG_JSON%
+    pause
+    exit /b 1
+)
+
+set VCPKG_COMMIT_SHORT=%VCPKG_COMMIT:~0,8%
+
+:: 1. Setup Local vcpkg
+if not exist "%VCPKG_ROOT%" (
+    echo [+] Local vcpkg not found. Cloning...
+    git clone https://github.com/microsoft/vcpkg.git "%VCPKG_ROOT%"
+)
+pushd "%VCPKG_ROOT%"
+git checkout %VCPKG_COMMIT%
+call .\bootstrap-vcpkg.bat
+popd
+
+:: 2. Install vcpkg dependencies
+echo [+] Installing dependencies via vcpkg manifest...
+"%VCPKG_ROOT%\vcpkg.exe" install ^
+    --triplet=%TRIPLET% ^
+    --host-triplet=%TRIPLET% ^
+	--clean-after-build ^
+    --x-feature=tools ^
+    --x-feature=k4w2 ^
+    --x-feature=octomap ^
+    --x-feature=openmp ^
+    --x-feature=realsense2 ^
+    --x-feature=openni2 ^
+    --x-feature=gtsam-deps ^
+    --x-feature=python ^
+    --x-feature=libpointmatcher-deps || exit /b !errorlevel!
+
+:: 3. Export
+echo [+] Exporting built binaries to raw folder...
+set "VS_LOCATOR=%ProgramFiles(x86)%\Microsoft Visual Studio\Installer\vswhere.exe"
+for /f "usebackq tokens=*" %%i in (`"%VS_LOCATOR%" -latest -property catalog_productLineVersion`) do set VS_YEAR=vs%%i
+set TARGET_NAME=vcpkg-export-%VCPKG_COMMIT_SHORT%-x64-%VS_YEAR%
+set TARGET_FULL_PATH=%EXPORT_DIR%\%TARGET_NAME%
+if exist "%TARGET_FULL_PATH%" rd /s /q "%TARGET_FULL_PATH%"
+"%VCPKG_ROOT%\vcpkg.exe" export --raw --output-dir="%EXPORT_DIR%" --triplet=%TRIPLET%  || exit /b !errorlevel!
+
+:: Find the actual exported folder name (it usually contains a date/hash)
+for /d %%i in ("%EXPORT_DIR%\vcpkg-export-20??????-??????") do set "FINAL_EXPORT_PATH=%%i"
+
+echo [+] Rename folder %FINAL_EXPORT_PATH% to %TARGET_NAME%
+ren "%FINAL_EXPORT_PATH%" "%TARGET_NAME%" || exit /b !errorlevel!
+set "FINAL_EXPORT_PATH=%TARGET_FULL_PATH%"
+
+echo [+] Add numpy...
+:: We install numpy<2 to be compatible with SuperPoint and SuperGlue scripts
+%FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe -m ensurepip --upgrade || exit /b %errorlevel%
+%FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe -m pip install --upgrade pip || exit /b !errorlevel!
+%FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe -m pip install "numpy<2" || exit /b !errorlevel!
+
+:: 4. Other dependencies not in vcpkg
+:: libnabo
+echo [+] Building libnabo...
+if not exist libnabo (
+    echo [+] Downloading...
+    git clone https://github.com/ethz-asl/libnabo.git
+    cd libnabo
+    :: Jan 27, 2022
+    git checkout c925c47
+    git apply ../patches/libnabo_c925c47.patch
+    cd ..
+)
+cd libnabo
+cmake -S . -B build -GNinja ^
+  -DVCPKG_MANIFEST_INSTALL=OFF  ^
+  -DVCPKG_TARGET_TRIPLET=x64-windows-release  ^
+  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed"  ^
+  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake" ^
+  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
+  -DCMAKE_BUILD_TYPE=Release ^
+  -DSHARED_LIBS=FALSE ^
+  -DLIBNABO_BUILD_DOXYGEN=OFF ^
+  -DLIBNABO_BUILD_EXAMPLES=OFF ^
+  -DLIBNABO_BUILD_PYTHON=OFF ^
+  -DLIBNABO_BUILD_TESTS=OFF || exit /b !errorlevel!
+cmake --build build --config Release --target install || exit /b !errorlevel!
+cd ..
+
+:: libpointmatcher
+echo [+] Building libpointmatcher...
+if not exist libpointmatcher (
+    echo [+] Downloading and applying patch...
+    git clone https://github.com/ethz-asl/libpointmatcher.git
+    cd libpointmatcher
+    :: Mar 17, 2023
+    git checkout 7dc58e5
+    git apply ../patches/pointmatcher_7dc58e5.patch
+    cd ..
+)
+cd libpointmatcher
+cmake -S . -B build -GNinja ^
+  -DVCPKG_MANIFEST_INSTALL=OFF  ^
+  -DVCPKG_TARGET_TRIPLET=x64-windows-release  ^
+  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed"  ^
+  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake"  ^
+  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
+  -DCMAKE_BUILD_TYPE=Release ^
+  -DBUILD_TESTS=OFF  ^
+  -DBUILD_SHARED_LIBS=ON  ^
+  -DPOINTMATCHER_BUILD_EVALUATIONS=OFF ^
+  -DPOINTMATCHER_BUILD_EXAMPLES=OFF ^
+  -DCMAKE_CXX_FLAGS="-DBOOST_TIMER_ENABLE_DEPRECATED /EHsc -DBOOST_EXCEPTION_DISABLE" || exit /b !errorlevel!
+cmake --build build --config Release --target install || exit /b !errorlevel!
+cd ..
+
+:: We remove the files in the top-level CMake directory to force use of share/libpointmatcher/cmake
+if exist "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\CMake\" (
+    rd /s /q "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\CMake"
+)
+
+:: gtsam
+echo [+] Building gtsam...
+if not exist gtsam (
+    echo [+] Downloading and applying patch...
+    git clone https://github.com/borglab/gtsam.git
+    cd gtsam
+    :: June 18, 2025
+    git checkout 4.3a0-ros
+    git cherry-pick 18af4e6
+    git apply ../patches/gtsam_4_3a0-ros.patch
+    cd ..
+)
+cd gtsam
+cmake -S . -B build -GNinja ^
+  -DVCPKG_MANIFEST_INSTALL=OFF  ^
+  -DVCPKG_TARGET_TRIPLET=x64-windows-release  ^
+  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed"  ^
+  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake"  ^
+  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
+  -DCMAKE_BUILD_TYPE=Release ^
+  -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF  ^
+  -DGTSAM_BUILD_TESTS=OFF  ^
+  -DGTSAM_BUILD_UNSTABLE=OFF  ^
+  -DGTSAM_USE_SYSTEM_EIGEN=ON ^
+  -DGTSAM_BUILD_WITH_PRECOMPILED_HEADERS=OFF ^
+  -DGTSAM_UNSTABLE_BUILD_PYTHON=OFF ^
+  -DGTSAM_WITH_EIGEN_MKL=OFF ^
+  -DGTSAM_WITH_EIGEN_MKL_OPENMP=OFF ^
+  -DCMAKE_CXX_FLAGS="-DBOOST_TIMER_ENABLE_DEPRECATED -DBOOST_BIND_GLOBAL_PLACEHOLDERS" || exit /b !errorlevel!
+cmake --build build --config Release --target install || exit /b !errorlevel!
+cd ..
+
+:: opengv
+echo [+] Building opengv...
+if not exist opengv (
+    echo [+] Downloading and applying patch...
+    git clone https://github.com/laurentkneip/opengv.git
+    cd opengv
+    :: Aug 6, 2020
+    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3
+    git apply ../patches/opengv_91f4b19c.patch
+    cd ..
+)
+cd opengv
+cmake -S . -B build -GNinja ^
+  -DVCPKG_MANIFEST_INSTALL=OFF  ^
+  -DVCPKG_TARGET_TRIPLET=x64-windows-release  ^
+  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed"  ^
+  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake"  ^
+  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
+  -DBUILD_TESTS=OFF  ^
+  -DBUILD_SHARED_LIBS=ON || exit /b !errorlevel!
+cmake --build build --config Release --target install || exit /b !errorlevel!
+cd ..
+
+:: 5. ZIP the folder
+echo [+] Creating final package with 7-Zip...
+:: Rip off pdb files
+cd /d "%FINAL_EXPORT_PATH%"
+del /s /q /f *.pdb >nul 2>&1
+
+cd ..
+
+set "FINAL_ZIP=%TARGET_NAME%.7z"
+
+:: compress contents without the root folder
+"%SEVENZIP_EXE%" u -t7z -mx9 "%FINAL_ZIP%" "%FINAL_EXPORT_PATH%\*" -up0q0
+
+if !errorlevel! EQU 0 (
+    echo [!] Success! Package created at %FINAL_ZIP%
+) else (
+    echo [X] 7-Zip failed with error code !errorlevel!
+)
+
+
+:: Example building rtabmap afterwards
+goto :EndComment
+
+set VCPKG_UNZIPPED_EXPORT_PATH=%USERPROFILE%\Downloads\vcpkg-export-########-x64-vs2022
+set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release\bin;%PATH%
+
+cmake -B build -GNinja ^
+  -DCMAKE_BUILD_TYPE=Release ^
+  -DBUILD_AS_BUNDLE=ON -DWITH_PYTHON=ON ^
+  -DWITH_ZED=OFF ^
+  -DVCPKG_MANIFEST_INSTALL=OFF ^
+  -DVCPKG_TARGET_TRIPLET=x64-windows-release ^
+  -DVCPKG_INSTALLED_DIR="%VCPKG_UNZIPPED_EXPORT_PATH%/installed" ^
+  -DCMAKE_TOOLCHAIN_FILE=%VCPKG_UNZIPPED_EXPORT_PATH%/scripts/buildsystems/vcpkg.cmake ^
+  -DGTSAM_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release\CMake 
+
+cmake --build build --config Release --target package
+
+:: To install CPU pytorch inside rtabmap package afterwards.
+:: Note that python.exe is the one in the bin directory of the package, not the system one.
+python.exe -m pip install torch torchvision opencv-python-headless "numpy<2"
+
+:EndComment

bundle_windows_deps_cuda.bat

@@ -0,0 +1,239 @@
+@echo off
+setlocal enabledelayedexpansion
+
+IF NOT DEFINED CUDA_PATH (
+    echo [ERROR] CUDA_PATH is not set.
+    exit /b 1
+)
+
+set PATH=%CUDA_PATH%\bin;%PATH%
+set PATH=%CUDA_PATH%\bin\x64;%PATH%
+set PATH=%CUDA_PATH%\extras\CUPTI\lib64;%PATH%
+
+:: CUDA Toolkit should be manually installed on the computer before running this script
+:: We assume also that cuDNN is merged into CUDA installed directory.
+where nvcc >nul 2>&1
+if !errorlevel! neq 0 (
+    echo [ERROR] nvcc was not found in your PATH.
+    pause
+    exit /b
+)
+for /f "tokens=5" %%a in ('nvcc --version ^| findstr "release"') do (
+    set "RAW_VER=%%a"
+    :: This removes the trailing comma
+    set "CUDA_VER=!RAW_VER:,=!"
+	set "CUDA_VER_SHORT=!CUDA_VER:.=!"
+)
+if "!CUDA_VER!"=="" (
+    echo [ERROR] Could not parse CUDA version.
+    pause
+    exit /b
+)
+echo Installed CUDA Toolkit: %CUDA_VER%
+
+:: --- CONFIGURATION ---
+set "VCPKG_ROOT=%~dp0vcpkg"
+set "EXPORT_DIR=%~dp0vcpkg_binaries"
+set "TRIPLET=x64-windows-release"
+set "SEVENZIP_EXE=C:\Program Files\7-Zip\7z.exe"
+
+set "VCPKG_JSON=%~dp0vcpkg.json"
+for /f "usebackq tokens=*" %%a in (`powershell -NoProfile -Command "(Get-Content '%VCPKG_JSON%' -Raw | ConvertFrom-Json).'builtin-baseline'"` ) do set "VCPKG_COMMIT=%%a"
+
+if "%VCPKG_COMMIT%"=="" (
+    echo [X] Error: Could not find 'builtin-baseline' in %VCPKG_JSON%
+    pause
+    exit /b 1
+)
+
+set VCPKG_COMMIT_SHORT=%VCPKG_COMMIT:~0,8%
+set "VS_LOCATOR=%ProgramFiles(x86)%\Microsoft Visual Studio\Installer\vswhere.exe"
+for /f "usebackq tokens=*" %%i in (`"%VS_LOCATOR%" -latest -property catalog_productLineVersion`) do set VS_YEAR=vs%%i
+set ORG_TARGET_NAME=vcpkg-export-%VCPKG_COMMIT_SHORT%-x64-%VS_YEAR%
+set TARGET_NAME=%ORG_TARGET_NAME%-cuda%CUDA_VER_SHORT%
+set VCPKG_EXPORT_PATH=%EXPORT_DIR%\%ORG_TARGET_NAME%
+set FINAL_EXPORT_PATH=%EXPORT_DIR%\%TARGET_NAME%
+
+if not exist "%FINAL_EXPORT_PATH%" (
+    if not exist "%VCPKG_EXPORT_PATH%" (
+        call bundle_windows_deps.bat || exit /b !errorlevel!
+	)
+	echo [+] Copying %VCPKG_EXPORT_PATH% to %FINAL_EXPORT_PATH%
+	xcopy "%VCPKG_EXPORT_PATH%" "%FINAL_EXPORT_PATH%\" /E /I /H /Y /Q || exit /b !errorlevel!
+	echo [+] Remove opencv built by vcpkg
+	rmdir /s /q "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\include\opencv4" || exit /b !errorlevel!
+	rmdir /s /q "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\share\opencv4" || exit /b !errorlevel!
+	rmdir /s /q "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\share\opencv" || exit /b !errorlevel!
+	del "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\bin\opencv*" || exit /b !errorlevel!
+	del "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\lib\opencv*" || exit /b !errorlevel!
+	:: bundle cudnn runtime libraries
+	xcopy "%CUDA_PATH%\bin\x64\cudnn*.dll" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\bin\" /Y
+)
+
+:: pytorch deps
+%FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe -m pip install numpy packaging "setuptools<82" pyyaml typing_extensions
+
+git config --global core.longpaths true
+
+:: pytorch, build with local cuda libraries to avoid duplicating them when we install rtabmap
+echo [+] Building pytorch with cuda support...
+if not exist pytorch (
+    echo [+] Downloading pytorch...
+    git clone https://github.com/pytorch/pytorch || exit /b !errorlevel!
+    cd pytorch
+	:: Jan 21, 2026
+    git checkout v2.10.0 
+	git submodule update --init --recursive || exit /b !errorlevel!
+    cd ..
+)
+
+set "PYTHONHOME=%FINAL_EXPORT_PATH%\installed\%TRIPLET%\tools\python3"
+set "Python_ROOT_DIR=%FINAL_EXPORT_PATH%\installed\%TRIPLET%"
+set CMAKE_GENERATOR=Ninja
+set BUILD_TEST=0
+set ATEN_NO_TEST=1
+set INSTALL_TEST=OFF
+set "LIB=%FINAL_EXPORT_PATH%\installed\%TRIPLET%\lib;%LIB%"
+set "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\include;INCLUDE=%INCLUDE%"
+
+:: check if torch is installed
+%PYTHONHOME%/python.exe -m pip show torch >nul 2>&1
+if !errorlevel! neq 0 (
+    cd pytorch
+    %PYTHONHOME%/python.exe setup.py install || exit /b !errorlevel!
+    cd ..
+)
+if exist "%PYTHONHOME%\Lib\site-packages\torch\test" rd /s /q %PYTHONHOME%\Lib\site-packages\torch\test"
+del "%PYTHONHOME%\Lib\site-packages\torch\bin\test_*" || exit /b !errorlevel!
+
+echo [+] Building torchvision...
+if not exist torchvision (
+    echo [+] Downloading torchvision...
+    git clone https://github.com/pytorch/vision.git torchvision || exit /b !errorlevel!
+    cd torchvision
+	:: Jan 6, 2026
+    git checkout v0.25.0
+	git submodule update --init --recursive || exit /b !errorlevel!
+    cd ..
+)
+cd torchvision
+set PATH=%FINAL_EXPORT_PATH%\installed\%TRIPLET%\bin;%PATH%
+set DISTUTILS_USE_SDK=1
+set TORCHVISION_INCLUDE=%FINAL_EXPORT_PATH%\installed\%TRIPLET%\include
+set TORCHVISION_LIBRARY=%FINAL_EXPORT_PATH%\installed\%TRIPLET%\lib
+%FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe -m pip install . -v --no-build-isolation || exit /b !errorlevel!
+cd ..
+
+:: opencv_cuda
+echo [+] Building opencv with cuda support...
+if not exist opencv (
+    echo [+] Downloading opencv...
+    git clone https://github.com/opencv/opencv.git || exit /b !errorlevel!
+    cd opencv
+    :: 4.13.0 minimum required to be compatible with cuda 13
+	:: Dec 31, 2025
+    git checkout 4.13.0
+    cd ..
+)
+if not exist opencv_contrib (
+    echo [+] Downloading opencv_contrib...
+	git clone https://github.com/opencv/opencv_contrib.git || exit /b !errorlevel!
+    cd opencv
+    :: 4.13.0 minimum required to be compatible with cuda 13
+	:: Dec 31, 2025
+    git checkout 4.13.0
+    cd ..
+)
+cd opencv
+cmake -S . -B build -GNinja ^
+  -DVCPKG_MANIFEST_INSTALL=OFF  ^
+  -DVCPKG_TARGET_TRIPLET=%TRIPLET%  ^
+  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed"  ^
+  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake" ^
+  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
+  -DCMAKE_BUILD_TYPE=Release ^
+  -DOPENCV_BIN_INSTALL_PATH="bin" ^
+  -DOPENCV_LIB_INSTALL_PATH="lib" ^
+  -DOPENCV_CONFIG_INSTALL_PATH="share/opencv" ^
+  -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib/modules ^
+  -DBUILD_SHARED_LIBS=ON ^
+  -DBUILD_TESTS=OFF ^
+  -DBUILD_PERF_TESTS=OFF ^
+  -DOPENCV_ENABLE_NONFREE=ON ^
+  -DBUILD_opencv_apps=OFF ^
+  -DBUILD_opencv_python3=ON ^
+  -DPYTHON3_EXECUTABLE=%FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe ^
+  -DPYTHON3_PACKAGES_PATH=bin/Lib/site-packages ^
+  -DBUILD_opencv_java_bindings_generator=OFF ^
+  -DWITH_CUDA=ON ^
+  -DWITH_VTK=OFF ^
+  -DWITH_TBB=ON || exit /b !errorlevel!
+cmake --build build --config Release --target install || exit /b !errorlevel!
+:: move cv2 package under tools/python3
+robocopy "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\bin\Lib" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\tools\python3\Lib" /E /MOVE /NFL /NDL /NJH /NC /NS /NP
+cd ..
+
+
+:: 5. ZIP the folder
+echo [+] Creating final package with 7-Zip...
+:: Rip off pdb files
+cd /d "%FINAL_EXPORT_PATH%"
+del /s /q /f *.pdb >nul 2>&1
+cd ..
+
+set "FINAL_ZIP=%TARGET_NAME%.7z"
+
+:: compress contents without the root folder
+"%SEVENZIP_EXE%" u -t7z -mx9 "%FINAL_ZIP%" "%FINAL_EXPORT_PATH%\*" -up0q0 || exit /b !errorlevel!
+
+if !errorlevel! EQU 0 (
+    echo [!] Success! Package created at %FINAL_ZIP%
+) else (
+    echo [X] 7-Zip failed with error code !errorlevel!
+)
+
+:: Example building rtabmap with opencv cuda and libtorch afterwards
+goto :EndComment
+
+:: Set path of unzipped deps
+set VCPKG_UNZIPPED_EXPORT_PATH=
+
+set TRIPLET=x64-windows-release
+set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%\bin;%PATH%
+set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%\tools\python3;%PATH%
+set PATH=%CUDA_PATH%\bin;%PATH%
+set PATH=%CUDA_PATH%\bin\x64;%PATH%
+set PATH=%CUDA_PATH%\extras\CUPTI\lib64;%PATH%
+set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%\tools\python3\Lib\site-packages\torch\lib;%PATH%
+set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%\tools\python3\Lib\site-packages\numpy.libs;%PATH%
+
+:: Other dependencies
+
+:: For ZED, modify zed-config.cmake and remove all dependencies
+set PATH=%PATH%;%ZED_SDK_ROOT_DIR%\bin
+
+:: For kinect 4 windows SDK v2, move kinect20.dll from system32 to KINECTSDK20_DIR\bin 
+:: For kinect 4 windows SDK v1, move kinect10.dll and KinectAudio10.dll to KINECTSDK20_DIR\bin
+set PATH=%PATH%;%KINECTSDK20_DIR%\bin
+
+cmake -B build_cuda -GNinja ^
+  -DCMAKE_BUILD_TYPE=Release ^
+  -DBUILD_AS_BUNDLE=ON ^
+  -DWITH_PYTHON=ON ^
+  -DWITH_TORCH=ON ^
+  -DWITH_ZED=ON ^
+  -DVCPKG_MANIFEST_INSTALL=OFF ^
+  -DVCPKG_TARGET_TRIPLET=%TRIPLET% ^
+  -DVCPKG_INSTALLED_DIR="%VCPKG_UNZIPPED_EXPORT_PATH%/installed" ^
+  -DCMAKE_TOOLCHAIN_FILE=%VCPKG_UNZIPPED_EXPORT_PATH%/scripts/buildsystems/vcpkg.cmake ^
+  -DGTSAM_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%\CMake ^
+  -DTorch_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%\tools\python3\Lib\site-packages\torch\share\cmake\Torch
+
+cmake --build build_cuda --config Release --target package
+
+:: Generate superpoint weights (from share directory of the installed package)
+curl -L -O "https://raw.githubusercontent.com/magicleap/SuperPointPretrainedNetwork/master/demo_superpoint.py"
+curl -L -O "https://github.com/magicleap/SuperPointPretrainedNetwork/raw/refs/heads/master/superpoint_v1.pth"
+..\bin\python.exe rtabmap_trace_superpoint.py
+
+:EndComment

cmake_modules/FindCuVSLAM.cmake

@@ -0,0 +1,105 @@
+# - Find cuVSLAM library (https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_visual_slam)
+#
+#  CUVSLAM_ROOT_DIR environment variable can be set to find the library.
+#
+# It sets the following variables:
+#  CUVSLAM_FOUND         - Set to false, or undefined, if cuVSLAM isn't found.
+#  CUVSLAM_VERSION       - The version of cuVSLAM found (e.g., "14.0.0").
+#  CUVSLAM_INCLUDE_DIRS  - The cuVSLAM include directory.
+#  CUVSLAM_LIBRARIES     - The cuVSLAM library to link against.
+
+find_package(CUDA REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+find_path(CUVSLAM_INCLUDE_DIRS 
+    NAMES cuvslam.h
+    PATHS
+        /usr/include
+        /usr/local/include
+        /opt/cuvslam/include
+        /opt/ros/humble/share/isaac_ros_nitros/cuvslam/include
+        $ENV{CUVSLAM_ROOT}/include
+        $ENV{CUVSLAM_ROOT_DIR}/include
+)
+
+find_library(CUVSLAM_LIBRARY 
+    NAMES cuvslam
+    PATHS
+        /usr/lib
+        /usr/local/lib
+        /opt/cuvslam/lib
+        /opt/ros/humble/share/isaac_ros_nitros/cuvslam/lib
+        $ENV{CUVSLAM_ROOT}/lib
+        $ENV{CUVSLAM_ROOT_DIR}/lib
+)
+
+if(CUVSLAM_INCLUDE_DIRS AND CUVSLAM_LIBRARY)
+    # Extract version from cuvslam.h header
+    file(STRINGS "${CUVSLAM_INCLUDE_DIRS}/cuvslam.h" CUVSLAM_VERSION_MAJOR_LINE 
+         REGEX "^#define CUVSLAM_API_VERSION_MAJOR")
+    file(STRINGS "${CUVSLAM_INCLUDE_DIRS}/cuvslam.h" CUVSLAM_VERSION_MINOR_LINE 
+         REGEX "^#define CUVSLAM_API_VERSION_MINOR")
+    
+    if(CUVSLAM_VERSION_MAJOR_LINE AND CUVSLAM_VERSION_MINOR_LINE)
+        string(REGEX MATCH "[0-9]+" CUVSLAM_VERSION_MAJOR "${CUVSLAM_VERSION_MAJOR_LINE}")
+        string(REGEX MATCH "[0-9]+" CUVSLAM_VERSION_MINOR "${CUVSLAM_VERSION_MINOR_LINE}")
+        set(CUVSLAM_VERSION "${CUVSLAM_VERSION_MAJOR}.${CUVSLAM_VERSION_MINOR}.0")
+    endif()
+    
+    set(CUVSLAM_LIBRARIES 
+        ${CUVSLAM_LIBRARY} 
+        ${CUDA_LIBRARIES}
+        # Eigen3 is header-only, so we don't need to link to it
+    )
+    set(CUVSLAM_INCLUDE_DIRS 
+        ${CUVSLAM_INCLUDE_DIRS} 
+        ${CUDA_INCLUDE_DIRS} 
+        ${EIGEN3_INCLUDE_DIR}
+    )
+endif()
+
+# Version compatibility check - cuVSLAM only guarantees API compatibility within the same major version
+set(CUVSLAM_VERSION_MISMATCH_REASON "")
+if(CuVSLAM_FIND_VERSION AND CUVSLAM_VERSION)
+    string(REGEX MATCH "^[0-9]+" REQUESTED_MAJOR_VERSION "${CuVSLAM_FIND_VERSION}")
+    if(NOT CUVSLAM_VERSION_MAJOR EQUAL REQUESTED_MAJOR_VERSION)
+        set(CUVSLAM_VERSION_MISMATCH_REASON "Major version mismatch: found ${CUVSLAM_VERSION_MAJOR}.x but requested ${REQUESTED_MAJOR_VERSION}.x.\ncuVSLAM only guarantees API compatibility within the same major version.\nPlease install cuVSLAM ${REQUESTED_MAJOR_VERSION}.x or update CMakeLists.txt to request version ${CUVSLAM_VERSION_MAJOR}.0.0")
+        
+        if(CuVSLAM_FIND_REQUIRED)
+            message(FATAL_ERROR 
+                "cuVSLAM major version mismatch: found version ${CUVSLAM_VERSION} but version ${CuVSLAM_FIND_VERSION} is required.\n"
+                "cuVSLAM only guarantees API compatibility within the same major version.\n"
+                "Found major version ${CUVSLAM_VERSION_MAJOR} is not compatible with requested major version ${REQUESTED_MAJOR_VERSION}.\n"
+                "Please install cuVSLAM ${REQUESTED_MAJOR_VERSION}.x or update CMakeLists.txt to request version ${CUVSLAM_VERSION_MAJOR}.x."
+            )
+        else()
+            # Clear the found variables to indicate incompatibility
+            unset(CUVSLAM_LIBRARIES)
+            unset(CUVSLAM_INCLUDE_DIRS)
+        endif()
+    endif()
+endif()
+
+# Handle the QUIET and REQUIRED arguments
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(CuVSLAM
+    FOUND_VAR CUVSLAM_FOUND
+    REQUIRED_VARS CUVSLAM_LIBRARIES CUVSLAM_INCLUDE_DIRS
+    VERSION_VAR CUVSLAM_VERSION
+    REASON_FAILURE_MESSAGE "${CUVSLAM_VERSION_MISMATCH_REASON}"
+    HANDLE_COMPONENTS
+)
+
+if(CUVSLAM_FOUND)
+    # Create imported target for modern CMake usage
+    if(NOT TARGET cuvslam::cuvslam)
+        add_library(cuvslam::cuvslam UNKNOWN IMPORTED)
+        set_target_properties(cuvslam::cuvslam PROPERTIES
+            IMPORTED_LOCATION "${CUVSLAM_LIBRARY}"
+            INTERFACE_INCLUDE_DIRECTORIES "${CUVSLAM_INCLUDE_DIRS}"
+            INTERFACE_LINK_LIBRARIES "${CUVSLAM_LIBRARIES};Eigen3::Eigen"
+        )
+    endif()
+endif()
+
+mark_as_advanced(CUVSLAM_INCLUDE_DIRS CUVSLAM_LIBRARY)

cmake_modules/FindEigen3.cmake

@@ -27,10 +27,10 @@
 
 if(NOT Eigen3_FIND_VERSION)
   if(NOT Eigen3_FIND_VERSION_MAJOR)
-    set(Eigen3_FIND_VERSION_MAJOR 2)
+    set(Eigen3_FIND_VERSION_MAJOR 3)
   endif()
   if(NOT Eigen3_FIND_VERSION_MINOR)
-    set(Eigen3_FIND_VERSION_MINOR 91)
+    set(Eigen3_FIND_VERSION_MINOR 0)
   endif()
   if(NOT Eigen3_FIND_VERSION_PATCH)
     set(Eigen3_FIND_VERSION_PATCH 0)

cmake_modules/FindG2O.cmake

@@ -26,6 +26,10 @@ FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h
   PATHS ${G2O_INCLUDE_DIR}
   NO_DEFAULT_PATH)
 
+FIND_FILE(G2O_SBA_UTILS_FILE g2o/types/sba/sba_utils.h
+  PATHS ${G2O_INCLUDE_DIR}
+  NO_DEFAULT_PATH)
+
 #ifdef G2O_NUMBER_FORMAT_STR
 #define G2O_CPP11 // we assume that if G2O_NUMBER_FORMAT_STR is defined, this is the new g2o code with c++11 interface
 #endif
@@ -97,16 +101,16 @@ IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_CONFIG_FIL
 	${G2O_TYPES_SBA}
         ${G2O_STUFF_LIBRARY})
   
-  IF(CSPARSE_FOUND)
+  IF(CSPARSE_FOUND AND G2O_SOLVER_CSPARSE AND G2O_SOLVER_CSPARSE_EXTENSION)
      SET(G2O_INCLUDE_DIRS 
         ${G2O_INCLUDE_DIRS} 
         ${CSPARSE_INCLUDE_DIR})
      SET(G2O_LIBRARIES
         ${G2O_LIBRARIES} 
-	${G2O_SOLVER_CSPARSE} 
-	${G2O_SOLVER_CSPARSE_EXTENSION}
-	${CSPARSE_LIBRARY})
-  ENDIF(CSPARSE_FOUND)
+        ${G2O_SOLVER_CSPARSE} 
+        ${G2O_SOLVER_CSPARSE_EXTENSION}
+        ${CSPARSE_LIBRARY})
+  ENDIF(CSPARSE_FOUND AND G2O_SOLVER_CSPARSE AND G2O_SOLVER_CSPARSE_EXTENSION)
 
   IF(G2O_SOLVER_CHOLMOD)
     SET(G2O_INCLUDE_DIRS 
@@ -118,22 +122,29 @@ IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_CONFIG_FIL
 	  ${CHOLMOD_LIB})
   ENDIF(G2O_SOLVER_CHOLMOD)
 
-  FILE(READ ${G2O_CONFIG_FILE} TMPTXT)
-  STRING(FIND "${TMPTXT}" "G2O_NUMBER_FORMAT_STR" matchres)
+  FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
+  STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
   IF(${matchres} EQUAL -1)
-    MESSAGE(STATUS "Old g2o version detected with c++03 interface (config file: ${G2O_CONFIG_FILE}).")
-    SET(G2O_CPP11 0)
-  ELSE()
-    MESSAGE(WARNING "Latest g2o version detected with c++11 interface (config file: ${G2O_CONFIG_FILE}). Make sure g2o is built with \"-DBUILD_WITH_MARCH_NATIVE=OFF\" to avoid segmentation faults caused by Eigen.")
-    FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
-    STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
+    FILE(READ ${G2O_CONFIG_FILE} TMPTXT)
+    STRING(FIND "${TMPTXT}" "G2O_NUMBER_FORMAT_STR" matchres)
     IF(${matchres} EQUAL -1)
+      MESSAGE(STATUS "Old g2o version detected with c++03 interface (config file: ${G2O_CONFIG_FILE}).")
+      SET(G2O_CPP11 0)
+    ELSE()
+      MESSAGE(WARNING "Latest g2o version detected with c++11 interface (config file: ${G2O_CONFIG_FILE}). Make sure g2o is built with \"-DBUILD_WITH_MARCH_NATIVE=OFF\" to avoid segmentation faults caused by Eigen.")
       MESSAGE(STATUS "Old g2o factory version detected without shared ptr (factory file: ${G2O_FACTORY_FILE}).")
       SET(G2O_CPP11 2)
-    ELSE()
-      MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
-      SET(G2O_CPP11 1)
     ENDIF()
+  ELSE()
+    MESSAGE(WARNING "Latest g2o version detected with c++11 interface (config file: ${G2O_CONFIG_FILE}). Make sure g2o is built with \"-DBUILD_WITH_MARCH_NATIVE=OFF\" to avoid segmentation faults caused by Eigen.")
+    MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
+    SET(G2O_CPP11 1)
+  ENDIF()
+
+  IF(G2O_SBA_UTILS_FILE)
+    SET(G2O_WITH_SBA_UTILS 1)
+  ELSE()
+    SET(G2O_WITH_SBA_UTILS 0)
   ENDIF()
 
   SET(G2O_FOUND "YES")

cmake_modules/FindORB_SLAM.cmake

@@ -11,6 +11,7 @@
 find_path(ORB_SLAM_INCLUDE_DIR NAMES System.h PATHS $ENV{ORB_SLAM_ROOT_DIR}/include)
 find_library(ORB_SLAM2_LIBRARY NAMES ORB_SLAM2 PATHS $ENV{ORB_SLAM_ROOT_DIR}/lib)
 find_library(ORB_SLAM3_LIBRARY NAMES ORB_SLAM3 PATHS $ENV{ORB_SLAM_ROOT_DIR}/lib)
+find_path(DBoW2_INCLUDE_DIR NAMES DBoW2/BowVector.h PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/DBoW2 NO_DEFAULT_PATH)
 find_path(g2o_INCLUDE_DIR NAMES g2o/core/sparse_optimizer.h PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/g2o NO_DEFAULT_PATH)
 find_path(sophus_INCLUDE_DIR NAMES sophus/se3.hpp PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/Sophus NO_DEFAULT_PATH)
 find_library(g2o_LIBRARY NAMES g2o PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/g2o/lib NO_DEFAULT_PATH)
@@ -22,9 +23,9 @@ IF(ORB_SLAM2_LIBRARY)
 ELSEIF(ORB_SLAM3_LIBRARY)
    SET(ORB_SLAM_VERSION 3)
    SET(ORB_SLAM_LIBRARY ${ORB_SLAM3_LIBRARY})
-   IF(g2o_INCLUDE_DIR AND sophus_INCLUDE_DIR) # ORB_SLAM3 v1
-      SET(g2o_INCLUDE_DIR ${g2o_INCLUDE_DIR} ${sophus_INCLUDE_DIR})
-   ENDIF(g2o_INCLUDE_DIR AND sophus_INCLUDE_DIR)
+   IF(g2o_INCLUDE_DIR AND sophus_INCLUDE_DIR AND DBoW2_INCLUDE_DIR) # ORB_SLAM3 v1
+      SET(g2o_INCLUDE_DIR ${g2o_INCLUDE_DIR} ${sophus_INCLUDE_DIR} ${DBoW2_INCLUDE_DIR} $ENV{ORB_SLAM_ROOT_DIR})
+   ENDIF(g2o_INCLUDE_DIR AND sophus_INCLUDE_DIR AND DBoW2_INCLUDE_DIR)
 ENDIF()
 
 IF (ORB_SLAM_INCLUDE_DIR AND ORB_SLAM_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_DIR AND g2o_LIBRARY)

cmake_modules/FindOpenVINS.cmake

@@ -0,0 +1,44 @@
+# Find OpenVINS
+# 
+#   We search for a vins installation in ROS/ROS2 first, then fallback on 
+#   ros-free library in common install paths
+
+FIND_PACKAGE(ov_msckf QUIET)
+IF(ov_msckf_FOUND)
+   # On ROS2, the indirect includes and libraries
+   # are not forwarded by ov_msckf target, append them manually
+   FIND_PACKAGE(ov_core)
+   FIND_PACKAGE(ov_init)
+   IF(ov_msckf_FOUND AND ov_core_FOUND AND ov_init_FOUND)
+      SET(OpenVINS_FOUND TRUE)
+      SET(OpenVINS_INCLUDE_DIRS
+         ${ov_msckf_INCLUDE_DIRS}
+         ${ov_core_INCLUDE_DIRS}
+         ${ov_init_INCLUDE_DIRS})
+      SET(OpenVINS_LIBRARIES
+         ${ov_msckf_LIBRARIES}
+         ${ov_core_LIBRARIES}
+         ${ov_init_LIBRARIES})
+   ENDIF()
+ELSE()
+   find_path(OpenVINS_INCLUDE_DIR NAMES core/VioManager.h PATH_SUFFIXES open_vins)
+   find_library(OpenVINS_LIBRARY NAMES ov_msckf_lib)
+   IF (OpenVINS_INCLUDE_DIR AND OpenVINS_LIBRARY)
+      SET(OpenVINS_FOUND TRUE)
+      SET(OpenVINS_INCLUDE_DIRS ${OpenVINS_INCLUDE_DIR})
+      SET(OpenVINS_LIBRARIES ${OpenVINS_LIBRARY})
+   ENDIF()
+ENDIF()
+
+IF (OpenVINS_FOUND)
+   # show which OpenVINS was found only if not quiet
+   IF (NOT OpenVINS_FIND_QUIETLY)
+      MESSAGE(STATUS "Found OpenVINS: ${OpenVINS_LIBRARIES} ${OpenVINS_INCLUDE_DIRS}")
+   ENDIF (NOT OpenVINS_FIND_QUIETLY)
+ELSE (OpenVINS_FOUND)
+   # fatal error if OpenVINS is required but not found
+   IF (OpenVINS_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find OpenVINS")
+   ENDIF (OpenVINS_FIND_REQUIRED)
+ENDIF (OpenVINS_FOUND)
+

cmake_modules/MacOSXBundleInfo.plist.in

@@ -10,8 +10,6 @@
 	<string>${MACOSX_BUNDLE_INFO_STRING}</string>
 	<key>CFBundleIconFile</key>
 	<string>${MACOSX_BUNDLE_ICON_FILE}</string>
-	<key>CFBundleIdentifier</key>
-	<string>${MACOSX_BUNDLE_GUI_IDENTIFIER}</string>
 	<key>CFBundleInfoDictionaryVersion</key>
 	<string>6.0</string>
 	<key>CFBundleLongVersionString</key>
@@ -32,6 +30,14 @@
 	<true/>
 	<key>NSHumanReadableCopyright</key>
 	<string>${MACOSX_BUNDLE_COPYRIGHT}</string>
+    <key>com.apple.security.app-sandbox</key>
+    <true/>
+    <key>com.apple.security.files.downloads.read-write</key>
+    <true/>
+    <key>com.apple.security.files.downloads.read-only</key>
+    <false/>
+    <key>com.apple.security.device.camera</key>
+    <true/>
 
 <!-- File type associations -->
 <key>CFBundleDocumentTypes</key>

corelib/include/rtabmap/core/Camera.h

@@ -38,7 +38,7 @@ class IMUFilter;
 
 /**
  * Class Camera
- *
+ *
  */
 class RTABMAP_CORE_EXPORT Camera : public SensorCapture
 {
@@ -48,7 +48,7 @@ public:
 	SensorData takeImage(SensorCaptureInfo * info = 0) {return takeData(info);}
 	float getImageRate() const {return getFrameRate();}
 	void setImageRate(float imageRate) {setFrameRate(imageRate);}
-	void setInterIMUPublishing(bool enabled, IMUFilter * filter = 0); // Take ownership of filter
+	void setInterIMUPublishing(bool enabled, IMUFilter * filter = 0, bool baseFrameConversion = false); // Take ownership of filter
 	bool isInterIMUPublishing() const {return publishInterIMU_;}
 
 	bool initFromFile(const std::string & calibrationPath);
@@ -73,6 +73,7 @@ private:
 private:
 	IMUFilter * imuFilter_;
 	bool publishInterIMU_;
+	bool imuBaseFrameConversion_;
 };
 
 

corelib/include/rtabmap/core/CameraRGBD.h

@@ -38,3 +38,4 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/camera/CameraRGBDImages.h>
 #include <rtabmap/core/camera/CameraK4A.h>
 #include <rtabmap/core/camera/CameraSeerSense.h>
+#include <rtabmap/core/camera/CameraOrbbecSDK.h>

corelib/include/rtabmap/core/DBDriver.h

@@ -129,11 +129,12 @@ public:
 			std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,
 #endif
 			cv::Mat * textures = 0) const;
+	void saveFlannIndex(const std::vector<unsigned char> & indexData) const;
 
 public:
 	// Mutex-protected methods of abstract versions below
 
-	bool openConnection(const std::string & url, bool overwritten = false);
+	bool openConnection(const std::string & url, bool overwritten = false, bool readOnly = false);
 	void closeConnection(bool save = true, const std::string & outputUrl = "");
 	bool isConnected() const;
 	unsigned long getMemoryUsed() const; // In bytes
@@ -161,19 +162,20 @@ public:
 	void executeNoResult(const std::string & sql) const;
 
 	// Load objects
-	void load(VWDictionary * dictionary, bool lastStateOnly = true) const;
-	void loadLastNodes(std::list<Signature *> & signatures) const; // returned signatures must be freed after usage
+	void load(VWDictionary & dictionary, bool lastStateOnly = true) const;
+	void loadLastNodes(std::list<Signature *> & signatures, bool loadWordIdsOnly = false) const; // returned signatures must be freed after usage
 	Signature * loadSignature(int id, bool * loadedFromTrash = 0); // returned signature must be freed after usage, call loadSignatures() instead if more than one signature should be loaded
-	void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0); // returned signatures must be freed after usage
+	void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0, bool loadWordIdsOnly = false); // returned signatures must be freed after usage
 	void loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws); // returned words must be freed after usage
 
 	// Specific queries...
-	void loadNodeData(Signature * signature, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
+	void loadNodeData(Signature & signature, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
 	void loadNodeData(std::list<Signature *> & signatures, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
 	void getNodeData(int signatureId, SensorData & data, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
 	bool getCalibration(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const;
 	bool getLaserScanInfo(int signatureId, LaserScan & info) const;
 	bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const;
+	void getLocalFeatures(int signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) const;
 	void loadLinks(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const;
 	void getWeight(int signatureId, int & weight) const;
 	void getLastNodeIds(std::set<int> & ids) const;
@@ -191,7 +193,7 @@ public:
 protected:
 	DBDriver(const ParametersMap & parameters = ParametersMap());
 
-	virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false) = 0;
+	virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false, bool readOnly = false) = 0;
 	virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "") = 0;
 	virtual bool isConnectedQuery() const = 0;
 	virtual unsigned long getMemoryUsedQuery() const = 0; // In bytes
@@ -274,11 +276,12 @@ protected:
 				std::vector<std::vector<Eigen::Vector2f> > * texCoords,
 #endif
 				cv::Mat * textures) const = 0;
+	virtual void saveFlannIndexQuery(const std::vector<unsigned char> & indexData) const = 0;
 
 	// Load objects
-	virtual void loadQuery(VWDictionary * dictionary, bool lastStateOnly = true) const = 0;
-	virtual void loadLastNodesQuery(std::list<Signature *> & signatures) const = 0;
-	virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const = 0;
+	virtual void loadQuery(VWDictionary & dictionary, bool lastStateOnly = true) const = 0;
+	virtual void loadLastNodesQuery(std::list<Signature *> & signatures, bool loadWordIdsOnly) const = 0;
+	virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures, bool loadWordIdsOnly) const = 0;
 	virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const = 0;
 	virtual void loadLinksQuery(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const = 0;
 
@@ -286,6 +289,7 @@ protected:
 	virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const = 0;
 	virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const = 0;
 	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const = 0;
+	virtual void getLocalFeaturesQuery(int signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) const = 0;
 	virtual void getLastNodeIdsQuery(std::set<int> & ids) const = 0;
 	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const = 0;
 	virtual void getAllOdomPosesQuery(std::map<int, Transform> & poses, bool ignoreChildren, bool ignoreIntermediateNodes) const = 0;

corelib/include/rtabmap/core/DBDriverSqlite3.h

@@ -51,7 +51,7 @@ public:
 	void setTempStore(int tempStore);
 
 protected:
-	virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false);
+	virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false, bool readOnly = false);
 	virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "");
 	virtual bool isConnectedQuery() const;
 	virtual unsigned long getMemoryUsedQuery() const; // In bytes
@@ -135,10 +135,12 @@ protected:
 #endif
 			cv::Mat * textures) const;
 
+	virtual void saveFlannIndexQuery(const std::vector<unsigned char> & indexData) const;
+
 	// Load objects
-	virtual void loadQuery(VWDictionary * dictionary, bool lastStateOnly = true) const;
-	virtual void loadLastNodesQuery(std::list<Signature *> & signatures) const;
-	virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures) const;
+	virtual void loadQuery(VWDictionary & dictionary, bool lastStateOnly = true) const;
+	virtual void loadLastNodesQuery(std::list<Signature *> & signatures, bool loadWordIdsOnly) const;
+	virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures, bool loadWordIdsOnly) const;
 	virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const;
 	virtual void loadLinksQuery(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const;
 
@@ -146,6 +148,7 @@ protected:
 	virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const;
 	virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const;
 	virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const;
+	virtual void getLocalFeaturesQuery(int signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) const;
 	virtual void getLastNodeIdsQuery(std::set<int> & ids) const;
 	virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const;
 	virtual void getAllOdomPosesQuery(std::map<int, Transform> & poses, bool ignoreChildren, bool ignoreIntermediateNodes) const;
@@ -190,6 +193,8 @@ private:
 			const cv::Point3f & viewpoint) const;
 
 private:
+	void loadWordsQuery(std::list<Signature *> & signatures) const;
+	void loadWordIdsQuery(std::list<Signature *> & signatures) const;
 	void loadLinksQuery(std::list<Signature *> & signatures) const;
 	int loadOrSaveDb(sqlite3 *pInMemory, const std::string & fileName, int isSave) const;
 

corelib/include/rtabmap/core/DBReader.h

@@ -59,6 +59,8 @@ public:
 			 int startMapId = 0,
 			 int stopMapId = -1,
 			 bool priorsIgnored = false,
+			 bool imuIgnored = false,
+			 bool intermediateNodesAreNormalNodes = false,
 			 const std::vector<Transform> & cameraLocalTransformOverrides = std::vector<Transform>());
 	DBReader(const std::list<std::string> & databasePaths,
 			 float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
@@ -74,6 +76,8 @@ public:
 			 int startMapId = 0,
 			 int stopMapId = -1,
 			 bool priorsIgnored = false,
+			 bool imuIgnored = false,
+			 bool intermediateNodesAreNormalNodes = false,
 			 const std::vector<Transform> & cameraLocalTransformOverrides = std::vector<Transform>());
 	virtual ~DBReader();
 
@@ -104,9 +108,11 @@ private:
 	int _stopId;
 	std::vector<unsigned int> _cameraIndices;
 	bool _intermediateNodesIgnored;
+	bool _intermediateNodesAreNormalNodes;
 	bool _landmarksIgnored;
 	bool _featuresIgnored;
 	bool _priorsIgnored;
+	bool _imuIgnored;
 	int _startMapId;
 	int _stopMapId;
 	std::vector<Transform> _cameraLocalTransformOverrides;

corelib/include/rtabmap/core/Features2d.h

@@ -104,6 +104,7 @@ namespace rtabmap {
 
 class ORBextractor;
 class SPDetector;
+class SPDetectorRpautrat;
 
 class Stereo;
 #if CV_MAJOR_VERSION < 3
@@ -129,7 +130,8 @@ public:
 		kFeatureSurfFreak=12, //new 0.20.4
 		kFeatureGfttDaisy=13, //new 0.20.6
 		kFeatureSurfDaisy=14,  //new 0.20.6
-		kFeaturePyDetector=15}; //new 0.20.8
+		kFeaturePyDetector=15, //new 0.20.8
+		kFeatureSuperPointRpautrat=16}; // new 0.23.3
 
 	static std::string typeName(Type type)
 	{
@@ -164,6 +166,8 @@ public:
 			return "GFTT+Daisy";
 		case kFeatureSurfDaisy:
 			return "SURF+Daisy";
+		case kFeatureSuperPointRpautrat:
+			return "SUPERPOINT-RPAUTRAT";
 		default:
 			return "Unknown";
 		}
@@ -305,7 +309,8 @@ private:
 	bool preciseUpscale_;
 	bool rootSIFT_;
 	bool gpu_;
-	float guaussianThreshold_;
+	float gaussianThreshold_;
+	float maxGaussianThreshold_;
 	bool upscale_;
 
 	cv::Ptr<CV_SIFT> sift_;
@@ -626,6 +631,31 @@ private:
 	bool cuda_;
 };
 
+//SuperPointRpautrat
+class RTABMAP_CORE_EXPORT SuperPointRpautrat : public Feature2D
+{
+public:
+	SuperPointRpautrat(const ParametersMap & parameters = ParametersMap());
+	virtual ~SuperPointRpautrat();
+
+	virtual void parseParameters(const ParametersMap & parameters);
+	virtual Feature2D::Type getType() const { return kFeatureSuperPointRpautrat; }
+
+private:
+	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
+	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
+
+	cv::Ptr<SPDetectorRpautrat> superPoint_;
+
+	std::string superpointWeightsPath_;
+	std::string superpointModelPath_;
+	std::string outputDir_;
+	float threshold_;
+	bool nms_;
+	int minDistance_;
+	bool cuda_;
+};
+
 //GFTT_DAISY
 class RTABMAP_CORE_EXPORT GFTT_DAISY : public GFTT
 {

corelib/include/rtabmap/core/FlannIndex.h

@@ -37,37 +37,48 @@ namespace rtabmap {
 class RTABMAP_CORE_EXPORT FlannIndex
 {
 public:
+	// A forward of the internal enum, indexes should match. See src/rtflann/defines.h
+	enum flann_algorithm_t
+	{
+		FLANN_INDEX_LINEAR 			= 0,
+		FLANN_INDEX_KDTREE 			= 1,
+		FLANN_INDEX_KDTREE_SINGLE   = 4,
+		FLANN_INDEX_LSH 			= 6,
+	};
+
 	FlannIndex();
 	virtual ~FlannIndex();
 
 	void release();
+	std::vector<unsigned char> serializeIndex(bool computeChecksum = true) const;
+
 	size_t indexedFeatures() const;
 
 	// return Bytes
 	size_t memoryUsed() const;
 
 	// Note that useDistanceL1 doesn't have any effect if LSH is used
-	void buildLinearIndex(
+	void buildIndex(
+			flann_algorithm_t algorithm,
 			const cv::Mat & features,
 			bool useDistanceL1 = false,
 			float rebalancingFactor = 2.0f);
-	void buildKDTreeIndex(
-			const cv::Mat & features,
-			int trees = 4,
-			bool useDistanceL1 = false,
-			float rebalancingFactor = 2.0f);
-	void buildKDTreeSingleIndex(
-			const cv::Mat & features,
-			int leafMaxSize = 10,
-			bool reorder = true,
-			bool useDistanceL1 = false,
-			float rebalancingFactor = 2.0f);
-	void buildLSHIndex(
-			const cv::Mat & features,
-			unsigned int table_number = 12,
-			unsigned int key_size = 20,
-			unsigned int multi_probe_level = 2,
-			float rebalancingFactor = 2.0f);
+	// Return false if the indexData doesn't correspond to expected features used and parameters.
+	bool loadIndex(
+		const std::vector<unsigned char> & indexData,
+		flann_algorithm_t algorithm,
+		const cv::Mat & features,
+		bool useDistanceL1 = false,
+		float rebalancingFactor = 2.0f,
+		std::string * errorMsg = NULL);
+	bool loadIndex(
+		const unsigned char * indexData,
+		size_t indexDataSize,
+		flann_algorithm_t algorithm,
+		const cv::Mat & features,
+		bool useDistanceL1 = false,
+		float rebalancingFactor = 2.0f,
+		std::string * errorMsg = NULL);
 
 	bool isBuilt();
 
@@ -104,9 +115,9 @@ private:
 	unsigned int nextIndex_;
 	int featuresType_;
 	int featuresDim_;
-	bool isLSH_;
 	bool useDistanceL1_; // true=EUCLEDIAN_L2 false=MANHATTAN_L1
 	float rebalancingFactor_;
+	flann_algorithm_t algorithm_;
 
 	// keep feature in memory until the tree is rebuilt
 	// (in case the word is deleted when removed from the VWDictionary)

corelib/include/rtabmap/core/GlobalMap.h

@@ -53,6 +53,7 @@ public:
 public:
 	virtual ~GlobalMap();
 
+	bool fullUpdateNeeded(const std::map<int, Transform> & poses) const;
 	bool update(const std::map<int, Transform> & poses); // return true if map has changed
 
 	virtual void clear();

corelib/include/rtabmap/core/Graph.h

@@ -56,7 +56,7 @@ bool RTABMAP_CORE_EXPORT exportPoses(
 
 bool RTABMAP_CORE_EXPORT importPoses(
 		const std::string & filePath,
-		int format, // 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame, 11=10+ID), 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe, 9=EuRoC MAV
+		int format, // 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame, 11=10+ID), 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe, 9=EuRoC MAV, 12=rgbd_bonn
 		std::map<int, Transform> & poses,
 		std::multimap<int, Link> * constraints = 0, // optional for formats 3 and 4
 		std::map<int, double> * stamps = 0); // optional for format 1 and 9
@@ -118,15 +118,18 @@ Transform RTABMAP_CORE_EXPORT calcRMSE(
 		float & rotational_max,
 		bool align2D = false);
 
-void RTABMAP_CORE_EXPORT computeMaxGraphErrors(
+struct MaxGraphErrors
+{
+	float linear=-1.0f;         // absolute error (m) of the link with maximum linear error
+	float angular=-1.0f;        // absolute error (rad)  of the link with maximum angular error
+	float linearRatio=-1.0f;    // Ratio = absolute error (m) / linear std (m), of the link with maximum linear error
+	float angularRatio=-1.0f;   // Ratio = absolute error (rad) / angular std (rad), of the link with maximum angular error
+	Link linearLink;  // link with maximum linear error
+	Link angularLink; // link with maximum angular error
+};
+MaxGraphErrors RTABMAP_CORE_EXPORT computeMaxGraphErrors(
 		const std::map<int, Transform> & poses,
 		const std::multimap<int, Link> & links,
-		float & maxLinearErrorRatio,
-		float & maxAngularErrorRatio,
-		float & maxLinearError,
-		float & maxAngularError,
-		const Link ** maxLinearErrorLink = 0,
-		const Link ** maxAngularErrorLink = 0,
 		bool for3DoF = false);
 
 std::vector<double> RTABMAP_CORE_EXPORT getMaxOdomInf(const std::multimap<int, Link> & links);
@@ -277,7 +280,8 @@ std::list<std::pair<int, Transform> > RTABMAP_CORE_EXPORT computePath(
 		bool lookInDatabase = true,
 		bool updateNewCosts = false,
 		float linearVelocity = 0.0f,   // m/sec
-		float angularVelocity = 0.0f); // rad/sec
+		float angularVelocity = 0.0f,  // rad/sec
+		bool ignoreDirectLinks = false); 
 
 /**
  * Find the nearest node of the target pose
@@ -336,9 +340,7 @@ RTABMAP_DEPRECATED std::map<int, Transform> RTABMAP_CORE_EXPORT getPosesInRadius
 RTABMAP_DEPRECATED std::map<int, Transform> RTABMAP_CORE_EXPORT getPosesInRadius(const Transform & targetPose, const std::map<int, Transform> & nodes, float radius, float angle = 0.0f);
 
 float RTABMAP_CORE_EXPORT computePathLength(
-		const std::vector<std::pair<int, Transform> > & path,
-		unsigned int fromIndex = 0,
-		unsigned int toIndex = 0);
+		const std::vector<std::pair<int, Transform> > & path);
 
 // assuming they are all linked in map order
 float RTABMAP_CORE_EXPORT computePathLength(

corelib/include/rtabmap/core/LaserScan.h

@@ -48,7 +48,8 @@ public:
 		kXYZNormal=8,
 		kXYZINormal=9,
 		kXYZRGBNormal=10,
-		kXYZIT=11};
+		kXYZIT=11,
+		kXYZIRT=12};
 
 	static std::string formatName(const Format & format);
 	static int channels(const Format & format);
@@ -57,6 +58,7 @@ public:
 	static bool isScanHasRGB(const Format & format);
 	static bool isScanHasIntensity(const Format & format);
 	static bool isScanHasTime(const Format & format);
+	static bool isScanHasRing(const Format & format);
 	static LaserScan backwardCompatibility(
 			const cv::Mat & oldScanFormat,
 			int maxPoints = 0,
@@ -135,6 +137,7 @@ public:
 	bool hasRGB() const {return isScanHasRGB(format_);}
 	bool hasIntensity() const {return isScanHasIntensity(format_);}
 	bool hasTime() const {return isScanHasTime(format_);}
+	bool hasRing() const {return isScanHasRing(format_);}
 	bool isCompressed() const {return !data_.empty() && data_.type()==CV_8UC1;}
 	bool isOrganized() const {return data_.rows > 1;}
 	LaserScan clone() const;
@@ -143,7 +146,8 @@ public:
 	int getIntensityOffset() const {return hasIntensity()?(is2d()?2:3):-1;}
 	int getRGBOffset() const {return hasRGB()?(is2d()?2:3):-1;}
 	int getNormalsOffset() const {return hasNormals()?(2 + (is2d()?0:1) + ((hasRGB() || hasIntensity())?1:0)):-1;}
-	int getTimeOffset() const {return hasTime()?4:-1;}
+	int getRingOffset() const {return format_==kXYZIRT?4:-1;}
+	int getTimeOffset() const {return format_==kXYZIT?4:(format_==kXYZIRT?5:-1);}
 
 	float & field(unsigned int pointIndex, unsigned int channelOffset);
 

corelib/include/rtabmap/core/MarkerDetector.h

@@ -57,6 +57,12 @@ private:
 };
 
 class RTABMAP_CORE_EXPORT MarkerDetector {
+
+public:
+  enum Strategy {
+    kStrategyOpencv,
+    kStrategyApriltag
+  };
     
 public:
 	MarkerDetector(const ParametersMap & parameters = ParametersMap());
@@ -84,15 +90,19 @@ public:
 		    cv::Mat * imageWithDetections = 0);
 
 private:
-#ifdef HAVE_OPENCV_ARUCO
-	cv::Ptr<cv::aruco::DetectorParameters> detectorParams_;
-	float markerLength_;
+  Strategy strategy_;
+  float markerLength_;
+  std::map<int, float> markerLengths_;
 	float maxDepthError_;
 	float maxRange_;
 	float minRange_;
 	int dictionaryId_;
+#ifdef HAVE_OPENCV_ARUCO
+	cv::Ptr<cv::aruco::DetectorParameters> detectorParams_;
 	cv::Ptr<cv::aruco::Dictionary> dictionary_;
 #endif
+  void * apriltagLibDetector_;
+  void * apriltagLibFamily_;
 };
 
 } /* namespace rtabmap */

corelib/include/rtabmap/core/Memory.h

@@ -140,10 +140,12 @@ public:
 			float radius,
 			const std::map<int, Transform> & optimizedPoses,
 			int maxGraphDepth) const;
+	void convertToIntermediate(int locationId);
 	void deleteLocation(int locationId, std::list<int> * deletedWords = 0);
 	void saveLocationData(int locationId);
 	void removeLink(int idA, int idB);
-	void removeRawData(int id, bool image = true, bool scan = true, bool userData = true);
+	void removeRawData(int id, bool image = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
+	int reduceNode(int id, float maxDistance = 0.0f, bool keepLinkedInDb = false, int direction = 0);
 
 	//getters
 	const std::map<int, double> & getWorkingMem() const {return _workingMem;}
@@ -161,7 +163,7 @@ public:
 	float getSimilarityThreshold() const {return _similarityThreshold;}
 	std::map<int, int> getWeights() const;
 	int getLastSignatureId() const;
-	const Signature * getLastWorkingSignature() const;
+	const Signature * getLastWorkingSignature(bool ignoreIntermediateNodes) const;
 	std::map<int, Link> getNodesObservingLandmark(int landmarkId, bool lookInDatabase) const;
 	int getSignatureIdByLabel(const std::string & label, bool lookInDatabase = true) const;
 	bool labelSignature(int id, const std::string & label);
@@ -211,6 +213,7 @@ public:
 	std::set<int> getAllSignatureIds(bool ignoreChildren = true) const;
 	bool memoryChanged() const {return _memoryChanged;}
 	bool isIncremental() const {return _incrementalMemory;}
+	bool isReadOnly() const {return !_incrementalMemory && _localizationReadOnly;}
 	bool isLocalizationDataSaved() const {return _localizationDataSaved;}
 	const Signature * getSignature(int id) const;
 	bool isInSTM(int signatureId) const {return _stMem.find(signatureId) != _stMem.end();}
@@ -264,6 +267,7 @@ private:
 	void addSignatureToStm(Signature * signature, const cv::Mat & covariance);
 	void clear();
 	void loadDataFromDb(bool postInitClosingEvents);
+	void saveFlannIndex(bool postInitClosingEvents);
 	void moveToTrash(Signature * s, bool keepLinkedToGraph = true, std::list<int> * deletedWords = 0);
 
 	void moveSignatureToWMFromSTM(int id, int * reducedTo = 0);
@@ -275,6 +279,7 @@ private:
 	void initCountId();
 	void rehearsal(Signature * signature, Statistics * stats = 0);
 	bool rehearsalMerge(int oldId, int newId);
+	bool canBeReduced(const Link & link, float maxDistance, int direction);
 
 	const std::map<int, Signature*> & getSignatures() const {return _signatures;}
 
@@ -299,13 +304,16 @@ private:
 	float _similarityThreshold;
 	bool _binDataKept;
 	bool _rawDescriptorsKept;
+	bool _loadVisualLocalFeaturesOnInit;
 	bool _saveDepth16Format;
 	bool _notLinkedNodesKeptInDb;
 	bool _saveIntermediateNodeData;
 	std::string _rgbCompressionFormat;
 	std::string _depthCompressionFormat;
 	bool _incrementalMemory;
+	bool _localizationReadOnly;
 	bool _localizationDataSaved;
+	bool _flannIndexSaved;
 	bool _reduceGraph;
 	int _maxStMemSize;
 	float _recentWmRatio;
@@ -353,6 +361,7 @@ private:
 	bool _linksChanged; // False by default, become true when links are modified.
 	int _signaturesAdded;
 	bool _allNodesInWM;
+	bool _receivingOdometryFeatures;
 	GPS _gpsOrigin;
 	std::vector<CameraModel> _rectCameraModels;
 	std::vector<StereoCameraModel> _rectStereoCameraModels;

corelib/include/rtabmap/core/Odometry.h

@@ -53,10 +53,12 @@ public:
 		kTypeOkvis = 6,
 		kTypeLOAM = 7,
 		kTypeMSCKF = 8,
-		kTypeVINS = 9,
+		kTypeVINSFusion = 9,
 		kTypeOpenVINS = 10,
 		kTypeFLOAM = 11,
-		kTypeOpen3D = 12
+		kTypeOpen3D = 12,
+		kTypeCuVSLAM = 13,
+		kTypeLIOSAM = 14
 	};
 
 public:

corelib/include/rtabmap/core/OdometryThread.h

@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define ODOMETRYTHREAD_H_
 
 #include <rtabmap/core/rtabmap_core_export.h>
+#include <rtabmap/core/SensorEvent.h>
 #include <rtabmap/core/SensorData.h>
 #include <rtabmap/utilite/UThread.h>
 #include <rtabmap/utilite/UEventsHandler.h>
@@ -55,18 +56,19 @@ private:
 	// MAIN LOOP
 	//============================================================
 	virtual void mainLoop();
-	void addData(const SensorData & data);
-	bool getData(SensorData & data);
+	void addData(const SensorEvent & data);
+	bool getData(SensorEvent & data);
 
 private:
 	USemaphore _dataAdded;
 	UMutex _dataMutex;
-	std::list<SensorData> _dataBuffer;
+	std::list<SensorEvent> _dataBuffer;
 	std::list<SensorData> _imuBuffer;
 	Odometry * _odometry;
 	unsigned int _dataBufferMaxSize;
 	bool _resetOdometry;
 	Transform _resetPose;
+	Transform _previousGuessPose;
 	double _oldestAsyncImuStamp;
 	double _newestAsyncImuStamp;
 };

corelib/include/rtabmap/core/Parameters.h

@@ -204,6 +204,7 @@ class RTABMAP_CORE_EXPORT Parameters
     RTABMAP_PARAM(Mem, ImageKept,                   bool, false,    "Keep raw images in RAM.");
     RTABMAP_PARAM(Mem, BinDataKept,                 bool, true,     "Keep binary data in db.");
     RTABMAP_PARAM(Mem, RawDescriptorsKept,          bool, true,     "Raw descriptors kept in memory.");
+    RTABMAP_PARAM(Mem, LoadVisualLocalFeaturesOnInit, bool, true,   "Load all local visual features (keypoints, descriptors and 3D points) in RAM when loading an existing database. This can add significant time to initialize the memory but the features will be already loaded before computing loop closure transforms. If false, the features are loaded on-demand from the database when a loop closure transformation should be estimated.");
     RTABMAP_PARAM(Mem, MapLabelsAdded,              bool, true,     "Create map labels. The first node of a map will be labeled as \"map#\" where # is the map ID.");
     RTABMAP_PARAM(Mem, SaveDepth16Format,           bool, false,    "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).");
     RTABMAP_PARAM(Mem, NotLinkedNodesKept,          bool, true,     "Keep not linked nodes in db (rehearsed nodes and deleted nodes).");
@@ -212,17 +213,18 @@ class RTABMAP_CORE_EXPORT Parameters
     RTABMAP_PARAM_STR(Mem, DepthCompressionFormat,   ".rvl",        "Depth image compression format for 16UC1 depth type. It should be \".png\" or \".rvl\". If depth type is 32FC1, \".png\" is used.");
     RTABMAP_PARAM(Mem, STMSize,                   unsigned int, 10, "Short-term memory size.");
     RTABMAP_PARAM(Mem, IncrementalMemory,           bool, true,     "SLAM mode, otherwise it is Localization mode.");
-    RTABMAP_PARAM(Mem, LocalizationDataSaved,       bool, false,     uFormat("Save localization data during localization session (when %s=false). When enabled, the database will then also grow in localization mode. This mode would be used only for debugging purpose.", kMemIncrementalMemory().c_str()).c_str());
-    RTABMAP_PARAM(Mem, ReduceGraph,                 bool, false,    "Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set).");
+    RTABMAP_PARAM(Mem, LocalizationReadOnly,        bool, false,    uFormat("In localization mode, open the database in read-only mode (ignored if %s=true). Currrenty incompatible with memory management (%s and %s cannot be used) and if there are disjoint sessions in working memory. Last localization pose won't be saved back in the database at the end of the session, so the robot will always restart to original last localization pose, unless %s is used or an external initial pose is provided on initialization.", kMemIncrementalMemory().c_str(), kRtabmapLoopThr().c_str(), kRtabmapMemoryThr().c_str(), kRGBDStartAtOrigin().c_str()).c_str());
+    RTABMAP_PARAM(Mem, LocalizationDataSaved,       bool, false,    uFormat("Save localization data during localization session (when %s=false). When enabled, the database will then also grow in localization mode. This mode would be used only for debugging purpose.", kMemIncrementalMemory().c_str()).c_str());
+    RTABMAP_PARAM(Mem, ReduceGraph,                 bool, false,    uFormat("Reduce graph. Merge nodes when loop closures are added (ignoring those with user data). Note that this approach assumes that 100%% of the loop closures accepted are good, so it is highly recommended to enable \"%s\" at the same time.", kRGBDOptimizeMaxError().c_str()));
     RTABMAP_PARAM(Mem, RecentWmRatio,               float, 0.2,     "Ratio of locations after the last loop closure in WM that cannot be transferred.");
     RTABMAP_PARAM(Mem, TransferSortingByWeightId,   bool, false,    "On transfer, signatures are sorted by weight->ID only (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight->Age->ID (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID.");
-    RTABMAP_PARAM(Mem, RehearsalIdUpdatedToNewOne,  bool, false,    "On merge, update to new id. When false, no copy.");
+    RTABMAP_PARAM(Mem, RehearsalIdUpdatedToNewOne,  bool, false,    uFormat("On merge, update to new id. When false, no copy. Keep this disable if %s=true.", kRtabmapCreateIntermediateNodes().c_str()));
     RTABMAP_PARAM(Mem, RehearsalWeightIgnoredWhileMoving, bool, false, "When the robot is moving, weights are not updated on rehearsal.");
     RTABMAP_PARAM(Mem, GenerateIds,                 bool, true,     "True=Generate location IDs, False=use input image IDs.");
     RTABMAP_PARAM(Mem, BadSignaturesIgnored,        bool, false,    "Bad signatures are ignored.");
     RTABMAP_PARAM(Mem, InitWMWithAllNodes,          bool, false,    "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
     RTABMAP_PARAM(Mem, DepthAsMask,                 bool, true,     "Use depth image as mask when extracting features for vocabulary.");
-    RTABMAP_PARAM(Mem, DepthMaskFloorThr,           float, 0.0,     uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled, negative means remove all objects above the floor threshold instead. Ignored if %s is false.", kMemDepthAsMask().c_str()));
+    RTABMAP_PARAM(Mem, DepthMaskFloorThr,           float, 0.0,     uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kMemDepthAsMask().c_str()));
     RTABMAP_PARAM(Mem, StereoFromMotion,            bool, false,    uFormat("Triangulate features without depth using stereo from motion (odometry). It would be ignored if %s is true and the feature detector used supports masking.", kMemDepthAsMask().c_str()));
     RTABMAP_PARAM(Mem, ImagePreDecimation,          unsigned int, 1, uFormat("Decimation of the RGB image before visual feature detection. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If %s is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.",kMemDepthAsMask().c_str()));
     RTABMAP_PARAM(Mem, ImagePostDecimation,         unsigned int, 1, uFormat("Decimation of the RGB image before saving it to database. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. Decimation is done from the original image. If set to same value than %s, data already decimated is saved (no need to re-decimate the image).", kMemImagePreDecimation().c_str()));
@@ -247,19 +249,21 @@ class RTABMAP_CORE_EXPORT Parameters
     RTABMAP_PARAM(Kp, MinDepth,                 float, 0,     "Filter extracted keypoints by depth.");
     RTABMAP_PARAM(Kp, MaxFeatures,              int, 500,     "Maximum features extracted from the images (0 means not bounded, <0 means no extraction).");
     RTABMAP_PARAM(Kp, SSC,                      bool, false,  "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
-    RTABMAP_PARAM(Kp, BadSignRatio,             float, 0.5,   "Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).");
+    RTABMAP_PARAM(Kp, BadSignRatio,             float, 0.5,   uFormat("Bad signature ratio. If %s=0, the ratio is computed from the average number of words per signature (less than Ratio x AverageWordsPerImage = bad).", kKpMaxFeatures().c_str()));
     RTABMAP_PARAM(Kp, NndrRatio,                float, 0.8,   "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
 #if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
     // OpenCV>2 without xFeatures2D module doesn't have BRIEF
-    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 8,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector");
+    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 8,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
 #else
-    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 6,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector");
+    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 6,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
 #endif
     RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed,      bool, true,   "Use of the td-idf strategy to compute the likelihood.");
     RTABMAP_PARAM(Kp, Parallelized,             bool, true,   "If the dictionary update and signature creation were parallelized.");
     RTABMAP_PARAM_STR(Kp, RoiRatios,       "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
     RTABMAP_PARAM_STR(Kp, DictionaryPath,       "",           "Path of the pre-computed dictionary");
     RTABMAP_PARAM(Kp, NewWordsComparedTogether, bool, true,   "When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature).");
+    RTABMAP_PARAM(Kp, FlannIndexSaved,          bool, false,  uFormat("Save FLANN index during localization session (when %s=false). The FLANN index will be saved to database after the first time localization mode is used, then on next sessions, the index is reloaded from the database instead of being rebuilt again. This can save significant loading time when the visual word dictionary is big (>1M words). Note that if the dictionary is modified (parameters or data), the index will be rebuilt and saved again on the next session. Ignored on initialization if %s is enabled.", kMemIncrementalMemory().c_str(), kMemInitWMWithAllNodes().c_str()).c_str());
+    RTABMAP_PARAM(Kp, SerializeWithChecksum,    bool, true,   "On serialization of the FLANN index, compute checksum of the data used by the FLANN index. This adds a slight overhead on serialization/deserialization to make sure that the dictionary data correspond to same data used when the index was built.");
     RTABMAP_PARAM(Kp, SubPixWinSize,            int, 3,       "See cv::cornerSubPix().");
     RTABMAP_PARAM(Kp, SubPixIterations,         int, 0,       "See cv::cornerSubPix(). 0 disables sub pixel refining.");
     RTABMAP_PARAM(Kp, SubPixEps,                double, 0.02, "See cv::cornerSubPix().");
@@ -290,7 +294,8 @@ class RTABMAP_CORE_EXPORT Parameters
     RTABMAP_PARAM(SIFT, PreciseUpscale,    bool, false,  "Whether to enable precise upscaling in the scale pyramid (OpenCV >= 4.8).");
     RTABMAP_PARAM(SIFT, RootSIFT,          bool, false,  "Apply RootSIFT normalization of the descriptors.");
     RTABMAP_PARAM(SIFT, Gpu,               bool, false,  "CudaSift: Use GPU version of SIFT. This option is enabled only if RTAB-Map is built with CudaSift dependency and GPUs are detected.");
-    RTABMAP_PARAM(SIFT, GaussianThreshold, float, 2.0,   "CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features are produced by the detector.");
+    RTABMAP_PARAM(SIFT, GaussianThreshold, float, 2.0,   "CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features with low response/hessian are produced by the detector.");
+    RTABMAP_PARAM(SIFT, MaxGaussianThreshold, float, 0.0,   uFormat("CudaSift: Maximum threshold on difference of Gaussians for feature pruning (ignored if smaller or equal than %s). The lower the threshold, the less features with high response/hessian are produced by the detector.", kSIFTGaussianThreshold().c_str()));
     RTABMAP_PARAM(SIFT, Upscale,           bool, false,  "CudaSift: Whether to enable upscaling.");
 
     RTABMAP_PARAM(BRIEF, Bytes,            int, 32,      "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");
@@ -343,6 +348,13 @@ class RTABMAP_CORE_EXPORT Parameters
     RTABMAP_PARAM(SuperPoint, NMSRadius,     int,  4,      uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointNMS().c_str()));
     RTABMAP_PARAM(SuperPoint, Cuda,          bool, true,   "Use Cuda device for Torch, otherwise CPU device is used by default.");
 
+    RTABMAP_PARAM_STR(SuperPointRpautrat, WeightsPath, "",           "[Required] SuperPoint weights file (*.pth).");
+    RTABMAP_PARAM_STR(SuperPointRpautrat, ModelPath, "",           "[Required] SuperPoint python model file (superpoint_pytorch.py).");
+    RTABMAP_PARAM(SuperPointRpautrat, Threshold,     float, 0.005, "Detector response threshold to accept keypoint.");
+    RTABMAP_PARAM(SuperPointRpautrat, NMS,           bool,  true,  "If true, non-maximum suppression is applied to detected keypoints.");
+    RTABMAP_PARAM(SuperPointRpautrat, NMSRadius,     int,  4,      uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointRpautratNMS().c_str()));
+    RTABMAP_PARAM(SuperPointRpautrat, Cuda,          bool, true,   "Use Cuda device for Torch, otherwise CPU device is used by default.");
+
     RTABMAP_PARAM_STR(PyDetector, Path,       "",           "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied.");
 	RTABMAP_PARAM(PyDetector, Cuda,           bool, true,   "Use cuda.");
 
@@ -359,14 +371,15 @@ class RTABMAP_CORE_EXPORT Parameters
 
     // RGB-D SLAM
     RTABMAP_PARAM(RGBD, Enabled,                  bool, true,  "Activate metric SLAM. If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information.");
-    RTABMAP_PARAM(RGBD, LinearUpdate,             float, 0.1,  "Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated.");
-    RTABMAP_PARAM(RGBD, AngularUpdate,            float, 0.1,  "Minimum angular displacement (rad) to update the map. Rehearsal is done prior to this, so weights are still updated.");
+    RTABMAP_PARAM(RGBD, LinearUpdate,             float, 0.1,  uFormat("Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()));
+    RTABMAP_PARAM(RGBD, AngularUpdate,            float, 0.1,  uFormat("Minimum angular displacement (rad) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()));
     RTABMAP_PARAM(RGBD, LinearSpeedUpdate,        float, 0.0,  "Maximum linear speed (m/s) to update the map (0 means not limit).");
     RTABMAP_PARAM(RGBD, AngularSpeedUpdate,       float, 0.0,  "Maximum angular speed (rad/s) to update the map (0 means not limit).");
     RTABMAP_PARAM(RGBD, AggressiveLoopThr,        float, 0.05, uFormat("Loop closure threshold used (overriding %s) when a new mapping session is not yet linked to a map of the highest loop closure hypothesis. In localization mode, this threshold is used when there are no loop closure constraints with any map in the cache (%s). In all cases, the goal is to aggressively loop on a previous map in the database. Only used when %s is enabled. Set 1 to disable.", kRtabmapLoopThr().c_str(), kRGBDMaxOdomCacheSize().c_str(), kRGBDEnabled().c_str()));
     RTABMAP_PARAM(RGBD, NewMapOdomChangeDistance, float, 0,    "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled).");
     RTABMAP_PARAM(RGBD, OptimizeFromGraphEnd,     bool, false, "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).");
-    RTABMAP_PARAM(RGBD, OptimizeMaxError,         float, 3.0,   uFormat("Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. Not compatible with \"%s\" if enabled.", kOptimizerRobust().c_str()));
+    RTABMAP_PARAM(RGBD, OptimizeMaxError,         float, 3.0,   uFormat("Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. If used with \"%s\", the disabled loop closure links will be removed.", kOptimizerRobust().c_str()));
+    RTABMAP_PARAM(RGBD, OptimizeMaxErrorRepairRadius, float, 0.0,   uFormat("If two consecutive loop closures are rejected by %s on the same old loop closure link, we will remove that old link, and other old links under that radius if necessary, until optimization is accepted. When optimization is accepted, the old loop closure links are removed from the graph. This feature is useful to reject bad loop closures that were accepted previously. Set to 0 to disable this feature.", kRGBDOptimizeMaxError().c_str()));
     RTABMAP_PARAM(RGBD, MaxLoopClosureDistance,   float, 0.0,   "Reject loop closures/localizations if the distance from the map is over this distance (0=disabled).");
     RTABMAP_PARAM(RGBD, ForceOdom3DoF,            bool, true,  uFormat("Force odometry pose to be 3DoF if %s=true.", kRegForce3DoF().c_str()));
     RTABMAP_PARAM(RGBD, StartAtOrigin,            bool, false, uFormat("If true, rtabmap will assume the robot is starting from origin of the map. If false, rtabmap will assume the robot is restarting from the last saved localization pose from previous session (the place where it shut down previously). Used only in localization mode (%s=false).", kMemIncrementalMemory().c_str()));
@@ -428,7 +441,7 @@ class RTABMAP_CORE_EXPORT Parameters
 #endif
 #endif
     RTABMAP_PARAM(Optimizer, VarianceIgnored, bool, false,     "Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links.");
-    RTABMAP_PARAM(Optimizer, Robust,          bool, false,     uFormat("Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies). Not compatible with \"%s\" if enabled.", kRGBDOptimizeMaxError().c_str()));
+    RTABMAP_PARAM(Optimizer, Robust,          bool, false,     "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies).");
     RTABMAP_PARAM(Optimizer, PriorsIgnored,   bool, true,      "Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this.");
     RTABMAP_PARAM(Optimizer, LandmarksIgnored,   bool, false,  "Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this.");
 #if defined(RTABMAP_G2O) || defined(RTABMAP_GTSAM)
@@ -453,8 +466,8 @@ class RTABMAP_CORE_EXPORT Parameters
     RTABMAP_PARAM(GTSAM, IncRelinearizeSkip,       int, 1, "Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info.");
 
     // Odometry
-    RTABMAP_PARAM(Odom, Strategy,               int, 0,       "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM2 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion 10=OpenVINS 11=FLOAM 12=Open3D");
-    RTABMAP_PARAM(Odom, ResetCountdown,         int, 0,       "Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).");
+    RTABMAP_PARAM(Odom, Strategy,               int, 0,       "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion 10=OpenVINS 11=FLOAM 12=Open3D 13=cuVSLAM 14=LIO-SAM");
+    RTABMAP_PARAM(Odom, ResetCountdown,         int, 0,       "Automatically reset odometry after X consecutive images where odometry cannot be computed (a value of 0 disables auto-reset). When a reset occurs, odometry resumes from the last successfully computed pose with large covariance to trigger a new map. If external odometry is used, it will also be reset based on the motion estimated relative to the last computed pose but no large covariance will be received, so that a new map won't be triggered.");
     RTABMAP_PARAM(Odom, Holonomic,              bool, true,   "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).");
     RTABMAP_PARAM(Odom, FillInfoData,           bool, true,   "Fill info with data (inliers/outliers features).");
     RTABMAP_PARAM(Odom, ImageBufferSize,     unsigned int, 1, "Data buffer size (0 min inf).");
@@ -548,7 +561,7 @@ class RTABMAP_CORE_EXPORT Parameters
     RTABMAP_PARAM(OdomViso2, BucketWidth,               double, 50,  "Width of bucket.");
     RTABMAP_PARAM(OdomViso2, BucketHeight,              double, 50,  "Height of bucket.");
 
-    // Odometry ORB_SLAM2
+    // Odometry ORB_SLAM
     RTABMAP_PARAM_STR(OdomORBSLAM, VocPath,             "",       "Path to ORB vocabulary (*.txt).");
     RTABMAP_PARAM(OdomORBSLAM, Bf,              double, 0.076,    "Fake IR projector baseline (m) used only when stereo is not used.");
     RTABMAP_PARAM(OdomORBSLAM, ThDepth,         double, 40.0,     "Close/Far threshold. Baseline times.");
@@ -603,75 +616,94 @@ class RTABMAP_CORE_EXPORT Parameters
     RTABMAP_PARAM(OdomMSCKF, InitCovExTrans,  double,  0.000025,  "");
     RTABMAP_PARAM(OdomMSCKF, MaxCamStateSize,  int,  20,  "");
 
-    // Odometry VINS
-    RTABMAP_PARAM_STR(OdomVINS, ConfigPath,     "",  "Path of VINS config file.");
+    // Odometry VINS-Fusion
+    RTABMAP_PARAM_STR(OdomVINSFusion, ConfigPath,     "",  "Path of VINS-Fusion config file.");
 
     // Odometry OpenVINS
-    RTABMAP_PARAM(OdomOpenVINS, UseStereo,                 bool,   true,   "If we have more than 1 camera, if we should try to track stereo constraints between pairs");
-    RTABMAP_PARAM(OdomOpenVINS, UseKLT,                    bool,   true,   "If true we will use KLT, otherwise use a ORB descriptor + robust matching");
-    RTABMAP_PARAM(OdomOpenVINS, NumPts,                    int,    200,    "Number of points (per camera) we will extract and try to track");
-    RTABMAP_PARAM(OdomOpenVINS, MinPxDist,                 int,    15,     "Eistance between features (features near each other provide less information)");
-    RTABMAP_PARAM(OdomOpenVINS, FiTriangulate1d,           bool,   false,  "If we should perform 1d triangulation instead of 3d");
-    RTABMAP_PARAM(OdomOpenVINS, FiRefineFeatures,          bool,   true,   "If we should perform Levenberg-Marquardt refinement");
-    RTABMAP_PARAM(OdomOpenVINS, FiMaxRuns,                 int,    5,      "Max runs for Levenberg-Marquardt");
-    RTABMAP_PARAM(OdomOpenVINS, FiMaxBaseline,             double, 40,     "Max baseline ratio to accept triangulated features");
-    RTABMAP_PARAM(OdomOpenVINS, FiMaxCondNumber,           double, 10000,  "Max condition number of linear triangulation matrix accept triangulated features");
+    RTABMAP_PARAM_STR(OdomOpenVINS, ConfigPath,            "",   "Path of OpenVINS config file (*.yaml). Same format used than OpenVINS library. Note that any parameter from that config file will overwrite the same parameter in OdomOpenVINS group.");
+    RTABMAP_PARAM(OdomOpenVINS, UseStereo,                 bool,   true,   "If we have more than 1 camera, if we should try to track stereo constraints between pairs.");
+    RTABMAP_PARAM(OdomOpenVINS, UseKLT,                    bool,   true,   "If true we will use KLT, otherwise use a ORB descriptor + robust matching.");
+    RTABMAP_PARAM(OdomOpenVINS, NumPts,                    int,    200,    "Number of points (per camera) we will extract and try to track.");
+    RTABMAP_PARAM(OdomOpenVINS, MinPxDist,                 int,    15,     "Eistance between features (features near each other provide less information).");
+    RTABMAP_PARAM(OdomOpenVINS, FiTriangulate1d,           bool,   false,  "If we should perform 1d triangulation instead of 3d.");
+    RTABMAP_PARAM(OdomOpenVINS, FiRefineFeatures,          bool,   true,   "If we should perform Levenberg-Marquardt refinement.");
+    RTABMAP_PARAM(OdomOpenVINS, FiMaxRuns,                 int,    5,      "Max runs for Levenberg-Marquardt.");
+    RTABMAP_PARAM(OdomOpenVINS, FiMaxBaseline,             double, 40,     "Max baseline ratio to accept triangulated features.");
+    RTABMAP_PARAM(OdomOpenVINS, FiMaxCondNumber,           double, 10000,  "Max condition number of linear triangulation matrix accept triangulated features.");
 
-    RTABMAP_PARAM(OdomOpenVINS, UseFEJ,                    bool,   true,   "If first-estimate Jacobians should be used (enable for good consistency)");
-    RTABMAP_PARAM(OdomOpenVINS, Integration,               int,    1,      "0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used)");
-    RTABMAP_PARAM(OdomOpenVINS, CalibCamExtrinsics,        bool,   false,  "Bool to determine whether or not to calibrate imu-to-camera pose");
-    RTABMAP_PARAM(OdomOpenVINS, CalibCamIntrinsics,        bool,   false,  "Bool to determine whether or not to calibrate camera intrinsics");
-    RTABMAP_PARAM(OdomOpenVINS, CalibCamTimeoffset,        bool,   false,  "Bool to determine whether or not to calibrate camera to IMU time offset");
-    RTABMAP_PARAM(OdomOpenVINS, CalibIMUIntrinsics,        bool,   false,  "Bool to determine whether or not to calibrate the IMU intrinsics");
-    RTABMAP_PARAM(OdomOpenVINS, CalibIMUGSensitivity,      bool,   false,  "Bool to determine whether or not to calibrate the Gravity sensitivity");
-    RTABMAP_PARAM(OdomOpenVINS, MaxClones,                 int,    11,     "Max clone size of sliding window");
-    RTABMAP_PARAM(OdomOpenVINS, MaxSLAM,                   int,    50,     "Max number of estimated SLAM features");
-    RTABMAP_PARAM(OdomOpenVINS, MaxSLAMInUpdate,           int,    25,     "Max number of SLAM features we allow to be included in a single EKF update.");
-    RTABMAP_PARAM(OdomOpenVINS, MaxMSCKFInUpdate,          int,    50,     "Max number of MSCKF features we will use at a given image timestep.");
-    RTABMAP_PARAM(OdomOpenVINS, FeatRepMSCKF,              int,    0,      "What representation our features are in (msckf features)");
-    RTABMAP_PARAM(OdomOpenVINS, FeatRepSLAM,               int,    4,      "What representation our features are in (slam features)");
-    RTABMAP_PARAM(OdomOpenVINS, DtSLAMDelay,               double, 0.0,    "Delay, in seconds, that we should wait from init before we start estimating SLAM features");
-    RTABMAP_PARAM(OdomOpenVINS, GravityMag,                double, 9.81,   "Gravity magnitude in the global frame (i.e. should be 9.81 typically)");
-    RTABMAP_PARAM_STR(OdomOpenVINS, LeftMaskPath,                  "",     "Mask for left image");
-    RTABMAP_PARAM_STR(OdomOpenVINS, RightMaskPath,                 "",     "Mask for right image");
+    RTABMAP_PARAM(OdomOpenVINS, UseFEJ,                    bool,   true,   "If first-estimate Jacobians should be used (enable for good consistency).");
+    RTABMAP_PARAM(OdomOpenVINS, Integration,               int,    1,      "0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used).");
+    RTABMAP_PARAM(OdomOpenVINS, CalibCamExtrinsics,        bool,   false,  "Bool to determine whether or not to calibrate imu-to-camera pose.");
+    RTABMAP_PARAM(OdomOpenVINS, CalibCamIntrinsics,        bool,   false,  "Bool to determine whether or not to calibrate camera intrinsics.");
+    RTABMAP_PARAM(OdomOpenVINS, CalibCamTimeoffset,        bool,   false,  "Bool to determine whether or not to calibrate camera to IMU time offset.");
+    RTABMAP_PARAM(OdomOpenVINS, CalibIMUIntrinsics,        bool,   false,  "Bool to determine whether or not to calibrate the IMU intrinsics.");
+    RTABMAP_PARAM(OdomOpenVINS, CalibIMUGSensitivity,      bool,   false,  "Bool to determine whether or not to calibrate the Gravity sensitivity.");
+    RTABMAP_PARAM(OdomOpenVINS, MaxClones,                 int,    11,     "Max clone size of sliding window.");
+    RTABMAP_PARAM(OdomOpenVINS, MaxSLAM,                   int,    50,     "Max number of estimated SLAM features.");
+    RTABMAP_PARAM(OdomOpenVINS, MaxSLAMInUpdate,           int,    25,     "Max number of SLAM features we allow to be included in a single EKF update..");
+    RTABMAP_PARAM(OdomOpenVINS, MaxMSCKFInUpdate,          int,    50,     "Max number of MSCKF features we will use at a given image timestep..");
+    RTABMAP_PARAM(OdomOpenVINS, FeatRepMSCKF,              int,    0,      "What representation our features are in (msckf features).");
+    RTABMAP_PARAM(OdomOpenVINS, FeatRepSLAM,               int,    4,      "What representation our features are in (slam features).");
+    RTABMAP_PARAM(OdomOpenVINS, DtSLAMDelay,               double, 0.0,    "Delay, in seconds, that we should wait from init before we start estimating SLAM features.");
+    RTABMAP_PARAM(OdomOpenVINS, GravityMag,                double, 9.81,   "Gravity magnitude in the global frame (i.e. should be 9.81 typically).");
+    RTABMAP_PARAM_STR(OdomOpenVINS, LeftMaskPath,                  "",     "Mask for left image.");
+    RTABMAP_PARAM_STR(OdomOpenVINS, RightMaskPath,                 "",     "Mask for right image.");
 
-    RTABMAP_PARAM(OdomOpenVINS, InitWindowTime,            double, 2.0,    "Amount of time we will initialize over (seconds)");
-    RTABMAP_PARAM(OdomOpenVINS, InitIMUThresh,             double, 1.0,    "Variance threshold on our acceleration to be classified as moving");
-    RTABMAP_PARAM(OdomOpenVINS, InitMaxDisparity,          double, 10.0,   "Max disparity to consider the platform stationary (dependent on resolution)");
-    RTABMAP_PARAM(OdomOpenVINS, InitMaxFeatures,           int,    50,     "How many features to track during initialization (saves on computation)");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynUse,                bool,   false,  "If dynamic initialization should be used");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynMLEOptCalib,        bool,   false,  "If we should optimize calibration during intialization (not recommended)");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxIter,         int,    50,     "How many iterations the MLE refinement should use (zero to skip the MLE)");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxTime,         double, 0.05,   "How many seconds the MLE should be completed in");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxThreads,      int,    6,      "How many threads the MLE should use");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynNumPose,            int,    6,      "Number of poses to use within our window time (evenly spaced)");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynMinDeg,             double, 10.0,   "Orientation change needed to try to init");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynInflationOri,       double, 10.0,   "What to inflate the recovered q_GtoI covariance by");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynInflationVel,       double, 100.0,  "What to inflate the recovered v_IinG covariance by");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBg,        double, 10.0,   "What to inflate the recovered bias_g covariance by");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBa,        double, 100.0,  "What to inflate the recovered bias_a covariance by");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynMinRecCond,         double, 1e-15,  "Reciprocal condition number thresh for info inversion");
+    RTABMAP_PARAM(OdomOpenVINS, InitWindowTime,            double, 2.0,    "Amount of time we will initialize over (seconds).");
+    RTABMAP_PARAM(OdomOpenVINS, InitIMUThresh,             double, 1.0,    "Variance threshold on our acceleration to be classified as moving.");
+    RTABMAP_PARAM(OdomOpenVINS, InitMaxDisparity,          double, 10.0,   "Max disparity to consider the platform stationary (dependent on resolution).");
+    RTABMAP_PARAM(OdomOpenVINS, InitMaxFeatures,           int,    50,     "How many features to track during initialization (saves on computation).");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynUse,                bool,   false,  "If dynamic initialization should be used.");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynMLEOptCalib,        bool,   false,  "If we should optimize calibration during intialization (not recommended).");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxIter,         int,    50,     "How many iterations the MLE refinement should use (zero to skip the MLE).");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxTime,         double, 0.05,   "How many seconds the MLE should be completed in.");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxThreads,      int,    6,      "How many threads the MLE should use.");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynNumPose,            int,    6,      "Number of poses to use within our window time (evenly spaced).");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynMinDeg,             double, 10.0,   "Orientation change needed to try to init.");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynInflationOri,       double, 10.0,   "What to inflate the recovered q_GtoI covariance by.");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynInflationVel,       double, 100.0,  "What to inflate the recovered v_IinG covariance by.");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBg,        double, 10.0,   "What to inflate the recovered bias_g covariance by.");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBa,        double, 100.0,  "What to inflate the recovered bias_a covariance by.");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynMinRecCond,         double, 1e-15,  "Reciprocal condition number thresh for info inversion.");
 
-    RTABMAP_PARAM(OdomOpenVINS, TryZUPT,                   bool,   true,   "If we should try to use zero velocity update");
-    RTABMAP_PARAM(OdomOpenVINS, ZUPTChi2Multiplier,        double, 0.0,    "Chi2 multiplier for zero velocity");
-    RTABMAP_PARAM(OdomOpenVINS, ZUPTMaxVelodicy,           double, 0.1,    "Max velocity we will consider to try to do a zupt (i.e. if above this, don't do zupt)");
-    RTABMAP_PARAM(OdomOpenVINS, ZUPTNoiseMultiplier,       double, 10.0,   "Multiplier of our zupt measurement IMU noise matrix (default should be 1.0)");
-    RTABMAP_PARAM(OdomOpenVINS, ZUPTMaxDisparity,          double, 0.5,    "Max disparity we will consider to try to do a zupt (i.e. if above this, don't do zupt)");
-    RTABMAP_PARAM(OdomOpenVINS, ZUPTOnlyAtBeginning,       bool,   false,  "If we should only use the zupt at the very beginning static initialization phase");
+    RTABMAP_PARAM(OdomOpenVINS, TryZUPT,                   bool,   true,   "If we should try to use zero velocity update.");
+    RTABMAP_PARAM(OdomOpenVINS, ZUPTChi2Multiplier,        double, 0.0,    "Chi2 multiplier for zero velocity.");
+    RTABMAP_PARAM(OdomOpenVINS, ZUPTMaxVelodicy,           double, 0.1,    "Max velocity we will consider to try to do a zupt (i.e. if above this, don't do zupt).");
+    RTABMAP_PARAM(OdomOpenVINS, ZUPTNoiseMultiplier,       double, 10.0,   "Multiplier of our zupt measurement IMU noise matrix (default should be 1.0).");
+    RTABMAP_PARAM(OdomOpenVINS, ZUPTMaxDisparity,          double, 0.5,    "Max disparity we will consider to try to do a zupt (i.e. if above this, don't do zupt).");
+    RTABMAP_PARAM(OdomOpenVINS, ZUPTOnlyAtBeginning,       bool,   false,  "If we should only use the zupt at the very beginning static initialization phase.");
 
-    RTABMAP_PARAM(OdomOpenVINS, AccelerometerNoiseDensity, double, 0.01,   "[m/s^2/sqrt(Hz)] (accel \"white noise\")");
-    RTABMAP_PARAM(OdomOpenVINS, AccelerometerRandomWalk,   double, 0.001,  "[m/s^3/sqrt(Hz)] (accel bias diffusion)");
-    RTABMAP_PARAM(OdomOpenVINS, GyroscopeNoiseDensity,     double, 0.001,  "[rad/s/sqrt(Hz)] (gyro \"white noise\")");
-    RTABMAP_PARAM(OdomOpenVINS, GyroscopeRandomWalk,       double, 0.0001, "[rad/s^2/sqrt(Hz)] (gyro bias diffusion)");
-    RTABMAP_PARAM(OdomOpenVINS, UpMSCKFSigmaPx,            double, 1.0,    "Pixel noise for MSCKF features");
-    RTABMAP_PARAM(OdomOpenVINS, UpMSCKFChi2Multiplier,     double, 1.0,    "Chi2 multiplier for MSCKF features");
-    RTABMAP_PARAM(OdomOpenVINS, UpSLAMSigmaPx,             double, 1.0,    "Pixel noise for SLAM features");
-    RTABMAP_PARAM(OdomOpenVINS, UpSLAMChi2Multiplier,      double, 1.0,    "Chi2 multiplier for SLAM features");
+    RTABMAP_PARAM(OdomOpenVINS, AccelerometerNoiseDensity, double, 0.01,   "[m/s^2/sqrt(Hz)] (accel \"white noise\").");
+    RTABMAP_PARAM(OdomOpenVINS, AccelerometerRandomWalk,   double, 0.001,  "[m/s^3/sqrt(Hz)] (accel bias diffusion).");
+    RTABMAP_PARAM(OdomOpenVINS, GyroscopeNoiseDensity,     double, 0.001,  "[rad/s/sqrt(Hz)] (gyro \"white noise\").");
+    RTABMAP_PARAM(OdomOpenVINS, GyroscopeRandomWalk,       double, 0.0001, "[rad/s^2/sqrt(Hz)] (gyro bias diffusion).");
+    RTABMAP_PARAM(OdomOpenVINS, UpMSCKFSigmaPx,            double, 1.0,    "Pixel noise for MSCKF features.");
+    RTABMAP_PARAM(OdomOpenVINS, UpMSCKFChi2Multiplier,     double, 1.0,    "Chi2 multiplier for MSCKF features.");
+    RTABMAP_PARAM(OdomOpenVINS, UpSLAMSigmaPx,             double, 1.0,    "Pixel noise for SLAM features.");
+    RTABMAP_PARAM(OdomOpenVINS, UpSLAMChi2Multiplier,      double, 1.0,    "Chi2 multiplier for SLAM features.");
 
     // Odometry Open3D
     RTABMAP_PARAM(OdomOpen3D, MaxDepth,         float, 3.0,  "Maximum depth.");
     RTABMAP_PARAM(OdomOpen3D, Method,           int, 0,  "Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid.");
 
+    // Odometry cuVSLAM
+    RTABMAP_PARAM(OdomCuVSLAM, MulticamMode,        int, 0,  "cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision.");
+
+    // Odometry LIO-SAM
+    RTABMAP_PARAM_STR(OdomLIOSAM, ConfigPath,  "", "Path to LIO-SAM params.yaml config file. When set, sensor/IMU/feature parameters are loaded from the file and the individual parameters below are ignored.");
+    RTABMAP_PARAM(OdomLIOSAM, Sensor,       int,   0,     "LiDAR sensor: 0=Velodyne, 1=Ouster, 2=Livox");
+    RTABMAP_PARAM(OdomLIOSAM, NScan,        int,   16,    "Number of LiDAR channels (16, 32, 64, 128).");
+    RTABMAP_PARAM(OdomLIOSAM, HorizonScan,  int,   1800,  "Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048).");
+    RTABMAP_PARAM(OdomLIOSAM, ImuAccNoise,  float, 0.01,  "IMU accelerometer white noise.");
+    RTABMAP_PARAM(OdomLIOSAM, ImuGyrNoise,  float, 0.001, "IMU gyroscope white noise.");
+    RTABMAP_PARAM(OdomLIOSAM, ImuAccBiasN,  float, 0.0002,"IMU accelerometer bias noise.");
+    RTABMAP_PARAM(OdomLIOSAM, ImuGyrBiasN,  float, 0.00003,"IMU gyroscope bias noise.");
+    RTABMAP_PARAM(OdomLIOSAM, ImuGravity,   float, 9.80511,"Gravity magnitude.");
+    RTABMAP_PARAM(OdomLIOSAM, EdgeThreshold,float, 1.0,   "Edge feature curvature threshold.");
+    RTABMAP_PARAM(OdomLIOSAM, SurfThreshold,float, 0.1,   "Surface feature curvature threshold.");
+    RTABMAP_PARAM(OdomLIOSAM, LinVar,       float, 0.01,  "Linear output variance.");
+    RTABMAP_PARAM(OdomLIOSAM, AngVar,       float, 0.01,  "Angular output variance.");
+
     // Common registration parameters
     RTABMAP_PARAM(Reg, RepeatOnce,               bool, true,    "Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration (like on loop closure). It can be useful if the registration approach used can use a guess to get better matches.");
     RTABMAP_PARAM(Reg, Strategy,                 int, 0,        "0=Vis, 1=Icp, 2=VisIcp");
@@ -701,16 +733,16 @@ class RTABMAP_CORE_EXPORT Parameters
     RTABMAP_PARAM(Vis, Iterations,               int,    300,   "Maximum iterations to compute the transform.");
 #if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
     // OpenCV>2 without xFeatures2D module doesn't have BRIEF
-    RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector");
+    RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
 #else
-    RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector");
+    RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
 #endif
     RTABMAP_PARAM(Vis, MaxFeatures,               int,   1000,  "0 no limits.");
     RTABMAP_PARAM(Vis, SSC,                       bool,  false, "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
     RTABMAP_PARAM(Vis, MaxDepth,                  float, 0,     "Max depth of the features (0 means no limit).");
     RTABMAP_PARAM(Vis, MinDepth,                  float, 0,     "Min depth of the features (0 means no limit).");
     RTABMAP_PARAM(Vis, DepthAsMask,               bool,  true,  "Use depth image as mask when extracting features.");
-    RTABMAP_PARAM(Vis, DepthMaskFloorThr,         float, 0.0,    uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled, negative means remove all objects above the floor threshold instead. Ignored if %s is false.", kVisDepthAsMask().c_str()));
+    RTABMAP_PARAM(Vis, DepthMaskFloorThr,         float, 0.0,    uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kVisDepthAsMask().c_str()));
     RTABMAP_PARAM_STR(Vis, RoiRatios,        "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
     RTABMAP_PARAM(Vis, SubPixWinSize,             int,   3,     "See cv::cornerSubPix().");
     RTABMAP_PARAM(Vis, SubPixIterations,          int,   0,     "See cv::cornerSubPix(). 0 disables sub pixel refining.");
@@ -726,8 +758,11 @@ class RTABMAP_CORE_EXPORT Parameters
     RTABMAP_PARAM(Vis, CorFlowIterations,         int,   30,    uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
     RTABMAP_PARAM(Vis, CorFlowEps,                float, 0.01,  uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
     RTABMAP_PARAM(Vis, CorFlowMaxLevel,           int,   3,     uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
-    RTABMAP_PARAM(Vis, CorFlowGpu,                bool,  false, uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA).", kVisCorType().c_str()));
-#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
+    RTABMAP_PARAM(Vis, CorFlowUseMinEigenVals,    bool,  true,  uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach. Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kVisCorType().c_str()));
+    RTABMAP_PARAM(Vis, CorFlowMinEigThreshold,    float, 1e-4,  uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kVisCorFlowUseMinEigenVals().c_str()));
+    RTABMAP_PARAM(Vis, CorFlowErrorThreshold,     float, 20,    uFormat("[%s=false] Filter out features with error greater than this threshold.", kVisCorFlowUseMinEigenVals().c_str()));
+    RTABMAP_PARAM(Vis, CorFlowGpu,                bool,  false, uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kVisCorType().c_str(), kVisCorFlowUseMinEigenVals().c_str()));
+    #if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
     RTABMAP_PARAM(Vis, BundleAdjustment,          int,   1,     "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
 #else
     RTABMAP_PARAM(Vis, BundleAdjustment,          int,   0,     "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
@@ -804,7 +839,10 @@ class RTABMAP_CORE_EXPORT Parameters
     RTABMAP_PARAM(Stereo, OpticalFlow,           bool, true,    "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used.");
     RTABMAP_PARAM(Stereo, SSD,                   bool, true,    uFormat("[%s=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.", kStereoOpticalFlow().c_str()));
     RTABMAP_PARAM(Stereo, Eps,                   double, 0.01,  uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()));
-    RTABMAP_PARAM(Stereo, Gpu,                   bool, false,   uFormat("[%s=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA).", kStereoOpticalFlow().c_str()));
+    RTABMAP_PARAM(Stereo, UseMinEigenVals,       bool, true,    uFormat("[%s=true] Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kStereoOpticalFlow().c_str()));
+    RTABMAP_PARAM(Stereo, MinEigThreshold,       double, 1e-4,  uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kStereoUseMinEigenVals().c_str()));
+    RTABMAP_PARAM(Stereo, ErrorThreshold,        double, 50,    uFormat("[%s=false] Filter out features with error greater than this threshold.", kStereoUseMinEigenVals().c_str()));
+    RTABMAP_PARAM(Stereo, Gpu,                   bool, false,   uFormat("[%s=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kStereoOpticalFlow().c_str(), kStereoUseMinEigenVals().c_str()));
 
     RTABMAP_PARAM(Stereo, DenseStrategy,         int, 0,  "0=cv::StereoBM, 1=cv::StereoSGBM");
 
@@ -880,19 +918,29 @@ class RTABMAP_CORE_EXPORT Parameters
     RTABMAP_PARAM(GridGlobal, ProbClampingMax,      float,  0.971,   "Probability clamping maximum (value between 0 and 1).");
     RTABMAP_PARAM(GridGlobal, FloodFillDepth,       unsigned int, 0, "Flood fill filter (0=disabled), used to remove empty cells outside the map. The flood fill is done at the specified depth (between 1 and 16) of the OctoMap.");
 
-    RTABMAP_PARAM(Marker, Dictionary,             int,   0,     "Dictionary to use: DICT_ARUCO_4X4_50=0, DICT_ARUCO_4X4_100=1, DICT_ARUCO_4X4_250=2, DICT_ARUCO_4X4_1000=3, DICT_ARUCO_5X5_50=4, DICT_ARUCO_5X5_100=5, DICT_ARUCO_5X5_250=6, DICT_ARUCO_5X5_1000=7, DICT_ARUCO_6X6_50=8, DICT_ARUCO_6X6_100=9, DICT_ARUCO_6X6_250=10, DICT_ARUCO_6X6_1000=11, DICT_ARUCO_7X7_50=12, DICT_ARUCO_7X7_100=13, DICT_ARUCO_7X7_250=14, DICT_ARUCO_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16, DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20");
-    RTABMAP_PARAM(Marker, Length,                 float, 0,     "The length (m) of the markers' side. 0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization).");
+    RTABMAP_PARAM(Marker, Strategy,               int,   0,     "Marker detection implementation: 0=OpenCV, 1=AprilTag");
+    RTABMAP_PARAM(Marker, Dictionary,             int,   0,     "Dictionary to use: DICT_ARUCO_4X4_50=0, DICT_ARUCO_4X4_100=1, DICT_ARUCO_4X4_250=2, DICT_ARUCO_4X4_1000=3, DICT_ARUCO_5X5_50=4, DICT_ARUCO_5X5_100=5, DICT_ARUCO_5X5_250=6, DICT_ARUCO_5X5_1000=7, DICT_ARUCO_6X6_50=8, DICT_ARUCO_6X6_100=9, DICT_ARUCO_6X6_250=10, DICT_ARUCO_6X6_1000=11, DICT_ARUCO_7X7_50=12, DICT_ARUCO_7X7_100=13, DICT_ARUCO_7X7_250=14, DICT_ARUCO_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16, DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36H12=21");
+    RTABMAP_PARAM(Marker, Length,                 float, 0,     "The length (m) of the markers' side. Value <=0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization). If 0, the length is estimated only on the first marker detected, then re-used for all next detections (i.e., this assumes that markers have all the same length). With <0, the length is estimated once for each unique marker, then re-used for next detections with the same marker ID.");
+    RTABMAP_PARAM_STR(Marker, Lengths,            "",           uFormat("List of markers to detect. Format is the marker's ID followed by its length (in meters), multiple markers are separated by a vertical line (\"id1 length|id2 length\"). We can also define a range of markers with \"id1:id2 length\" (id2 included). If empty, all markers of the chosen dictionary can be detected and their length is set/estimated based on %s. For example, to detect markers 12 and 14 with lengths of 8 and 15 cm respectively, and all markers between 30 and 40 with a length of 10 cm, set \"12 0.08|14 0.15|30:40 0.1\".", kMarkerLength().c_str()).c_str());
     RTABMAP_PARAM(Marker, MaxDepthError,          float, 0.01,  uFormat("Maximum depth error between all corners of a marker when estimating the marker length (when %s is 0). The smaller it is, the more perpendicular the camera should be toward the marker to initialize the length.", kMarkerLength().c_str()));
     RTABMAP_PARAM(Marker, VarianceLinear,         float, 0.001, uFormat("Linear variance to set on marker detections. If %s is enabled and %s=2 (GTSAM): it is the variance of the range factor, with 9999 to disable range factor and to do only bearing.", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str()));
     RTABMAP_PARAM(Marker, VarianceAngular,        float, 0.01,  uFormat("Angular variance to set on marker detections. If %s is enabled, it is ignored with %s=1 (g2o) and it corresponds to bearing variance with %s=2 (GTSAM).", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str(), kOptimizerStrategy().c_str()));
     RTABMAP_PARAM(Marker, VarianceOrientationIgnored, bool, false, uFormat("When this setting is false, the landmark's orientation is optimized during graph optimization. When this setting is true, only the position of the landmark is optimized. This can be useful when the landmark's orientation estimation is not reliable. Note that for %s=1 (g2o), only %s needs be set if we ignore orientation. For %s=2 (GTSAM), instead of optimizing the landmark's position directly, a bearing/range factor is used, with %s as the variance of the range factor (with 9999 to optimize the position with only a bearing factor) and %s as the variance of the bearing factor (pitch/yaw).", kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kMarkerVarianceAngular().c_str()));
-    RTABMAP_PARAM(Marker, CornerRefinementMethod, int,   0,     "Corner refinement method (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true.");
     RTABMAP_PARAM(Marker, MaxRange,               float, 0.0,   "Maximum range in which markers will be detected. <=0 for unlimited range.");
     RTABMAP_PARAM(Marker, MinRange,               float, 0.0,   "Miniminum range in which markers will be detected. <=0 for unlimited range.");
-    RTABMAP_PARAM_STR(Marker, Priors,             "",           "World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), markers are separated by vertical line (\"id1 x y z roll pitch yaw|id2 x y z roll pitch yaw\"). Example:  \"1 0 0 1 0 0 0|2 1 0 1 0 0 1.57\" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation).");
+    RTABMAP_PARAM_STR(Marker, Priors,             "",           "World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by vertical line (\"id1 x y z roll pitch yaw|id2 x y z roll pitch yaw\"). Example:  \"1 0 0 1 0 0 0|2 1 0 1 0 0 1.57\" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation).");
     RTABMAP_PARAM(Marker, PriorsVarianceLinear,   float, 0.001, "Linear variance to set on marker priors.");
     RTABMAP_PARAM(Marker, PriorsVarianceAngular,  float, 0.001, "Angular variance to set on marker priors.");
 
+    RTABMAP_PARAM(MarkerAprilTag, NThreads,         int,     1,     "How many threads should be used?");
+    RTABMAP_PARAM(MarkerAprilTag, QuadDecimate,     float,   1.0,   "Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution.");
+    RTABMAP_PARAM(MarkerAprilTag, QuadSigma,        float,   0.0,   "What Gaussian blur should be applied to the segmented image (used for quad detection?)  Parameter is the standard deviation in pixels.  Very noisy images benefit from non-zero values (e.g. 0.8).");
+    RTABMAP_PARAM(MarkerAprilTag, RefineEdges,      bool,    true,   uFormat("When true, the edges of the each quad are adjusted to \"snap to\" strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on (true). Very computationally inexpensive. Option is ignored if %s = 1.", kMarkerAprilTagQuadDecimate().c_str()));
+    RTABMAP_PARAM(MarkerAprilTag, DecodeSharpening, double,  0.25,  "How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions.");
+    RTABMAP_PARAM(MarkerAprilTag, Debug,            bool,    false, uFormat("When true, write a variety of debugging images to the working directory where the app started (not %s) at various stages through the detection process. (Somewhat slow).", kRtabmapWorkingDirectory().c_str()));
+
+    RTABMAP_PARAM(MarkerOpenCV, CornerRefinementMethod, int,   0,     "Corner refinement method for OpenCV strategy (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true.");
+
     RTABMAP_PARAM(ImuFilter, MadgwickGain,                  double, 0.1,  "Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal, belongs in [0, 1].");
     RTABMAP_PARAM(ImuFilter, MadgwickZeta,                  double, 0.0,  "Gyro drift gain (approx. rad/s), belongs in [-1, 1].");
 

corelib/include/rtabmap/core/PythonInterface.h

@@ -8,6 +8,7 @@
 #ifndef CORELIB_SRC_PYTHON_PYTHONINTERFACE_H_
 #define CORELIB_SRC_PYTHON_PYTHONINTERFACE_H_
 
+#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
 
 #include <string>
 #include <rtabmap/utilite/UMutex.h>
@@ -23,7 +24,7 @@ namespace rtabmap {
  * Create a single PythonInterface on main thread at
  * global scope before any Python classes.
  */
-class PythonInterface
+class RTABMAP_CORE_EXPORT PythonInterface
 {
 public:
 	PythonInterface();
@@ -34,7 +35,7 @@ private:
 	pybind11::gil_scoped_release* release_;
 };
 
-std::string getPythonTraceback();
+std::string RTABMAP_CORE_EXPORT getPythonTraceback();
 
 }
 

corelib/include/rtabmap/core/RegistrationInfo.h

@@ -41,6 +41,7 @@ public:
 		inliersMeanDistance(0.0f),
 		inliersDistribution(0.0f),
 		matches(0),
+		variance(0.0f),
 		icpInliersRatio(0),
 		icpTranslation(0.0f),
 		icpRotation(0.0f),
@@ -64,6 +65,7 @@ public:
 		output.inliersDistribution = inliersDistribution;
 		output.matches = matches;
 		output.matchesPerCam = matchesPerCam;
+		output.variance = variance;
 		output.icpInliersRatio = icpInliersRatio;
 		output.icpTranslation = icpTranslation;
 		output.icpRotation = icpRotation;
@@ -85,6 +87,7 @@ public:
 	float inliersDistribution;
 	std::vector<int> inliersIDs;
 	int matches;
+	float variance;
 	std::vector<int> matchesIDs;
 	std::vector<int> projectedIDs; // "From" IDs
 	std::vector<int> inliersPerCam;

corelib/include/rtabmap/core/RegistrationVis.h

@@ -91,6 +91,9 @@ private:
 	float _flowEps;
 	int _flowMaxLevel;
 	bool _flowGpu;
+	bool _flowUseMinEigenVals;
+	float _flowMinEigThreshold;
+	float _flowErrorThreshold;
 	float _nndr;
 	int _nnType;
 	bool _gmsWithRotation;

corelib/include/rtabmap/core/Rtabmap.h

@@ -35,6 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/Statistics.h"
 #include "rtabmap/core/Link.h"
 #include "rtabmap/core/ProgressState.h"
+#include "rtabmap/core/Graph.h"
 
 #include <opencv2/core/core.hpp>
 #include <list>
@@ -209,7 +210,8 @@ public:
 			bool intraSession = true,
 			bool interSession = true,
 			const ProgressState * state = 0,
-			float clusterRadiusMin = 0.0f);
+			float clusterRadiusMin = 0.0f,
+			int toFromMapId = -1);
 	bool globalBundleAdjustment(
 			int optimizerType = 1 /*g2o*/,
 			bool rematchFeatures = true,
@@ -263,6 +265,13 @@ private:
 			std::multimap<int, Link> * constraints = 0,
 			double * error = 0,
 			int * iterationsDone = 0) const;
+	std::list<std::pair<int, int> > repairGraph(
+		graph::MaxGraphErrors & maxGraphErrors,
+		std::map<int, Transform> & poses,
+		std::multimap<int, Link> & constraints,
+		double & optimizationError,
+		int & optimizationIterations,
+		cv::Mat & optimizationCovariance);
 	void updateGoalIndex();
 	bool computePath(int targetNode, std::map<int, Transform> nodes, const std::multimap<int, rtabmap::Link> & constraints);
 
@@ -319,6 +328,7 @@ private:
 	std::string _databasePath;
 	bool _optimizeFromGraphEnd;
 	float _optimizationMaxError;
+	float _optimizationMaxErrorRepairRadius;
 	bool _startNewMapOnLoopClosure;
 	bool _startNewMapOnGoodSignature;
 	float _goalReachedRadius; // meters
@@ -378,6 +388,7 @@ private:
 	std::map<int, Transform> _odomCachePoses;       // used in localization mode to reject loop closures
 	std::multimap<int, Link> _odomCacheConstraints; // used in localization mode to reject loop closures
 	std::map<int, Transform> _markerPriors;
+	std::pair<int, int> _lastRejectedLoopClosureIds;
 
 	std::set<int> _nodesToRepublish;
 

corelib/include/rtabmap/core/RtabmapThread.h

@@ -106,7 +106,6 @@ private:
 	unsigned int _dataBufferMaxSize;
 	float _rate;
 	bool _createIntermediateNodes;
-	UTimer * _frameRateTimer;
 	double _previousStamp;
 
 	Rtabmap * _rtabmap;

corelib/include/rtabmap/core/SensorData.h

@@ -212,6 +212,12 @@ public:
 			_userDataCompressed.empty() &&
 			_keypoints.size() == 0 &&
 			_descriptors.empty() &&
+			_groundCellsRaw.empty() &&
+			_groundCellsCompressed.empty() &&
+			_obstacleCellsRaw.empty() &&
+			_obstacleCellsCompressed.empty() &&
+			_emptyCellsRaw.empty() &&
+			_emptyCellsCompressed.empty() &&
 			imu_.empty());
 	}
 
@@ -309,8 +315,6 @@ public:
 			const cv::Mat & empty,
 			float cellSize,
 			const cv::Point3f & viewPoint);
-	// remove raw occupancy grids
-	void clearOccupancyGridRaw() {_groundCellsRaw = cv::Mat(); _obstacleCellsRaw = cv::Mat();}
 	const cv::Mat & gridGroundCellsRaw() const {return _groundCellsRaw;}
 	const cv::Mat & gridGroundCellsCompressed() const {return _groundCellsCompressed;}
 	const cv::Mat & gridObstacleCellsRaw() const {return _obstacleCellsRaw;}
@@ -355,12 +359,12 @@ public:
 	 * Clear compressed rgb/depth (left/right) images, compressed laser scan and compressed user data.
 	 * Raw data are kept is set.
 	 */
-	void clearCompressedData(bool images = true, bool scan = true, bool userData = true);
+	void clearCompressedData(bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
 	/**
 	 * Clear raw rgb/depth (left/right) images, raw laser scan and raw user data.
 	 * Compressed data are kept is set.
 	 */
-	void clearRawData(bool images = true, bool scan = true, bool userData = true);
+	void clearRawData(bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
 
 	bool isPointVisibleFromCameras(const cv::Point3f & pt) const; // assuming point is in robot frame
 

corelib/include/rtabmap/core/Statistics.h

@@ -67,6 +67,7 @@ class RTABMAP_CORE_EXPORT Statistics
 	RTABMAP_STATS(Loop, Visual_inliers,);
 	RTABMAP_STATS(Loop, Visual_inliers_ratio,);
 	RTABMAP_STATS(Loop, Visual_matches,);
+	RTABMAP_STATS(Loop, Visual_variance,);
 	RTABMAP_STATS(Loop, Distance_since_last_loc, m);
 	RTABMAP_STATS(Loop, Last_id,);
 	RTABMAP_STATS(Loop, Optimization_max_error, m);
@@ -75,6 +76,13 @@ class RTABMAP_CORE_EXPORT Statistics
 	RTABMAP_STATS(Loop, Optimization_max_ang_error_ratio, );
 	RTABMAP_STATS(Loop, Optimization_error, );
 	RTABMAP_STATS(Loop, Optimization_iterations, );
+	RTABMAP_STATS(Loop, Optimization_max_error_from_id, );
+	RTABMAP_STATS(Loop, Optimization_max_error_to_id, );
+	RTABMAP_STATS(Loop, Optimization_max_ang_error_from_id, );
+	RTABMAP_STATS(Loop, Optimization_max_ang_error_to_id, );
+	RTABMAP_STATS(Loop, Optimization_max_error_removed_from_id, );
+	RTABMAP_STATS(Loop, Optimization_max_error_removed_to_id, );
+	RTABMAP_STATS(Loop, Optimization_max_error_removed_count, );
 	RTABMAP_STATS(Loop, Linear_variance,);
 	RTABMAP_STATS(Loop, Angular_variance,);
 	RTABMAP_STATS(Loop, Landmark_detected,);

corelib/include/rtabmap/core/Stereo.h

@@ -96,16 +96,23 @@ public:
 #endif
 
 	float epsilon() const {return epsilon_;}
+	bool usingMinEigenVals() const {return useMinEigenVals_;}
+	float minEigThreshold() const {return minEigThreshold_;}
+	float errorThreshold() const {return errorThreshold_;}
 	virtual bool isGpuEnabled() const;
 
 private:
 	void updateStatus(
 		const std::vector<cv::Point2f> & leftCorners,
 		const std::vector<cv::Point2f> & rightCorners,
-		std::vector<unsigned char> & status) const;
+		std::vector<unsigned char> & status,
+		std::vector<float> err = {}) const;
 
 private:
 	float epsilon_;
+	bool useMinEigenVals_;
+	float minEigThreshold_;
+	float errorThreshold_;
 	bool gpu_;
 };
 

corelib/include/rtabmap/core/VWDictionary.h

@@ -89,7 +89,7 @@ public:
 	std::vector<int> findNN(const std::list<VisualWord *> & vws) const;
 	std::vector<int> findNN(const cv::Mat & descriptors) const;
 
-	void addWordRef(int wordId, int signatureId);
+	bool addWordRef(int wordId, int signatureId);
 	void removeAllWordRef(int wordId, int signatureId);
 	const VisualWord * getWord(int id) const;
 	VisualWord * getUnusedWord(int id) const;
@@ -107,7 +107,11 @@ public:
 	bool isIncrementalFlann() const {return _incrementalFlann;}
 	void setIncrementalDictionary();
 	void setFixedDictionary(const std::string & dictionaryPath);
+	bool isModified() const;
 
+	std::vector<unsigned char> serializeIndex() const;
+	void deserializeIndex(const std::vector<unsigned char> & data);
+	void deserializeIndex(const unsigned char * data, size_t size);
 	void exportDictionary(const char * fileNameReferences, const char * fileNameDescriptors) const;
 
 	void clear(bool printWarningsIfNotEmpty = true);
@@ -137,10 +141,12 @@ private:
 	std::string _dictionaryPath; // a pre-computed dictionary (.txt or .db)
 	std::string _newDictionaryPath; // a pre-computed dictionary (.txt or .db)
 	bool _newWordsComparedTogether;
+	bool _serializeWithChecksum;
 	int _lastWordId;
 	bool useDistanceL1_;
 	FlannIndex * _flannIndex;
 	cv::Mat _dataTree;
+	bool _modified;
 	NNStrategy _strategy;
 	std::map<int ,int> _mapIndexId;
 	std::map<int ,int> _mapIdIndex;

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

@@ -94,18 +94,19 @@ public:
 		_depthFromScanFillHolesFromBorder = fillHolesFromBorder;
 	}
 
-	// Format: 0=Raw, 1=RGBD-SLAM, 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe
+	// 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame, 11=10+ID), 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe, 9=EuRoC MAV, 12=rgbd_bonn
 	void setOdometryPath(const std::string & filePath, int format = 0)
 	{
 		_odometryPath = filePath;
 		_odometryFormat = format;
 	}
 
-	// Format: 0=Raw, 1=RGBD-SLAM, 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe
-	void setGroundTruthPath(const std::string & filePath, int format = 0)
+	// 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame, 11=10+ID), 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe, 9=EuRoC MAV, 12=rgbd_bonn
+	void setGroundTruthPath(const std::string & filePath, int format = 0, const Transform & localTransform = Transform::getIdentity())
 	{
 		_groundTruthPath = filePath;
 		_groundTruthFormat = format;
+		_groundTruthLocalTransform = localTransform;
 	}
 
 	void setMaxPoseTimeDiff(double diff) {_maxPoseTimeDiff = diff;}
@@ -164,6 +165,7 @@ private:
 	int _odometryFormat;
 	std::string _groundTruthPath;
 	int _groundTruthFormat;
+	Transform _groundTruthLocalTransform;
 	double _maxPoseTimeDiff;
 
 	std::list<double> _stamps;

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

@@ -0,0 +1,105 @@
+/*
+Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#pragma once
+
+#include "rtabmap/core/CameraModel.h"
+#include "rtabmap/core/Camera.h"
+#include "rtabmap/core/Version.h"
+
+#ifdef RTABMAP_ORBBEC_SDK
+namespace ob
+{
+    class Pipeline;
+    class Align;
+}
+#endif
+
+namespace rtabmap
+{
+
+class RTABMAP_CORE_EXPORT CameraOrbbecSDK :
+    public Camera
+{
+public:
+    static bool available();
+
+public:
+    // deviceId can be either an index (e.g., "0"), an UID (e.g, "2-1-2" or "gmsl-1") or a serial ("AAA6454S")
+    CameraOrbbecSDK(
+        std::string deviceId = "",
+        unsigned int colorWidth = 800,
+        unsigned int colorHeight = 600,
+        unsigned int depthWidth = 800,
+        unsigned int depthHeight = 600,
+        float imageRate = 0.0f,
+        const Transform & localTransform = Transform::getIdentity());
+    virtual ~CameraOrbbecSDK();
+
+    virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+    virtual bool isCalibrated() const;
+    virtual std::string getSerial() const;
+
+    void close();
+
+    // Should be set before initializing
+    void enableColorRectification(bool enabled);
+    void enableImu(bool enabled);
+
+    void enableDepthMM(bool enabled);
+
+protected:
+    virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
+private:
+
+#ifdef RTABMAP_ORBBEC_SDK
+    std::string deviceId_;
+    unsigned int colorWidth_;
+    unsigned int colorHeight_;
+    unsigned int depthWidth_;
+    unsigned int depthHeight_;
+    ob::Pipeline * pipeline_;
+    ob::Pipeline * imuPipeline_;
+    ob::Align * alignFilter_;
+    CameraModel model_;
+    Transform imuLocalTransform_;
+    bool imuLocalTransformInitialized_;
+    uint64_t lastAccStamp_;
+    uint64_t lastImageStamp_;
+    bool globalTimestampAvailable_;
+    bool rectifyColor_;
+    bool convertDepthToMM_;
+    bool imuPublished_;
+    std::map<double, cv::Vec6f> imuBuffer_;
+    UMutex imuMutex_;
+#endif
+
+};
+
+
+} // namespace rtabmap

corelib/include/rtabmap/core/camera/CameraRealSense2.h

@@ -146,6 +146,7 @@ private:
 	Transform dualExtrinsics_;
 	std::string jsonConfig_;
 	bool closing_;
+	bool playback_;
 
 	static Transform realsense2PoseRotation_;
 	static Transform realsense2PoseRotationInv_;

corelib/include/rtabmap/core/global_map/OccupancyGrid.h

@@ -57,7 +57,6 @@ protected:
 private:
 	cv::Mat map_;
 	cv::Mat mapInfo_;
-	std::map<int, std::pair<int, int> > cellCount_; //<node Id, cells>
 
 	float minMapSize_;
 	bool erode_;

corelib/include/rtabmap/core/impl/util3d.hpp

@@ -41,11 +41,11 @@ LaserScan laserScanFromPointCloud(const PointCloud2T & cloud, bool filterNaNs, b
 		return LaserScan();
 	}
 	//determine the output type
-	int fieldStates[8] = {0}; // x,y,z,normal_x,normal_y,normal_z,rgb,intensity
+	int fieldStates[10] = {0}; // x,y,z,normal_x,normal_y,normal_z,rgb,intensity,time,ring
 #if PCL_VERSION_COMPARE(>=, 1, 10, 0)
-	std::uint32_t fieldOffsets[8] = {0};
+	std::uint32_t fieldOffsets[10] = {0};
 #else
-	pcl::uint32_t fieldOffsets[8] = {0};
+	pcl::uint32_t fieldOffsets[10] = {0};
 #endif
 	for(unsigned int i=0; i<cloud.fields.size(); ++i)
 	{
@@ -102,6 +102,42 @@ LaserScan laserScanFromPointCloud(const PointCloud2T & cloud, bool filterNaNs, b
 			fieldStates[7] = 1;
 			fieldOffsets[7] = cloud.fields[i].offset;
 		}
+		else if(cloud.fields[i].name.compare("time") == 0)
+		{
+			if(cloud.fields[i].datatype != pcl::PCLPointField::FLOAT32)
+			{
+				static bool warningShown = false;
+				if(!warningShown)
+				{
+					UWARN("The input scan cloud has an \"time\" field "
+							"but the datatype (%d) is not supported. Time will be ignored. "
+							"This message is only shown once.", cloud.fields[i].datatype);
+					warningShown = true;
+				}
+				continue;
+			}
+
+			fieldStates[8] = 1;
+			fieldOffsets[8] = cloud.fields[i].offset;
+		}
+		else if(cloud.fields[i].name.compare("ring") == 0)
+		{
+			if(cloud.fields[i].datatype != pcl::PCLPointField::UINT16)
+			{
+				static bool warningShown = false;
+				if(!warningShown)
+				{
+					UWARN("The input scan cloud has an \"ring\" field "
+							"but the datatype (%d) is not supported. Ring will be ignored. "
+							"This message is only shown once.", cloud.fields[i].datatype);
+					warningShown = true;
+				}
+				continue;
+			}
+
+			fieldStates[9] = 1;
+			fieldOffsets[9] = cloud.fields[i].offset;
+		}
 		else
 		{
 			UDEBUG("Ignoring \"%s\" field", cloud.fields[i].name.c_str());
@@ -117,6 +153,8 @@ LaserScan laserScanFromPointCloud(const PointCloud2T & cloud, bool filterNaNs, b
 	bool hasNormals = fieldStates[3] || fieldStates[4] || fieldStates[5];
 	bool hasIntensity = fieldStates[7];
 	bool hasRGB = !hasIntensity&&fieldStates[6];
+	bool hasTime = hasIntensity&&fieldStates[8];
+	bool hasRing = hasIntensity&&fieldStates[9];
 	bool is3D = fieldStates[0] && fieldStates[1] && fieldStates[2];
 
 	LaserScan::Format format;
@@ -140,7 +178,18 @@ LaserScan laserScanFromPointCloud(const PointCloud2T & cloud, bool filterNaNs, b
 		}
 		else if(!hasNormals && hasIntensity)
 		{
-			format = LaserScan::kXYZI;
+			if(hasTime && hasRing)
+			{
+				format = LaserScan::kXYZIRT;
+			}
+			else if(hasTime)
+			{
+				format = LaserScan::kXYZIT;
+			}
+			else
+			{
+				format = LaserScan::kXYZI;
+			}
 		}
 		else if(!hasNormals && hasRGB)
 		{
@@ -183,6 +232,7 @@ LaserScan laserScanFromPointCloud(const PointCloud2T & cloud, bool filterNaNs, b
 		transformRot = transform.rotation();
 	}
 	int oi=0;
+	UASSERT(cloud.height == 1 || cloud.row_step != 0);
 	for (uint32_t row = 0; row < (uint32_t)cloud.height; ++row)
 	{
 		const uint8_t* row_data = &cloud.data[row * cloud.row_step];
@@ -242,26 +292,45 @@ LaserScan laserScanFromPointCloud(const PointCloud2T & cloud, bool filterNaNs, b
 			{
 				ptr[0] = *(float*)(msg_data + fieldOffsets[0]);
 				ptr[1] = *(float*)(msg_data + fieldOffsets[1]);
-				ptr[2] = *(float*)(msg_data + fieldOffsets[3]);
-				ptr[3] = *(float*)(msg_data + fieldOffsets[4]);
-				ptr[4] = *(float*)(msg_data + fieldOffsets[5]);
+				if(format == LaserScan::kXYZIT)
+				{
+					ptr[2] = *(float*)(msg_data + fieldOffsets[2]);
+					ptr[3] = *(float*)(msg_data + fieldOffsets[7]);
+					ptr[4] = *(float*)(msg_data + fieldOffsets[8]);
+				}
+				else // kXYNormal
+				{
+					ptr[2] = *(float*)(msg_data + fieldOffsets[3]);
+					ptr[3] = *(float*)(msg_data + fieldOffsets[4]);
+					ptr[4] = *(float*)(msg_data + fieldOffsets[5]);
+				}
 				valid = uIsFinite(ptr[0]) && uIsFinite(ptr[1]) && uIsFinite(ptr[2]) && uIsFinite(ptr[3]) && uIsFinite(ptr[4]);
 			}
 			else if(laserScan.channels() == 6)
 			{
 				ptr[0] = *(float*)(msg_data + fieldOffsets[0]);
 				ptr[1] = *(float*)(msg_data + fieldOffsets[1]);
-				if(format == LaserScan::kXYINormal)
-				{
-					ptr[2] = *(float*)(msg_data + fieldOffsets[7]);
-				}
-				else // XYZNormal
+				if(format == LaserScan::kXYZIRT)
 				{
 					ptr[2] = *(float*)(msg_data + fieldOffsets[2]);
+					ptr[3] = *(float*)(msg_data + fieldOffsets[7]);
+					ptr[4] = float(*(unsigned short*)(msg_data + fieldOffsets[9])); // Convert 16U to float
+					ptr[5] = *(float*)(msg_data + fieldOffsets[8]);
+				}
+				else // with normal
+				{
+					if(format == LaserScan::kXYINormal)
+					{
+						ptr[2] = *(float*)(msg_data + fieldOffsets[7]);
+					}
+					else // XYZNormal
+					{
+						ptr[2] = *(float*)(msg_data + fieldOffsets[2]);
+					}
+					ptr[3] = *(float*)(msg_data + fieldOffsets[3]);
+					ptr[4] = *(float*)(msg_data + fieldOffsets[4]);
+					ptr[5] = *(float*)(msg_data + fieldOffsets[5]);
 				}
-				ptr[3] = *(float*)(msg_data + fieldOffsets[3]);
-				ptr[4] = *(float*)(msg_data + fieldOffsets[4]);
-				ptr[5] = *(float*)(msg_data + fieldOffsets[5]);
 				valid = uIsFinite(ptr[0]) && uIsFinite(ptr[1]) && uIsFinite(ptr[2]) && uIsFinite(ptr[3]) && uIsFinite(ptr[4]) &&  uIsFinite(ptr[5]);
 			}
 			else if(laserScan.channels() == 7)

corelib/include/rtabmap/core/odometry/OdometryCuVSLAM.h

@@ -0,0 +1,101 @@
+/*
+Copyright (c) 2025 Felix Toft
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef ODOMETRYCUVSLAM_H_
+#define ODOMETRYCUVSLAM_H_
+
+#include <rtabmap/core/Odometry.h>
+#include <memory>
+#include <deque>
+#include <array>
+
+#ifdef RTABMAP_CUVSLAM
+#include <cuvslam.h>
+#include <ground_constraint.h>
+#include <cuda_runtime.h>
+#endif
+
+namespace rtabmap {
+
+class RTABMAP_CORE_EXPORT OdometryCuVSLAM : public Odometry
+{
+public:
+	OdometryCuVSLAM(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+	virtual ~OdometryCuVSLAM();
+
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
+	virtual Odometry::Type getType() {return Odometry::kTypeCuVSLAM;}
+
+private:
+	virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+	virtual void cleanupCuVSLAMResources();
+
+private:
+#ifdef RTABMAP_CUVSLAM
+	CUVSLAM_TrackerHandle cuvslam_handle_;
+	CUVSLAM_GroundConstraintHandle ground_constraint_handle_;
+
+	std::vector<CUVSLAM_Camera> cuvslam_cameras_;
+	std::vector<std::array<float, 12>> intrinsics_;
+	
+	// State tracking
+	bool initialized_;
+	bool lost_;
+	bool tracking_;
+	bool planar_constraints_;
+	int multicam_mode_;
+	Transform previous_pose_;
+	double last_timestamp_;
+
+	// Configuration Thresholds
+	double velocity_ratio_threshold_high_ = 1.5;			// The maximum velocity ratio of guess / estimated velocity needed to detect lost state.
+	double velocity_ratio_threshold_low_ = 0.5;				// The minimum velocity ratio of guess / estimated velocity needed to detect lost state.
+	double velocity_difference_threshold_ = 0.1;			// The maximum velocity difference between the guess and the estimated velocity needed to detect lost state.
+	double zero_estimated_velocity_threshold_ = 0.00001;	// The minimum cuVSLAM estimated velocity needed to detect lost state.
+	double min_landmarks_threshold_ = 30; 					// The minimum number of landmarks needed to start tracking after an initialization.
+	
+	// Forward cuVLSAM covariance directly to RTAB-Map.
+	// When true this disables covariance based lost detection.
+	bool use_raw_covariance_  = false;
+
+	//visualization
+	std::vector<CUVSLAM_Observation> observations_;
+	std::vector<CUVSLAM_Landmark> landmarks_;
+	
+	// GPU memory management
+	std::vector<uint8_t *> gpu_left_image_data_; // pointers to all gpu images
+	std::vector<uint8_t *> gpu_right_image_data_;
+	std::vector<size_t> gpu_left_image_sizes_; // size of one image
+	std::vector<size_t> gpu_right_image_sizes_;
+	cudaStream_t cuda_stream_;
+#endif
+};
+
+}
+
+#endif /* ODOMETRYCUVSLAM_H_ */

corelib/include/rtabmap/core/odometry/OdometryLIOSAM.h

@@ -0,0 +1,82 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef ODOMETRYLIOSAM_H_
+#define ODOMETRYLIOSAM_H_
+
+#include <rtabmap/core/Odometry.h>
+
+#ifdef RTABMAP_LIOSAM
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+#include <vector>
+namespace lio_sam { class LioSamCore; }
+#endif
+
+namespace rtabmap {
+
+class RTABMAP_CORE_EXPORT OdometryLIOSAM : public Odometry
+{
+public:
+	OdometryLIOSAM(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+	virtual ~OdometryLIOSAM();
+
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
+	virtual Odometry::Type getType() {return Odometry::kTypeLIOSAM;}
+	virtual bool canProcessAsyncIMU() const {return true;}
+
+private:
+	virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
+#ifdef RTABMAP_LIOSAM
+	bool init(const Transform & imuLocalTransform, const Transform & lidarLocalTransform);
+#endif
+
+private:
+#ifdef RTABMAP_LIOSAM
+	lio_sam::LioSamCore * lioSam_;
+	Transform lastPose_;
+	bool lost_;
+	float linVar_;
+	float angVar_;
+	ParametersMap parameters_;
+	Transform imuLocalTransform_; // base_link -> imu_link (cached for deferred init)
+
+	// Buffered IMU samples received before initialization
+	struct ImuSample {
+		double stamp;
+		Eigen::Vector3d acc;
+		Eigen::Vector3d gyro;
+		Eigen::Quaterniond orientation;
+	};
+	std::vector<ImuSample> imuBuffer_;
+#endif
+};
+
+}
+
+#endif /* ODOMETRYLIOSAM_H_ */

corelib/include/rtabmap/core/odometry/OdometryVINS.h

@@ -25,39 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
-#ifndef ODOMETRYVINS_H_
-#define ODOMETRYVINS_H_
+#pragma once
+#pragma message("Warning: OdometryVINS.h is deprecated. Please use OdometryVINSFusion.h instead.")
 
-#include <rtabmap/core/Odometry.h>
-
-namespace rtabmap {
-
-class VinsEstimator;
-
-class RTABMAP_CORE_EXPORT OdometryVINS : public Odometry
-{
-public:
-	OdometryVINS(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
-	virtual ~OdometryVINS();
-
-	virtual void reset(const Transform & initialPose = Transform::getIdentity());
-	virtual Odometry::Type getType() {return Odometry::kTypeVINS;}
-	virtual bool canProcessRawImages() const {return true;}
-	virtual bool canProcessAsyncIMU() const {return true;}
-
-private:
-	virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
-
-private:
-#ifdef RTABMAP_VINS
-	VinsEstimator * vinsEstimator_;
-	bool initGravity_;
-	Transform previousPose_;
-	Transform previousLocalTransform_;
-	IMU lastImu_;
-#endif
-};
-
-}
-
-#endif /* ODOMETRYVINS_H_ */
+#include "rtabmap/core/odometry/OdometryVINSFusion.h"

corelib/include/rtabmap/core/odometry/OdometryVINSFusion.h

@@ -0,0 +1,64 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef ODOMETRYVINSFUSION_H_
+#define ODOMETRYVINSFUSION_H_
+
+#include <rtabmap/core/Odometry.h>
+
+namespace rtabmap {
+
+class VinsFusionEstimator;
+
+class RTABMAP_CORE_EXPORT OdometryVINSFusion : public Odometry
+{
+public:
+	OdometryVINSFusion(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+	virtual ~OdometryVINSFusion();
+
+	virtual void reset(const Transform & initialPose = Transform::getIdentity());
+	virtual Odometry::Type getType() {return Odometry::kTypeVINSFusion;}
+	virtual bool canProcessRawImages() const {return true;}
+	virtual bool canProcessAsyncIMU() const {return true;}
+
+private:
+	virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
+private:
+#ifdef RTABMAP_VINS_FUSION
+	VinsFusionEstimator * vinsEstimator_;
+	bool initGravity_;
+	Transform previousPose_;
+	Transform previousLocalTransform_;
+	IMU lastImu_;
+	double lastImuStamp_;
+#endif
+};
+
+}
+
+#endif /* ODOMETRYVINSFUSION_H_ */

corelib/include/rtabmap/core/optimizer/OptimizerG2O.h

@@ -41,6 +41,12 @@ public:
 	static bool isCSparseAvailable();
 	static bool isCholmodAvailable();
 
+public:
+	static bool loadGraph(
+			const std::string & fileName,
+			std::map<int, Transform> & poses,
+			std::multimap<int, Link> & edgeConstraints);
+
 public:
 	OptimizerG2O(const ParametersMap & parameters = ParametersMap());
 	virtual ~OptimizerG2O() {}

corelib/include/rtabmap/core/optimizer/OptimizerGTSAM.h

@@ -77,6 +77,7 @@ private:
 	std::vector<ConstraintToFactor> lastAddedConstraints_;
 	int lastSwitchId_;
 	std::set<int> addedPoses_;
+	std::map<int, bool> isLandmarkWithRotation_; // persists across iSAM2 incremental calls
 	std::pair<int, std::uint64_t> lastRootFactorIndex_;
 };
 

corelib/include/rtabmap/core/util3d.h

@@ -39,12 +39,26 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/Parameters.h>
 #include <opencv2/core/core.hpp>
 #include <rtabmap/core/ProgressState.h>
+#include <cstdint>
 #include <map>
 #include <list>
 
 namespace rtabmap
 {
 
+// Point type carrying xyz + intensity + ring (laser line index) + time
+// (per-point acquisition offset, seconds from the scan start). Matches the
+// layout expected by LIO-SAM's Velodyne feature extractor so it can be fed
+// directly via util3d::laserScanFromPointCloud().
+struct EIGEN_ALIGN16 PointXYZIRT
+{
+	PCL_ADD_POINT4D;
+	float intensity;
+	std::uint16_t ring;
+	float time;
+	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+};
+
 namespace util3d
 {
 
@@ -297,6 +311,9 @@ LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl:
 // return CV_32FC4 (x,y,z,I)
 LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
 LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
+// return CV_32FC6 (x,y,z,I,ring,time)
+LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
+LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
 // return CV_32FC7 (x,y,z,rgb,normal_x,normal_y,normal_z)
 LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
 LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
@@ -512,6 +529,15 @@ LaserScan RTABMAP_CORE_EXPORT deskew(
 } // namespace util3d
 } // namespace rtabmap
 
+POINT_CLOUD_REGISTER_POINT_STRUCT(rtabmap::PointXYZIRT,
+	(float, x, x)
+	(float, y, y)
+	(float, z, z)
+	(float, intensity, intensity)
+	(std::uint16_t, ring, ring)
+	(float, time, time)
+)
+
 #include "rtabmap/core/impl/util3d.hpp"
 
 #endif /* UTIL3D_H_ */

corelib/include/rtabmap/core/util3d_features.h

@@ -80,6 +80,7 @@ std::map<int, cv::Point3f> RTABMAP_CORE_EXPORT generateWords3DMono(
 		Transform & cameraTransform,
 		float ransacReprojThreshold = 3.0f,
 		float ransacConfidence = 0.99f,
+		int varianceMedianRatio = 4,
 		const std::map<int, cv::Point3f> & refGuess3D = std::map<int, cv::Point3f>(),
 		double * variance = 0,
 		std::vector<int> * matchesOut = 0);

corelib/src/CMakeLists.txt

@@ -41,6 +41,7 @@ SET(SRC_FILES
     camera/CameraMyntEye.cpp
     camera/CameraDepthAI.cpp
 	camera/CameraSeerSense.cpp
+	camera/CameraOrbbecSDK.cpp
     
     EpipolarGeometry.cpp
     VisualWord.cpp
@@ -97,10 +98,12 @@ SET(SRC_FILES
     odometry/OdometryORBSLAM3.cpp
     odometry/OdometryLOAM.cpp
     odometry/OdometryFLOAM.cpp
+    odometry/OdometryLIOSAM.cpp
     odometry/OdometryMSCKF.cpp
-    odometry/OdometryVINS.cpp
+    odometry/OdometryVINSFusion.cpp
     odometry/OdometryOpenVINS.cpp
     odometry/OdometryOpen3D.cpp
+	odometry/OdometryCuVSLAM.cpp
     
     IMU.cpp
     IMUThread.cpp
@@ -163,10 +166,6 @@ IF(MSVC)
 ENDIF(MSVC)
 
 SET(INCLUDE_DIRS
-    ${CMAKE_CURRENT_SOURCE_DIR}
-    ${CMAKE_CURRENT_SOURCE_DIR}/../include
-    ${CMAKE_CURRENT_BINARY_DIR}
-    ${CMAKE_CURRENT_BINARY_DIR}/include
 	${ZLIB_INCLUDE_DIRS}
 )
 
@@ -217,11 +216,21 @@ IF(TORCH_FOUND)
 		${SRC_FILES}
 		superpoint_torch/SuperPoint.cc
 	)
-	 SET(INCLUDE_DIRS
+	SET(INCLUDE_DIRS
 	    ${TORCH_INCLUDE_DIRS}
 	    ${CMAKE_CURRENT_SOURCE_DIR}/superpoint_torch
 		${INCLUDE_DIRS}
 	)
+	IF(WITH_PYTHON AND Python3_FOUND)
+		SET(SRC_FILES
+			${SRC_FILES}
+			superpoint_rpautrat/SuperpointRpautrat.cpp
+		)
+		SET(INCLUDE_DIRS
+	    	${CMAKE_CURRENT_SOURCE_DIR}/superpoint_rpautrat
+			${INCLUDE_DIRS}
+		)
+	ENDIF(WITH_PYTHON AND Python3_FOUND)
 ENDIF(TORCH_FOUND)
 
 IF(WITH_PYTHON AND Python3_FOUND)
@@ -394,6 +403,13 @@ IF(xvsdk_FOUND)
 	)
 ENDIF(xvsdk_FOUND)
 
+IF(OrbbecSDK_FOUND)
+	SET(LIBRARIES
+		${LIBRARIES}
+		ob::OrbbecSDK
+	)
+ENDIF(OrbbecSDK_FOUND)
+
 IF(TARGET OpenMP::OpenMP_CXX)
 	SET(LIBRARIES
 		${LIBRARIES}
@@ -517,6 +533,13 @@ IF(FastCV_FOUND)
 	)
 ENDIF(FastCV_FOUND)
 
+IF(apriltag_FOUND)
+	SET(LIBRARIES
+		apriltag::apriltag
+		${LIBRARIES}
+	)
+ENDIF(apriltag_FOUND)
+
 IF(opengv_FOUND)
     SET(LIBRARIES
         ${LIBRARIES}
@@ -589,6 +612,18 @@ IF(floam_FOUND)
     )
 ENDIF(floam_FOUND)
 
+IF(lio_sam_FOUND)
+    SET(INCLUDE_DIRS
+        ${INCLUDE_DIRS}
+        ${lio_sam_INCLUDE_DIRS}
+    )
+    link_directories(${lio_sam_LIBRARY_DIRS})
+    SET(LIBRARIES
+        ${LIBRARIES}
+        lio_sam_core
+    )
+ENDIF(lio_sam_FOUND)
+
 IF(ZED_FOUND)
 	SET(INCLUDE_DIRS
 		${INCLUDE_DIRS}
@@ -746,16 +781,16 @@ IF(vins_FOUND)
 	)
 ENDIF(vins_FOUND)
 
-IF(ov_msckf_FOUND)
+IF(OpenVINS_FOUND)
     SET(INCLUDE_DIRS
-		${ov_msckf_INCLUDE_DIRS}
+		${OpenVINS_INCLUDE_DIRS}
 		${INCLUDE_DIRS}
 	)
 	SET(LIBRARIES
-		${ov_msckf_LIBRARIES}
+		${OpenVINS_LIBRARIES}
 		${LIBRARIES}
 	)
-ENDIF(ov_msckf_FOUND)
+ENDIF(OpenVINS_FOUND)
 
 IF(ORB_SLAM_FOUND)
     SET(INCLUDE_DIRS
@@ -768,38 +803,18 @@ IF(ORB_SLAM_FOUND)
 	)
 ENDIF(ORB_SLAM_FOUND)
 
-IF(GTSAM_FOUND)
-	# Make sure GTSAM is built with system Eigen, not the included one in its package
-	IF(GTSAM_INCLUDE_DIR)
-		SET(INCLUDE_DIRS 
-			${INCLUDE_DIRS} 
-			${GTSAM_INCLUDE_DIR} 
-		)
-	ELSE()
-		SET(INCLUDE_DIRS 
-			${INCLUDE_DIRS} 
-			${GTSAM_INCLUDE_DIRS}
-		)
-	ENDIF()
-	SET(SRC_FILES
-    	${SRC_FILES}
-		optimizer/gtsam/GravityFactor.cpp
+IF(CUVSLAM_FOUND)
+    SET(LIBRARIES
+		${LIBRARIES}
+		cuvslam::cuvslam
 	)
-	IF(WIN32)
-		# GTSAM should be built in STATIC on Windows to avoid "error C2338: THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS" when building GTSAM
-		add_definitions("-DGTSAM_IMPORT_STATIC") 
-	ENDIF(WIN32)
+ENDIF(CUVSLAM_FOUND)
+
+IF(GTSAM_FOUND)
 	SET(LIBRARIES
 		${LIBRARIES}
-		gtsam # Windows: Place static libs at the end
+		gtsam
 	)
-	IF(WIN32)
-		#explicitly add metis target on windows (after gtsam target)
-		SET(LIBRARIES
-			${LIBRARIES}
-			metis
-		)
-	ENDIF(WIN32)
 ENDIF(GTSAM_FOUND)
 
 IF(WITH_MADGWICK)
@@ -816,6 +831,7 @@ CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/resources/DatabaseSchema.sql.in ${CMA
 
 SET(RESOURCES
 	${CMAKE_CURRENT_SOURCE_DIR}/resources/DatabaseSchema.sql
+	${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_22_0.sql
 	${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_20_0.sql
 	${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_18_3.sql
 	${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_18_0.sql
@@ -825,6 +841,13 @@ SET(RESOURCES
 	${CMAKE_CURRENT_SOURCE_DIR}/resources/backward_compatibility/DatabaseSchema_0_16_0.sql
 )
 
+IF(TORCH_FOUND AND WITH_PYTHON AND Python3_FOUND)
+	SET(RESOURCES
+		${RESOURCES}
+		${CMAKE_CURRENT_SOURCE_DIR}/superpoint_rpautrat/superpoint_to_torchscript.py
+	)
+ENDIF()
+
 foreach(arg ${RESOURCES})
    get_filename_component(filename ${arg} NAME)
    string(REPLACE "." "_" output ${filename})
@@ -857,8 +880,12 @@ generate_export_header(rtabmap_core
  DEPRECATED_MACRO_NAME RTABMAP_DEPRECATED)
 
 target_include_directories(rtabmap_core PUBLIC 
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include;${CMAKE_CURRENT_BINARY_DIR}/include;${PUBLIC_INCLUDE_DIRS};${INCLUDE_DIRS}>"
-  "$<INSTALL_INTERFACE:${INSTALL_INCLUDE_DIR};${PUBLIC_INCLUDE_DIRS}>")
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR};${CMAKE_CURRENT_SOURCE_DIR}/../include;${CMAKE_CURRENT_BINARY_DIR};${CMAKE_CURRENT_BINARY_DIR}/include>"
+  "$<INSTALL_INTERFACE:${INSTALL_INCLUDE_DIR}>")
+
+target_include_directories(rtabmap_core SYSTEM PUBLIC 
+  "$<BUILD_INTERFACE:${PUBLIC_INCLUDE_DIRS};${INCLUDE_DIRS}>"
+  "$<INSTALL_INTERFACE:${PUBLIC_INCLUDE_DIRS}>")
   
 TARGET_LINK_LIBRARIES(rtabmap_core 
   PUBLIC 

corelib/src/Camera.cpp

@@ -39,7 +39,8 @@ namespace rtabmap
 Camera::Camera(float imageRate, const Transform & localTransform) :
 		SensorCapture(imageRate, localTransform*CameraModel::opticalRotation()),
 		imuFilter_(0),
-		publishInterIMU_(false)
+		publishInterIMU_(false),
+		imuBaseFrameConversion_(false)
 {}
 
 Camera::~Camera()
@@ -52,15 +53,23 @@ bool Camera::initFromFile(const std::string & calibrationPath)
 	return init(UDirectory::getDir(calibrationPath), uSplit(UFile::getName(calibrationPath), '.').front());
 }
 
-void Camera::setInterIMUPublishing(bool enabled, IMUFilter * filter)
+void Camera::setInterIMUPublishing(bool enabled, IMUFilter * filter, bool baseFrameConversion)
 {
 	publishInterIMU_ = enabled;
 	delete imuFilter_;
 	imuFilter_ = filter;
+	imuBaseFrameConversion_ = baseFrameConversion;
 }
 
-void Camera::postInterIMU(const IMU & imu, double stamp)
+void Camera::postInterIMU(const IMU & imu_in, double stamp)
 {
+	IMU imu = imu_in;
+	if(imuBaseFrameConversion_)
+	{
+		UASSERT(!imu.localTransform().isNull());
+		imu.convertToBaseFrame();
+	}
+
 	if(imuFilter_)
 	{
 		imuFilter_->update(

corelib/src/CameraModel.cpp

@@ -353,6 +353,22 @@ bool CameraModel::load(const std::string & filePath)
 						data[0], data[1], data[2], data[3],
 						data[4], data[5], data[6], data[7],
 						data[8], data[9], data[10], data[11]);
+				Transform detCheck = localTransform_.clone();
+				localTransform_.normalizeRotation(); /// Normalize by default
+				float det = detCheck.toEigen3f().linear().determinant();
+				if(fabs(det - 1.0f) > 0.0001)
+				{
+					std::stringstream streamBefore, streamAfter;
+					streamBefore << detCheck << std::endl;
+					streamAfter << localTransform_ << std::endl;
+					UWARN("The camera model's local_transform from \"%s\" doesn't "
+						"have a normalized rotation matrix (dertminant=%f). We will normalize "
+						"it for convenience.\nWas:\n%sNow\n%s",
+						filePath.c_str(),
+						det,
+						streamBefore.str().c_str(),
+						streamAfter.str().c_str());
+				}
 			}
 			else
 			{
@@ -554,7 +570,7 @@ unsigned int CameraModel::deserialize(const unsigned char * data, unsigned int d
 			int iR = 8;
 			int iP = 9;
 			int iL = 10;
-			UDEBUG("Header: %d %d %d %d %d %d %d %d %d %d %d", header[0],header[1],header[2],header[3],header[4],header[5],header[6],header[7],header[8],header[9],header[10]);
+			//UDEBUG("Header: %d %d %d %d %d %d %d %d %d %d %d", header[0],header[1],header[2],header[3],header[4],header[5],header[6],header[7],header[8],header[9],header[10]);
 			unsigned int requiredDataSize = sizeof(int)*headerSize +
 					sizeof(double)*(header[iK]+header[iD]+header[iR]+header[iP]) +
 					sizeof(float)*header[iL];

corelib/src/DBDriver.cpp

@@ -45,7 +45,7 @@ DBDriver * DBDriver::create(const ParametersMap & parameters)
 
 DBDriver::DBDriver(const ParametersMap & parameters) :
 	_emptyTrashesTime(0),
-	_timestampUpdate(true)
+	_timestampUpdate(false)
 {
 	this->parseParameters(parameters);
 }
@@ -73,7 +73,15 @@ void DBDriver::closeConnection(bool save, const std::string & outputUrl)
 	else
 	{
 		_trashesMutex.lock();
+		for(auto & iter: _trashSignatures)
+		{
+			delete iter.second;
+		}
 		_trashSignatures.clear();
+		for(auto & iter: _trashVisualWords)
+		{
+			delete iter.second;
+		}
 		_trashVisualWords.clear();
 		_trashesMutex.unlock();
 	}
@@ -83,12 +91,12 @@ void DBDriver::closeConnection(bool save, const std::string & outputUrl)
 	UDEBUG("");
 }
 
-bool DBDriver::openConnection(const std::string & url, bool overwritten)
+bool DBDriver::openConnection(const std::string & url, bool overwritten, bool readOnly)
 {
 	UDEBUG("");
 	_url = url;
 	_dbSafeAccessMutex.lock();
-	if(this->connectDatabaseQuery(url, overwritten))
+	if(this->connectDatabaseQuery(url, overwritten, readOnly))
 	{
 		_dbSafeAccessMutex.unlock();
 		return true;
@@ -383,7 +391,7 @@ void DBDriver::asyncSave(Signature * s)
 {
 	if(s)
 	{
-		UDEBUG("s=%d", s->id());
+		//UDEBUG("s=%d", s->id());
 		_trashesMutex.lock();
 		{
 			_trashSignatures.insert(std::pair<int, Signature*>(s->id(), s));
@@ -531,17 +539,17 @@ void DBDriver::updateLaserScan(int nodeId, const LaserScan & scan)
 	_dbSafeAccessMutex.unlock();
 }
 
-void DBDriver::load(VWDictionary * dictionary, bool lastStateOnly) const
+void DBDriver::load(VWDictionary & dictionary, bool lastStateOnly) const
 {
 	_dbSafeAccessMutex.lock();
 	this->loadQuery(dictionary, lastStateOnly);
 	_dbSafeAccessMutex.unlock();
 }
 
-void DBDriver::loadLastNodes(std::list<Signature *> & signatures) const
+void DBDriver::loadLastNodes(std::list<Signature *> & signatures, bool loadWordIdsOnly) const
 {
 	_dbSafeAccessMutex.lock();
-	this->loadLastNodesQuery(signatures);
+	this->loadLastNodesQuery(signatures, loadWordIdsOnly);
 	_dbSafeAccessMutex.unlock();
 }
 
@@ -564,7 +572,8 @@ Signature * DBDriver::loadSignature(int id, bool * loadedFromTrash)
 }
 void DBDriver::loadSignatures(const std::list<int> & signIds,
 		std::list<Signature *> & signatures,
-		std::set<int> * loadedFromTrash)
+		std::set<int> * loadedFromTrash,
+		bool loadWordIdsOnly)
 {
 	UDEBUG("");
 	// look up in the trash before the database
@@ -609,7 +618,7 @@ void DBDriver::loadSignatures(const std::list<int> & signIds,
 	if(ids.size())
 	{
 		_dbSafeAccessMutex.lock();
-		this->loadSignaturesQuery(ids, signatures);
+		this->loadSignaturesQuery(ids, signatures, loadWordIdsOnly);
 		_dbSafeAccessMutex.unlock();
 	}
 }
@@ -656,10 +665,10 @@ void DBDriver::loadWords(const std::set<int> & wordIds, std::list<VisualWord *>
 	}
 }
 
-void DBDriver::loadNodeData(Signature * signature, bool images, bool scan, bool userData, bool occupancyGrid) const
+void DBDriver::loadNodeData(Signature & signature, bool images, bool scan, bool userData, bool occupancyGrid) const
 {
 	std::list<Signature *> signatures;
-	signatures.push_back(signature);
+	signatures.push_back(&signature);
 	this->loadNodeData(signatures, images, scan, userData, occupancyGrid);
 }
 
@@ -823,6 +832,45 @@ bool DBDriver::getNodeInfo(
 	return found;
 }
 
+void DBDriver::getLocalFeatures(
+	int signatureId,
+	std::multimap<int, int> & words,
+	std::vector<cv::KeyPoint> & keypoints,
+	std::vector<cv::Point3f> & points,
+	cv::Mat & descriptors) const
+{
+	bool found = false;
+	// look in the trash
+	_trashesMutex.lock();
+	if(uContains(_trashSignatures, signatureId))
+	{
+		const Signature * s = _trashSignatures.at(signatureId);
+		UASSERT(s != 0);
+		found = true;
+		if(!s->getWords().empty())
+		{
+			words = s->getWords();
+			if(s->getWordsKpts().empty()){
+				found = false; // Force checking the database in case the local features were not loaded in RAM
+			}
+			else
+			{
+				words = s->getWords();
+				keypoints = s->getWordsKpts();
+				points = s->getWords3();
+				descriptors = s->getWordsDescriptors().clone();
+			}
+		}
+	}
+	_trashesMutex.unlock();
+
+	if(!found)
+	{
+		UScopeMutex lock(_dbSafeAccessMutex);
+		getLocalFeaturesQuery(signatureId, words, keypoints, points, descriptors);
+	}
+}
+
 void DBDriver::loadLinks(int signatureId, std::multimap<int, Link> & links, Link::Type type) const
 {
 	bool found = false;
@@ -1287,6 +1335,13 @@ cv::Mat DBDriver::loadOptimizedMesh(
 	return cloud;
 }
 
+void DBDriver::saveFlannIndex(const std::vector<unsigned char> & indexData) const
+{
+	_dbSafeAccessMutex.lock();
+	saveFlannIndexQuery(indexData);
+	_dbSafeAccessMutex.unlock();
+}
+
 void DBDriver::generateGraph(
 		const std::string & fileName,
 		const std::set<int> & idsInput,

corelib/src/DBDriverSqlite3.cpp

@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/util3d.h"
 #include "rtabmap/core/Compression.h"
 #include "DatabaseSchema_sql.h"
+#include "DatabaseSchema_0_22_0_sql.h"
 #include "DatabaseSchema_0_20_0_sql.h"
 #include "DatabaseSchema_0_18_3_sql.h"
 #include "DatabaseSchema_0_18_0_sql.h"
@@ -319,7 +320,7 @@ bool DBDriverSqlite3::getDatabaseVersionQuery(std::string & version) const
 	return false;
 }
 
-bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwritten)
+bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwritten, bool readOnly)
 {
 	this->disconnectDatabaseQuery();
 	// Open a database connection
@@ -331,7 +332,7 @@ bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwri
 	if(!url.empty())
 	{
 		dbFileExist = UFile::exists(url.c_str());
-		if(dbFileExist && overwritten)
+		if(dbFileExist && overwritten && !readOnly)
 		{
 			UINFO("Deleting database %s...", url.c_str());
 			UASSERT(UFile::erase(url.c_str()) == 0);
@@ -353,12 +354,12 @@ bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwri
 		{
 			ULOGGER_INFO("Using empty database in the memory.");
 		}
-		rc = sqlite3_open_v2(":memory:", &_ppDb, SQLITE_OPEN_READWRITE | SQLITE_OPEN_CREATE, 0);
+		rc = sqlite3_open_v2(":memory:", &_ppDb, readOnly ? SQLITE_OPEN_READONLY : SQLITE_OPEN_READWRITE | SQLITE_OPEN_CREATE, 0);
 	}
 	else
 	{
 		ULOGGER_INFO("Using database \"%s\" from the hard drive.", url.c_str());
-		rc = sqlite3_open_v2(url.c_str(), &_ppDb, SQLITE_OPEN_READWRITE | SQLITE_OPEN_CREATE, 0);
+		rc = sqlite3_open_v2(url.c_str(), &_ppDb, readOnly ? SQLITE_OPEN_READONLY : SQLITE_OPEN_READWRITE | SQLITE_OPEN_CREATE, 0);
 	}
 	if(rc != SQLITE_OK)
 	{
@@ -404,6 +405,7 @@ bool DBDriverSqlite3::connectDatabaseQuery(const std::string & url, bool overwri
 			schemas.push_back(std::make_pair("0.18.0", DATABASESCHEMA_0_18_0_SQL));
 			schemas.push_back(std::make_pair("0.18.3", DATABASESCHEMA_0_18_3_SQL));
 			schemas.push_back(std::make_pair("0.20.0", DATABASESCHEMA_0_20_0_SQL));
+			schemas.push_back(std::make_pair("0.22.0", DATABASESCHEMA_0_22_0_SQL));
 			schemas.push_back(std::make_pair(uNumber2Str(RTABMAP_VERSION_MAJOR)+"."+uNumber2Str(RTABMAP_VERSION_MINOR), DATABASESCHEMA_SQL));
 			for(size_t i=0; i<schemas.size(); ++i)
 			{
@@ -1296,8 +1298,8 @@ std::map<int, std::vector<int> > DBDriverSqlite3::getAllStatisticsWmStatesQuery(
 
 void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, bool images, bool scan, bool userData, bool occupancyGrid) const
 {
-	UDEBUG("load data for %d signatures images=%d scan=%d userData=%d, grid=%d",
-			(int)signatures.size(), images?1:0, scan?1:0, userData?1:0, occupancyGrid?1:0);
+	//UDEBUG("load data for %d signatures images=%d scan=%d userData=%d, grid=%d",
+	//		(int)signatures.size(), images?1:0, scan?1:0, userData?1:0, occupancyGrid?1:0);
 
 	if(!images && !scan && !userData && !occupancyGrid)
 	{
@@ -1445,7 +1447,7 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, boo
 		{
 			UASSERT(*iter != 0);
 
-			ULOGGER_DEBUG("Loading data for %d...", (*iter)->id());
+			//ULOGGER_DEBUG("Loading data for %d...", (*iter)->id());
 			// bind id
 			rc = sqlite3_bind_int(ppStmt, 1, (*iter)->id());
 			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
@@ -1874,7 +1876,7 @@ void DBDriverSqlite3::loadNodeDataQuery(std::list<Signature *> & signatures, boo
 		// Finalize (delete) the statement
 		rc = sqlite3_finalize(ppStmt);
 		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
-		ULOGGER_DEBUG("Time=%fs", timer.ticks());
+		//ULOGGER_DEBUG("Time=%fs", timer.ticks());
 	}
 }
 
@@ -2391,6 +2393,23 @@ bool DBDriverSqlite3::getNodeInfoQuery(int signatureId,
 	return found;
 }
 
+void DBDriverSqlite3::getLocalFeaturesQuery(
+	int signatureId,
+	std::multimap<int, int> & words,
+	std::vector<cv::KeyPoint> & keypoints,
+	std::vector<cv::Point3f> & points,
+	cv::Mat & descriptors) const
+{
+	Signature s(signatureId);
+	std::list<Signature *> ids;
+	ids.push_back(&s);
+	this->loadWordsQuery(ids);
+	words = ids.front()->getWords();
+	keypoints = ids.front()->getWordsKpts();
+	points = ids.front()->getWords3();
+	descriptors = ids.front()->getWordsDescriptors().clone();
+}
+
 void DBDriverSqlite3::getLastNodeIdsQuery(std::set<int> & ids) const
 {
 	if(_ppDb)
@@ -2987,7 +3006,7 @@ void DBDriverSqlite3::getWeightQuery(int nodeId, int & weight) const
 }
 
 //may be slower than the previous version but don't have a limit of words that can be loaded at the same time
-void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & nodes) const
+void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & nodes, bool loadWordIdsOnly) const
 {
 	ULOGGER_DEBUG("count=%d", (int)ids.size());
 	if(_ppDb && ids.size())
@@ -3151,7 +3170,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
 			// create the node
 			if(id)
 			{
-				ULOGGER_DEBUG("Creating %d (map=%d, pose=%s)", *iter, mapId, pose.prettyPrint().c_str());
+				//ULOGGER_DEBUG("Creating %d (map=%d, pose=%s)", *iter, mapId, pose.prettyPrint().c_str());
 				Signature * s = new Signature(
 						id,
 						mapId,
@@ -3190,175 +3209,17 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
 		ULOGGER_DEBUG("Time=%fs", timer.ticks());
 
 		// Prepare the query... Get the map from signature and visual words
-		std::stringstream query2;
-		if(uStrNumCmp(_version, "0.13.0") >= 0)
-		{
-			query2 << "SELECT word_id, pos_x, pos_y, size, dir, response, octave, depth_x, depth_y, depth_z, descriptor_size, descriptor "
-					 "FROM Feature "
-					 "WHERE node_id = ? ";
+		UDEBUG("Loading local features (ids only=%s)....", loadWordIdsOnly?"true":"false");
+		if(loadWordIdsOnly) {
+			this->loadWordIdsQuery(nodes);
 		}
-		else if(uStrNumCmp(_version, "0.12.0") >= 0)
-		{
-			query2 << "SELECT word_id, pos_x, pos_y, size, dir, response, octave, depth_x, depth_y, depth_z, descriptor_size, descriptor "
-					 "FROM Map_Node_Word "
-					 "WHERE node_id = ? ";
+		else {
+			this->loadWordsQuery(nodes);
 		}
-		else if(uStrNumCmp(_version, "0.11.2") >= 0)
-		{
-			query2 << "SELECT word_id, pos_x, pos_y, size, dir, response, depth_x, depth_y, depth_z, descriptor_size, descriptor "
-					 "FROM Map_Node_Word "
-					 "WHERE node_id = ? ";
-		}
-		else
-		{
-			query2 << "SELECT word_id, pos_x, pos_y, size, dir, response, depth_x, depth_y, depth_z "
-					 "FROM Map_Node_Word "
-					 "WHERE node_id = ? ";
-		}
-
-		query2 << " ORDER BY word_id"; // Needed for fast insertion below
-		query2 << ";";
-
-		rc = sqlite3_prepare_v2(_ppDb, query2.str().c_str(), -1, &ppStmt, 0);
-		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
-
-		float nanFloat = std::numeric_limits<float>::quiet_NaN ();
-
-		for(std::list<Signature*>::const_iterator iter=nodes.begin(); iter!=nodes.end(); ++iter)
-		{
-			//ULOGGER_DEBUG("Loading words of %d...", (*iter)->id());
-			// bind id
-			rc = sqlite3_bind_int(ppStmt, 1, (*iter)->id());
-			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
-
-			int visualWordId = 0;
-			int descriptorSize = 0;
-			const void * descriptor = 0;
-			int dRealSize = 0;
-			cv::KeyPoint kpt;
-			std::multimap<int, int> visualWords;
-			std::vector<cv::KeyPoint> visualWordsKpts;
-			std::vector<cv::Point3f> visualWords3;
-			cv::Mat descriptors;
-			bool allWords3NaN = true;
-			cv::Point3f depth(0,0,0);
-
-			// Process the result if one
-			rc = sqlite3_step(ppStmt);
-			while(rc == SQLITE_ROW)
-			{
-				int index = 0;
-				visualWordId = sqlite3_column_int(ppStmt, index++);
-				kpt.pt.x = sqlite3_column_double(ppStmt, index++);
-				kpt.pt.y = sqlite3_column_double(ppStmt, index++);
-				kpt.size = sqlite3_column_int(ppStmt, index++);
-				kpt.angle = sqlite3_column_double(ppStmt, index++);
-				kpt.response = sqlite3_column_double(ppStmt, index++);
-				if(uStrNumCmp(_version, "0.12.0") >= 0)
-				{
-					kpt.octave = sqlite3_column_int(ppStmt, index++);
-				}
-
-				if(sqlite3_column_type(ppStmt, index) == SQLITE_NULL)
-				{
-					depth.x = nanFloat;
-					++index;
-				}
-				else
-				{
-					depth.x = sqlite3_column_double(ppStmt, index++);
-				}
-
-				if(sqlite3_column_type(ppStmt, index) == SQLITE_NULL)
-				{
-					depth.y = nanFloat;
-					++index;
-				}
-				else
-				{
-					depth.y = sqlite3_column_double(ppStmt, index++);
-				}
-
-				if(sqlite3_column_type(ppStmt, index) == SQLITE_NULL)
-				{
-					depth.z = nanFloat;
-					++index;
-				}
-				else
-				{
-					depth.z = sqlite3_column_double(ppStmt, index++);
-				}
-
-				visualWordsKpts.push_back(kpt);
-				visualWords.insert(visualWords.end(), std::make_pair(visualWordId, visualWordsKpts.size()-1));
-				visualWords3.push_back(depth);
-
-				if(allWords3NaN && util3d::isFinite(depth))
-				{
-					allWords3NaN = false;
-				}
-
-				if(uStrNumCmp(_version, "0.11.2") >= 0)
-				{
-					descriptorSize = sqlite3_column_int(ppStmt, index++); // VisualWord descriptor size
-					descriptor = sqlite3_column_blob(ppStmt, index); 	// VisualWord descriptor array
-					dRealSize = sqlite3_column_bytes(ppStmt, index++);
-
-					if(descriptor && descriptorSize>0 && dRealSize>0)
-					{
-						cv::Mat d;
-						if(dRealSize == descriptorSize)
-						{
-							// CV_8U binary descriptors
-							d = cv::Mat(1, descriptorSize, CV_8U);
-						}
-						else if(dRealSize/int(sizeof(float)) == descriptorSize)
-						{
-							// CV_32F
-							d = cv::Mat(1, descriptorSize, CV_32F);
-						}
-						else
-						{
-							UFATAL("Saved buffer size (%d bytes) is not the same as descriptor size (%d)", dRealSize, descriptorSize);
-						}
-
-						memcpy(d.data, descriptor, dRealSize);
-
-						descriptors.push_back(d);
-					}
-				}
-
-				rc = sqlite3_step(ppStmt);
-			}
-			UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
-
-			if(visualWords.size()==0)
-			{
-				UDEBUG("Empty signature detected! (id=%d)", (*iter)->id());
-			}
-			else
-			{
-				if(allWords3NaN)
-				{
-					visualWords3.clear();
-				}
-				(*iter)->setWords(visualWords, visualWordsKpts, visualWords3, descriptors);
-				ULOGGER_DEBUG("Add %d keypoints, %d 3d points and %d descriptors to node %d", (int)visualWords.size(), allWords3NaN?0:(int)visualWords3.size(), (int)descriptors.rows, (*iter)->id());
-			}
-
-			//reset
-			rc = sqlite3_reset(ppStmt);
-			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
-		}
-
-		// Finalize (delete) the statement
-		rc = sqlite3_finalize(ppStmt);
-		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
-
-		ULOGGER_DEBUG("Time=%fs", timer.ticks());
+		UDEBUG("Loading local features.... done! (in %f s)", timer.ticks());
 
 		this->loadLinksQuery(nodes);
-		ULOGGER_DEBUG("Time load links=%fs", timer.ticks());
+		ULOGGER_DEBUG("Time loading links=%fs", timer.ticks());
 
 		for(std::list<Signature*>::iterator iter = nodes.begin(); iter!=nodes.end(); ++iter)
 		{
@@ -3626,7 +3487,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
 	}
 }
 
-void DBDriverSqlite3::loadLastNodesQuery(std::list<Signature *> & nodes) const
+void DBDriverSqlite3::loadLastNodesQuery(std::list<Signature *> & nodes, bool loadWordIdsOnly) const
 {
 	ULOGGER_DEBUG("");
 	if(_ppDb)
@@ -3672,15 +3533,15 @@ void DBDriverSqlite3::loadLastNodesQuery(std::list<Signature *> & nodes) const
 		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
 
 		ULOGGER_DEBUG("Loading %d signatures...", ids.size());
-		this->loadSignaturesQuery(ids, nodes);
+		this->loadSignaturesQuery(ids, nodes, loadWordIdsOnly);
 		ULOGGER_DEBUG("loaded=%d, Time=%fs", nodes.size(), timer.ticks());
 	}
 }
 
-void DBDriverSqlite3::loadQuery(VWDictionary * dictionary, bool lastStateOnly) const
+void DBDriverSqlite3::loadQuery(VWDictionary & dictionary, bool lastStateOnly) const
 {
 	ULOGGER_DEBUG("");
-	if(_ppDb && dictionary)
+	if(_ppDb)
 	{
 		std::string type;
 		UTimer timer;
@@ -3743,11 +3604,11 @@ void DBDriverSqlite3::loadQuery(VWDictionary * dictionary, bool lastStateOnly) c
 			memcpy(d.data, descriptor, dRealSize);
 			VisualWord * vw = new VisualWord(id, d);
 			vw->setSaved(true);
-			dictionary->addWord(vw);
+			dictionary.addWord(vw);
 
 			if(++count % 5000 == 0)
 			{
-				ULOGGER_DEBUG("Loaded %d words...", count);
+				//ULOGGER_DEBUG("Loaded %d words...", count);
 			}
 			rc = sqlite3_step(ppStmt); // next result...
 		}
@@ -3758,9 +3619,50 @@ void DBDriverSqlite3::loadQuery(VWDictionary * dictionary, bool lastStateOnly) c
 
 		// Get Last word id
 		getLastWordId(id);
-		dictionary->setLastWordId(id);
+		dictionary.setLastWordId(id);
 
-		ULOGGER_DEBUG("Time=%fs", timer.ticks());
+		if(uStrNumCmp(_version, "0.23.0") >= 0) {
+			// load dictionary index
+			std::stringstream query3;
+			query3 << "SELECT dictionary_index "
+				<< "FROM Admin "
+				<< "WHERE version='" << _version.c_str()
+				<<"';";
+
+			rc = sqlite3_prepare_v2(_ppDb, query3.str().c_str(), -1, &ppStmt, 0);
+			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+
+			// Process the result if one
+			rc = sqlite3_step(ppStmt);
+			UASSERT_MSG(rc == SQLITE_ROW, uFormat("DB error (%s): Not found first Admin row: query=\"%s\"", _version.c_str(), query3.str().c_str()).c_str());
+			if(rc == SQLITE_ROW)
+			{
+				const void * data = 0;
+				int dataSize = 0;
+				int index = 0;
+
+				//opt_poses
+				data = sqlite3_column_blob(ppStmt, index);
+				dataSize = sqlite3_column_bytes(ppStmt, index++);
+				if(dataSize>4 && data)
+				{
+					UDEBUG("A flann index was saved in the database (size=%ld).", dataSize);
+					dictionary.deserializeIndex((const unsigned char*)data, dataSize);
+				}
+				else {
+					UDEBUG("No flann index was saved in the database.");
+				}
+
+				rc = sqlite3_step(ppStmt); // next result...
+			}
+			UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+
+			// Finalize (delete) the statement
+			rc = sqlite3_finalize(ppStmt);
+			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		}
+
+		ULOGGER_DEBUG("Loaded %d words... time=%fs", count, timer.ticks());
 	}
 }
 
@@ -3860,6 +3762,262 @@ void DBDriverSqlite3::loadWordsQuery(const std::set<int> & wordIds, std::list<Vi
 	}
 }
 
+void DBDriverSqlite3::loadWordIdsQuery(std::list<Signature *> & signatures) const
+{
+	if(_ppDb)
+	{
+		int rc = SQLITE_OK;
+		sqlite3_stmt * ppStmt = 0;
+		std::stringstream query;
+
+		if(uStrNumCmp(_version, "0.13.0") >= 0)
+		{
+			query << "SELECT word_id "
+						"FROM Feature "
+						"WHERE node_id = ? ";
+		}
+		else if(uStrNumCmp(_version, "0.12.0") >= 0)
+		{
+			query << "SELECT word_id "
+						"FROM Map_Node_Word "
+						"WHERE node_id = ? ";
+		}
+		else if(uStrNumCmp(_version, "0.11.2") >= 0)
+		{
+			query << "SELECT word_id "
+						"FROM Map_Node_Word "
+						"WHERE node_id = ? ";
+		}
+		else
+		{
+			query << "SELECT word_id "
+						"FROM Map_Node_Word "
+						"WHERE node_id = ? ";
+		}
+
+		query << " ORDER BY word_id"; // Needed for fast insertion below
+		query << ";";
+
+		rc = sqlite3_prepare_v2(_ppDb, query.str().c_str(), -1, &ppStmt, 0);
+		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+
+		for(std::list<Signature*>::const_iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
+		{
+			//ULOGGER_DEBUG("Loading words of %d...", (*iter)->id());
+			// bind id
+			rc = sqlite3_bind_int(ppStmt, 1, (*iter)->id());
+			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+
+			int visualWordId = 0;
+			std::multimap<int, int> visualWords;
+
+			// Process the result if one
+			rc = sqlite3_step(ppStmt);
+			while(rc == SQLITE_ROW)
+			{
+				int index = 0;
+				visualWordId = sqlite3_column_int(ppStmt, index++);
+				visualWords.insert(visualWords.end(), std::make_pair(visualWordId, -1));
+
+				rc = sqlite3_step(ppStmt);
+			}
+			UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+
+			if(visualWords.size()==0)
+			{
+				UDEBUG("Empty signature detected! (id=%d)", (*iter)->id());
+			}
+			else
+			{
+				(*iter)->setWords(visualWords, std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
+				//ULOGGER_DEBUG("Add %d keypoints, %d 3d points and %d descriptors to node %d", (int)visualWords.size(), allWords3NaN?0:(int)visualWords3.size(), (int)descriptors.rows, (*iter)->id());
+			}
+
+			//reset
+			rc = sqlite3_reset(ppStmt);
+			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		}
+
+		// Finalize (delete) the statement
+		rc = sqlite3_finalize(ppStmt);
+		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+	}
+}
+
+void DBDriverSqlite3::loadWordsQuery(std::list<Signature *> & signatures) const
+{
+	if(_ppDb)
+	{
+		int rc = SQLITE_OK;
+		sqlite3_stmt * ppStmt = 0;
+		std::stringstream query;
+
+		if(uStrNumCmp(_version, "0.13.0") >= 0)
+		{
+			query << "SELECT word_id, pos_x, pos_y, size, dir, response, octave, depth_x, depth_y, depth_z, descriptor_size, descriptor "
+					 "FROM Feature "
+					 "WHERE node_id = ? ";
+		}
+		else if(uStrNumCmp(_version, "0.12.0") >= 0)
+		{
+			query << "SELECT word_id, pos_x, pos_y, size, dir, response, octave, depth_x, depth_y, depth_z, descriptor_size, descriptor "
+					 "FROM Map_Node_Word "
+					 "WHERE node_id = ? ";
+		}
+		else if(uStrNumCmp(_version, "0.11.2") >= 0)
+		{
+			query << "SELECT word_id, pos_x, pos_y, size, dir, response, depth_x, depth_y, depth_z, descriptor_size, descriptor "
+					 "FROM Map_Node_Word "
+					 "WHERE node_id = ? ";
+		}
+		else
+		{
+			query << "SELECT word_id, pos_x, pos_y, size, dir, response, depth_x, depth_y, depth_z "
+					 "FROM Map_Node_Word "
+					 "WHERE node_id = ? ";
+		}
+
+		query << " ORDER BY word_id"; // Needed for fast insertion below
+		query << ";";
+
+		rc = sqlite3_prepare_v2(_ppDb, query.str().c_str(), -1, &ppStmt, 0);
+		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+
+		float nanFloat = std::numeric_limits<float>::quiet_NaN ();
+
+		for(std::list<Signature*>::const_iterator iter=signatures.begin(); iter!=signatures.end(); ++iter)
+		{
+			//ULOGGER_DEBUG("Loading words of %d...", (*iter)->id());
+			// bind id
+			rc = sqlite3_bind_int(ppStmt, 1, (*iter)->id());
+			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+
+			int visualWordId = 0;
+			int descriptorSize = 0;
+			const void * descriptor = 0;
+			int dRealSize = 0;
+			cv::KeyPoint kpt;
+			std::multimap<int, int> visualWords;
+			std::vector<cv::KeyPoint> visualWordsKpts;
+			std::vector<cv::Point3f> visualWords3;
+			cv::Mat descriptors;
+			bool allWords3NaN = true;
+			cv::Point3f depth(0,0,0);
+
+			// Process the result if one
+			rc = sqlite3_step(ppStmt);
+			while(rc == SQLITE_ROW)
+			{
+				int index = 0;
+				visualWordId = sqlite3_column_int(ppStmt, index++);
+				kpt.pt.x = sqlite3_column_double(ppStmt, index++);
+				kpt.pt.y = sqlite3_column_double(ppStmt, index++);
+				kpt.size = sqlite3_column_int(ppStmt, index++);
+				kpt.angle = sqlite3_column_double(ppStmt, index++);
+				kpt.response = sqlite3_column_double(ppStmt, index++);
+				if(uStrNumCmp(_version, "0.12.0") >= 0)
+				{
+					kpt.octave = sqlite3_column_int(ppStmt, index++);
+				}
+
+				if(sqlite3_column_type(ppStmt, index) == SQLITE_NULL)
+				{
+					depth.x = nanFloat;
+					++index;
+				}
+				else
+				{
+					depth.x = sqlite3_column_double(ppStmt, index++);
+				}
+
+				if(sqlite3_column_type(ppStmt, index) == SQLITE_NULL)
+				{
+					depth.y = nanFloat;
+					++index;
+				}
+				else
+				{
+					depth.y = sqlite3_column_double(ppStmt, index++);
+				}
+
+				if(sqlite3_column_type(ppStmt, index) == SQLITE_NULL)
+				{
+					depth.z = nanFloat;
+					++index;
+				}
+				else
+				{
+					depth.z = sqlite3_column_double(ppStmt, index++);
+				}
+
+				visualWordsKpts.push_back(kpt);
+				visualWords.insert(visualWords.end(), std::make_pair(visualWordId, visualWordsKpts.size()-1));
+				visualWords3.push_back(depth);
+
+				if(allWords3NaN && util3d::isFinite(depth))
+				{
+					allWords3NaN = false;
+				}
+
+				if(uStrNumCmp(_version, "0.11.2") >= 0)
+				{
+					descriptorSize = sqlite3_column_int(ppStmt, index++); // VisualWord descriptor size
+					descriptor = sqlite3_column_blob(ppStmt, index); 	// VisualWord descriptor array
+					dRealSize = sqlite3_column_bytes(ppStmt, index++);
+
+					if(descriptor && descriptorSize>0 && dRealSize>0)
+					{
+						cv::Mat d;
+						if(dRealSize == descriptorSize)
+						{
+							// CV_8U binary descriptors
+							d = cv::Mat(1, descriptorSize, CV_8U);
+						}
+						else if(dRealSize/int(sizeof(float)) == descriptorSize)
+						{
+							// CV_32F
+							d = cv::Mat(1, descriptorSize, CV_32F);
+						}
+						else
+						{
+							UFATAL("Saved buffer size (%d bytes) is not the same as descriptor size (%d)", dRealSize, descriptorSize);
+						}
+
+						memcpy(d.data, descriptor, dRealSize);
+
+						descriptors.push_back(d);
+					}
+				}
+
+				rc = sqlite3_step(ppStmt);
+			}
+			UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+
+			if(visualWords.size()==0)
+			{
+				UDEBUG("Empty signature detected! (id=%d)", (*iter)->id());
+			}
+			else
+			{
+				if(allWords3NaN)
+				{
+					visualWords3.clear();
+				}
+				(*iter)->setWords(visualWords, visualWordsKpts, visualWords3, descriptors);
+				//ULOGGER_DEBUG("Add %d keypoints, %d 3d points and %d descriptors to node %d", (int)visualWords.size(), allWords3NaN?0:(int)visualWords3.size(), (int)descriptors.rows, (*iter)->id());
+			}
+
+			//reset
+			rc = sqlite3_reset(ppStmt);
+			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		}
+
+		// Finalize (delete) the statement
+		rc = sqlite3_finalize(ppStmt);
+		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+	}
+}
+
 void DBDriverSqlite3::loadLinksQuery(
 		int signatureId,
 		std::multimap<int, Link> & links,
@@ -4174,7 +4332,7 @@ void DBDriverSqlite3::loadLinksQuery(std::list<Signature *> & signatures) const
 			//reset
 			rc = sqlite3_reset(ppStmt);
 			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
-			UDEBUG("time=%fs, node=%d, links.size=%d", timer.ticks(), (*iter)->id(), links.size());
+			//UDEBUG("time=%fs, node=%d, links.size=%d", timer.ticks(), (*iter)->id(), links.size());
 		}
 
 		// Finalize (delete) the statement
@@ -4185,7 +4343,7 @@ void DBDriverSqlite3::loadLinksQuery(std::list<Signature *> & signatures) const
 
 void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes, bool updateTimestamp) const
 {
-	UDEBUG("nodes = %d", nodes.size());
+	UDEBUG("nodes = %d, updateTimestamp = %s", nodes.size(), updateTimestamp?"true":"false");
 	if(_ppDb && nodes.size())
 	{
 		UTimer timer;
@@ -4224,7 +4382,7 @@ void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes, bool upd
 		{
 			s = *i;
 			int index = 1;
-			if(s)
+			if(s && (s->isModified() || updateTimestamp))
 			{
 				rc = sqlite3_bind_int(ppStmt, index++, s->getWeight());
 				UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
@@ -4248,7 +4406,7 @@ void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes, bool upd
 
 				//step
 				rc=sqlite3_step(ppStmt);
-				UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+				UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s (node id = %d map=%d)", _version.c_str(), sqlite3_errmsg(_ppDb), s->id(), s->mapId()).c_str());
 
 				rc = sqlite3_reset(ppStmt);
 				UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
@@ -4261,14 +4419,7 @@ void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes, bool upd
 		ULOGGER_DEBUG("Update Node table, Time=%fs", timer.ticks());
 
 		// Update links part1
-		if(uStrNumCmp(_version, "0.18.3") >= 0)
-		{
-			query = uFormat("DELETE FROM Link WHERE from_id=? and type!=%d;", (int)Link::kLandmark);
-		}
-		else
-		{
-			query = uFormat("DELETE FROM Link WHERE from_id=?;");
-		}
+		query = uFormat("DELETE FROM Link WHERE from_id=?;");
 		rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
 		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
 		for(std::list<Signature *>::const_iterator j=nodes.begin(); j!=nodes.end(); ++j)
@@ -4303,6 +4454,12 @@ void DBDriverSqlite3::updateQuery(const std::list<Signature *> & nodes, bool upd
 				{
 					stepLink(ppStmt, i->second);
 				}
+				// Save landmarks
+				const std::map<int, Link> & landmarks = (*j)->getLandmarks();
+				for(std::map<int, Link>::const_iterator i=landmarks.begin(); i!=landmarks.end(); ++i)
+				{
+					stepLink(ppStmt, i->second);
+				}
 			}
 		}
 		// Finalize (delete) the statement
@@ -5117,8 +5274,8 @@ std::map<int, Transform> DBDriverSqlite3::loadOptimizedPosesQuery(Transform * la
 					Transform t(serializedPoses.at<float>(i*12), serializedPoses.at<float>(i*12+1), serializedPoses.at<float>(i*12+2), serializedPoses.at<float>(i*12+3),
 							serializedPoses.at<float>(i*12+4), serializedPoses.at<float>(i*12+5), serializedPoses.at<float>(i*12+6), serializedPoses.at<float>(i*12+7),
 							serializedPoses.at<float>(i*12+8), serializedPoses.at<float>(i*12+9), serializedPoses.at<float>(i*12+10), serializedPoses.at<float>(i*12+11));
-					poses.insert(std::make_pair(serializedIds.at<int>(i), t));
-					UDEBUG("Optimized pose %d: %s", serializedIds.at<int>(i), t.prettyPrint().c_str());
+					poses.insert(poses.end(), std::make_pair(serializedIds.at<int>(i), t));
+					//UDEBUG("Optimized pose %d: %s", serializedIds.at<int>(i), t.prettyPrint().c_str());
 				}
 			}
 
@@ -5591,6 +5748,47 @@ cv::Mat DBDriverSqlite3::loadOptimizedMeshQuery(
 	return cloud;
 }
 
+void DBDriverSqlite3::saveFlannIndexQuery(const std::vector<unsigned char> & data) const
+{
+	UDEBUG("data size = %ld bytes", data.size());
+	if(_ppDb && uStrNumCmp(_version, "0.23.0") >= 0)
+	{
+		UTimer timer;
+		timer.start();
+		int rc = SQLITE_OK;
+		sqlite3_stmt * ppStmt = 0;
+		std::string query;
+		
+		// Update table Admin
+		query = uFormat("UPDATE Admin SET dictionary_index=? WHERE version='%s';", _version.c_str());
+		rc = sqlite3_prepare_v2(_ppDb, query.c_str(), -1, &ppStmt, 0);
+		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+
+		int index = 1;
+
+		if(data.empty())
+		{
+			rc = sqlite3_bind_null(ppStmt, index++);
+			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		}
+		else
+		{
+			rc = sqlite3_bind_blob(ppStmt, index++, data.data(), data.size(), SQLITE_STATIC);
+			UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+		}
+
+		//execute query
+		rc=sqlite3_step(ppStmt);
+		UASSERT_MSG(rc == SQLITE_DONE, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+
+		// Finalize (delete) the statement
+		rc = sqlite3_finalize(ppStmt);
+		UASSERT_MSG(rc == SQLITE_OK, uFormat("DB error (%s): %s", _version.c_str(), sqlite3_errmsg(_ppDb)).c_str());
+
+		UDEBUG("Time=%fs", timer.ticks());
+	}
+}
+
 std::string DBDriverSqlite3::queryStepNode() const
 {
 	if(uStrNumCmp(_version, "0.18.0") >= 0)
@@ -6598,7 +6796,7 @@ void DBDriverSqlite3::stepLink(
 	{
 		UFATAL("");
 	}
-	UDEBUG("Save link from %d to %d, type=%d", link.from(), link.to(), link.type());
+	//UDEBUG("Save link from %d to %d, type=%d", link.from(), link.to(), link.type());
 
 	// Don't save virtual links
 	if(link.type()==Link::kVirtualClosure)

corelib/src/DBReader.cpp

@@ -56,6 +56,8 @@ DBReader::DBReader(const std::string & databasePath,
 				   int startMapId,
 				   int stopMapId,
 				   bool priorsIgnored,
+				   bool imuIgnored,
+				   bool intermediateNodesAreNormalNodes,
 				   const std::vector<Transform> & cameraLocalTransformOverrides) :
 	Camera(frameRate),
 	_paths(uSplit(databasePath, ';')),
@@ -66,9 +68,11 @@ DBReader::DBReader(const std::string & databasePath,
 	_stopId(stopId),
 	_cameraIndices(cameraIndices),
 	_intermediateNodesIgnored(intermediateNodesIgnored),
+	_intermediateNodesAreNormalNodes(intermediateNodesAreNormalNodes),
 	_landmarksIgnored(landmarksIgnored),
 	_featuresIgnored(featuresIgnored),
 	_priorsIgnored(priorsIgnored),
+	_imuIgnored(imuIgnored),
 	_startMapId(startMapId),
 	_stopMapId(stopMapId),
 	_cameraLocalTransformOverrides(cameraLocalTransformOverrides),
@@ -96,6 +100,8 @@ DBReader::DBReader(const std::list<std::string> & databasePaths,
 				   int startMapId,
 				   int stopMapId,
 				   bool priorsIgnored,
+				   bool imuIgnored,
+				   bool intermediateNodesAreNormalNodes,
 				   const std::vector<Transform> & cameraLocalTransformOverrides) :
 	Camera(frameRate),
    _paths(databasePaths),
@@ -106,9 +112,11 @@ DBReader::DBReader(const std::list<std::string> & databasePaths,
 	_stopId(stopId),
 	_cameraIndices(cameraIndices),
 	_intermediateNodesIgnored(intermediateNodesIgnored),
+	_intermediateNodesAreNormalNodes(intermediateNodesAreNormalNodes),
 	_landmarksIgnored(landmarksIgnored),
 	_featuresIgnored(featuresIgnored),
 	_priorsIgnored(priorsIgnored),
+	_imuIgnored(imuIgnored),
 	_startMapId(startMapId),
 	_stopMapId(stopMapId),
 	_cameraLocalTransformOverrides(cameraLocalTransformOverrides),
@@ -260,7 +268,7 @@ bool DBReader::init(
 			else
 			{
 				Signature * s = _dbDriver->loadSignature(*_ids.begin());
-				_dbDriver->loadNodeData(s);
+				_dbDriver->loadNodeData(*s);
 				if( s->sensorData().imageCompressed().empty() &&
 					s->getWords().empty() &&
 					!s->sensorData().laserScanCompressed().empty())
@@ -463,14 +471,17 @@ SensorData DBReader::getNextData(SensorCaptureInfo * info)
 			}
 
 			Transform gravityTransform;
-			std::multimap<int, Link> gravityLinks;
-			_dbDriver->loadLinks(*_currentId, gravityLinks, Link::kGravity);
-			if( gravityLinks.size() &&
-				!gravityLinks.begin()->second.transform().isNull() &&
-				gravityLinks.begin()->second.infMatrix().cols == 6 &&
-				gravityLinks.begin()->second.infMatrix().rows == 6)
+			if(!_imuIgnored)
 			{
-				gravityTransform = gravityLinks.begin()->second.transform();
+				std::multimap<int, Link> gravityLinks;
+				_dbDriver->loadLinks(*_currentId, gravityLinks, Link::kGravity);
+				if( gravityLinks.size() &&
+					!gravityLinks.begin()->second.transform().isNull() &&
+					gravityLinks.begin()->second.infMatrix().cols == 6 &&
+					gravityLinks.begin()->second.infMatrix().rows == 6)
+				{
+					gravityTransform = gravityLinks.begin()->second.transform();
+				}
 			}
 
 			Landmarks landmarks;
@@ -510,22 +521,41 @@ SensorData DBReader::getNextData(SensorCaptureInfo * info)
 					}
 					else
 					{
-						// if localization data saved in database, covariance will be set in a prior link
-						_dbDriver->loadLinks(*_currentId, links, Link::kPosePrior);
-						if(links.size())
-						{
-							// assume the first is the backward neighbor, take its variance
-							infMatrix = links.begin()->second.infMatrix();
-							_previousInfMatrix = infMatrix;
-						}
-						else
-						{
-							if(_previousInfMatrix.empty())
+						// In case the graph was reduced, look for forward neighbor link from previous id
+						bool covAdded = false;
+						if(_currentId != _ids.begin()) {
+							std::set<int>::iterator previousId = _currentId;
+							--previousId;
+							std::multimap<int, Link> previousLinks;
+							_dbDriver->loadLinks(*previousId, previousLinks, Link::kNeighbor);
+							if(previousLinks.size() && previousLinks.rbegin()->first == *_currentId)
 							{
-								_previousInfMatrix = cv::Mat::eye(6,6,CV_64FC1);
+								// assume the last is the forward neighbor pointing to current ID, take its covariance
+								infMatrix = previousLinks.rbegin()->second.infMatrix();
+								_previousInfMatrix = infMatrix;
+								covAdded = true;
+							}
+						}
+
+						if(!covAdded) {
+							// if localization data saved in database, covariance will be set in a prior link
+							_dbDriver->loadLinks(*_currentId, links, Link::kPosePrior);
+							if(links.size())
+							{
+								// assume the first is the backward neighbor, take its variance
+								infMatrix = links.begin()->second.infMatrix();
+								_previousInfMatrix = infMatrix;
+							}
+							else
+							{
+								if(_previousInfMatrix.empty())
+								{
+									_previousInfMatrix = cv::Mat::eye(6,6,CV_64FC1);
+								}
+								// we have a node not linked to map, use last variance
+								UWARN("The node loaded (%d) doesn't have neighbor, re-using the covariance of the previous link for odometry.", s->id());
+								infMatrix = _previousInfMatrix;
 							}
-							// we have a node not linked to map, use last variance
-							infMatrix = _previousInfMatrix;
 						}
 					}
 				}
@@ -723,7 +753,7 @@ SensorData DBReader::getNextData(SensorCaptureInfo * info)
 					data.setStereoCameraModels(combinedStereoModels);
 				}
 			}
-			data.setId(seq);
+			data.setId(!_intermediateNodesAreNormalNodes && s->getWeight()==-1 ? -1 : seq);
 			data.setStamp(s->getStamp());
 			data.setGroundTruth(s->getGroundTruthPose());
 			if(!globalPose.isNull())
@@ -837,6 +867,7 @@ SensorData DBReader::getNextData(SensorCaptureInfo * info)
 				if(info)
 				{
 					info->odomPose = pose;
+					UASSERT(!infMatrix.empty());
 					info->odomCovariance = infMatrix.inv();
 					info->odomVelocity = s->getVelocity();
 					UDEBUG("odom variance = %f/%f", info->odomCovariance.at<double>(0,0), info->odomCovariance.at<double>(5,5));

corelib/src/Features2d.cpp

@@ -47,6 +47,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifdef RTABMAP_TORCH
 #include "superpoint_torch/SuperPoint.h"
 #endif
+#if defined(RTABMAP_TORCH) && defined(RTABMAP_PYTHON)
+#include "superpoint_rpautrat/SuperpointRpautrat.h"
+#endif
 
 #ifdef RTABMAP_PYTHON
 #include "python/PyDetector.h"
@@ -300,7 +303,7 @@ void Feature2D::limitKeypoints(std::vector<cv::KeyPoint> & keypoints, std::vecto
 		cv::Mat descriptorsTmp;
 		if(ssc)
 		{
-			ULOGGER_DEBUG("too much words (%d), removing words with SSC", keypoints.size());
+			ULOGGER_DEBUG("too many words (%d), removing words with SSC", keypoints.size());
 
 			// Sorting keypoints by deacreasing order of strength
 			std::vector<float> responseVector;
@@ -416,7 +419,7 @@ void Feature2D::limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, std:
 		inliers.resize(keypoints.size(), false);
 		if(ssc)
 		{
-			ULOGGER_DEBUG("too much words (%d), removing words with SSC", keypoints.size());
+			ULOGGER_DEBUG("too many words (%d), removing words with SSC", keypoints.size());
 
 			// Sorting keypoints by deacreasing order of strength
 			std::vector<float> responseVector;
@@ -463,7 +466,7 @@ void Feature2D::limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, std:
 				minimumHessian = iter->first;
 			}
 		}
-		ULOGGER_DEBUG("%d keypoints removed, (kept %d), minimum response=%f", removed, maxKeypoints, minimumHessian);
+		ULOGGER_DEBUG("%d keypoints removed, (kept %d), minimum response=%f", removed, keypoints.size()-removed, minimumHessian);
 		ULOGGER_DEBUG("filter keypoints time = %f s", timer.ticks());
 	}
 	else
@@ -730,9 +733,14 @@ Feature2D * Feature2D::create(Feature2D::Type type, const ParametersMap & parame
 		feature2D = new ORBOctree(parameters);
 		break;
 #ifdef RTABMAP_TORCH
-	case Feature2D::kFeatureSuperPointTorch:
-		feature2D = new SuperPointTorch(parameters);
-		break;
+case Feature2D::kFeatureSuperPointTorch:
+    feature2D = new SuperPointTorch(parameters);
+    break;
+#endif
+#if defined(RTABMAP_TORCH) && defined(RTABMAP_PYTHON)
+case Feature2D::kFeatureSuperPointRpautrat:
+    feature2D = new SuperPointRpautrat(parameters);
+    break;
 #endif
 	case Feature2D::kFeatureSurfFreak:
 		feature2D = new SURF_FREAK(parameters);
@@ -831,7 +839,7 @@ std::vector<cv::KeyPoint> Feature2D::generateKeypoints(const cv::Mat & image, co
 			cv::Rect roi(globalRoi.x + j*colSize, globalRoi.y + i*rowSize, colSize, rowSize);
 			std::vector<cv::KeyPoint> subKeypoints;
 			subKeypoints = this->generateKeypointsImpl(image, roi, mask);
-			if (this->getType() != Feature2D::Type::kFeaturePyDetector)
+			if (this->getType() != Feature2D::Type::kFeaturePyDetector && this->getType() != Feature2D::Type::kFeatureSuperPointRpautrat)
 			{
 				limitKeypoints(subKeypoints, maxFeatures, roi.size(), this->getSSC());
 			}
@@ -879,8 +887,17 @@ cv::Mat Feature2D::generateDescriptors(
 		UASSERT(!image.empty());
 		UASSERT(image.type() == CV_8UC1);
 		descriptors = generateDescriptorsImpl(image, keypoints);
-		UASSERT_MSG(descriptors.rows == (int)keypoints.size(), uFormat("descriptors=%d, keypoints=%d", descriptors.rows, (int)keypoints.size()).c_str());
-		UDEBUG("Descriptors extracted = %d, remaining kpts=%d", descriptors.rows, (int)keypoints.size());
+		if(descriptors.rows != (int)keypoints.size())
+		{
+			UWARN("Descriptor extraction returned %d rows for %d keypoints — "
+					"clearing keypoints to keep them in sync.",
+					descriptors.rows, (int)keypoints.size());
+			keypoints.clear();
+			descriptors = cv::Mat();
+		}
+		else {
+			UDEBUG("Descriptors extracted = %d, remaining kpts=%d", descriptors.rows, (int)keypoints.size());
+		}
 	}
 	return descriptors;
 }
@@ -1243,7 +1260,8 @@ SIFT::SIFT(const ParametersMap & parameters) :
 	preciseUpscale_(Parameters::defaultSIFTPreciseUpscale()),
 	rootSIFT_(Parameters::defaultSIFTRootSIFT()),
 	gpu_(Parameters::defaultSIFTGpu()),
-	guaussianThreshold_(Parameters::defaultSIFTGaussianThreshold()),
+	gaussianThreshold_(Parameters::defaultSIFTGaussianThreshold()),
+	maxGaussianThreshold_(Parameters::defaultSIFTMaxGaussianThreshold()),
 	upscale_(Parameters::defaultSIFTUpscale()),
 	cudaSiftData_(0),
 	cudaSiftMemory_(0),
@@ -1276,23 +1294,25 @@ void SIFT::parseParameters(const ParametersMap & parameters)
 	Parameters::parse(parameters, Parameters::kSIFTPreciseUpscale(), preciseUpscale_);
 	Parameters::parse(parameters, Parameters::kSIFTRootSIFT(), rootSIFT_);
 	Parameters::parse(parameters, Parameters::kSIFTGpu(), gpu_);
-	Parameters::parse(parameters, Parameters::kSIFTGaussianThreshold(), guaussianThreshold_);
+	Parameters::parse(parameters, Parameters::kSIFTGaussianThreshold(), gaussianThreshold_);
+	Parameters::parse(parameters, Parameters::kSIFTMaxGaussianThreshold(), maxGaussianThreshold_);
 	Parameters::parse(parameters, Parameters::kSIFTUpscale(), upscale_);
 	
 	if(gpu_)
 	{
 #ifdef RTABMAP_CUDASIFT
 		// Check if there is a cuda device
-		if(InitCuda(0, ULogger::level() == ULogger::kDebug)) {
-			UDEBUG("Init SiftData");
-			if(cudaSiftData_ == 0) {
+		if(cudaSiftData_==0)
+		{
+			if(InitCuda(0, ULogger::level() == ULogger::kDebug)) {
+				UDEBUG("Init SiftData");
 				cudaSiftData_ = new SiftData();
 				InitSiftData(*cudaSiftData_, 8192, true, true);
 			}
-		}
-		else{
-			UWARN("No cuda device(s) detected, CudaSift is not available! Using SIFT CPU version instead.");
-			gpu_ = false;
+			else{
+				UWARN("No cuda device(s) detected, CudaSift is not available! Using SIFT CPU version instead.");
+				gpu_ = false;
+			}
 		}
 #else
 		UWARN("RTAB-Map is not built with CudaSift so %s cannot be used!", Parameters::kSIFTGpu().c_str());
@@ -1355,7 +1375,7 @@ std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, con
 			numOctaves = 7; // hard-coded limit in CudaSift
 		}
 		float initBlur = sigma_; /* Amount of initial Gaussian blurring in standard deviations */
-		float thresh = guaussianThreshold_;   /* Threshold on difference of Gaussians for feature pruning */
+		float thresh = gaussianThreshold_;   /* Threshold on difference of Gaussians for feature pruning */
 		float edgeLimit = edgeThreshold_;   
 		float minScale = 0.0f; /* Minimum acceptable scale to remove fine-scale features */
 		UDEBUG("numOctaves=%d initBlur=%f thresh=%f edgeLimit=%f minScale=%f upScale=%s w=%d h=%d", numOctaves, initBlur, thresh, edgeLimit, minScale, upscale_?"true":"false", w, h);
@@ -1380,15 +1400,9 @@ std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, con
 		cudaSiftDescriptors_ = cv::Mat();
 		if(cudaSiftData_->numPts)
 		{
-			int maxKeypoints = this->getMaxFeatures();
-			if(maxKeypoints == 0 || maxKeypoints > cudaSiftData_->numPts)
-			{
-				maxKeypoints = cudaSiftData_->numPts;
-			}
-
-			// Re-using same implementation of limitKeypoints() directly here to avoid doubling memory copies
-			// Sort words by hessian
-			std::multimap<float, int> hessianMap; // <hessian,id>
+			keypoints.resize(cudaSiftData_->numPts);
+			cudaSiftDescriptors_ = cv::Mat(cudaSiftData_->numPts, 128, CV_32FC1);
+			size_t k=0;
 			for(int i=0; i<cudaSiftData_->numPts; ++i)
 			{
 				// Ignore keypoints with invalid descriptors
@@ -1405,29 +1419,40 @@ std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, con
 					continue;
 				}
 
-				//Keep track of the data, to be easier to manage the data in the next step
-				hessianMap.insert(std::pair<float, int>(cudaSiftData_->h_data[i].sharpness, i));
-			}
+				if(i>0 && 
+					cudaSiftData_->h_data[i].subsampling == cudaSiftData_->h_data[i-1].subsampling &&
+					fabs(cudaSiftData_->h_data[i].xpos-cudaSiftData_->h_data[i-1].xpos) +
+					fabs(cudaSiftData_->h_data[i].xpos-cudaSiftData_->h_data[i-1].ypos) < 0.1f)
+				{
+					// Same feature, skip doubles
+					continue;
+				}
 
-			if((int)hessianMap.size() < maxKeypoints)
-			{
-				maxKeypoints = hessianMap.size();
-			}
+				float response = abs(cudaSiftData_->h_data[i].sharpness);
+				if(maxGaussianThreshold_>gaussianThreshold_ && response > maxGaussianThreshold_)
+				{
+					continue;
+				}
 
-			std::multimap<float, int>::reverse_iterator iter = hessianMap.rbegin();
-			keypoints.resize(maxKeypoints);
-			cudaSiftDescriptors_ = cv::Mat(maxKeypoints, 128, CV_32FC1);
-			for(unsigned int k=0; k<keypoints.size() && iter!=hessianMap.rend(); ++k, ++iter)
-			{
-				int i = iter->second;
-				float *desc = cudaSiftData_->h_data[i].data;
 				cv::Mat(1, 128, CV_32FC1, desc).copyTo(cudaSiftDescriptors_.row(k));
 				keypoints[k].pt.x = cudaSiftData_->h_data[i].xpos;
 				keypoints[k].pt.y = cudaSiftData_->h_data[i].ypos;
 				keypoints[k].size = 2.0f*cudaSiftData_->h_data[i].scale; // x2 because the scale is more like a radius than a diameter, see CudaSift's ExtractSiftDescriptors function to see how they convert scale to patch size
 				keypoints[k].angle = cudaSiftData_->h_data[i].orientation;
-				keypoints[k].response = cudaSiftData_->h_data[i].sharpness; 
+				keypoints[k].response = response; 
 				keypoints[k].octave = log2(cudaSiftData_->h_data[i].subsampling)-(upscale_?1:0);
+				++k;
+			}
+			if(k < keypoints.size())
+			{
+				UDEBUG("keypoints extracted = %d, valid=%d", keypoints.size(), k);
+				keypoints.resize(k);
+				cudaSiftDescriptors_.resize(k);
+			}
+			if(this->getMaxFeatures() != 0 && this->getMaxFeatures() < (int)keypoints.size())
+			{
+				// Call limitKeypoints() now to filter the descriptors.
+				this->limitKeypoints(keypoints, cudaSiftDescriptors_, this->getMaxFeatures(), cv::Size(w,h), this->getSSC());
 			}
 		}
 	}
@@ -1449,12 +1474,13 @@ std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, con
 
 cv::Mat SIFT::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const
 {
+	cv::Mat descriptors;
 #ifdef RTABMAP_CUDASIFT
 	if(gpu_)
 	{
 		if((int)keypoints.size() == cudaSiftDescriptors_.rows)
 		{
-			return cudaSiftDescriptors_.clone();
+			descriptors = cudaSiftDescriptors_.clone();
 		}
 		else
 		{
@@ -1462,19 +1488,25 @@ cv::Mat SIFT::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Key
 			return cv::Mat();
 		}
 	}
+	else
+	{
 #endif
 
-	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
-	cv::Mat descriptors;
+		UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
 #if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
 #ifdef RTABMAP_NONFREE
-	sift_->compute(image, keypoints, descriptors);
+		sift_->compute(image, keypoints, descriptors);
 #else
-	UWARN("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
+		UWARN("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
 #endif
 #else // >=4.4, >=3.4.11
-	sift_->compute(image, keypoints, descriptors);
+		sift_->compute(image, keypoints, descriptors);
 #endif
+
+#ifdef RTABMAP_CUDASIFT
+	}
+#endif
+
 	if( rootSIFT_ && !descriptors.empty())
 	{
 		UDEBUG("Performing RootSIFT...");
@@ -2607,7 +2639,31 @@ cv::Mat SuperPointTorch::generateDescriptorsImpl(const cv::Mat & image, std::vec
 {
 #ifdef RTABMAP_TORCH
 	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
-	return superPoint_->compute(keypoints);
+	cv::Mat descriptors;
+	if(!keypoints.empty())
+	{
+		descriptors = superPoint_->compute(keypoints);
+		if(descriptors.empty())
+		{
+			// superpoint may have been reset between keypoint detection and now,
+			// re-detect features to re-inialize the descriptors matrix, then
+			// re-extract descriptors with original keypoints.
+			UWARN("Re-initializing superpoint on that image to extract descriptors");
+			if(!superPoint_->detect(image).empty())
+			{
+				descriptors = superPoint_->compute(keypoints);
+				if(descriptors.rows == (int)keypoints.size())
+				{
+					UWARN("Sucessfully re-initialized superpoint, returning %d descriptors.", descriptors.rows);
+				}
+			}
+			else
+			{
+				UWARN("Failed to re-initialize superpoint on that image, returning empty descriptors.");
+			}
+		}
+	}
+	return descriptors;
 #else
 	UWARN("RTAB-Map is not built with Torch support so SuperPoint Torch feature cannot be used!");
 	return cv::Mat();
@@ -2615,6 +2671,132 @@ cv::Mat SuperPointTorch::generateDescriptorsImpl(const cv::Mat & image, std::vec
 }
 
 
+//////////////////////////
+//SuperPointRpautrat
+//////////////////////////
+SuperPointRpautrat::SuperPointRpautrat(const ParametersMap & parameters) :
+		superpointWeightsPath_(Parameters::defaultSuperPointRpautratWeightsPath()),
+		superpointModelPath_(Parameters::defaultSuperPointRpautratModelPath()),
+		outputDir_(""),
+		threshold_(Parameters::defaultSuperPointRpautratThreshold()),
+		nms_(Parameters::defaultSuperPointRpautratNMS()),
+		minDistance_(Parameters::defaultSuperPointRpautratNMSRadius()),
+		cuda_(Parameters::defaultSuperPointRpautratCuda())
+{
+	parseParameters(parameters);
+}
+
+SuperPointRpautrat::~SuperPointRpautrat()
+{
+}
+
+void SuperPointRpautrat::parseParameters(const ParametersMap & parameters)
+{
+	Feature2D::parseParameters(parameters);
+
+#if defined(RTABMAP_TORCH) && defined(RTABMAP_PYTHON)
+	std::string previousWeightsPath = superpointWeightsPath_;
+	std::string previousModelPath = superpointModelPath_;
+	bool previousCuda = cuda_;
+	float previousThreshold = threshold_;
+	bool previousNms = nms_;
+	int previousMinDistance = minDistance_;
+	
+	Parameters::parse(parameters, Parameters::kSuperPointRpautratWeightsPath(), superpointWeightsPath_);
+	Parameters::parse(parameters, Parameters::kSuperPointRpautratModelPath(), superpointModelPath_);
+	Parameters::parse(parameters, Parameters::kSuperPointRpautratThreshold(), threshold_);
+	Parameters::parse(parameters, Parameters::kSuperPointRpautratNMS(), nms_);
+	Parameters::parse(parameters, Parameters::kSuperPointRpautratNMSRadius(), minDistance_);
+	Parameters::parse(parameters, Parameters::kSuperPointRpautratCuda(), cuda_);
+	Parameters::parse(parameters, Parameters::kRtabmapWorkingDirectory(), outputDir_);
+
+	// If working directory is not set, use the default
+	if(outputDir_.empty())
+	{
+		outputDir_ = Parameters::createDefaultWorkingDirectory();
+	}
+
+	// Reinitialize detector if model-affecting parameters changed
+	if(superPoint_.get() == 0 || 
+	   superpointWeightsPath_.compare(previousWeightsPath) != 0 || 
+	   superpointModelPath_.compare(previousModelPath) != 0 ||
+	   previousCuda != cuda_ ||
+	   previousThreshold != threshold_ ||
+	   previousNms != nms_ ||
+	   previousMinDistance != minDistance_)
+	{
+		superPoint_ = cv::Ptr<SPDetectorRpautrat>(new SPDetectorRpautrat(superpointWeightsPath_, superpointModelPath_, outputDir_, threshold_, nms_, minDistance_, cuda_, this->getMaxFeatures(), this->getSSC()));
+	}
+	else if(superPoint_.get() != 0)
+	{
+		// Update post-processing parameters without reinitializing
+		superPoint_->setMaxFeatures(this->getMaxFeatures());
+		superPoint_->setSSC(this->getSSC());
+	}
+#else
+	UWARN("RTAB-Map is not built with Torch support so SuperPoint Rpautrat feature cannot be used!");
+#endif
+}
+
+std::vector<cv::KeyPoint> SuperPointRpautrat::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask)
+{
+#if defined(RTABMAP_TORCH) && defined(RTABMAP_PYTHON)
+	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
+	if(roi.x!=0 || roi.y !=0)
+	{
+		UERROR("SuperPoint Rpautrat: Not supporting ROI (%d,%d,%d,%d). Make sure %s, %s, %s, %s, %s, %s are all set to default values.",
+				roi.x, roi.y, roi.width, roi.height,
+				Parameters::kKpRoiRatios().c_str(),
+				Parameters::kVisRoiRatios().c_str(),
+				Parameters::kVisGridRows().c_str(),
+				Parameters::kVisGridCols().c_str(),
+				Parameters::kKpGridRows().c_str(),
+				Parameters::kKpGridCols().c_str());
+		return std::vector<cv::KeyPoint>();
+	}
+	return superPoint_->detect(image, mask);
+#else
+	UWARN("RTAB-Map is not built with Torch support so SuperPoint Rpautrat feature cannot be used!");
+	return std::vector<cv::KeyPoint>();
+#endif
+}
+
+cv::Mat SuperPointRpautrat::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const
+{
+#if defined(RTABMAP_TORCH) && defined(RTABMAP_PYTHON)
+	UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
+	cv::Mat descriptors;
+	if(!keypoints.empty())
+	{
+		descriptors = superPoint_->compute(keypoints);
+		if(descriptors.empty())
+		{
+			// superpoint may have been reset between keypoint detection and now,
+			// re-detect features to re-inialize the descriptors matrix, then
+			// re-extract descriptors with original keypoints.
+			UWARN("Re-initializing superpoint on that image to extract descriptors");
+			if(!superPoint_->detect(image).empty())
+			{
+				descriptors = superPoint_->compute(keypoints);
+				if(descriptors.rows == (int)keypoints.size())
+				{
+					UWARN("Sucessfully re-initialized superpoint, returning %d descriptors.", descriptors.rows);
+				}
+			}
+			else
+			{
+				UWARN("Failed to re-initialize superpoint on that image, returning empty descriptors.");
+			}
+		}
+	}
+	return descriptors;
+#else
+	UWARN("RTAB-Map is not built with Torch support so SuperPoint Rpautrat feature cannot be used!");
+	return cv::Mat();
+#endif
+}
+
+
 //////////////////////////
 //GFTT-DAISY
 //////////////////////////

corelib/src/FlannIndex.cpp

@@ -27,8 +27,16 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include <rtabmap/core/FlannIndex.h>
 #include <rtabmap/utilite/ULogger.h>
+#include <rtabmap/utilite/UTimer.h>
+#include <rtabmap/utilite/UConversion.h>
+#include <rtabmap/core/Compression.h>
+#include <rtabmap/core/Version.h>
+#ifdef WIN32
+#include <rtabmap/core/Parameters.h>
+#endif
 
 #include "rtflann/flann.hpp"
+#include <boost/crc.hpp>
 
 namespace rtabmap {
 
@@ -37,7 +45,6 @@ FlannIndex::FlannIndex():
 		nextIndex_(0),
 		featuresType_(0),
 		featuresDim_(0),
-		isLSH_(false),
 		useDistanceL1_(false),
 		rebalancingFactor_(2.0f)
 {
@@ -49,9 +56,9 @@ FlannIndex::~FlannIndex()
 
 void FlannIndex::release()
 {
-	UDEBUG("");
 	if(index_)
 	{
+		UDEBUG("Clearing flann index...");
 		if(featuresType_ == CV_8UC1)
 		{
 			delete (rtflann::Index<rtflann::Hamming<unsigned char> >*)index_;
@@ -72,12 +79,139 @@ void FlannIndex::release()
 			}
 		}
 		index_ = 0;
+		UDEBUG("Clearing flann index... done!");
 	}
 	nextIndex_ = 0;
-	isLSH_ = false;
 	addedDescriptors_.clear();
 	removedIndexes_.clear();
-	UDEBUG("");
+}
+
+#define FLANN_INDEX_HEADER_SIZE 12
+
+std::vector<unsigned char> FlannIndex::serializeIndex(bool computeChecksum) const {
+	if(index_ && !addedDescriptors_.empty())
+	{
+#ifdef WIN32
+		UERROR("FLANN index serialization is not yet implemented on Windows. Parameter \"%s\" cannot be used.", Parameters::kKpFlannIndexSaved().c_str());
+#else
+		UTimer timer;
+		const int headerSizeBytes = sizeof(int)*FLANN_INDEX_HEADER_SIZE;
+		std::vector<unsigned char> indexData(1024*1024*1024 + headerSizeBytes); // Max 1 GB
+        FILE* indexDataPtr = fmemopen(indexData.data()+headerSizeBytes, indexData.size() - headerSizeBytes, "wb");
+		long bytes_written = 0;
+        if (indexDataPtr) {
+			if(featuresType_ == CV_8UC1)
+			{
+				((rtflann::Index<rtflann::Hamming<unsigned char> >*)index_)->save(indexDataPtr);
+			}
+			else
+			{
+				if(useDistanceL1_)
+				{
+					((rtflann::Index<rtflann::L1<float> >*)index_)->save(indexDataPtr);;
+				}
+				else if(featuresDim_ <= 3)
+				{
+					((rtflann::Index<rtflann::L2_Simple<float> >*)index_)->save(indexDataPtr);;
+				}
+				else
+				{
+					((rtflann::Index<rtflann::L2<float> >*)index_)->save(indexDataPtr);;
+				}
+			}
+			bytes_written = ftell(indexDataPtr);
+            fclose(indexDataPtr);
+        }
+		if(bytes_written < long(indexData.size()-headerSizeBytes))
+		{
+			//Expected data size and type
+			int dataRows = 0;
+			int dataCols = 0;
+			int dataType = -1;
+			cv::Mat dataset;
+			std::set<int> removedDescriptors;
+			if(computeChecksum){
+				removedDescriptors.insert(removedIndexes_.begin(), removedIndexes_.end());
+			}
+			for(const auto & iter: addedDescriptors_)
+			{
+				UASSERT(!iter.second.empty());
+				dataRows += iter.second.rows;
+				if(dataCols <= 0) {
+					dataCols = iter.second.cols;
+				}
+				else {
+					UASSERT(dataCols == iter.second.cols);
+				}
+				if(dataType < 0) {
+					dataType = iter.second.type();
+				}
+				else {
+					UASSERT(dataType == iter.second.type());
+				}
+				if(computeChecksum){
+					if(removedDescriptors.find(iter.first) == removedDescriptors.end()) {
+						if(dataset.empty()) {
+							dataset = iter.second.clone();
+						}
+						else {
+							dataset.push_back(iter.second);
+						}
+					}
+					else {
+						dataRows -= iter.second.rows;
+					}
+				}
+			}
+			if(!computeChecksum) {
+				for(const auto & index: removedIndexes_)
+				{
+					dataRows -= addedDescriptors_.at(index).rows;
+				}
+			}
+
+			unsigned int crcValue = 0;
+			if(computeChecksum) {
+				boost::crc_32_type result;
+				result.process_bytes(dataset.data, dataset.total()*dataset.elemSize());
+				crcValue = result.checksum(); 
+			}
+			
+			indexData.resize(bytes_written+headerSizeBytes);
+			indexData.shrink_to_fit();
+			int rebalancingFactorAsInt;
+			memcpy(&rebalancingFactorAsInt, &rebalancingFactor_, sizeof(rebalancingFactor_));
+			int crcValueAsInt;
+			memcpy(&crcValueAsInt, &crcValue, sizeof(crcValue));
+			int header[FLANN_INDEX_HEADER_SIZE] = {
+					RTABMAP_VERSION_MAJOR, RTABMAP_VERSION_MINOR, RTABMAP_VERSION_PATCH, // 0,1,2
+					algorithm_,                                                          // 3,
+					featuresDim_,                                                        // 4,
+					useDistanceL1_?1:0,                                                  // 5,
+					rebalancingFactorAsInt,                                              // 6,
+					dataRows,                                                            // 7,
+					dataCols,                                                            // 8,			
+					dataType,                                                            // 9,
+					crcValueAsInt,                                                       // 10         
+					(int)bytes_written};                                                 // 11
+			UDEBUG("Header: \"%d.%d.%d\" alg=%d dim=%d L1=%d factor=%f data(%dx%d type=%d, crc=%X) %d", 
+				header[0],header[1],header[2],
+				header[3],
+				header[4],
+				header[5],
+				rebalancingFactor_,
+				header[7], header[8], header[9], crcValueAsInt, 
+				header[11]);
+			memcpy(indexData.data(), header, headerSizeBytes);
+			return indexData;
+		}
+		else {
+			UERROR("Target buffer too small to serialize index, aborting.");
+		}
+		UDEBUG("Flann serialization: %fs", timer.ticks());
+#endif
+	}
+	return std::vector<unsigned char>();
 }
 
 size_t FlannIndex::indexedFeatures() const
@@ -139,12 +273,13 @@ size_t FlannIndex::memoryUsed() const
 	return memoryUsage;
 }
 
-void FlannIndex::buildLinearIndex(
+void FlannIndex::buildIndex(
+		flann_algorithm_t algorithm,
 		const cv::Mat & features,
 		bool useDistanceL1,
 		float rebalancingFactor)
 {
-	UDEBUG("");
+	UDEBUG("algorithm=%d", (int)algorithm);
 	this->release();
 	UASSERT(index_ == 0);
 	UASSERT(features.type() == CV_32FC1 || features.type() == CV_8UC1);
@@ -152,8 +287,29 @@ void FlannIndex::buildLinearIndex(
 	featuresDim_ = features.cols;
 	useDistanceL1_ = useDistanceL1;
 	rebalancingFactor_ = rebalancingFactor;
+	algorithm_ = algorithm;
 
-	rtflann::LinearIndexParams params;
+	rtflann::IndexParams params;
+
+	switch (algorithm)
+	{
+	case FLANN_INDEX_LINEAR:
+		params = rtflann::LinearIndexParams();
+		break;
+	case FLANN_INDEX_KDTREE:
+		params = rtflann::KDTreeIndexParams(4);
+		break;
+	case FLANN_INDEX_KDTREE_SINGLE:
+		params = rtflann::KDTreeSingleIndexParams(10, true);
+		break;
+	case FLANN_INDEX_LSH:
+		UASSERT(features.type() == CV_8UC1);
+		params = rtflann::LshIndexParams(12, 20, 2);
+		break;
+	default:
+		UFATAL("The flann algorithm type %d is not supported!", (int)algorithm);
+		break;
+	}
 
 	if(featuresType_ == CV_8UC1)
 	{
@@ -199,13 +355,140 @@ void FlannIndex::buildLinearIndex(
 	UDEBUG("");
 }
 
-void FlannIndex::buildKDTreeIndex(
-		const cv::Mat & features,
-		int trees,
-		bool useDistanceL1,
-		float rebalancingFactor)
+bool FlannIndex::loadIndex(
+	const std::vector<unsigned char> & indexData,
+	flann_algorithm_t algorithm,
+	const cv::Mat & features,
+	bool useDistanceL1,
+	float rebalancingFactor,
+	std::string * error)
 {
-	UDEBUG("");
+	return loadIndex(
+		indexData.data(),
+		indexData.size(),
+		algorithm,
+		features,
+		useDistanceL1,
+		rebalancingFactor),
+		error;
+}
+bool FlannIndex::loadIndex(
+	const unsigned char * indexData,
+	size_t indexDataSize,
+	flann_algorithm_t algorithm,
+	const cv::Mat & features,
+	bool useDistanceL1,
+	float rebalancingFactor,
+	std::string * error)
+{
+	UASSERT(indexData!=NULL);
+	if(indexDataSize == 0) {
+		UWARN("Trying to load empty index....");
+		return false;
+	}
+
+#ifdef WIN32
+	UERROR("FLANN index deserialization is not yet implemented on Windows. Index cannot be loaded from memory buffer.");
+	return false;
+#else
+
+	// Check if the features match the expected data from the index
+	size_t headerSizeBytes = sizeof(int)*FLANN_INDEX_HEADER_SIZE;
+	if(indexDataSize < headerSizeBytes) {
+		if(error) {
+			*error = uFormat("Wrong header size detected (%ld vs expected %ld).", indexDataSize, headerSizeBytes);
+		}
+		return false;
+	}
+	const int * header = (const int *)indexData;
+	
+	int savedAlgorithm = header[3];
+	int savedDim = header[4];
+	bool savedDistanceL1 = header[5]==1;
+	float savedRebalancingFactor;
+	memcpy(&savedRebalancingFactor, &header[6], sizeof(header[6]));
+	int savedRows = header[7];
+	int savedCols = header[8];
+	int savedType = header[9];
+	unsigned int savedCrc;
+	 memcpy(&savedCrc, &header[10], sizeof(header[10]));
+	int savedIndexSize = header[11];
+
+	UDEBUG("Header: \"%d.%d.%d\" alg=%d dim=%d L1=%d factor=%f data(%dx%d type=%d, crc=%X) %d", 
+				header[0],header[1],header[2],
+				header[3],
+				header[4],
+				header[5],
+				savedRebalancingFactor,
+				header[7], header[8], header[9], savedCrc, 
+				header[11]);
+
+	if(savedAlgorithm != algorithm) {
+		if(error) {
+			*error = uFormat("Serialized flann algorithm (%d) doesn't match the expected one (%d).", savedAlgorithm, algorithm);
+		}
+		return false;
+	}
+	if(savedDim != features.cols) {
+		if(error) {
+			*error = uFormat("Serialized feature dimension (%d) doesn't match the expected one (%d).", savedDim, features.cols);
+		}
+		return false;
+	}
+	if(savedDistanceL1 != useDistanceL1) {
+		if(error) {
+			*error = uFormat("Serialized \"use distance L1\" (%s) doesn't match the expected one (%s).", savedDistanceL1?"true":"false", useDistanceL1?"true":"false");
+		}
+		return false;
+	}
+	if(savedRebalancingFactor != rebalancingFactor) {
+		if(error) {
+			*error = uFormat("Serialized \"rebalancing factor\" (%f) doesn't match the expected one (%f).", savedRebalancingFactor, rebalancingFactor);
+		}
+		return false;
+	}
+	if(savedRows != features.rows) {
+		if(error) {
+			*error = uFormat("Serialized feature count (%d) doesn't match the expected one (%d).", savedRows, features.rows);
+		}
+		return false;
+	}
+	if(savedCols != features.cols) {
+		if(error) {
+			*error = uFormat("Serialized feature dimension (%d) doesn't match the expected one (%d).", savedCols, features.cols);
+		}
+		return false;
+	}
+	if(savedType != features.type()) {
+		if(error) {
+			*error = uFormat("Serialized feature type (%d) doesn't match the expected one (%d).", savedType, features.type());
+		}
+		return false;
+	}
+	if(savedCrc != 0) {
+		// Compute checksum and compare
+		boost::crc_32_type result;
+		result.process_bytes(features.data, features.total()*features.elemSize());
+		if(savedCrc != result.checksum()) {
+			if(error) {
+				*error = uFormat("Serialized feature crc (%X) doesn't match the expected one (%X).", savedCrc, result.checksum());
+			}
+			return false;
+		}
+	}
+	if(savedIndexSize != int(indexDataSize - headerSizeBytes)) {
+		if(error) {
+			*error = uFormat("Serialized flann index size (%ld) doesn't match the expected one (%ld).", savedIndexSize, indexDataSize - headerSizeBytes);
+		}
+		return false;
+	}
+	if(savedIndexSize == 0) {
+		if(error) {
+			*error = "Serialized flann index is empty.";
+		}
+		return false;
+	}
+
 	this->release();
 	UASSERT(index_ == 0);
 	UASSERT(features.type() == CV_32FC1 || features.type() == CV_8UC1);
@@ -213,14 +496,39 @@ void FlannIndex::buildKDTreeIndex(
 	featuresDim_ = features.cols;
 	useDistanceL1_ = useDistanceL1;
 	rebalancingFactor_ = rebalancingFactor;
+	algorithm_ = algorithm;
 
-	rtflann::KDTreeIndexParams params(trees);
+	UDEBUG("algorithm=%d", (int)algorithm);
+
+	rtflann::IndexParams params;
+
+	switch (algorithm)
+	{
+	case FLANN_INDEX_LINEAR:
+		params = rtflann::LinearIndexParams();
+		break;
+	case FLANN_INDEX_KDTREE:
+		params = rtflann::KDTreeIndexParams(4);
+		break;
+	case FLANN_INDEX_KDTREE_SINGLE:
+		params = rtflann::KDTreeSingleIndexParams(10, true);
+		break;
+	case FLANN_INDEX_LSH:
+		UASSERT(features.type() == CV_8UC1);
+		params = rtflann::LshIndexParams(12, 20, 2);
+		break;
+	default:
+		UFATAL("The flann algorithm type %d is not supported!", (int)algorithm);
+		break;
+	}
+
+	FILE* indexDataPtr = fmemopen((void*)(indexData+headerSizeBytes), indexDataSize - headerSizeBytes, "r");
 
 	if(featuresType_ == CV_8UC1)
 	{
 		rtflann::Matrix<unsigned char> dataset(features.data, features.rows, features.cols);
 		index_ = new rtflann::Index<rtflann::Hamming<unsigned char> >(dataset, params);
-		((rtflann::Index<rtflann::Hamming<unsigned char> >*)index_)->buildIndex();
+		((rtflann::Index<rtflann::Hamming<unsigned char> >*)index_)->load_saved_index(indexDataPtr);
 	}
 	else
 	{
@@ -228,22 +536,24 @@ void FlannIndex::buildKDTreeIndex(
 		if(useDistanceL1_)
 		{
 			index_ = new rtflann::Index<rtflann::L1<float> >(dataset, params);
-			((rtflann::Index<rtflann::L1<float> >*)index_)->buildIndex();
+			((rtflann::Index<rtflann::L1<float> >*)index_)->load_saved_index(indexDataPtr);
 		}
 		else if(featuresDim_ <=3)
 		{
 			index_ = new rtflann::Index<rtflann::L2_Simple<float> >(dataset, params);
-			((rtflann::Index<rtflann::L2_Simple<float> >*)index_)->buildIndex();
+			((rtflann::Index<rtflann::L2_Simple<float> >*)index_)->load_saved_index(indexDataPtr);
 		}
 		else
 		{
 			index_ = new rtflann::Index<rtflann::L2<float> >(dataset, params);
-			((rtflann::Index<rtflann::L2<float> >*)index_)->buildIndex();
+			((rtflann::Index<rtflann::L2<float> >*)index_)->load_saved_index(indexDataPtr);
 		}
 	}
+	fclose(indexDataPtr);
 
 	// incremental FLANN: we should add all headers separately in case we remove
 	// some indexes (to keep underlying matrix data allocated)
+	
 	if(rebalancingFactor_ > 1.0f)
 	{
 		for(int i=0; i<features.rows; ++i)
@@ -257,107 +567,8 @@ void FlannIndex::buildKDTreeIndex(
 		addedDescriptors_.insert(std::make_pair(nextIndex_, features));
 		nextIndex_ += features.rows;
 	}
-	UDEBUG("");
-}
-
-void FlannIndex::buildKDTreeSingleIndex(
-		const cv::Mat & features,
-		int leafMaxSize,
-		bool reorder,
-		bool useDistanceL1,
-		float rebalancingFactor)
-{
-	UDEBUG("");
-	this->release();
-	UASSERT(index_ == 0);
-	UASSERT(features.type() == CV_32FC1 || features.type() == CV_8UC1);
-	featuresType_ = features.type();
-	featuresDim_ = features.cols;
-	useDistanceL1_ = useDistanceL1;
-	rebalancingFactor_ = rebalancingFactor;
-
-	rtflann::KDTreeSingleIndexParams params(leafMaxSize, reorder);
-
-	if(featuresType_ == CV_8UC1)
-	{
-		rtflann::Matrix<unsigned char> dataset(features.data, features.rows, features.cols);
-		index_ = new rtflann::Index<rtflann::Hamming<unsigned char> >(dataset, params);
-		((rtflann::Index<rtflann::Hamming<unsigned char> >*)index_)->buildIndex();
-	}
-	else
-	{
-		rtflann::Matrix<float> dataset((float*)features.data, features.rows, features.cols);
-		if(useDistanceL1_)
-		{
-			index_ = new rtflann::Index<rtflann::L1<float> >(dataset, params);
-			((rtflann::Index<rtflann::L1<float> >*)index_)->buildIndex();
-		}
-		else if(featuresDim_ <=3)
-		{
-			index_ = new rtflann::Index<rtflann::L2_Simple<float> >(dataset, params);
-			((rtflann::Index<rtflann::L2_Simple<float> >*)index_)->buildIndex();
-		}
-		else
-		{
-			index_ = new rtflann::Index<rtflann::L2<float> >(dataset, params);
-			((rtflann::Index<rtflann::L2<float> >*)index_)->buildIndex();
-		}
-	}
-
-	// incremental FLANN: we should add all headers separately in case we remove
-	// some indexes (to keep underlying matrix data allocated)
-	if(rebalancingFactor_ > 1.0f)
-	{
-		for(int i=0; i<features.rows; ++i)
-		{
-			addedDescriptors_.insert(std::make_pair(nextIndex_++, features.row(i)));
-		}
-	}
-	else
-	{
-		// tree won't ever be rebalanced, so just keep only one header for the data
-		addedDescriptors_.insert(std::make_pair(nextIndex_, features));
-		nextIndex_ += features.rows;
-	}
-	UDEBUG("");
-}
-
-void FlannIndex::buildLSHIndex(
-		const cv::Mat & features,
-		unsigned int table_number,
-		unsigned int key_size,
-		unsigned int multi_probe_level,
-		float rebalancingFactor)
-{
-	UDEBUG("");
-	this->release();
-	UASSERT(index_ == 0);
-	UASSERT(features.type() == CV_8UC1);
-	featuresType_ = features.type();
-	featuresDim_ = features.cols;
-	useDistanceL1_ = true;
-	rebalancingFactor_ = rebalancingFactor;
-
-	rtflann::Matrix<unsigned char> dataset(features.data, features.rows, features.cols);
-	index_ = new rtflann::Index<rtflann::Hamming<unsigned char> >(dataset, rtflann::LshIndexParams(12, 20, 2));
-	((rtflann::Index<rtflann::Hamming<unsigned char> >*)index_)->buildIndex();
-
-	// incremental FLANN: we should add all headers separately in case we remove
-	// some indexes (to keep underlying matrix data allocated)
-	if(rebalancingFactor_ > 1.0f)
-	{
-		for(int i=0; i<features.rows; ++i)
-		{
-			addedDescriptors_.insert(std::make_pair(nextIndex_++, features.row(i)));
-		}
-	}
-	else
-	{
-		// tree won't ever be rebalanced, so just keep only one header for the data
-		addedDescriptors_.insert(std::make_pair(nextIndex_, features));
-		nextIndex_ += features.rows;
-	}
-	UDEBUG("");
+	return true;
+#endif
 }
 
 bool FlannIndex::isBuilt()

corelib/src/GlobalMap.cpp

@@ -99,15 +99,12 @@ unsigned long GlobalMap::getMemoryUsed() const
 	return memoryUsage;
 }
 
-bool GlobalMap::update(const std::map<int, Transform> & poses)
+bool GlobalMap::fullUpdateNeeded(const std::map<int, Transform> & poses) const
 {
-	UDEBUG("Update (poses=%d addedNodes_=%d)", (int)poses.size(), (int)addedNodes_.size());
-
-	// First, check of the graph has changed. If so, re-create the octree by moving all occupied nodes.
 	bool graphOptimized = false; // If a loop closure happened (e.g., poses are modified)
 	bool graphChanged = addedNodes_.size()>0; // If the new map doesn't have any node from the previous map
 	float updateErrorSqrd = updateError_*updateError_;
-	for(std::map<int, Transform>::iterator iter=addedNodes_.begin(); iter!=addedNodes_.end(); ++iter)
+	for(std::map<int, Transform>::const_iterator iter=addedNodes_.begin(); iter!=addedNodes_.end(); ++iter)
 	{
 		std::map<int, Transform>::const_iterator jter = poses.find(iter->first);
 		if(jter != poses.end())
@@ -125,7 +122,15 @@ bool GlobalMap::update(const std::map<int, Transform> & poses)
 		}
 	}
 
-	if(graphOptimized || graphChanged)
+	return graphOptimized || graphChanged;
+}
+
+bool GlobalMap::update(const std::map<int, Transform> & poses)
+{
+	UDEBUG("Update (poses=%d addedNodes_=%d)", (int)poses.size(), (int)addedNodes_.size());
+
+	// First, check of the graph has changed. If so, re-create the octree by moving all occupied nodes.
+	if(fullUpdateNeeded(poses))
 	{
 		// clear all but keep cache
 		clear();
@@ -134,14 +139,25 @@ bool GlobalMap::update(const std::map<int, Transform> & poses)
 	std::list<std::pair<int, Transform> > orderedPoses;
 
 	// add old poses that were not in the current map (they were just retrieved from LTM)
+	int nodesNotAssembled = 0;
+	int nodesNotInCache = 0;
 	for(std::map<int, Transform>::const_iterator iter=poses.lower_bound(1); iter!=poses.end(); ++iter)
 	{
 		if(!isNodeAssembled(iter->first))
 		{
-			UDEBUG("Pose %d not found in current added poses, it will be added to map", iter->first);
-			orderedPoses.push_back(*iter);
+			if(uContains(cache(), iter->first))
+			{
+				++nodesNotAssembled;
+				//UDEBUG("Pose %d not found in current added poses, it will be added to map", iter->first);
+				orderedPoses.push_back(*iter);
+			}
+			else
+			{
+				++nodesNotInCache;
+			}
 		}
 	}
+	UDEBUG("%d nodes will be assembled in the map and %d nodes won't (no local grids in cache for them)", nodesNotAssembled, nodesNotInCache);
 
 	// insert zero after
 	if(poses.find(0) != poses.end())

corelib/src/Graph.cpp

@@ -196,7 +196,7 @@ bool exportPoses(
 
 bool importPoses(
 		const std::string & filePath,
-		int format, // 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame, 11=10+ID), 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe, 9=EuRoC MAV
+		int format, // 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame, 11=10+ID), 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe, 9=EuRoC MAV, 12=rgbd_bonn
 		std::map<int, Transform> & poses,
 		std::multimap<int, Link> * constraints, // optional for formats 3 and 4
 		std::map<int, double> * stamps) // optional for format 1 and 9
@@ -218,7 +218,14 @@ bool importPoses(
 	else if(format == 4) // g2o
 	{
 		std::multimap<int, Link> constraintsTmp;
-		UERROR("Cannot import from g2o format because it is not yet supported!");
+		if(OptimizerG2O::loadGraph(filePath, poses, constraintsTmp))
+		{
+			if(constraints)
+			{
+				*constraints = constraintsTmp;
+			}
+			return true;
+		}
 		return false;
 	}
 	else
@@ -440,7 +447,7 @@ bool importPoses(
 					UERROR("Error parsing \"%s\" with NewCollege format (should have 3 values: stamp x y, found %d)", str.c_str(), (int)strList.size());
 				}
 			}
-			else if(format == 1 || format==10 || format==11) // rgbd-slam format
+			else if(format == 1 || format==10 || format==11 || format==12) // rgbd-slam format
 			{
 				std::list<std::string> strList = uSplit(str);
 				if((strList.size() >=  8 && format!=11) || (strList.size() ==  9 && format==11))
@@ -451,9 +458,12 @@ bool importPoses(
 					}
 					double stamp = uStr2Double(strList.front());
 					strList.pop_front();
-					if(format==11)
+					if(strList.size() == 8 && (format==10 || format==11 || format==12))
 					{
-						id = uStr2Int(strList.back());
+						if(format==11)
+						{
+							id = uStr2Int(strList.back());
+						}
 						strList.pop_back();
 					}
 					str = uJoin(strList, " ");
@@ -481,6 +491,20 @@ bool importPoses(
 										   1, 0, 0, 0);
 							pose = t*pose;
 						}
+						else if(format == 12)
+						{
+							// See https://www.ipb.uni-bonn.de/data/rgbd-dynamic-dataset/index.html
+							Transform T_ros(-1, 0, 0, 0,
+											 0, 0, 1, 0,
+											 0, 1, 0, 0);
+							Transform T_m(
+										1.0157,    0.1828,   -0.2389,    0.0113,
+										0.0009,   -0.8431,   -0.6413,   -0.00980,
+										-0.3009,    0.6147,   -0.8085,    0.0111);
+
+							// we remove the optical rotation
+							pose = T_ros*pose*T_ros*T_m*CameraModel::opticalRotation().inverse();
+						}
 						poses.insert(std::make_pair(id, pose));
 					}
 				}
@@ -910,21 +934,12 @@ Transform calcRMSE (
 	return t;
 }
 
-void computeMaxGraphErrors(
+MaxGraphErrors computeMaxGraphErrors(
 		const std::map<int, Transform> & poses,
 		const std::multimap<int, Link> & links,
-		float & maxLinearErrorRatio,
-		float & maxAngularErrorRatio,
-		float & maxLinearError,
-		float & maxAngularError,
-		const Link ** maxLinearErrorLink,
-		const Link ** maxAngularErrorLink,
 		bool force3DoF)
 {
-	maxLinearErrorRatio = -1;
-	maxAngularErrorRatio = -1;
-	maxLinearError = -1;
-	maxAngularError = -1;
+	MaxGraphErrors maxError;
 
 	UDEBUG("poses=%d links=%d", (int)poses.size(), (int)links.size());
 	for(std::multimap<int, Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
@@ -946,19 +961,7 @@ void computeMaxGraphErrors(
 					iter->second.to(),
 					t2.prettyPrint().c_str());
 
-				if(maxLinearErrorLink)
-				{
-					*maxLinearErrorLink = 0;
-				}
-				if(maxAngularErrorLink)
-				{
-					*maxAngularErrorLink = 0;
-				}
-				maxLinearErrorRatio = -1;
-				maxAngularErrorRatio = -1;
-				maxLinearError = -1;
-				maxAngularError = -1;
-				return;
+				return MaxGraphErrors();
 			}
 
 			Transform t;
@@ -982,14 +985,11 @@ void computeMaxGraphErrors(
 			UASSERT(iter->second.transVariance(false)>0.0);
 			float stddevLinear = sqrt(iter->second.transVariance(false));
 			float linearErrorRatio = linearError/stddevLinear;
-			if(linearErrorRatio > maxLinearErrorRatio)
+			if(linearErrorRatio > maxError.linearRatio)
 			{
-				maxLinearError = linearError;
-				maxLinearErrorRatio = linearErrorRatio;
-				if(maxLinearErrorLink)
-				{
-					*maxLinearErrorLink = &iter->second;
-				}
+				maxError.linear = linearError;
+				maxError.linearRatio = linearErrorRatio;
+				maxError.linearLink = iter->second;
 			}
 
 			// For landmark links, don't compute angular error if it doesn't estimate orientation
@@ -1014,18 +1014,16 @@ void computeMaxGraphErrors(
 				UASSERT(iter->second.rotVariance(false)>0.0);
 				float stddevAngular = sqrt(iter->second.rotVariance(false));
 				float angularErrorRatio = angularError/stddevAngular;
-				if(angularErrorRatio > maxAngularErrorRatio)
+				if(angularErrorRatio > maxError.angularRatio)
 				{
-					maxAngularError = angularError;
-					maxAngularErrorRatio = angularErrorRatio;
-					if(maxAngularErrorLink)
-					{
-						*maxAngularErrorLink = &iter->second;
-					}
+					maxError.angular = angularError;
+					maxError.angularRatio = angularErrorRatio;
+					maxError.angularLink = iter->second;
 				}
 			}
 		}
 	}
+	return maxError;
 }
 
 std::vector<double> getMaxOdomInf(const std::multimap<int, Link> & links)
@@ -2003,19 +2001,21 @@ std::list<std::pair<int, Transform> > computePath(
 		bool lookInDatabase,
 		bool updateNewCosts,
 		float linearVelocity,  // m/sec
-		float angularVelocity) // rad/sec
+		float angularVelocity, // rad/sec
+		bool ignoreDirectLinks) 
 {
 	UASSERT(memory!=0);
 	UASSERT(fromId>=0);
 	UASSERT(toId!=0);
 	std::list<std::pair<int, Transform> > path;
-	UDEBUG("fromId=%d, toId=%d, lookInDatabase=%d, updateNewCosts=%d, linearVelocity=%f, angularVelocity=%f",
+	UDEBUG("fromId=%d, toId=%d, lookInDatabase=%d, updateNewCosts=%d, linearVelocity=%f, angularVelocity=%f ignoreDirectLinks=%d",
 			fromId,
 			toId,
 			lookInDatabase?1:0,
 			updateNewCosts?1:0,
 			linearVelocity,
-			angularVelocity);
+			angularVelocity,
+			ignoreDirectLinks?1:0);
 
 	std::multimap<int, Link> allLinks;
 	if(lookInDatabase)
@@ -2093,7 +2093,9 @@ std::list<std::pair<int, Transform> > computePath(
 		}
 		for(std::multimap<int, Link>::const_iterator iter = links.begin(); iter!=links.end(); ++iter)
 		{
-			if(iter->second.from() != iter->second.to())
+			if(iter->second.from() != iter->second.to() &&
+			  (!ignoreDirectLinks || 
+				(!(iter->second.from()==fromId && iter->second.to()==toId) && !(iter->second.to()==fromId && iter->second.from()==toId))))
 			{
 				Transform nextPose = currentNode->pose()*iter->second.transform();
 				float cost = 0.0f;
@@ -2379,26 +2381,15 @@ std::map<int, Transform> getPosesInRadius(const Transform & targetPose, const st
 
 
 float computePathLength(
-		const std::vector<std::pair<int, Transform> > & path,
-		unsigned int fromIndex,
-		unsigned int toIndex)
+		const std::vector<std::pair<int, Transform> > & path)
 {
 	float length = 0.0f;
 	if(path.size() > 1)
 	{
-		UASSERT(fromIndex  < path.size() && toIndex < path.size() && fromIndex <= toIndex);
-		if(fromIndex >= toIndex)
+		for(unsigned int i=0; i<path.size()-1; ++i)
 		{
-			toIndex = (unsigned int)path.size()-1;
+			length+=path[i].second.getDistance(path[i+1].second);
 		}
-		float x=0, y=0, z=0;
-		for(unsigned int i=fromIndex; i<toIndex-1; ++i)
-		{
-			x += fabs(path[i].second.x() - path[i+1].second.x());
-			y += fabs(path[i].second.y() - path[i+1].second.y());
-			z += fabs(path[i].second.z() - path[i+1].second.z());
-		}
-		length = sqrt(x*x + y*y + z*z);
 	}
 	return length;
 }
@@ -2409,19 +2400,15 @@ float computePathLength(
 	float length = 0.0f;
 	if(path.size() > 1)
 	{
-		float x=0, y=0, z=0;
 		std::map<int, Transform>::const_iterator iter=path.begin();
 		Transform previousPose = iter->second;
 		++iter;
 		for(; iter!=path.end(); ++iter)
 		{
 			const Transform & currentPose = iter->second;
-			x += fabs(previousPose.x() - currentPose.x());
-			y += fabs(previousPose.y() - currentPose.y());
-			z += fabs(previousPose.z() - currentPose.z());
+			length+=previousPose.getDistance(currentPose);
 			previousPose = currentPose;
 		}
-		length = sqrt(x*x + y*y + z*z);
 	}
 	return length;
 }

corelib/src/IMUThread.cpp

@@ -135,8 +135,20 @@ void IMUThread::mainLoop()
 		std::stringstream stream(line);
 		std::string s;
 		std::getline(stream, s, ',');
-		std::string nanoseconds = s.substr(s.size() - 9, 9);
-		std::string seconds = s.substr(0, s.size() - 9);
+
+		double stamp = 0.0;
+		if(s.find('.') != std::string::npos)
+		{
+			// Normal [epoch] timestamp
+			stamp = uStr2Double(s);
+		}
+		else
+		{
+			// Assume EuRoC format
+			std::string nanoseconds = s.substr(s.size() - 9, 9);
+			std::string seconds = s.substr(0, s.size() - 9);
+			stamp = double(uStr2Int(seconds)) + double(uStr2Int(nanoseconds))*1e-9;
+		}
 
 		cv::Vec3d gyr;
 		for (int j = 0; j < 3; ++j) {
@@ -150,7 +162,6 @@ void IMUThread::mainLoop()
 			acc[j] = uStr2Double(s);
 		}
 
-		double stamp = double(uStr2Int(seconds)) + double(uStr2Int(nanoseconds))*1e-9;
 		if(previousStamp_>0 && stamp > previousStamp_)
 		{
 			captureDelay_ = stamp - previousStamp_;

corelib/src/LaserScan.cpp

@@ -68,6 +68,9 @@ std::string LaserScan::formatName(const Format & format)
 		case kXYZIT:
 			name = "XYZIT";
 			break;
+		case kXYZIRT:
+			name = "XYZIRT";
+			break;
 		default:
 			name = "Unknown";
 			break;
@@ -96,6 +99,7 @@ int LaserScan::channels(const Format & format)
 			break;
 		case kXYZNormal:
 		case kXYINormal:
+		case kXYZIRT:
 			channels = 6;
 			break;
 		case kXYZINormal:
@@ -123,11 +127,15 @@ bool LaserScan::isScanHasRGB(const Format & format)
 }
 bool LaserScan::isScanHasIntensity(const Format & format)
 {
-	return format==kXYZI || format==kXYZINormal || format == kXYI || format == kXYINormal || format==kXYZIT;
+	return format==kXYZI || format==kXYZINormal || format == kXYI || format == kXYINormal || format==kXYZIT || format==kXYZIRT;
 }
 bool LaserScan::isScanHasTime(const Format & format)
 {
-	return format==kXYZIT;
+	return format==kXYZIT || format==kXYZIRT;
+}
+bool LaserScan::isScanHasRing(const Format & format)
+{
+	return format==kXYZIRT;
 }
 
 LaserScan LaserScan::backwardCompatibility(
@@ -404,7 +412,7 @@ void LaserScan::init(
 			UASSERT_MSG(data.channels() != 3 || (data.channels() == 3 && (format == kXYZ || format == kXYI)), uFormat("format=%s", LaserScan::formatName(format).c_str()).c_str());
 			UASSERT_MSG(data.channels() != 4 || (data.channels() == 4 && (format == kXYZI || format == kXYZRGB)), uFormat("format=%s", LaserScan::formatName(format).c_str()).c_str());
 			UASSERT_MSG(data.channels() != 5 || (data.channels() == 5 && (format == kXYNormal || format == kXYZIT)), uFormat("format=%s", LaserScan::formatName(format).c_str()).c_str());
-			UASSERT_MSG(data.channels() != 6 || (data.channels() == 6 && (format == kXYINormal || format == kXYZNormal)), uFormat("format=%s", LaserScan::formatName(format).c_str()).c_str());
+			UASSERT_MSG(data.channels() != 6 || (data.channels() == 6 && (format == kXYINormal || format == kXYZNormal || format == kXYZIRT)), uFormat("format=%s", LaserScan::formatName(format).c_str()).c_str());
 			UASSERT_MSG(data.channels() != 7 || (data.channels() == 7 && (format == kXYZRGBNormal || format == kXYZINormal)), uFormat("format=%s", LaserScan::formatName(format).c_str()).c_str());
 		}
 	}

corelib/src/LocalGrid.cpp

@@ -64,8 +64,8 @@ void LocalGridCache::add(int nodeId,
 
 void LocalGridCache::add(int nodeId, const LocalGrid & localGrid)
 {
-	UDEBUG("nodeId=%d (ground=%d/%d obstacles=%d/%d empty=%d/%d)",
-			nodeId, localGrid.groundCells.cols,  localGrid.groundCells.channels(),  localGrid.obstacleCells.cols,  localGrid.obstacleCells.channels(), localGrid.emptyCells.cols,  localGrid.emptyCells.channels());
+	//UDEBUG("nodeId=%d (ground=%d/%d obstacles=%d/%d empty=%d/%d)",
+	//		nodeId, localGrid.groundCells.cols,  localGrid.groundCells.channels(),  localGrid.obstacleCells.cols,  localGrid.obstacleCells.channels(), localGrid.emptyCells.cols,  localGrid.emptyCells.channels());
 	if(nodeId < 0)
 	{
 		UWARN("Cannot add nodes with negative id (nodeId=%d)", nodeId);

corelib/src/Odometry.cpp

@@ -35,10 +35,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/odometry/OdometryORBSLAM3.h"
 #include "rtabmap/core/odometry/OdometryLOAM.h"
 #include "rtabmap/core/odometry/OdometryFLOAM.h"
+#include "rtabmap/core/odometry/OdometryLIOSAM.h"
 #include "rtabmap/core/odometry/OdometryMSCKF.h"
-#include "rtabmap/core/odometry/OdometryVINS.h"
+#include "rtabmap/core/odometry/OdometryVINSFusion.h"
 #include "rtabmap/core/odometry/OdometryOpenVINS.h"
 #include "rtabmap/core/odometry/OdometryOpen3D.h"
+#include "rtabmap/core/odometry/OdometryCuVSLAM.h"
 #include "rtabmap/core/OdometryInfo.h"
 #include "rtabmap/core/util3d.h"
 #include "rtabmap/core/util3d_mapping.h"
@@ -100,11 +102,14 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
 	case Odometry::kTypeFLOAM:
 		odometry = new OdometryFLOAM(parameters);
 		break;
+	case Odometry::kTypeLIOSAM:
+		odometry = new OdometryLIOSAM(parameters);
+		break;
 	case Odometry::kTypeMSCKF:
 		odometry = new OdometryMSCKF(parameters);
 		break;
-	case Odometry::kTypeVINS:
-		odometry = new OdometryVINS(parameters);
+	case Odometry::kTypeVINSFusion:
+		odometry = new OdometryVINSFusion(parameters);
 		break;
 	case Odometry::kTypeOpenVINS:
 		odometry = new OdometryOpenVINS(parameters);
@@ -112,6 +117,9 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
 	case Odometry::kTypeOpen3D:
 		odometry = new OdometryOpen3D(parameters);
 		break;
+	case Odometry::kTypeCuVSLAM:
+		odometry = new OdometryCuVSLAM(parameters);
+		break;
 	default:
 		UERROR("Unknown odometry type %d, using F2M instead...", (int)type);
 		odometry = new OdometryF2M(parameters);
@@ -625,6 +633,7 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
 	if(!guessIn.isNull())
 	{
 		guess = guessIn;
+		UDEBUG("Using provided guess %s", guessIn.prettyPrint().c_str());
 	}
 	else if(!imus_.empty())
 	{
@@ -641,12 +650,16 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
 			{
 				guess = guess.to3DoF();
 			}
+			UDEBUG("Adjusting guess from motion with IMU %s", guess.prettyPrint().c_str());
 		}
 		else if(!imuLastTransform_.isNull())
 		{
 			UWARN("Could not find imu transform at %f", data.stamp());
 		}
 	}
+	else if(!guess.isNull() && (!data.imageRaw().empty() || !data.laserScanRaw().isEmpty())) {
+		UDEBUG("Using guess from motion %s", guess.prettyPrint().c_str());
+	}
 
 	UTimer time;
 
@@ -1011,21 +1024,28 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
 		--_resetCurrentCount;
 		if(_resetCurrentCount == 0)
 		{
-			UWARN("Odometry automatically reset to latest pose!");
-			this->reset(_pose);
+			if(!guess.isNull() && !guessIn.isNull()) {
+				UWARN("Odometry automatically reset to latest pose (%s) + guess (%s)!", _pose.prettyPrint().c_str(), guess.prettyPrint().c_str());
+				this->reset(_pose * guess);
+			}
+			else {
+				UWARN("Odometry automatically reset to latest pose (%s)!", _pose.prettyPrint().c_str());
+				this->reset(_pose);
+			}
 			_resetCurrentCount = _resetCountdown;
 			if(info)
 			{
 				*info = OdometryInfo();
 			}
-			return this->computeTransform(data, Transform(), info);
+			this->computeTransform(data, Transform(), info);
+			return _pose;
 		}
-	}
 
 	previousVelocities_.clear();
 	velocityGuess_.setNull();
 	previousStamp_ = 0;
 
+}
 	return Transform();
 }
 
@@ -1055,6 +1075,7 @@ void Odometry::initKalmanFilter(const Transform & initialPose, float vx, float v
 	    0, 0, 0, 0, 0, 0.17 } };
 	static const boost::array<double, 36> STANDARD_TWIST_COVARIANCE =
 	{ { 0.05, 0, 0, 0, 0, 0,
+	}
 	    0, 0.05, 0, 0, 0, 0,
 	    0, 0, 0.05, 0, 0, 0,
 	    0, 0, 0, 0.09, 0, 0,

corelib/src/OdometryInfo.cpp

@@ -126,10 +126,10 @@ std::map<std::string, float> OdometryInfo::statistics(const Transform & pose)
 	stats.insert(std::make_pair("Odometry/ICPStructuralComplexity/", reg.icpStructuralComplexity));
 	stats.insert(std::make_pair("Odometry/ICPStructuralDistribution/", reg.icpStructuralDistribution));
 	stats.insert(std::make_pair("Odometry/ICPCorrespondences/", reg.icpCorrespondences));
-	stats.insert(std::make_pair("Odometry/StdDevLin/", sqrt((float)reg.covariance.at<double>(0,0))));
-	stats.insert(std::make_pair("Odometry/StdDevAng/", sqrt((float)reg.covariance.at<double>(5,5))));
-	stats.insert(std::make_pair("Odometry/VarianceLin/", (float)reg.covariance.at<double>(0,0)));
-	stats.insert(std::make_pair("Odometry/VarianceAng/", (float)reg.covariance.at<double>(5,5)));
+	stats.insert(std::make_pair("Odometry/StdDevLin/", reg.covariance.empty()?0:sqrt((float)reg.covariance.at<double>(0,0))));
+	stats.insert(std::make_pair("Odometry/StdDevAng/", reg.covariance.empty()?0:sqrt((float)reg.covariance.at<double>(5,5))));
+	stats.insert(std::make_pair("Odometry/VarianceLin/", reg.covariance.empty()?0:(float)reg.covariance.at<double>(0,0)));
+	stats.insert(std::make_pair("Odometry/VarianceAng/", reg.covariance.empty()?0:(float)reg.covariance.at<double>(5,5)));
 	stats.insert(std::make_pair("Odometry/TimeEstimation/ms", timeEstimation*1000.0f));
 	stats.insert(std::make_pair("Odometry/TimeFiltering/ms", timeParticleFiltering*1000.0f));
 	stats.insert(std::make_pair("Odometry/LocalMapSize/", localMapSize));

corelib/src/OdometryThread.cpp

@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/OdometryInfo.h"
 #include "rtabmap/core/OdometryEvent.h"
 #include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/utilite/UTimer.h"
 
 namespace rtabmap {
 
@@ -63,7 +64,7 @@ bool OdometryThread::handleEvent(UEvent * event)
 			SensorEvent * sensorEvent = (SensorEvent*)event;
 			if(sensorEvent->getCode() == SensorEvent::kCodeData)
 			{
-				this->addData(sensorEvent->data());
+				this->addData(*sensorEvent);
 			}
 		}
 		else if(event->getClassName().compare("IMUEvent") == 0)
@@ -112,31 +113,51 @@ void OdometryThread::mainLoop()
 		_imuBuffer.clear();
 		_oldestAsyncImuStamp = 0.0;
 		_newestAsyncImuStamp = 0.0;
+		_previousGuessPose.setNull();
 	}
 
-	SensorData data;
-	if(getData(data))
+	SensorEvent event;
+	if(getData(event))
 	{
 		OdometryInfo info;
 		UDEBUG("Processing data...");
-		Transform pose = _odometry->process(data, &info);
+		Transform guess;
+		UDEBUG("event.info().odomPose=%s", event.info().odomPose.prettyPrint().c_str());
+		if(!_previousGuessPose.isNull() && !event.info().odomPose.isNull()) {
+			guess = _previousGuessPose.inverse() * event.info().odomPose;
+		}
+
+		SensorData data = event.data();
+		Transform pose = _odometry->process(data, guess , &info);
 		if(!data.imageRaw().empty() || !data.laserScanRaw().empty() || (pose.isNull() && data.imu().empty()))
 		{
 			UDEBUG("Odom pose = %s", pose.prettyPrint().c_str());
+			if(!pose.isNull()) {
+				_previousGuessPose = event.info().odomPose;
+				UASSERT(event.info().odomPose.isNull() || !info.reg.covariance.empty());
+				if(!event.info().odomPose.isNull() && info.reg.covariance.at<double>(0,0) >= 9999 &&
+					(pose.x() != 0.0f || pose.y() != 0.0f || pose.z() != 0.0f)) // not the first frame
+				{
+					// In case of external guess and auto reset, keep reporting lost till we
+					// process the second frame with valid covariance. This way it
+					// won't trigger a new map.
+					pose = Transform();
+				}
+			}
 			// a null pose notify that odometry could not be computed
 			this->post(new OdometryEvent(data, pose, info));
 		}
 	}
 }
 
-void OdometryThread::addData(const SensorData & data)
+void OdometryThread::addData(const SensorEvent & event)
 {
-	if(data.imu().empty())
+	if(event.data().imu().empty())
 	{
 		if(dynamic_cast<OdometryMono*>(_odometry) == 0)
 		{
-			if((data.imageRaw().empty() || data.depthOrRightRaw().empty() || (data.cameraModels().empty() && data.stereoCameraModels().empty())) &&
-					data.laserScanRaw().empty())
+			if((event.data().imageRaw().empty() || event.data().depthOrRightRaw().empty() || (event.data().cameraModels().empty() && event.data().stereoCameraModels().empty())) &&
+					event.data().laserScanRaw().empty())
 			{
 				ULOGGER_ERROR("Missing some information (images/scans empty or missing calibration)!?");
 				return;
@@ -145,7 +166,7 @@ void OdometryThread::addData(const SensorData & data)
 		else
 		{
 			// Mono can accept RGB only
-			if(data.imageRaw().empty() || (data.cameraModels().empty() && data.stereoCameraModels().empty()))
+			if(event.data().imageRaw().empty() || (event.data().cameraModels().empty() && event.data().stereoCameraModels().empty()))
 			{
 				ULOGGER_ERROR("Missing some information (image empty or missing calibration)!?");
 				return;
@@ -156,30 +177,32 @@ void OdometryThread::addData(const SensorData & data)
 	bool notify = true;
 	_dataMutex.lock();
 	{
-		if( !data.imageRaw().empty() ||
-			!data.imageCompressed().empty() ||
-			!data.laserScanRaw().isEmpty() ||
-			!data.laserScanCompressed().empty() || 
-			data.imu().empty())
+		if( !event.data().imageRaw().empty() ||
+			!event.data().imageCompressed().empty() ||
+			!event.data().laserScanRaw().isEmpty() ||
+			!event.data().laserScanCompressed().empty() || 
+			event.data().imu().empty())
 		{
-			if(_oldestAsyncImuStamp > 0.0 && data.stamp() < _oldestAsyncImuStamp) {
+			if(_oldestAsyncImuStamp > 0.0 && event.data().stamp() < _oldestAsyncImuStamp) {
 				UWARN("Received image/lidar with stamp (%f) older than oldest received imu "
 					"(%f), skipping that frame (imu buffer size=%ld). "
 					"When using async IMU, make sure IMU is published faster "
-					"than camera/lidar (assuming IMU latency is very small compared to camera/lidar).",
-					data.stamp(), _oldestAsyncImuStamp, _imuBuffer.size());
+					"than camera/lidar (assuming IMU latency is very small compared to camera/lidar)."
+					"Current camera/lidar delay with system time is %fs.",
+					event.data().stamp(), _oldestAsyncImuStamp, _imuBuffer.size(), UTimer::now() - event.data().stamp());
 				notify = false;
 			}
-			else if(_newestAsyncImuStamp > 0.0 && data.stamp()>=_newestAsyncImuStamp) {
+			else if(_newestAsyncImuStamp > 0.0 && event.data().stamp()>=_newestAsyncImuStamp) {
 				UWARN("Received image/lidar with stamp (%f) newer than latest received imu "
 					"(%f), skipping that frame (imu buffer size=%ld). "
 					"When using async IMU, make sure IMU is published faster "
-					"than camera/lidar (assuming IMU latency is very small compared to camera/lidar).",
-					data.stamp(), _newestAsyncImuStamp, _imuBuffer.size());
+					"than camera/lidar (assuming IMU latency is very small compared to camera/lidar). "
+					"Current camera/lidar delay with system time is %fs.",
+					event.data().stamp(), _newestAsyncImuStamp, _imuBuffer.size(), UTimer::now() - event.data().stamp());
 				notify = false;
 			}
 			else {
-				_dataBuffer.push_back(data);
+				_dataBuffer.push_back(event);
 				while(_dataBufferMaxSize > 0 && _dataBuffer.size() > _dataBufferMaxSize)
 				{
 					UDEBUG("Data buffer is full, the oldest data is removed to add the new one.");
@@ -190,11 +213,11 @@ void OdometryThread::addData(const SensorData & data)
 		}
 		else
 		{
-			_imuBuffer.push_back(data);
+			_imuBuffer.push_back(event.data());
 			if(_oldestAsyncImuStamp == 0) {
-				_oldestAsyncImuStamp = data.stamp();
+				_oldestAsyncImuStamp = event.data().stamp();
 			}
-			_newestAsyncImuStamp = data.stamp();
+			_newestAsyncImuStamp = event.data().stamp();
 		}
 	}
 	_dataMutex.unlock();
@@ -205,7 +228,7 @@ void OdometryThread::addData(const SensorData & data)
 	}
 }
 
-bool OdometryThread::getData(SensorData & data)
+bool OdometryThread::getData(SensorEvent & event)
 {
 	bool dataFilled = false;
 	_dataAdded.acquire();
@@ -219,12 +242,12 @@ bool OdometryThread::getData(SensorData & data)
 				_odometry->process(_imuBuffer.front());
 				double stamp =_imuBuffer.front().stamp();
 				_imuBuffer.pop_front();
-				if(stamp > _dataBuffer.front().stamp()) {
+				if(stamp > _dataBuffer.front().data().stamp()) {
 					break;
 				}
 			}
 
-			data = _dataBuffer.front();
+			event = _dataBuffer.front();
 			_dataBuffer.pop_front();
 			dataFilled = true;
 		}

corelib/src/Optimizer.cpp

@@ -185,6 +185,52 @@ Optimizer * Optimizer::create(Optimizer::Type type, const ParametersMap & parame
 	return optimizer;
 }
 
+class LinkIdKey
+{
+public:
+LinkIdKey(int id, Link::Type type) :
+		id_(id),
+		type_(type) {}
+	bool operator<(const LinkIdKey & k) const
+	{
+		// landmark, sort by smallest to largest landmark id, after normal links
+		if(id_ < 0 && k.id_ < 0)
+		{
+			return id_ > k.id_;
+		}
+		else if(id_ < 0) {
+			return false;
+		}
+		else if(k.id_ < 0) {
+			return true;
+		}
+
+		if(type_ == Link::kNeighbor && k.type_ != Link::kNeighbor)
+		{
+			return true;
+		}
+		else if(type_ != Link::kNeighbor && k.type_ == Link::kNeighbor)
+		{
+			return false;
+		}
+		else if(type_ == Link::kNeighborMerged && k.type_ != Link::kNeighbor && k.type_ != Link::kNeighborMerged)
+		{
+			return true;
+		}
+		else if(k.type_ == Link::kNeighborMerged && type_ != Link::kNeighbor && type_ != Link::kNeighborMerged)
+		{
+			return false;
+		}
+		else
+		{
+			// normal link, sort by smallest to largest id
+			return id_ < k.id_;
+		}
+	}
+	int id_;
+	Link::Type type_;
+};
+
 void Optimizer::getConnectedGraph(
 		int fromId,
 		const std::map<int, Transform> & posesIn,
@@ -194,13 +240,14 @@ void Optimizer::getConnectedGraph(
 {
 	UDEBUG("IN: fromId=%d poses=%d links=%d priorsIgnored=%d landmarksIgnored=%d", fromId, (int)posesIn.size(), (int)linksIn.size(), priorsIgnored()?1:0, landmarksIgnored()?1:0);
 	UASSERT(fromId>0);
-	UASSERT(uContains(posesIn, fromId));
+	UASSERT_MSG(uContains(posesIn, fromId), uFormat("poses=%ld (first=%d last=%d) fromId=%d",
+		posesIn.size(), posesIn.empty()?0:posesIn.begin()->first, posesIn.empty()?0:posesIn.rbegin()->first, fromId).c_str());
 
 	posesOut.clear();
 	linksOut.clear();
 
-	std::set<int> nextPoses;
-	nextPoses.insert(fromId);
+	std::map<LinkIdKey, Transform> nextPoses;
+	nextPoses.insert(std::make_pair(LinkIdKey(fromId, Link::kUndef), posesIn.find(fromId)->second));
 	std::multimap<int, std::pair<int, Link::Type> > biLinks;
 	for(std::multimap<int, Link>::const_iterator iter=linksIn.begin(); iter!=linksIn.end(); ++iter)
 	{
@@ -214,22 +261,27 @@ void Optimizer::getConnectedGraph(
 		}
 	}
 
-	while(nextPoses.size())
+	while(!nextPoses.empty())
 	{
-		int currentId = *nextPoses.rbegin(); // fill up all nodes before landmarks
-		nextPoses.erase(*nextPoses.rbegin());
+		// Fill up all nodes before landmarks
+		// For nodes, fill up all neightbor nodes before loop closure ones
+		int currentId = nextPoses.begin()->first.id_; 
+		Transform currentPose = nextPoses.begin()->second;
+		nextPoses.erase(nextPoses.begin());
 
-		if(posesOut.empty())
+		if(posesOut.find(currentId) != posesOut.end()) {
+			// Already added from priority list
+			continue;
+		}
+
+		posesOut.insert(std::make_pair(currentId, currentPose));
+
+		// add prior links
+		for(std::multimap<int, Link>::const_iterator pter=linksIn.find(currentId); pter!=linksIn.end() && pter->first==currentId; ++pter)
 		{
-			posesOut.insert(std::make_pair(currentId, posesIn.find(currentId)->second));
-
-			// add prior links
-			for(std::multimap<int, Link>::const_iterator pter=linksIn.find(currentId); pter!=linksIn.end() && pter->first==currentId; ++pter)
+			if(pter->second.from() == pter->second.to() && (!priorsIgnored() || pter->second.type() != Link::kPosePrior))
 			{
-				if(pter->second.from() == pter->second.to() && (!priorsIgnored() || pter->second.type() != Link::kPosePrior))
-				{
-					linksOut.insert(*pter);
-				}
+				linksOut.insert(*pter);
 			}
 		}
 
@@ -240,52 +292,42 @@ void Optimizer::getConnectedGraph(
 			if(posesIn.find(toId) != posesIn.end() && (!landmarksIgnored() || toId>0))
 			{
 				std::multimap<int, Link>::const_iterator kter = graph::findLink(linksIn, currentId, toId, true, type);
-				if(nextPoses.find(toId) == nextPoses.end())
+				UASSERT(kter!=linksIn.end());
+				if(!uContains(posesOut, toId))
 				{
-					if(!uContains(posesOut, toId))
+					const Transform & poseToIn = posesIn.at(toId);
+					Transform t = kter->second.from()==currentId?kter->second.transform():kter->second.transform().inverse();
+					Transform pose;
+					if(isSlam2d() && kter->second.type() == Link::kLandmark && toId>0 && (poseToIn.is3DoF() || poseToIn.is4DoF()))
 					{
-						const Transform & poseToIn = posesIn.at(toId);
-						Transform t = kter->second.from()==currentId?kter->second.transform():kter->second.transform().inverse();
-						if(isSlam2d() && kter->second.type() == Link::kLandmark && toId>0 && (poseToIn.is3DoF() || poseToIn.is4DoF()))
+						if(poseToIn.is3DoF())
 						{
-							if(poseToIn.is3DoF())
-							{
-								posesOut.insert(std::make_pair(toId, (posesOut.at(currentId) * t).to3DoF()));
-							}
-							else
-							{
-								posesOut.insert(std::make_pair(toId, (posesOut.at(currentId) * t).to4DoF()));
-							}
+							pose = (posesOut.at(currentId) * t).to3DoF();
 						}
 						else
 						{
-							posesOut.insert(std::make_pair(toId, posesOut.at(currentId)* t));
+							pose = (posesOut.at(currentId) * t).to4DoF();
 						}
-
-						// add prior links
-						for(std::multimap<int, Link>::const_iterator pter=linksIn.find(toId); pter!=linksIn.end() && pter->first==toId; ++pter)
-						{
-							if(pter->second.from() == pter->second.to() && (!priorsIgnored() || pter->second.type() != Link::kPosePrior))
-							{
-								linksOut.insert(*pter);
-							}
-						}
-
-						nextPoses.insert(toId);
+					}
+					else
+					{
+						pose = posesOut.at(currentId)* t;
 					}
 
-					// only add unique links
-					if(graph::findLink(linksOut, currentId, toId, true, kter->second.type()) == linksOut.end())
+					nextPoses.insert(std::make_pair(LinkIdKey(toId, type), pose));
+				}
+
+				// only add unique links
+				if(graph::findLink(linksOut, currentId, toId, true, kter->second.type()) == linksOut.end())
+				{
+					if(kter->second.to() < 0)
 					{
-						if(kter->second.to() < 0)
-						{
-							// For landmarks, make sure fromId is the landmark
-							linksOut.insert(std::make_pair(kter->second.to(), kter->second.inverse()));
-						}
-						else
-						{
-							linksOut.insert(*kter);
-						}
+						// For landmarks, make sure fromId is the landmark
+						linksOut.insert(std::make_pair(kter->second.to(), kter->second.inverse()));
+					}
+					else
+					{
+						linksOut.insert(*kter);
 					}
 				}
 			}
@@ -608,8 +650,8 @@ void Optimizer::computeBACorrespondences(
 					}
 				}
 
-				if(sFrom.getWords().size() &&
-					sTo.getWords().size() &&
+				if(sFrom.getWordsKpts().size() &&
+					sTo.getWordsKpts().size() &&
 					sFrom.getWords3().size())
 				{
 					if(!rematchFeatures)

corelib/src/Parameters.cpp

@@ -113,11 +113,14 @@ ParametersMap Parameters::deserialize(const std::string & parameters)
 	std::list<std::string> tuplets = uSplit(parameters, ';');
 	for(std::list<std::string>::iterator iter=tuplets.begin(); iter!=tuplets.end(); ++iter)
 	{
-		std::list<std::string> p = uSplit(*iter, ':');
-		if(p.size() == 2)
+		// Split on the FIRST ':' only. Using uSplit() here would discard
+		// empty tokens, so a tuplet like "Marker/Lengths:" (legitimate empty
+		// string value) would lose the value side and be dropped entirely.
+		size_t colonPos = iter->find(':');
+		if(colonPos != std::string::npos && colonPos > 0)
 		{
-			std::string key = p.front();
-			std::string value = p.back();
+			std::string key = iter->substr(0, colonPos);
+			std::string value = iter->substr(colonPos + 1);
 
 			// look for old parameter name
 			bool addParameter = true;
@@ -168,6 +171,7 @@ bool Parameters::isFeatureParameter(const std::string & parameter)
 			group.compare("BRISK") == 0 ||
 			group.compare("KAZE") == 0 ||
 			group.compare("SuperPoint") == 0 ||
+			group.compare("SuperPointRpautrat") == 0 ||
 			group.compare("PyDetector") == 0;
 }
 
@@ -182,6 +186,7 @@ rtabmap::ParametersMap Parameters::getDefaultOdometryParameters(bool stereo, boo
 			(stereo && group.compare("Stereo") == 0) ||
 			(icp && group.compare("Icp") == 0) ||
 			(vis && Parameters::isFeatureParameter(iter->first)) ||
+			group.compare("OdomCuVSLAM") == 0 ||
 			group.compare("Reg") == 0 ||
 			group.compare("Optimizer") == 0 ||
 			group.compare("g2o") == 0 ||
@@ -236,6 +241,12 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
 	{
 		// removed parameters
 
+		// 0.23.7
+		removedParameters_.insert(std::make_pair("Marker/CornerRefinementMethod", std::make_pair(true, Parameters::kMarkerOpenCVCornerRefinementMethod())));
+
+		// 0.23.1
+		removedParameters_.insert(std::make_pair("OdomVINS/ConfigPath",    std::make_pair(true, Parameters::kOdomVINSFusionConfigPath())));
+
 		// 0.21.13
 		removedParameters_.insert(std::make_pair("Vis/ForwardEstOnly",    std::make_pair(false, "")));
 
@@ -285,7 +296,7 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
 		removedParameters_.insert(std::make_pair("Aruco/MaxDepthError",          std::make_pair(true,  Parameters::kMarkerMaxDepthError())));
 		removedParameters_.insert(std::make_pair("Aruco/VarianceLinear",         std::make_pair(true,  Parameters::kMarkerVarianceLinear())));
 		removedParameters_.insert(std::make_pair("Aruco/VarianceAngular",        std::make_pair(true,  Parameters::kMarkerVarianceAngular())));
-		removedParameters_.insert(std::make_pair("Aruco/CornerRefinementMethod", std::make_pair(true,  Parameters::kMarkerCornerRefinementMethod())));
+		removedParameters_.insert(std::make_pair("Aruco/CornerRefinementMethod", std::make_pair(true,  Parameters::kMarkerOpenCVCornerRefinementMethod())));
 
 		// 0.17.5
 		removedParameters_.insert(std::make_pair("Grid/OctoMapOccupancyThr",     std::make_pair(true,  Parameters::kGridGlobalOccupancyThr())));
@@ -658,6 +669,12 @@ ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParam
 				std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
 #else
 				std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
+#endif
+				str = "With SuperPoint Rpautrat:"; 
+#if defined(RTABMAP_TORCH) && defined(RTABMAP_PYTHON) 
+				std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl; 
+#else 
+				std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl; 
 #endif
 				str = "With Python3:";
 #ifdef RTABMAP_PYTHON
@@ -670,6 +687,12 @@ ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParam
 				std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
 #else
 				std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
+#endif
+				str = "With AprilTag:";
+#ifdef RTABMAP_APRILTAG
+				std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
+#else
+				std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
 #endif
 				str = "With OpenGV:";
 #ifdef RTABMAP_OPENGV
@@ -892,6 +915,12 @@ ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParam
 				std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
 #else
 				std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
+#endif
+				str = "With LIO-SAM:";
+#ifdef RTABMAP_LIOSAM
+				std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
+#else
+				std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
 #endif
 				str = "With FOVIS:";
 #ifdef RTABMAP_FOVIS
@@ -936,7 +965,7 @@ ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParam
 				std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
 #endif
 				str = "With VINS-Fusion:";
-#ifdef RTABMAP_VINS
+#ifdef RTABMAP_VINS_FUSION
 				std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
 #else
 				std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
@@ -1109,8 +1138,8 @@ ParametersMap Parameters::parseArguments(int argc, char * argv[], bool onlyParam
 						ignore = true;
 					}
 #endif
-#ifndef RTABMAP_ORBSLAM2
-					if(group.compare("OdomORBSLAM2") == 0)
+#ifndef RTABMAP_ORB_SLAM
+					if(group.compare("OdomORBSLAM") == 0)
 					{
 						ignore = true;
 					}
@@ -1216,13 +1245,13 @@ void readINIImpl(const CSimpleIniA & ini, const std::string & configFilePath, Pa
 				std::vector<std::string> version = uListToVector(uSplit((*iter).second, '.'));
 				if(version.size() == 3)
 				{
-					if(!RTABMAP_VERSION_COMPARE(std::atoi(version[0].c_str()), std::atoi(version[1].c_str()), std::atoi(version[2].c_str())))
+					if(RTABMAP_VERSION_COMPARE(<, std::atoi(version[0].c_str()), std::atoi(version[1].c_str()), std::atoi(version[2].c_str())))
 					{
 						if(configFilePath.find(".rtabmap") != std::string::npos)
 						{
 							UWARN("Version in the config file \"%s\" is more recent (\"%s\") than "
-								   "current RTAB-Map version used (\"%s\"). The config file will be upgraded "
-								   "to new version.",
+								   "current RTAB-Map version used (\"%s\"). The config file will be downgraded "
+								   "to current RTAB-Map version if saved.",
 								   configFilePath.c_str(),
 								   (*iter).second,
 								   RTABMAP_VERSION);

corelib/src/RegistrationIcp.cpp

@@ -529,6 +529,7 @@ Transform RegistrationIcp::computeTransformationImpl(
 				double toComplexity = util3d::computeNormalsComplexity(toScan, guess, &complexityVectorsTo, &complexityValuesTo);
 				float complexity = fromComplexity<toComplexity?fromComplexity:toComplexity;
 				info.icpStructuralComplexity = complexity;
+				UDEBUG("structural complexity: from=%f to=%f", fromComplexity, toComplexity);
 				if(complexity < _pointToPlaneMinComplexity)
 				{
 					tooLowComplexityForPlaneToPlane = true;

corelib/src/RegistrationVis.cpp

@@ -84,6 +84,9 @@ RegistrationVis::RegistrationVis(const ParametersMap & parameters, Registration
 		_flowEps(Parameters::defaultVisCorFlowEps()),
 		_flowMaxLevel(Parameters::defaultVisCorFlowMaxLevel()),
 		_flowGpu(Parameters::defaultVisCorFlowGpu()),
+		_flowUseMinEigenVals(Parameters::defaultVisCorFlowUseMinEigenVals()),
+		_flowMinEigThreshold(Parameters::defaultVisCorFlowMinEigThreshold()),
+		_flowErrorThreshold(Parameters::defaultVisCorFlowErrorThreshold()),
 		_nndr(Parameters::defaultVisCorNNDR()),
 		_nnType(Parameters::defaultVisCorNNType()),
 		_gmsWithRotation(Parameters::defaultGMSWithRotation()),
@@ -145,6 +148,9 @@ void RegistrationVis::parseParameters(const ParametersMap & parameters)
 	Parameters::parse(parameters, Parameters::kVisCorFlowEps(), _flowEps);
 	Parameters::parse(parameters, Parameters::kVisCorFlowMaxLevel(), _flowMaxLevel);
 	Parameters::parse(parameters, Parameters::kVisCorFlowGpu(), _flowGpu);
+	Parameters::parse(parameters, Parameters::kVisCorFlowUseMinEigenVals(), _flowUseMinEigenVals);
+	Parameters::parse(parameters, Parameters::kVisCorFlowMinEigThreshold(), _flowMinEigThreshold);
+	Parameters::parse(parameters, Parameters::kVisCorFlowErrorThreshold(), _flowErrorThreshold);
 	Parameters::parse(parameters, Parameters::kVisCorNNDR(), _nndr);
 	Parameters::parse(parameters, Parameters::kVisCorNNType(), _nnType);
 	Parameters::parse(parameters, Parameters::kGMSWithRotation(), _gmsWithRotation);
@@ -286,6 +292,10 @@ void RegistrationVis::parseParameters(const ParametersMap & parameters)
 	{
 		uInsert(_featureParameters, ParametersPair(Parameters::kKpGridCols(), parameters.at(Parameters::kVisGridCols())));
 	}
+	if(uContains(parameters, Parameters::kRtabmapWorkingDirectory()))
+	{
+		uInsert(_featureParameters, ParametersPair(Parameters::kRtabmapWorkingDirectory(), parameters.at(Parameters::kRtabmapWorkingDirectory())));
+	}
 
 	delete _detectorFrom;
 	delete _detectorTo;
@@ -317,6 +327,7 @@ Transform RegistrationVis::computeTransformationImpl(
 	UDEBUG("%s=%d", Parameters::kVisPnPFlags().c_str(), _PnPFlags);
 	UDEBUG("%s=%f", Parameters::kVisPnPMaxVariance().c_str(), _PnPMaxVar);
 	UDEBUG("%s=%f", Parameters::kVisPnPSplitLinearCovComponents().c_str(), _PnPSplitLinearCovarianceComponents);
+	UDEBUG("%s=%f", Parameters::kVisPnPVarianceMedianRatio().c_str(), _PnPVarMedianRatio);
 	UDEBUG("%s=%d", Parameters::kVisCorType().c_str(), _correspondencesApproach);
 	UDEBUG("%s=%d", Parameters::kVisCorFlowWinSize().c_str(), _flowWinSize);
 	UDEBUG("%s=%d", Parameters::kVisCorFlowIterations().c_str(), _flowIterations);
@@ -329,11 +340,12 @@ Transform RegistrationVis::computeTransformationImpl(
 	UDEBUG("Feature Detector = %d", (int)_detectorFrom->getType());
 	UDEBUG("guess=%s", guess.prettyPrint().c_str());
 
-	UDEBUG("Input(%d): from=%d words, %d 3D words, %d words descriptors,  %d kpts, %d kpts3D, %d descriptors, image=%dx%d models=%d stereo=%d",
+	UDEBUG("Input(%d): from=%d words, %d 3D words, %d words descriptors, %d words kpts, %d kpts, %d kpts3D, %d descriptors, image=%dx%d models=%d stereo=%d",
 			fromSignature.id(),
 			(int)fromSignature.getWords().size(),
 			(int)fromSignature.getWords3().size(),
 			(int)fromSignature.getWordsDescriptors().rows,
+			(int)fromSignature.getWordsKpts().size(),
 			(int)fromSignature.sensorData().keypoints().size(),
 			(int)fromSignature.sensorData().keypoints3D().size(),
 			fromSignature.sensorData().descriptors().rows,
@@ -342,11 +354,12 @@ Transform RegistrationVis::computeTransformationImpl(
 			(int)fromSignature.sensorData().cameraModels().size(),
 			(int)fromSignature.sensorData().stereoCameraModels().size());
 
-	UDEBUG("Input(%d): to=%d words, %d 3D words, %d words descriptors, %d kpts, %d kpts3D, %d descriptors, image=%dx%d models=%d stereo=%d",
+	UDEBUG("Input(%d): to=%d words, %d 3D words, %d words descriptors, %d words kpts, %d kpts, %d kpts3D, %d descriptors, image=%dx%d models=%d stereo=%d",
 			toSignature.id(),
 			(int)toSignature.getWords().size(),
 			(int)toSignature.getWords3().size(),
 			(int)toSignature.getWordsDescriptors().rows,
+			(int)toSignature.getWordsKpts().size(),
 			(int)toSignature.sensorData().keypoints().size(),
 			(int)toSignature.sensorData().keypoints3D().size(),
 			toSignature.sensorData().descriptors().rows,
@@ -375,6 +388,9 @@ Transform RegistrationVis::computeTransformationImpl(
 	{
 		UDEBUG("");
 		// just some checks to make sure that input data are ok
+		UASSERT(fromSignature.getWords().empty() ||
+				fromSignature.getWordsKpts().empty() ||
+				(fromSignature.getWords().size() == fromSignature.getWordsKpts().size()));
 		UASSERT(fromSignature.getWords().empty() ||
 				fromSignature.getWords3().empty() ||
 				(fromSignature.getWords().size() == fromSignature.getWords3().size()));
@@ -382,8 +398,11 @@ Transform RegistrationVis::computeTransformationImpl(
 				(int)fromSignature.getWords().size() == fromSignature.getWordsDescriptors().rows ||
 				fromSignature.sensorData().descriptors().empty() ||
 				fromSignature.getWordsDescriptors().empty() == 0);
-		UASSERT((toSignature.getWords().empty() && toSignature.getWords3().empty())||
-				(toSignature.getWords().size() && toSignature.getWords3().empty())||
+		UASSERT(toSignature.getWords().empty() ||
+				toSignature.getWordsKpts().empty() ||
+				(toSignature.getWords().size() == toSignature.getWordsKpts().size()));
+		UASSERT(toSignature.getWords().empty() ||
+				toSignature.getWords3().empty() ||
 				(toSignature.getWords().size() == toSignature.getWords3().size()));
 		UASSERT((int)toSignature.sensorData().keypoints().size() == toSignature.sensorData().descriptors().rows ||
 				(int)toSignature.getWords().size() == toSignature.getWordsDescriptors().rows ||
@@ -428,16 +447,7 @@ Transform RegistrationVis::computeTransformationImpl(
 							{
 								UASSERT(!fromSignature.sensorData().cameraModels().empty());
 								UDEBUG("Masking floor (threshold=%f)", _maskFloorThreshold);
-								if(_maskFloorThreshold<0.0f)
-								{
-									cv::Mat depthBelow;
-									util3d::filterFloor(depthMask, fromSignature.sensorData().cameraModels(), _maskFloorThreshold*-1.0f, &depthBelow);
-									depthMask = depthBelow;
-								}
-								else
-								{
-									depthMask = util3d::filterFloor(depthMask, fromSignature.sensorData().cameraModels(), _maskFloorThreshold);
-								}
+								depthMask = util3d::filterFloor(depthMask, fromSignature.sensorData().cameraModels(), _maskFloorThreshold);
 								UDEBUG("Masking floor done.");
 							}
 
@@ -643,6 +653,7 @@ Transform RegistrationVis::computeTransformationImpl(
 				// Find features in the new left image
 				UDEBUG("guessSet = %d", guessSet?1:0);
 				std::vector<unsigned char> status;
+				std::vector<float> err;
 #ifdef HAVE_OPENCV_CUDAOPTFLOW
 				if (_flowGpu)
 				{
@@ -672,7 +683,6 @@ Transform RegistrationVis::computeTransformationImpl(
 				else
 #endif
 				{
-					std::vector<float> err;
 					UDEBUG("cv::calcOpticalFlowPyrLK() begin");
 					cv::calcOpticalFlowPyrLK(
 						imageFrom,
@@ -684,7 +694,8 @@ Transform RegistrationVis::computeTransformationImpl(
 						cv::Size(_flowWinSize, _flowWinSize),
 						guessSet ? 0 : _flowMaxLevel,
 						cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS, _flowIterations, _flowEps),
-						cv::OPTFLOW_LK_GET_MIN_EIGENVALS | (guessSet ? cv::OPTFLOW_USE_INITIAL_FLOW : 0), 1e-4);
+						(_flowUseMinEigenVals ? cv::OPTFLOW_LK_GET_MIN_EIGENVALS : 0) | (guessSet ? cv::OPTFLOW_USE_INITIAL_FLOW : 0),
+						_flowMinEigThreshold);
 					UDEBUG("cv::calcOpticalFlowPyrLK() end");
 				}
 
@@ -693,11 +704,14 @@ Transform RegistrationVis::computeTransformationImpl(
 				std::vector<cv::Point3f> kptsFrom3DKept(kptsFrom3D.size());
 				std::vector<int> orignalWordsFromIdsCpy = orignalWordsFromIds;
 				int ki = 0;
+				UASSERT((status.empty() || cornersTo.size() == status.size()) &&
+						(err.empty() || cornersTo.size() == err.size()));
 				for(unsigned int i=0; i<status.size(); ++i)
 				{
 					if(status[i] &&
 					   uIsInBounds(cornersTo[i].x, 0.0f, float(imageTo.cols)) &&
-					   uIsInBounds(cornersTo[i].y, 0.0f, float(imageTo.rows)))
+					   uIsInBounds(cornersTo[i].y, 0.0f, float(imageTo.rows)) &&
+					   (_flowUseMinEigenVals || err.empty() || err[i] < _flowErrorThreshold))
 					{
 						if(orignalWordsFromIdsCpy.size())
 						{
@@ -794,16 +808,7 @@ Transform RegistrationVis::computeTransformationImpl(
 							{
 								UASSERT(!toSignature.sensorData().cameraModels().empty());
 								UDEBUG("Masking floor (threshold=%f)", _maskFloorThreshold);
-								if(_maskFloorThreshold<0.0f)
-								{
-									cv::Mat depthBelow;
-									util3d::filterFloor(depthMask, toSignature.sensorData().cameraModels(), _maskFloorThreshold*-1.0f, &depthBelow);
-									depthMask = depthBelow;
-								}
-								else
-								{
-									depthMask = util3d::filterFloor(depthMask, toSignature.sensorData().cameraModels(), _maskFloorThreshold);
-								}
+								depthMask = util3d::filterFloor(depthMask, toSignature.sensorData().cameraModels(), _maskFloorThreshold);
 								UDEBUG("Masking floor done.");
 							}
 
@@ -1620,6 +1625,7 @@ Transform RegistrationVis::computeTransformationImpl(
 						cameraTransform,
 						_PnPReprojError,
 						0.99f,
+						_PnPVarMedianRatio,
 						words3A, // for scale estimation
 						&variance,
 						&matchesV);
@@ -1660,14 +1666,10 @@ Transform RegistrationVis::computeTransformationImpl(
 					UINFO(msg.c_str());
 				}
 			}
-			else if(fromSignature.getWords().size() == 0)
+			else 
 			{
-				msg = uFormat("No enough features (%d)", (int)fromSignature.getWords().size());
-				UWARN(msg.c_str());
-			}
-			else
-			{
-				msg = uFormat("No camera model");
+				msg = uFormat("No enough features < %s=%d (from=%d to=%d)", 
+					Parameters::kVisMinInliers().c_str(), _minInliers, (int)fromSignature.getWords().size(), (int)toSignature.getWords().size());
 				UWARN(msg.c_str());
 			}
 		}
@@ -2174,6 +2176,8 @@ Transform RegistrationVis::computeTransformationImpl(
 				// We take the second eigen value
 				info.inliersDistribution = pca_analysis.eigenvalues.at<float>(0, 1);
 
+				UDEBUG("Visual distribution: %f (eigen values = %f %f)", info.inliersDistribution, pca_analysis.eigenvalues.at<float>(0, 0), pca_analysis.eigenvalues.at<float>(0, 1));
+
 				if(info.inliersDistribution < _minInliersDistributionThr)
 				{
 					msg = uFormat("The distribution (%f) of inliers is under %s threshold (%f)",
@@ -2196,6 +2200,10 @@ Transform RegistrationVis::computeTransformationImpl(
 	info.matches = matchesCount;
 	info.rejectedMsg = msg;
 	info.covariance = covariance;
+	if(!covariance.empty())
+	{
+		info.variance = covariance.at<double>(0,0);
+	}
 
 	UDEBUG("inliers=%d/%d", info.inliers, info.matches);
 	UDEBUG("transform=%s", transform.prettyPrint().c_str());