reset color inverted when reset

CloudViewer: saving rendering options of the 3D view, re-apply current color index when moving through nodes.
ImageView: Depth colormap in base frame option. CloudViewer: added min/max range options for XYZ axes coloring.
2026-09-16 16:27:45 +08:00 · 2025-07-10 16:57:42 -07:00 · 2025-07-10 16:55:57 -07:00 · 2025-07-09 18:49:48 -07:00
96 changed files with 3177 additions and 7366 deletions
@@ -1,21 +0,0 @@
-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/${USERNAME}/.bashrc
-
-
@@ -1,18 +1,8 @@
 {
-    "build": {
-      "dockerfile": "Dockerfile"
-    },
+    "image": "introlab3it/rtabmap:20.04",
    "customizations": {
        "vscode": {
          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
        }
-      },
-    "workspaceMount": "source=${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"]
+      }
 }
@@ -1,21 +0,0 @@
-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/${USERNAME}/.bashrc
-
-
@@ -1,18 +1,8 @@
 {
-    "build": {
-      "dockerfile": "Dockerfile"
-    },
+    "image": "introlab3it/rtabmap:22.04",
    "customizations": {
        "vscode": {
          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
        }
-      },
-    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
-    "workspaceFolder": "/home/vscode/rtabmap",
-    //"mounts": ["source=${localEnv:HOME}/Documents/RTAB-Map,target=/home/vscode/Documents/RTAB-Map,type=bind,consistency=cached"],
-    "settings": {
-      "terminal.integrated.defaultProfile.linux": "bash"
-    },
-    "remoteUser": "vscode",
-    "runArgs": ["--privileged", "--network=host"]
+      }
 }
@@ -1,104 +0,0 @@
-ARG ROS_DISTRO=jazzy
-
-FROM osrf/ros:${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}
@@ -1,21 +0,0 @@
-{
-    "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"]
-}
@@ -1,25 +0,0 @@
-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/${USERNAME}/.bashrc
-
-
@@ -1,18 +1,8 @@
 {
-    "build": {
-      "dockerfile": "Dockerfile"
-    },
+    "image": "introlab3it/rtabmap:24.04",
    "customizations": {
        "vscode": {
          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
        }
-      },
-    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
-    "workspaceFolder": "/home/vscode/rtabmap",
-    //"mounts": ["source=${localEnv:HOME}/Documents/RTAB-Map,target=/home/vscode/Documents/RTAB-Map,type=bind,consistency=cached"],
-    "settings": {
-      "terminal.integrated.defaultProfile.linux": "bash"
-    },
-    "remoteUser": "vscode",
-    "runArgs": ["--privileged", "--network=host"]
+      }
 }
@@ -73,7 +73,5 @@ RUN set -ex && \
    echo "${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

@@ -9,7 +9,6 @@
      },
    "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"
    },
@@ -19,8 +19,8 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 # VERSION
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
-SET(RTABMAP_MINOR_VERSION 23)
-SET(RTABMAP_PATCH_VERSION 2)
+SET(RTABMAP_MINOR_VERSION 22)
+SET(RTABMAP_PATCH_VERSION 0)
 SET(RTABMAP_VERSION
  ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
  
@@ -203,11 +203,10 @@ 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 RealSense2 support"           ON)
+option(WITH_REALSENSE2    "Include RealSense 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)
@@ -219,9 +218,8 @@ 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_FUSION   "Include VINS-Fusion support"          OFF)
+option(WITH_VINS          "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)
@@ -398,7 +396,7 @@ IF(NOT VTK_FOUND)
 ENDIF(NOT VTK_FOUND)

 IF(WITH_TORCH)
-    FIND_PACKAGE(Torch)
+    FIND_PACKAGE(Torch QUIET)
    IF(TORCH_FOUND)
        MESSAGE(STATUS "Found Torch: ${TORCH_INCLUDE_DIRS}")
    ENDIF(TORCH_FOUND)
@@ -420,14 +418,14 @@ IF(WITH_PDAL)
 ENDIF(WITH_PDAL)

 IF(WITH_LIBLAS)
-    FIND_PACKAGE(libLAS)
+    FIND_PACKAGE(libLAS QUIET)
    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)
+    FIND_PACKAGE(CudaSift 3 QUIET)
    IF(CudaSift_FOUND)
       MESSAGE(STATUS "Found CudaSift")
    ENDIF(CudaSift_FOUND)
@@ -498,34 +496,35 @@ 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()
-        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()
+         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)
@@ -551,7 +550,7 @@ IF(WITH_FLYCAPTURE2)
 ENDIF(WITH_FLYCAPTURE2)

 IF(WITH_CVSBA)
-    FIND_PACKAGE(cvsba)
+    FIND_PACKAGE(cvsba QUIET)
    IF(cvsba_FOUND)
       MESSAGE(STATUS "Found cvsba: ${cvsba_INCLUDE_DIRS}")
    ENDIF(cvsba_FOUND)
@@ -577,14 +576,10 @@ IF(WITH_POINTMATCHER)
 ENDIF(WITH_POINTMATCHER)

 IF(libpointmatcher_FOUND OR GTSAM_FOUND)
-    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 REQUIRED)
+    IF(Boost_MINOR_VERSION GREATER 47)
        find_package(Boost COMPONENTS thread filesystem system program_options date_time chrono timer serialization REQUIRED)
-    ELSE()
-        find_package(Boost COMPONENTS thread filesystem system program_options date_time REQUIRED)
-    ENDIF()
+    ENDIF(Boost_MINOR_VERSION GREATER 47)
    IF(WIN32)
        MESSAGE(STATUS "Boost_LIBRARY_DIRS=${Boost_LIBRARY_DIRS}")
        link_directories(${Boost_LIBRARY_DIRS})
@@ -592,7 +587,7 @@ IF(libpointmatcher_FOUND OR GTSAM_FOUND)
 ENDIF(libpointmatcher_FOUND OR GTSAM_FOUND)

 IF(WITH_CCCORELIB)
-    find_package(CCCoreLib)
+    find_package(CCCoreLib QUIET)
    IF(CCCoreLib_FOUND)
       MESSAGE(STATUS "Found CCCoreLib: ${CCCoreLib_INCLUDE_DIRS}")
    ENDIF(CCCoreLib_FOUND)
@@ -604,7 +599,7 @@ 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)
+       find_package(Open3D QUIET)
       IF(Open3D_FOUND)
          MESSAGE(STATUS "Found Open3D: ${Open3DINCLUDE_DIRS}")
       ENDIF(Open3D_FOUND)
@@ -612,17 +607,17 @@ IF(WITH_OPEN3D)
 ENDIF(WITH_OPEN3D)

 IF(WITH_LOAM)
-    find_package(loam_velodyne)
+    find_package(loam_velodyne QUIET)
    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)
+    find_package(floam QUIET)
    IF(floam_FOUND)
       MESSAGE(STATUS "Found floam: ${floam_INCLUDE_DIRS}")
-       FIND_PACKAGE(Ceres REQUIRED)
+       FIND_PACKAGE(Ceres QUIET REQUIRED)
    ENDIF(floam_FOUND)
 ENDIF(WITH_FLOAM)

@@ -689,26 +684,19 @@ IF(WITH_MYNTEYE)
 ENDIF(WITH_MYNTEYE)

 IF(WITH_DEPTHAI)
-    FIND_PACKAGE(depthai 2.24)
+    FIND_PACKAGE(depthai 2.24 QUIET)
    IF(depthai_FOUND)
       MESSAGE(STATUS "Found depthai-core (targets)")
    ENDIF(depthai_FOUND)
 ENDIF(WITH_DEPTHAI)

 IF(WITH_XVSDK)
-    FIND_PACKAGE(xvsdk)
+    FIND_PACKAGE(xvsdk QUIET)
    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)
@@ -720,35 +708,35 @@ IF(WITH_OCTOMAP)
 ENDIF(WITH_OCTOMAP)

 IF(WITH_GRIDMAP)
-    FIND_PACKAGE(grid_map_core)
+    FIND_PACKAGE(grid_map_core QUIET)
    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)
+    FIND_PACKAGE(CPUTSDF QUIET)
    IF(CPUTSDF_FOUND)
       MESSAGE(STATUS "Found CPUTSDF: ${CPUTSDF_INCLUDE_DIRS}")
    ENDIF(CPUTSDF_FOUND)
 ENDIF(WITH_CPUTSDF)

 IF(WITH_OPENCHISEL)
-    find_package(open_chisel)
+    find_package(open_chisel QUIET)
    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)
+    find_package(AliceVision CONFIG QUIET)
    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 "${CMAKE_MODULE_PATH};/usr/local/lib/cmake/modules")
-        find_package(Geogram REQUIRED)
-        find_package(assimp)
+        find_package(Geogram REQUIRED QUIET)
+        find_package(assimp QUIET)
        add_definitions("-DRTABMAP_ALICE_VISION_MAJOR=${AliceVision_VERSION_MAJOR}")
        add_definitions("-DRTABMAP_ALICE_VISION_MINOR=${AliceVision_VERSION_MINOR}")
        add_definitions("-DRTABMAP_ALICE_VISION_PATCH=${AliceVision_VERSION_PATCH}")
@@ -756,28 +744,28 @@ IF(WITH_ALICE_VISION)
 ENDIF(WITH_ALICE_VISION)

 IF(WITH_FOVIS)
-    FIND_PACKAGE(libfovis)
+    FIND_PACKAGE(libfovis QUIET)
    IF(libfovis_FOUND)
       MESSAGE(STATUS "Found libfovis: ${libfovis_INCLUDE_DIRS}")
    ENDIF(libfovis_FOUND)
 ENDIF(WITH_FOVIS)

 IF(WITH_VISO2)
-    FIND_PACKAGE(libviso2)
+    FIND_PACKAGE(libviso2 QUIET)
    IF(libviso2_FOUND)
       MESSAGE(STATUS "Found libviso2: ${libviso2_INCLUDE_DIRS}")
    ENDIF(libviso2_FOUND)
 ENDIF(WITH_VISO2)

 IF(WITH_DVO)
-    FIND_PACKAGE(dvo_core)
+    FIND_PACKAGE(dvo_core QUIET)
    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)
+    FIND_PACKAGE(okvis 1.1 QUIET)
    IF(okvis_FOUND)
       MESSAGE(STATUS "Found okvis: ${OKVIS_INCLUDE_DIRS}")
       find_package(brisk 2 REQUIRED)
@@ -792,7 +780,7 @@ 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)
+    FIND_PACKAGE(Ceres QUIET)
    MESSAGE(STATUS "Found ceres ${Ceres_VERSION}: ${CERES_INCLUDE_DIRS}")
  ENDIF(NOT okvis_FOUND AND NOT floam_FOUND)
 ELSEIF(Ceres_FOUND)
@@ -800,33 +788,28 @@ ELSEIF(Ceres_FOUND)
 ENDIF()

 IF(WITH_MSCKF_VIO)
-    FIND_PACKAGE(msckf_vio)
+    FIND_PACKAGE(msckf_vio QUIET)
    IF(msckf_vio_FOUND)
       MESSAGE(STATUS "Found msckf_vio: ${msckf_vio_INCLUDE_DIRS}")
    ENDIF(msckf_vio_FOUND)
 ENDIF(WITH_MSCKF_VIO)

-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(WITH_VINS)
+    FIND_PACKAGE(vins QUIET)
    IF(vins_FOUND)
-       MESSAGE(STATUS "Found vins-fusion: ${vins_INCLUDE_DIRS}")
+       MESSAGE(STATUS "Found vins: ${vins_INCLUDE_DIRS}")
       IF(okvis_FOUND)
-           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.")
+           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.")
       ENDIF(okvis_FOUND)
    ENDIF(vins_FOUND)
-ENDIF(WITH_VINS_FUSION)
+ENDIF(WITH_VINS)

 IF(WITH_OPENVINS)
-    FIND_PACKAGE(ov_msckf)
+    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)
-    FIND_PACKAGE(ov_init)
+    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}
@@ -855,19 +838,12 @@ IF(WITH_OPENGV)
 ENDIF(WITH_OPENGV)

 IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
-    FIND_PACKAGE(ORB_SLAM)
+    FIND_PACKAGE(ORB_SLAM QUIET)
    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)
-    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})
@@ -962,14 +938,10 @@ 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 "//")
@@ -1095,9 +1067,6 @@ 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)
@@ -1132,14 +1101,11 @@ IF(NOT msckf_vio_FOUND)
   SET(MSCKF_VIO "//")
 ENDIF()
 IF(NOT vins_FOUND)
-   SET(VINSFUSION "//")
+   SET(VINS "//")
 ENDIF()
 IF(NOT ov_msckf_FOUND)
   SET(OPENVINS "//")
 ENDIF()
-IF(NOT CUVSLAM_FOUND)
-   SET(CUVSLAM "//")
-ENDIF()
 IF(NOT ORB_SLAM_FOUND)
   SET(ORB_SLAM "//")
 ENDIF()
@@ -1610,7 +1576,7 @@ ENDIF()

 IF(grid_map_core_FOUND)
 MESSAGE(STATUS "  With GridMap ${grid_map_core_VERSION}        = YES (License: BSD)")
-ELSEIF(NOT WITH_GRIDMAP)
+ELSEIF(NOT WITH_OCTOMAP)
 MESSAGE(STATUS "  With GridMap              = NO (WITH_GRIDMAP=OFF)")
 ELSE()
 MESSAGE(STATUS "  With GridMap              = NO (grid_map_core not found)")
@@ -1773,14 +1739,6 @@ 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)
@@ -1842,7 +1800,7 @@ ENDIF()
 IF(vins_FOUND)
 MESSAGE(STATUS "  With VINS-Fusion          = YES (License: GPLv3)")
 ELSEIF(NOT WITH_VINS)
-MESSAGE(STATUS "  With VINS-Fusion          = NO (WITH_VINS_FUSION=OFF)")
+MESSAGE(STATUS "  With VINS-Fusion          = NO (WITH_VINS=OFF)")
 ELSE()
 MESSAGE(STATUS "  With VINS-Fusion          = NO (VINS-Fusion not found)")
 ENDIF()
@@ -1865,14 +1823,6 @@ 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 "--------------------------------------------")

@@ -41,7 +41,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@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
@@ -73,7 +72,6 @@ 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
@@ -84,9 +82,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@DVO@#define RTABMAP_DVO
@OKVIS@#define RTABMAP_OKVIS
@MSCKF_VIO@#define RTABMAP_MSCKF_VIO
-@VINSFUSION@#define RTABMAP_VINS_FUSION
+@VINS@#define RTABMAP_VINS
@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
@@ -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 ${SRC_FILES})
+  ADD_EXECUTABLE(rtabmap_app WIN32 ${SRC_FILES})
 ELSE()
  ADD_EXECUTABLE(rtabmap_app ${SRC_FILES})
 ENDIF()
@@ -110,33 +110,6 @@ 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
@@ -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/m'}; % '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/'}; % '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/m', 'Distance_since_last_loc_under_50cm'};
+  statNames = {'Loop/Distance_since_last_loc/', '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-m' '.txt'], '\t', 1, 0, "emptyvalue", 0);
+  data = dlmread([dataDir '/' prefix num2str(datasets(d)) '-' 'Loop-Distance_since_last_loc-' '.txt'], '\t', 1, 0, "emptyvalue", 0);
 else
  data = dlmread([dataDir '/' prefix num2str(datasets(d)) '-' statName '.txt'], '\t', 1, 0, "emptyvalue", 0);
 endif
@@ -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/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/$d/consecutive_loc"
+  rtabmap-report --export --export_prefix "Stat$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"
 done

@@ -1,79 +0,0 @@
-# - 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_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)
-    set(CUVSLAM_FOUND TRUE)
-    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} 
-        ${EIGEN3_INCLUDE_DIR}
-    )
-endif()
-
-# Handle the QUIET and REQUIRED arguments
-include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(CuVSLAM
-    FOUND_VAR CUVSLAM_FOUND
-    REQUIRED_VARS CUVSLAM_LIBRARIES CUVSLAM_INCLUDE_DIRS
-    HANDLE_COMPONENTS
-)
-
-if(CUVSLAM_FOUND)
-    # Create imported target for modern CMake usage
-    if(NOT TARGET cuvslam::cuvslam)
-        add_library(cuvslam::cuvslam UNKNOWN IMPORTED)
-        set_target_properties(cuvslam::cuvslam PROPERTIES
-            IMPORTED_LOCATION "${CUVSLAM_LIBRARY}"
-            INTERFACE_INCLUDE_DIRECTORIES "${CUVSLAM_INCLUDE_DIRS}"
-            INTERFACE_LINK_LIBRARIES "${CUVSLAM_LIBRARIES};Eigen3::Eigen"
-        )
-    endif()
-    
-    # Show which cuVSLAM was found only if not quiet
-    if(NOT CUVSLAM_FIND_QUIETLY)
-        message(STATUS "Found cuVSLAM: ${CUVSLAM_LIBRARIES}")
-    endif()
-else()
-    # Fatal error if cuVSLAM is required but not found
-    if(CUVSLAM_FIND_REQUIRED)
-        message(FATAL_ERROR "Could not find cuVSLAM library")
-    endif()
-endif()
-
-mark_as_advanced(CUVSLAM_INCLUDE_DIRS CUVSLAM_LIBRARY)
@@ -27,10 +27,10 @@

 if(NOT Eigen3_FIND_VERSION)
  if(NOT Eigen3_FIND_VERSION_MAJOR)
-    set(Eigen3_FIND_VERSION_MAJOR 3)
+    set(Eigen3_FIND_VERSION_MAJOR 2)
  endif()
  if(NOT Eigen3_FIND_VERSION_MINOR)
-    set(Eigen3_FIND_VERSION_MINOR 0)
+    set(Eigen3_FIND_VERSION_MINOR 91)
  endif()
  if(NOT Eigen3_FIND_VERSION_PATCH)
    set(Eigen3_FIND_VERSION_PATCH 0)
@@ -26,10 +26,6 @@ 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
@@ -122,29 +118,22 @@ IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_CONFIG_FIL
 	  ${CHOLMOD_LIB})
  ENDIF(G2O_SOLVER_CHOLMOD)

-  FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
-  STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
+  FILE(READ ${G2O_CONFIG_FILE} TMPTXT)
+  STRING(FIND "${TMPTXT}" "G2O_NUMBER_FORMAT_STR" matchres)
  IF(${matchres} EQUAL -1)
-    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)
-    ENDIF()
+    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 "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)
+    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()
+      MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
+      SET(G2O_CPP11 1)
+    ENDIF()
  ENDIF()

  SET(G2O_FOUND "YES")
@@ -10,6 +10,8 @@
 	<string>${MACOSX_BUNDLE_INFO_STRING}</string>
 	<key>CFBundleIconFile</key>
 	<string>${MACOSX_BUNDLE_ICON_FILE}</string>
+	<key>CFBundleIdentifier</key>
+	<string>${MACOSX_BUNDLE_GUI_IDENTIFIER}</string>
 	<key>CFBundleInfoDictionaryVersion</key>
 	<string>6.0</string>
 	<key>CFBundleLongVersionString</key>
@@ -30,14 +32,6 @@
 	<true/>
 	<key>NSHumanReadableCopyright</key>
 	<string>${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>
@@ -38,4 +38,3 @@ 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>
@@ -129,7 +129,6 @@ 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
@@ -162,20 +161,19 @@ public:
 	void executeNoResult(const std::string & sql) const;

 	// Load objects
-	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
+	void load(VWDictionary * dictionary, bool lastStateOnly = true) const;
+	void loadLastNodes(std::list<Signature *> & signatures) const; // returned signatures must be freed after usage
 	Signature * loadSignature(int id, bool * loadedFromTrash = 0); // returned signature must be freed after usage, call loadSignatures() instead if more than one signature should be loaded
-	void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0, bool loadWordIdsOnly = false); // returned signatures must be freed after usage
+	void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0); // returned signatures must be freed after usage
 	void loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws); // returned words must be freed after usage

 	// Specific queries...
-	void loadNodeData(Signature & signature, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
+	void loadNodeData(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;
@@ -276,12 +274,11 @@ 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, bool loadWordIdsOnly) const = 0;
-	virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures, bool loadWordIdsOnly) const = 0;
+	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 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;

@@ -289,7 +286,6 @@ 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;
@@ -135,12 +135,10 @@ 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, bool loadWordIdsOnly) const;
-	virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures, bool loadWordIdsOnly) const;
+	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 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;

@@ -148,7 +146,6 @@ 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;
@@ -193,8 +190,6 @@ 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;

@@ -37,48 +37,37 @@ 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 buildIndex(
-			flann_algorithm_t algorithm,
+	void buildLinearIndex(
 			const cv::Mat & features,
 			bool useDistanceL1 = false,
 			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);
+	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);

 	bool isBuilt();

@@ -115,9 +104,9 @@ 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)
@@ -53,7 +53,6 @@ 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();
@@ -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, 12=rgbd_bonn
+		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
 		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
@@ -264,7 +264,6 @@ 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);
@@ -300,7 +299,6 @@ private:
 	float _similarityThreshold;
 	bool _binDataKept;
 	bool _rawDescriptorsKept;
-	bool _loadVisualLocalFeaturesOnInit;
 	bool _saveDepth16Format;
 	bool _notLinkedNodesKeptInDb;
 	bool _saveIntermediateNodeData;
@@ -308,7 +306,6 @@ private:
 	std::string _depthCompressionFormat;
 	bool _incrementalMemory;
 	bool _localizationDataSaved;
-	bool _flannIndexSaved;
 	bool _reduceGraph;
 	int _maxStMemSize;
 	float _recentWmRatio;
@@ -356,7 +353,6 @@ 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;
@@ -53,11 +53,10 @@ public:
 		kTypeOkvis = 6,
 		kTypeLOAM = 7,
 		kTypeMSCKF = 8,
-		kTypeVINSFusion = 9,
+		kTypeVINS = 9,
 		kTypeOpenVINS = 10,
 		kTypeFLOAM = 11,
-		kTypeOpen3D = 12,
-		kTypeCuVSLAM = 13
+		kTypeOpen3D = 12
 	};

 public:
@@ -29,7 +29,6 @@ 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>
@@ -56,19 +55,18 @@ private:
 	// MAIN LOOP
 	//============================================================
 	virtual void mainLoop();
-	void addData(const SensorEvent & data);
-	bool getData(SensorEvent & data);
+	void addData(const SensorData & data);
+	bool getData(SensorData & data);

 private:
 	USemaphore _dataAdded;
 	UMutex _dataMutex;
-	std::list<SensorEvent> _dataBuffer;
+	std::list<SensorData> _dataBuffer;
 	std::list<SensorData> _imuBuffer;
 	Odometry * _odometry;
 	unsigned int _dataBufferMaxSize;
 	bool _resetOdometry;
 	Transform _resetPose;
-	Transform _previousGuessPose;
 	double _oldestAsyncImuStamp;
 	double _newestAsyncImuStamp;
 };
@@ -204,7 +204,6 @@ 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).");
@@ -213,8 +212,8 @@ 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,    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, LocalizationDataSaved,       bool, false,     uFormat("Save localization data during localization session (when %s=false). When enabled, the database will then also grow in localization mode. This mode would be used only for debugging purpose.", kMemIncrementalMemory().c_str()).c_str());
+    RTABMAP_PARAM(Mem, ReduceGraph,                 bool, false,    "Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set).");
    RTABMAP_PARAM(Mem, RecentWmRatio,               float, 0.2,     "Ratio of locations after the last loop closure in WM that cannot be transferred.");
    RTABMAP_PARAM(Mem, TransferSortingByWeightId,   bool, false,    "On transfer, signatures are sorted by weight->ID only (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight->Age->ID (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID.");
    RTABMAP_PARAM(Mem, RehearsalIdUpdatedToNewOne,  bool, false,    "On merge, update to new id. When false, no copy.");
@@ -261,8 +260,6 @@ class RTABMAP_CORE_EXPORT Parameters
    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.", kMemIncrementalMemory().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().");
@@ -369,7 +366,7 @@ class RTABMAP_CORE_EXPORT Parameters
    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. If used with \"%s\", the disabled loop closure links will be removed.", 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. Not compatible with \"%s\" if enabled.", kOptimizerRobust().c_str()));
    RTABMAP_PARAM(RGBD, MaxLoopClosureDistance,   float, 0.0,   "Reject loop closures/localizations if the distance from the map is over this distance (0=disabled).");
    RTABMAP_PARAM(RGBD, 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()));
@@ -431,7 +428,7 @@ 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,     "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies).");
+    RTABMAP_PARAM(Optimizer, Robust,          bool, false,     uFormat("Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies). Not compatible with \"%s\" if enabled.", kRGBDOptimizeMaxError().c_str()));
    RTABMAP_PARAM(Optimizer, PriorsIgnored,   bool, true,      "Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this.");
    RTABMAP_PARAM(Optimizer, LandmarksIgnored,   bool, false,  "Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this.");
 #if defined(RTABMAP_G2O) || defined(RTABMAP_GTSAM)
@@ -456,8 +453,8 @@ 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 13=cuVSLAM");
-    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, 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, 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).");
@@ -606,8 +603,8 @@ class RTABMAP_CORE_EXPORT Parameters
    RTABMAP_PARAM(OdomMSCKF, InitCovExTrans,  double,  0.000025,  "");
    RTABMAP_PARAM(OdomMSCKF, MaxCamStateSize,  int,  20,  "");

-    // Odometry VINS-Fusion
-    RTABMAP_PARAM_STR(OdomVINSFusion, ConfigPath,     "",  "Path of VINS-Fusion config file.");
+    // Odometry VINS
+    RTABMAP_PARAM_STR(OdomVINS, ConfigPath,     "",  "Path of VINS 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");
@@ -8,7 +8,6 @@
 #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>
@@ -24,7 +23,7 @@ namespace rtabmap {
 * Create a single PythonInterface on main thread at
 * global scope before any Python classes.
 */
-class RTABMAP_CORE_EXPORT PythonInterface
+class PythonInterface
 {
 public:
 	PythonInterface();
@@ -35,7 +34,7 @@ private:
 	pybind11::gil_scoped_release* release_;
 };

-std::string RTABMAP_CORE_EXPORT getPythonTraceback();
+std::string getPythonTraceback();

 }

@@ -107,11 +107,7 @@ 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);
@@ -141,12 +137,10 @@ 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;
@@ -94,14 +94,14 @@ public:
 		_depthFromScanFillHolesFromBorder = fillHolesFromBorder;
 	}

-	// 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
+	// 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 setOdometryPath(const std::string & filePath, int format = 0)
 	{
 		_odometryPath = filePath;
 		_odometryFormat = 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
+	// 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)
 	{
 		_groundTruthPath = filePath;
@@ -1,105 +0,0 @@
-/*
-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 = "",
-        int colorWidth = 800,
-        int colorHeight = 600,
-        int depthWidth = 800,
-        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_;
-    int colorWidth_;
-    int colorHeight_;
-    int depthWidth_;
-    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
@@ -1,86 +0,0 @@
-/*
-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>
-
-#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);
-
-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_;
-	Transform previous_pose_;
-	double last_timestamp_;
-
-	//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_ */
@@ -25,7 +25,39 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

-#pragma once
-#pragma message("Warning: OdometryVINS.h is deprecated. Please use OdometryVINSFusion.h instead.")
+#ifndef ODOMETRYVINS_H_
+#define ODOMETRYVINS_H_

-#include "rtabmap/core/odometry/OdometryVINSFusion.h"
+#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_ */
@@ -1,64 +0,0 @@
-/*
-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_ */
@@ -41,7 +41,6 @@ SET(SRC_FILES
    camera/CameraMyntEye.cpp
    camera/CameraDepthAI.cpp
 	camera/CameraSeerSense.cpp
-	camera/CameraOrbbecSDK.cpp
    
    EpipolarGeometry.cpp
    VisualWord.cpp
@@ -99,10 +98,9 @@ SET(SRC_FILES
    odometry/OdometryLOAM.cpp
    odometry/OdometryFLOAM.cpp
    odometry/OdometryMSCKF.cpp
-    odometry/OdometryVINSFusion.cpp
+    odometry/OdometryVINS.cpp
    odometry/OdometryOpenVINS.cpp
    odometry/OdometryOpen3D.cpp
-	odometry/OdometryCuVSLAM.cpp
    
    IMU.cpp
    IMUThread.cpp
@@ -165,6 +163,10 @@ 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}
 )

@@ -392,13 +394,6 @@ 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}
@@ -773,13 +768,6 @@ IF(ORB_SLAM_FOUND)
 	)
 ENDIF(ORB_SLAM_FOUND)

-IF(CUVSLAM_FOUND)
-    SET(LIBRARIES
-		${LIBRARIES}
-		cuvslam::cuvslam
-	)
-ENDIF(CUVSLAM_FOUND)
-
 IF(GTSAM_FOUND)
 	# Make sure GTSAM is built with system Eigen, not the included one in its package
 	IF(GTSAM_INCLUDE_DIR)
@@ -828,7 +816,6 @@ CONFIGURE_FILE(${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
@@ -870,12 +857,8 @@ generate_export_header(rtabmap_core
 DEPRECATED_MACRO_NAME RTABMAP_DEPRECATED)

 target_include_directories(rtabmap_core PUBLIC 
-  "$<BUILD_INTERFACE:${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}>")
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include;${CMAKE_CURRENT_BINARY_DIR}/include;${PUBLIC_INCLUDE_DIRS};${INCLUDE_DIRS}>"
+  "$<INSTALL_INTERFACE:${INSTALL_INCLUDE_DIR};${PUBLIC_INCLUDE_DIRS}>")
  
 TARGET_LINK_LIBRARIES(rtabmap_core 
  PUBLIC 
@@ -554,7 +554,7 @@ 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];
@@ -383,7 +383,7 @@ 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 +531,17 @@ 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, bool loadWordIdsOnly) const
+void DBDriver::loadLastNodes(std::list<Signature *> & signatures) const
 {
 	_dbSafeAccessMutex.lock();
-	this->loadLastNodesQuery(signatures, loadWordIdsOnly);
+	this->loadLastNodesQuery(signatures);
 	_dbSafeAccessMutex.unlock();
 }

@@ -564,8 +564,7 @@ Signature * DBDriver::loadSignature(int id, bool * loadedFromTrash)
 }
 void DBDriver::loadSignatures(const std::list<int> & signIds,
 		std::list<Signature *> & signatures,
-		std::set<int> * loadedFromTrash,
-		bool loadWordIdsOnly)
+		std::set<int> * loadedFromTrash)
 {
 	UDEBUG("");
 	// look up in the trash before the database
@@ -610,7 +609,7 @@ void DBDriver::loadSignatures(const std::list<int> & signIds,
 	if(ids.size())
 	{
 		_dbSafeAccessMutex.lock();
-		this->loadSignaturesQuery(ids, signatures, loadWordIdsOnly);
+		this->loadSignaturesQuery(ids, signatures);
 		_dbSafeAccessMutex.unlock();
 	}
 }
@@ -657,10 +656,10 @@ 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);
 }

@@ -824,45 +823,6 @@ 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;
@@ -1327,13 +1287,6 @@ 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,
@@ -34,7 +34,6 @@ 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"
@@ -405,7 +404,6 @@ 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)
 			{
@@ -1298,8 +1296,8 @@ 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)
 	{
@@ -1447,7 +1445,7 @@ 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());
@@ -1876,7 +1874,7 @@ 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());
 	}
 }

@@ -2393,23 +2391,6 @@ 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)
@@ -3006,7 +2987,7 @@ 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, bool loadWordIdsOnly) const
+void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & nodes) const
 {
 	ULOGGER_DEBUG("count=%d", (int)ids.size());
 	if(_ppDb && ids.size())
@@ -3170,7 +3151,7 @@ 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,
@@ -3209,17 +3190,175 @@ 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
-		UDEBUG("Loading local features (ids only=%s)....", loadWordIdsOnly?"true":"false");
-		if(loadWordIdsOnly) {
-			this->loadWordIdsQuery(nodes);
+		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 = ? ";
 		}
-		else {
-			this->loadWordsQuery(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 = ? ";
 		}
-		UDEBUG("Loading local features.... done! (in %f s)", timer.ticks());
+		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());

 		this->loadLinksQuery(nodes);
-		ULOGGER_DEBUG("Time loading links=%fs", timer.ticks());
+		ULOGGER_DEBUG("Time load links=%fs", timer.ticks());

 		for(std::list<Signature*>::iterator iter = nodes.begin(); iter!=nodes.end(); ++iter)
 		{
@@ -3487,7 +3626,7 @@ void DBDriverSqlite3::loadSignaturesQuery(const std::list<int> & ids, std::list<
 	}
 }

-void DBDriverSqlite3::loadLastNodesQuery(std::list<Signature *> & nodes, bool loadWordIdsOnly) const
+void DBDriverSqlite3::loadLastNodesQuery(std::list<Signature *> & nodes) const
 {
 	ULOGGER_DEBUG("");
 	if(_ppDb)
@@ -3533,15 +3672,15 @@ void DBDriverSqlite3::loadLastNodesQuery(std::list<Signature *> & nodes, bool lo
 		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, loadWordIdsOnly);
+		this->loadSignaturesQuery(ids, nodes);
 		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)
+	if(_ppDb && dictionary)
 	{
 		std::string type;
 		UTimer timer;
@@ -3604,11 +3743,11 @@ 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...
 		}
@@ -3619,50 +3758,9 @@ void DBDriverSqlite3::loadQuery(VWDictionary & dictionary, bool lastStateOnly) c

 		// Get Last word id
 		getLastWordId(id);
-		dictionary.setLastWordId(id);
+		dictionary->setLastWordId(id);

-		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());
+		ULOGGER_DEBUG("Time=%fs", timer.ticks());
 	}
 }

@@ -3762,262 +3860,6 @@ 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,
@@ -4332,7 +4174,7 @@ 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
@@ -5275,8 +5117,8 @@ 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(poses.end(), std::make_pair(serializedIds.at<int>(i), t));
-					//UDEBUG("Optimized pose %d: %s", serializedIds.at<int>(i), t.prettyPrint().c_str());
+					poses.insert(std::make_pair(serializedIds.at<int>(i), t));
+					UDEBUG("Optimized pose %d: %s", serializedIds.at<int>(i), t.prettyPrint().c_str());
 				}
 			}

@@ -5749,47 +5591,6 @@ cv::Mat DBDriverSqlite3::loadOptimizedMeshQuery(
 	return cloud;
 }

-void DBDriverSqlite3::saveFlannIndexQuery(const std::vector<unsigned char> & data) const
-{
-	UDEBUG("");
-	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)
@@ -6797,7 +6598,7 @@ 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)
@@ -260,7 +260,7 @@ 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())
@@ -510,41 +510,22 @@ SensorData DBReader::getNextData(SensorCaptureInfo * info)
 					}
 					else
 					{
-						// 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)
-							{
-								// assume the last is the forward neighbor pointing to current ID, take its covariance
-								infMatrix = previousLinks.rbegin()->second.infMatrix();
-								_previousInfMatrix = infMatrix;
-								covAdded = true;
-							}
+						// 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;
 						}
-
-						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())
+						else
+						{
+							if(_previousInfMatrix.empty())
 							{
-								// 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;
+								_previousInfMatrix = cv::Mat::eye(6,6,CV_64FC1);
 							}
+							// we have a node not linked to map, use last variance
+							infMatrix = _previousInfMatrix;
 						}
 					}
 				}
@@ -856,7 +837,6 @@ 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));
@@ -27,16 +27,8 @@ 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 {

@@ -45,6 +37,7 @@ FlannIndex::FlannIndex():
 		nextIndex_(0),
 		featuresType_(0),
 		featuresDim_(0),
+		isLSH_(false),
 		useDistanceL1_(false),
 		rebalancingFactor_(2.0f)
 {
@@ -56,9 +49,9 @@ FlannIndex::~FlannIndex()

 void FlannIndex::release()
 {
+	UDEBUG("");
 	if(index_)
 	{
-		UDEBUG("Clearing flann index...");
 		if(featuresType_ == CV_8UC1)
 		{
 			delete (rtflann::Index<rtflann::Hamming<unsigned char> >*)index_;
@@ -79,139 +72,12 @@ void FlannIndex::release()
 			}
 		}
 		index_ = 0;
-		UDEBUG("Clearing flann index... done!");
 	}
 	nextIndex_ = 0;
+	isLSH_ = false;
 	addedDescriptors_.clear();
 	removedIndexes_.clear();
-}
-
-#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*100 + headerSizeBytes); // Max 100 MB
-        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>();
+	UDEBUG("");
 }

 size_t FlannIndex::indexedFeatures() const
@@ -273,13 +139,12 @@ size_t FlannIndex::memoryUsed() const
 	return memoryUsage;
 }

-void FlannIndex::buildIndex(
-		flann_algorithm_t algorithm,
+void FlannIndex::buildLinearIndex(
 		const cv::Mat & features,
 		bool useDistanceL1,
 		float rebalancingFactor)
 {
-	UDEBUG("algorithm=%d", (int)algorithm);
+	UDEBUG("");
 	this->release();
 	UASSERT(index_ == 0);
 	UASSERT(features.type() == CV_32FC1 || features.type() == CV_8UC1);
@@ -287,29 +152,8 @@ void FlannIndex::buildIndex(
 	featuresDim_ = features.cols;
 	useDistanceL1_ = useDistanceL1;
 	rebalancingFactor_ = rebalancingFactor;
-	algorithm_ = 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;
-	}
+	rtflann::LinearIndexParams params;

 	if(featuresType_ == CV_8UC1)
 	{
@@ -355,140 +199,13 @@ void FlannIndex::buildIndex(
 	UDEBUG("");
 }

-bool FlannIndex::loadIndex(
-	const std::vector<unsigned char> & indexData,
-	flann_algorithm_t algorithm,
-	const cv::Mat & features,
-	bool useDistanceL1,
-	float rebalancingFactor,
-	std::string * error)
+void FlannIndex::buildKDTreeIndex(
+		const cv::Mat & features,
+		int trees,
+		bool useDistanceL1,
+		float rebalancingFactor)
 {
-	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;
-	}
-
+	UDEBUG("");
 	this->release();
 	UASSERT(index_ == 0);
 	UASSERT(features.type() == CV_32FC1 || features.type() == CV_8UC1);
@@ -496,39 +213,14 @@ bool FlannIndex::loadIndex(
 	featuresDim_ = features.cols;
 	useDistanceL1_ = useDistanceL1;
 	rebalancingFactor_ = rebalancingFactor;
-	algorithm_ = algorithm;

-	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");
+	rtflann::KDTreeIndexParams params(trees);

 	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_)->load_saved_index(indexDataPtr);
+		((rtflann::Index<rtflann::Hamming<unsigned char> >*)index_)->buildIndex();
 	}
 	else
 	{
@@ -536,24 +228,22 @@ bool FlannIndex::loadIndex(
 		if(useDistanceL1_)
 		{
 			index_ = new rtflann::Index<rtflann::L1<float> >(dataset, params);
-			((rtflann::Index<rtflann::L1<float> >*)index_)->load_saved_index(indexDataPtr);
+			((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_)->load_saved_index(indexDataPtr);
+			((rtflann::Index<rtflann::L2_Simple<float> >*)index_)->buildIndex();
 		}
 		else
 		{
 			index_ = new rtflann::Index<rtflann::L2<float> >(dataset, params);
-			((rtflann::Index<rtflann::L2<float> >*)index_)->load_saved_index(indexDataPtr);
+			((rtflann::Index<rtflann::L2<float> >*)index_)->buildIndex();
 		}
 	}
-	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)
@@ -567,8 +257,107 @@ bool FlannIndex::loadIndex(
 		addedDescriptors_.insert(std::make_pair(nextIndex_, features));
 		nextIndex_ += features.rows;
 	}
-	return true;
-#endif
+	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("");
 }

 bool FlannIndex::isBuilt()
@@ -99,12 +99,15 @@ unsigned long GlobalMap::getMemoryUsed() const
 	return memoryUsage;
 }

-bool GlobalMap::fullUpdateNeeded(const std::map<int, Transform> & poses) const
+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.
 	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>::const_iterator iter=addedNodes_.begin(); iter!=addedNodes_.end(); ++iter)
+	for(std::map<int, Transform>::iterator iter=addedNodes_.begin(); iter!=addedNodes_.end(); ++iter)
 	{
 		std::map<int, Transform>::const_iterator jter = poses.find(iter->first);
 		if(jter != poses.end())
@@ -122,15 +125,7 @@ bool GlobalMap::fullUpdateNeeded(const std::map<int, Transform> & poses) const
 		}
 	}

-	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))
+	if(graphOptimized || graphChanged)
 	{
 		// clear all but keep cache
 		clear();
@@ -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, 12=rgbd_bonn
+		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
 		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
@@ -440,7 +440,7 @@ 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 || format==12) // rgbd-slam format
+			else if(format == 1 || format==10 || format==11) // rgbd-slam format
 			{
 				std::list<std::string> strList = uSplit(str);
 				if((strList.size() >=  8 && format!=11) || (strList.size() ==  9 && format==11))
@@ -481,20 +481,6 @@ 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));
 					}
 				}
@@ -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);
@@ -76,7 +76,6 @@ Memory::Memory(const ParametersMap & parameters) :
 	_similarityThreshold(Parameters::defaultMemRehearsalSimilarity()),
 	_binDataKept(Parameters::defaultMemBinDataKept()),
 	_rawDescriptorsKept(Parameters::defaultMemRawDescriptorsKept()),
-	_loadVisualLocalFeaturesOnInit(Parameters::defaultMemLoadVisualLocalFeaturesOnInit()),
 	_saveDepth16Format(Parameters::defaultMemSaveDepth16Format()),
 	_notLinkedNodesKeptInDb(Parameters::defaultMemNotLinkedNodesKept()),
 	_saveIntermediateNodeData(Parameters::defaultMemIntermediateNodeDataKept()),
@@ -84,7 +83,6 @@ Memory::Memory(const ParametersMap & parameters) :
 	_depthCompressionFormat(Parameters::defaultMemDepthCompressionFormat()),
 	_incrementalMemory(Parameters::defaultMemIncrementalMemory()),
 	_localizationDataSaved(Parameters::defaultMemLocalizationDataSaved()),
-	_flannIndexSaved(Parameters::defaultKpFlannIndexSaved()),
 	_reduceGraph(Parameters::defaultMemReduceGraph()),
 	_maxStMemSize(Parameters::defaultMemSTMSize()),
 	_recentWmRatio(Parameters::defaultMemRecentWmRatio()),
@@ -131,7 +129,6 @@ Memory::Memory(const ParametersMap & parameters) :
 	_linksChanged(false),
 	_signaturesAdded(0),
 	_allNodesInWM(true),
-	_receivingOdometryFeatures(false),
 	_badSignRatio(Parameters::defaultKpBadSignRatio()),
 	_tfIdfLikelihoodUsed(Parameters::defaultKpTfIdfLikelihoodUsed()),
 	_parallelized(Parameters::defaultKpParallelized()),
@@ -248,13 +245,13 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
 			if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Loading all nodes to WM...")));
 			std::set<int> ids;
 			_dbDriver->getAllNodeIds(ids, true);
-			_dbDriver->loadSignatures(std::list<int>(ids.begin(), ids.end()), dbSignatures, 0, !_loadVisualLocalFeaturesOnInit);
+			_dbDriver->loadSignatures(std::list<int>(ids.begin(), ids.end()), dbSignatures);
 		}
 		else
 		{
 			// load previous session working memory
 			if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Loading last nodes to WM...")));
-			_dbDriver->loadLastNodes(dbSignatures, !_loadVisualLocalFeaturesOnInit);
+			_dbDriver->loadLastNodes(dbSignatures);
 		}
 		for(std::list<Signature*>::reverse_iterator iter=dbSignatures.rbegin(); iter!=dbSignatures.rend(); ++iter)
 		{
@@ -420,22 +417,20 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
 			}
 			else
 			{
-				_dbDriver->load(*_vwd, false);
+				_dbDriver->load(_vwd, false);
 			}
 		}
 		else
 		{
 			UDEBUG("load words");
 			// load the last dictionary
-			_dbDriver->load(*_vwd, _vwd->isIncremental());
+			_dbDriver->load(_vwd, _vwd->isIncremental());
 		}
 		UDEBUG("%d words loaded!", _vwd->getUnusedWordsSize());
 		_vwd->update();
 		if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(uFormat("Loading dictionary, done! (%d words)", (int)_vwd->getUnusedWordsSize())));

 		if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Adding word references...")));
-		UDEBUG("Adding word references...");
-		UTimer timer;
 		// Enable loaded signatures
 		const std::map<int, Signature *> & signatures = this->getSignatures();
 		for(std::map<int, Signature *>::const_iterator i=signatures.begin(); i!=signatures.end(); ++i)
@@ -446,7 +441,7 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
 			const std::multimap<int, int> & words = s->getWords();
 			if(words.size())
 			{
-				//UDEBUG("node=%d, word references=%d", s->id(), words.size());
+				UDEBUG("node=%d, word references=%d", s->id(), words.size());
 				for(std::multimap<int, int>::const_iterator iter = words.begin(); iter!=words.end(); ++iter)
 				{
 					if(iter->first > 0)
@@ -463,7 +458,7 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
 		{
 			UWARN("_vwd->getUnusedWordsSize() must be empty... size=%d", _vwd->getUnusedWordsSize());
 		}
-		UDEBUG("Total word references added = %d (in %f s)", _vwd->getTotalActiveReferences(), timer.ticks());
+		UDEBUG("Total word references added = %d", _vwd->getTotalActiveReferences());

 		if(_lastSignature == 0)
 		{
@@ -487,37 +482,6 @@ void Memory::loadDataFromDb(bool postInitClosingEvents)
 	UDEBUG("map ids start with %d", _idMapCount);
 }

-void Memory::saveFlannIndex(bool postInitClosingEvents)
-{
-	if(!_dbDriver) {
-		return;
-	}
-	if(uStrNumCmp(_dbDriver->getDatabaseVersion(), "0.23.0") >= 0) {
-		if(_flannIndexSaved && !_incrementalMemory) {
-			if(_vwd->isModified()) {
-				UINFO("Saving flann index to database... (%s=true)", Parameters::kKpFlannIndexSaved().c_str());
-				if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Saving flann index to database..."));
-				_dbDriver->saveFlannIndex(_vwd->serializeIndex());
-				if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Saving flann index to database, done!"));
-			}
-			else
-			{
-				UDEBUG("The dictionary didn't change since loaded, do not need to save again to database.");
-			}
-		}
-		else {
-			// clear if exists
-			_dbDriver->saveFlannIndex(std::vector<unsigned char>());
-		}
-	}
-	else if(_flannIndexSaved)
-	{
-		UWARN("Parameter %s is enabled, but database version is too old (%s < 0.23). Flann index cannot be saved.",
-			Parameters::kKpFlannIndexSaved().c_str(),
-			_dbDriver->getDatabaseVersion().c_str());
-	}
-}
-
 void Memory::close(bool databaseSaved, bool postInitClosingEvents, const std::string & ouputDatabasePath)
 {
 	UINFO("databaseSaved=%d, postInitClosingEvents=%d", databaseSaved?1:0, postInitClosingEvents?1:0);
@@ -529,8 +493,6 @@ void Memory::close(bool databaseSaved, bool postInitClosingEvents, const std::st
 		databaseNameChanged = ouputDatabasePath.size() && _dbDriver->getUrl().size() && _dbDriver->getUrl().compare(ouputDatabasePath) != 0?true:false;
 	}

-	UDEBUG("_memoryChanged=%d _linksChanged=%d databaseNameChanged=%d", _memoryChanged?1:0, _linksChanged?1:0, databaseNameChanged?1:0);
-
 	if(!databaseSaved || (!_memoryChanged && !_linksChanged && !databaseNameChanged))
 	{
 		if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(uFormat("No changes added to database.")));
@@ -538,7 +500,6 @@ void Memory::close(bool databaseSaved, bool postInitClosingEvents, const std::st
 		UINFO("No changes added to database.");
 		if(_dbDriver)
 		{
-			saveFlannIndex(postInitClosingEvents);
 			if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(uFormat("Closing database \"%s\"...", _dbDriver->getUrl().c_str())));
 			_dbDriver->closeConnection(false, ouputDatabasePath);
 			delete _dbDriver;
@@ -553,15 +514,11 @@ void Memory::close(bool databaseSaved, bool postInitClosingEvents, const std::st
 	{
 		UINFO("Saving memory...");
 		if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit("Saving memory..."));
-		if(!_memoryChanged && _dbDriver)
+		if(!_memoryChanged && _linksChanged && _dbDriver)
 		{
-			saveFlannIndex(postInitClosingEvents);
-
-			if(_linksChanged) {
-				// don't update the time stamps!
-				UDEBUG("");
-				_dbDriver->setTimestampUpdateEnabled(false);
-			}
+			// don't update the time stamps!
+			UDEBUG("");
+			_dbDriver->setTimestampUpdateEnabled(false);
 		}
 		this->clear();
 		if(_dbDriver)
@@ -608,7 +565,6 @@ void Memory::parseParameters(const ParametersMap & parameters)

 	Parameters::parse(params, Parameters::kMemBinDataKept(), _binDataKept);
 	Parameters::parse(params, Parameters::kMemRawDescriptorsKept(), _rawDescriptorsKept);
-	Parameters::parse(params, Parameters::kMemLoadVisualLocalFeaturesOnInit(), _loadVisualLocalFeaturesOnInit);
 	Parameters::parse(params, Parameters::kMemSaveDepth16Format(), _saveDepth16Format);
 	Parameters::parse(params, Parameters::kMemReduceGraph(), _reduceGraph);
 	Parameters::parse(params, Parameters::kMemNotLinkedNodesKept(), _notLinkedNodesKeptInDb);
@@ -662,7 +618,6 @@ void Memory::parseParameters(const ParametersMap & parameters)
 	Parameters::parse(params, Parameters::kMarkerVarianceAngular(), _markerAngVariance);
 	Parameters::parse(params, Parameters::kMarkerVarianceOrientationIgnored(), _markerOrientationIgnored);
 	Parameters::parse(params, Parameters::kMemLocalizationDataSaved(), _localizationDataSaved);
-	Parameters::parse(params, Parameters::kKpFlannIndexSaved(), _flannIndexSaved);

 	if(_markerAngVariance>=9999)
 	{
@@ -699,7 +654,10 @@ void Memory::parseParameters(const ParametersMap & parameters)
 	}

 	// Keypoint stuff
-	_vwd->parseParameters(params);
+	if(_vwd)
+	{
+		_vwd->parseParameters(params);
+	}

 	Parameters::parse(params, Parameters::kKpTfIdfLikelihoodUsed(), _tfIdfLikelihoodUsed);
 	Parameters::parse(params, Parameters::kKpParallelized(), _parallelized);
@@ -898,7 +856,7 @@ void Memory::preUpdate()
 	{
 		this->cleanUnusedWords();
 	}
-	if(!_parallelized)
+	if(_vwd && !_parallelized)
 	{
 		//When parallelized, it is done in CreateSignature
 		_vwd->update();
@@ -1156,7 +1114,10 @@ void Memory::addSignatureToStm(Signature * signature, const cv::Mat & covariance
 		}
 		++_signaturesAdded;

-		UDEBUG("%d words ref for the signature %d (weight=%d)", signature->getWords().size(), signature->id(), signature->getWeight());
+		if(_vwd)
+		{
+			UDEBUG("%d words ref for the signature %d (weight=%d)", signature->getWords().size(), signature->id(), signature->getWeight());
+		}
 		if(signature->getWords().size())
 		{
 			signature->setEnabled(true);
@@ -1263,17 +1224,16 @@ void Memory::moveSignatureToWMFromSTM(int id, int * reducedTo)
 				std::multimap<int, Link> linksCopy = links;
 				for(std::multimap<int, Link>::iterator iter=linksCopy.begin(); iter!=linksCopy.end(); ++iter)
 				{
-					if(iter->second.type() == Link::kNeighborMerged)
+					if(iter->second.type() == Link::kNeighbor ||
+					   iter->second.type() == Link::kNeighborMerged)
 					{
-						// Removing only merged neighbor links, we keep original neighbor 
-						// links to be able to reprocess databases with correct odometry covariance.
 						s->removeLink(iter->first);
-					}
-					if(iter->second.type() == Link::kNeighbor)
-					{
-						if(_lastGlobalLoopClosureId == s->id())
+						if(iter->second.type() == Link::kNeighbor)
 						{
-							_lastGlobalLoopClosureId = iter->first;
+							if(_lastGlobalLoopClosureId == s->id())
+							{
+								_lastGlobalLoopClosureId = iter->first;
+							}
 						}
 					}
 				}
@@ -1876,24 +1836,13 @@ void Memory::clear()
 	UDEBUG("");

 	//Get the tree root (parents)
-	if(!_dbDriver) {
-		// We are not saving to database anyway, just delete now.
-		for(std::map<int, Signature *>::iterator iter=_signatures.begin(); iter!=_signatures.end(); ++iter)
+	std::map<int, Signature*> mem = _signatures;
+	for(std::map<int, Signature *>::iterator i=mem.begin(); i!=mem.end(); ++i)
+	{
+		if(i->second)
 		{
-			delete iter->second;
-		}
-		_workingMem.clear();
-		_signatures.clear();
-	}
-	else {
-		std::map<int, Signature*> mem = _signatures;
-		for(std::map<int, Signature *>::iterator i=mem.begin(); i!=mem.end(); ++i)
-		{
-			if(i->second)
-			{
-				//UDEBUG("deleting from the working and the short-term memory: %d", i->first);
-				this->moveToTrash(i->second);
-			}
+			UDEBUG("deleting from the working and the short-term memory: %d", i->first);
+			this->moveToTrash(i->second);
 		}
 	}

@@ -1917,7 +1866,6 @@ void Memory::clear()
 	UDEBUG("");
 	_lastSignature = 0;
 	_lastGlobalLoopClosureId = 0;
-	_signaturesAdded = 0;
 	_idCount = kIdStart;
 	_idMapCount = kIdStart;
 	_memoryChanged = false;
@@ -1931,7 +1879,6 @@ void Memory::clear()
 	_landmarksIndex.clear();
    _landmarksSize.clear();
 	_allNodesInWM = true;
-	_receivingOdometryFeatures = false;

 	if(_dbDriver)
 	{
@@ -1939,7 +1886,14 @@ void Memory::clear()
 		cleanUnusedWords();
 		_dbDriver->emptyTrashes();
 	}
-	_vwd->clear(_dbDriver!=NULL);
+	else
+	{
+		cleanUnusedWords();
+	}
+	if(_vwd)
+	{
+		_vwd->clear();
+	}
 	UDEBUG("");
 }

@@ -2474,7 +2428,7 @@ std::list<Signature *> Memory::getRemovableSignatures(int count, const std::set<
 */
 void Memory::moveToTrash(Signature * s, bool keepLinkedToGraph, std::list<int> * deletedWords)
 {
-	//UDEBUG("id=%d", s?s->id():0);
+	UDEBUG("id=%d", s?s->id():0);
 	if(s)
 	{
 		// Cleanup landmark indexes
@@ -2967,37 +2921,6 @@ Transform Memory::computeTransform(
 			_registrationPipeline->isScanRequired()?&laserBuf:0,
 			_registrationPipeline->isUserDataRequired()?&userBuf:0);

-	// Load word descriptors and keypoints on-demand if necessary
-	if( !_reextractLoopClosureFeatures &&
-		(_registrationPipeline->isImageRequired() || guess.isNull()) &&
-		!fromS.getWords().empty() && fromS.getWordsKpts().empty() &&
-		_dbDriver)
-	{
-		// We assume "toS" has already features in RAM, so just lookup "fromS"
-		UDEBUG("Loading local visual features for signature %d", fromS.id());
-		std::multimap<int, int> words;
-		std::vector<cv::KeyPoint> keypoints;
-		std::vector<cv::Point3f> points;
-		cv::Mat descriptors;
-		UTimer timer;
-		_dbDriver->getLocalFeatures(fromS.id(), words, keypoints, points, descriptors);
-		if(!words.empty() && !keypoints.empty()) {
-			UASSERT(words.size() == fromS.getWords().size());
-			std::map<int, int> wordsChanged = fromS.getWordsChanged();
-			bool wasEnabled = fromS.isEnabled();
-			fromS.setWords(words, keypoints, points, descriptors);
-			for(const auto & iter: wordsChanged) {
-				fromS.changeWordsRef(iter.first, iter.second);
-			}
-			fromS.setEnabled(wasEnabled);
-			UDEBUG("Loaded %ld local visual features for signature %d! (in %f s)", words.size(), fromS.id(), timer.ticks());
-		}
-		else
-		{
-			UDEBUG("Failed to load local visual features for signature %d.", fromS.id());
-		}
-		
-	}

 	// compute transform fromId -> toId
 	std::vector<int> inliersV;
@@ -3057,10 +2980,8 @@ Transform Memory::computeTransform(
 			   !_invertedReg &&
 			   !tmpTo.getWordsDescriptors().empty() &&
 			   !tmpTo.getWords().empty() &&
-			   !tmpTo.getWordsKpts().empty() &&
 			   !tmpFrom.getWordsDescriptors().empty() &&
 			   !tmpFrom.getWords().empty() &&
-			   !tmpFrom.getWordsKpts().empty() &&
 			   !tmpFrom.getWords3().empty() &&
 			   fromS.hasLink(0, Link::kNeighbor)) // If doesn't have neighbors, skip bundle
 		{
@@ -3094,12 +3015,8 @@ Transform Memory::computeTransform(
 				if(id != fromS.id() && iter->second.type() == Link::kNeighbor) // assemble only neighbors for the local feature map
 				{
 					const Signature * s = this->getSignature(id);
-					if(s)
+					if(s && !s->getWords3().empty())
 					{
-						if(s->getWordsKpts().empty() && s->getWords3().empty() && s->getWordsDescriptors().empty()) {
-							UDEBUG("Signature %d doesn't have features set. Cannot be added in the local feature map.", s->id());
-							continue;
-						}
 						const std::map<int, int> & wordsTo = uMultimapToMapUnique(s->getWords());
 						for(std::map<int, int>::const_iterator jter=wordsTo.begin(); jter!=wordsTo.end(); ++jter)
 						{
@@ -3198,11 +3115,6 @@ Transform Memory::computeTransform(
 								bundlePoses.insert(std::make_pair(id, iter->second.transform()));
 							}

-							if(s->getWordsKpts().empty())
-							{
-								UDEBUG("Signature %d doesn't have features set. Keypoints won't be added in local bundle adjustment.", s->id());
-								continue;
-							}
 							const std::map<int,int> & words = uMultimapToMapUnique(s->getWords());
 							for(std::map<int, int>::const_iterator jter=words.begin(); jter!=words.end(); ++jter)
 							{
@@ -3678,7 +3590,7 @@ void Memory::removeAllVirtualLinks()

 void Memory::removeVirtualLinks(int signatureId)
 {
-	//UDEBUG("");
+	UDEBUG("");
 	Signature * s = this->_getSignature(signatureId);
 	if(s)
 	{
@@ -3717,7 +3629,10 @@ void Memory::dumpMemory(std::string directory) const

 void Memory::dumpDictionary(const char * fileNameRef, const char * fileNameDesc) const
 {
-	_vwd->exportDictionary(fileNameRef, fileNameDesc);
+	if(_vwd)
+	{
+		_vwd->exportDictionary(fileNameRef, fileNameDesc);
+	}
 }

 void Memory::dumpSignatures(const char * fileNameSign, bool words3D) const
@@ -3838,7 +3753,10 @@ unsigned long Memory::getMemoryUsed() const
 	{
 		memoryUsage += iter->second->getMemoryUsed(true);
 	}
-	memoryUsage += _vwd->getMemoryUsed();
+	if(_vwd)
+	{
+		memoryUsage += _vwd->getMemoryUsed();
+	}
 	memoryUsage += _stMem.size() * (sizeof(int)+sizeof(std::set<int>::iterator)) + sizeof(std::set<int>);
 	memoryUsage += _workingMem.size() * (sizeof(int)+sizeof(double)+sizeof(std::map<int, double>::iterator)) + sizeof(std::map<int, double>);
 	memoryUsage += _groundTruths.size() * (sizeof(int)+sizeof(Transform)+12*sizeof(float) + sizeof(std::map<int, Transform>::iterator)) + sizeof(std::map<int, Transform>);
@@ -4303,11 +4221,6 @@ void Memory::getNodeWordsAndGlobalDescriptors(int nodeId,
 			}
 		}
 	}
-	if(!words.empty() && wordsKpts.empty() && _dbDriver)
-	{
-		std::multimap<int, int> tmpWords;
-		_dbDriver->getLocalFeatures(nodeId, tmpWords, wordsKpts, words3, wordsDescriptors);
-	}
 }

 void Memory::getNodeCalibration(int nodeId,
@@ -4852,11 +4765,6 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
 	{
 		meanWordsPerLocation = _vwd->getTotalActiveReferences() / (treeSize-1); // ignore virtual signature
 	}
-	else if(_useOdometryFeatures) {
-		// To not detect first image as bad signature if odometry 
-		// is using less features than feature2D->getMaxFeatures()
-		meanWordsPerLocation = 0;
-	}

 	if(_parallelized && !isIntermediateNode)
 	{
@@ -4960,12 +4868,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
 	SensorData decimatedData;
 	UDEBUG("Received kpts=%d kpts3D=%d, descriptors=%d _useOdometryFeatures=%s",
 			(int)data.keypoints().size(), (int)data.keypoints3D().size(), data.descriptors().rows, _useOdometryFeatures?"true":"false");
-	// TODO: do we still need the third and fouth comparisons?
-	// TODO: there is significant repetitive code between the if and the else, could we combine them?!
 	if(!_useOdometryFeatures ||
-		(!_receivingOdometryFeatures && data.keypoints().empty()) ||
+		data.keypoints().empty() ||
 		(int)data.keypoints().size() != data.descriptors().rows ||
-		(!_receivingOdometryFeatures && _feature2D->getType() == Feature2D::kFeatureOrbOctree && data.descriptors().empty()))
+		(_feature2D->getType() == Feature2D::kFeatureOrbOctree && data.descriptors().empty()))
 	{
 		if(_feature2D->getMaxFeatures() >= 0 && !data.imageRaw().empty() && !isIntermediateNode)
 		{
@@ -5302,7 +5208,6 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
 	}
 	else if(_feature2D->getMaxFeatures() >= 0 && !isIntermediateNode)
 	{
-		_receivingOdometryFeatures = true;
 		UINFO("Use odometry features: kpts=%d 3d=%d desc=%d (dim=%d, type=%d)",
 				(int)data.keypoints().size(),
 				(int)data.keypoints3D().size(),
@@ -6425,7 +6330,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor

 void Memory::disableWordsRef(int signatureId)
 {
-	//UDEBUG("id=%d", signatureId);
+	UDEBUG("id=%d", signatureId);

 	Signature * ss = this->_getSignature(signatureId);
 	if(ss && ss->isEnabled())
@@ -6441,7 +6346,7 @@ void Memory::disableWordsRef(int signatureId)

 		count -= _vwd->getTotalActiveReferences();
 		ss->setEnabled(false);
-		//UDEBUG("%d words total ref removed from signature %d... (total active ref = %d)", count, ss->id(), _vwd->getTotalActiveReferences());
+		UDEBUG("%d words total ref removed from signature %d... (total active ref = %d)", count, ss->id(), _vwd->getTotalActiveReferences());
 	}
 }

@@ -6504,7 +6409,7 @@ void Memory::enableWordsRef(const std::list<int> & signatureIds)

 	UDEBUG("oldWordIds.size()=%d, getOldIds time=%fs", oldWordIds.size(), timer.ticks());

-	// the words were deleted, so try to match it with an active word
+	// the words were deleted, so try to math it with an active word
 	std::list<VisualWord *> vws;
 	if(oldWordIds.size() && _dbDriver)
 	{
@@ -36,10 +36,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/odometry/OdometryLOAM.h"
 #include "rtabmap/core/odometry/OdometryFLOAM.h"
 #include "rtabmap/core/odometry/OdometryMSCKF.h"
-#include "rtabmap/core/odometry/OdometryVINSFusion.h"
+#include "rtabmap/core/odometry/OdometryVINS.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"
@@ -104,8 +103,8 @@ Odometry * Odometry::create(Odometry::Type & type, const ParametersMap & paramet
 	case Odometry::kTypeMSCKF:
 		odometry = new OdometryMSCKF(parameters);
 		break;
-	case Odometry::kTypeVINSFusion:
-		odometry = new OdometryVINSFusion(parameters);
+	case Odometry::kTypeVINS:
+		odometry = new OdometryVINS(parameters);
 		break;
 	case Odometry::kTypeOpenVINS:
 		odometry = new OdometryOpenVINS(parameters);
@@ -113,9 +112,6 @@ 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);
@@ -629,7 +625,6 @@ 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())
 	{
@@ -646,16 +641,12 @@ 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()) {
-		UDEBUG("Using guess from motion %s", guess.prettyPrint().c_str());
-	}

 	UTimer time;

@@ -1020,28 +1011,21 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
 		--_resetCurrentCount;
 		if(_resetCurrentCount == 0)
 		{
-			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);
-			}
+			UWARN("Odometry automatically reset to latest pose!");
+			this->reset(_pose);
 			_resetCurrentCount = _resetCountdown;
 			if(info)
 			{
 				*info = OdometryInfo();
 			}
-			this->computeTransform(data, Transform(), info);
-			return _pose;
+			return this->computeTransform(data, Transform(), info);
 		}
+	}

 	previousVelocities_.clear();
 	velocityGuess_.setNull();
 	previousStamp_ = 0;

-}
 	return Transform();
 }

@@ -1071,7 +1055,6 @@ 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,
@@ -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/", 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/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/TimeEstimation/ms", timeEstimation*1000.0f));
 	stats.insert(std::make_pair("Odometry/TimeFiltering/ms", timeParticleFiltering*1000.0f));
 	stats.insert(std::make_pair("Odometry/LocalMapSize/", localMapSize));
@@ -32,7 +32,6 @@ 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 {

@@ -64,7 +63,7 @@ bool OdometryThread::handleEvent(UEvent * event)
 			SensorEvent * sensorEvent = (SensorEvent*)event;
 			if(sensorEvent->getCode() == SensorEvent::kCodeData)
 			{
-				this->addData(*sensorEvent);
+				this->addData(sensorEvent->data());
 			}
 		}
 		else if(event->getClassName().compare("IMUEvent") == 0)
@@ -113,51 +112,31 @@ void OdometryThread::mainLoop()
 		_imuBuffer.clear();
 		_oldestAsyncImuStamp = 0.0;
 		_newestAsyncImuStamp = 0.0;
-		_previousGuessPose.setNull();
 	}

-	SensorEvent event;
-	if(getData(event))
+	SensorData data;
+	if(getData(data))
 	{
 		OdometryInfo info;
 		UDEBUG("Processing data...");
-		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);
+		Transform pose = _odometry->process(data, &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 SensorEvent & event)
+void OdometryThread::addData(const SensorData & data)
 {
-	if(event.data().imu().empty())
+	if(data.imu().empty())
 	{
 		if(dynamic_cast<OdometryMono*>(_odometry) == 0)
 		{
-			if((event.data().imageRaw().empty() || event.data().depthOrRightRaw().empty() || (event.data().cameraModels().empty() && event.data().stereoCameraModels().empty())) &&
-					event.data().laserScanRaw().empty())
+			if((data.imageRaw().empty() || data.depthOrRightRaw().empty() || (data.cameraModels().empty() && data.stereoCameraModels().empty())) &&
+					data.laserScanRaw().empty())
 			{
 				ULOGGER_ERROR("Missing some information (images/scans empty or missing calibration)!?");
 				return;
@@ -166,7 +145,7 @@ void OdometryThread::addData(const SensorEvent & event)
 		else
 		{
 			// Mono can accept RGB only
-			if(event.data().imageRaw().empty() || (event.data().cameraModels().empty() && event.data().stereoCameraModels().empty()))
+			if(data.imageRaw().empty() || (data.cameraModels().empty() && data.stereoCameraModels().empty()))
 			{
 				ULOGGER_ERROR("Missing some information (image empty or missing calibration)!?");
 				return;
@@ -177,32 +156,30 @@ void OdometryThread::addData(const SensorEvent & event)
 	bool notify = true;
 	_dataMutex.lock();
 	{
-		if( !event.data().imageRaw().empty() ||
-			!event.data().imageCompressed().empty() ||
-			!event.data().laserScanRaw().isEmpty() ||
-			!event.data().laserScanCompressed().empty() || 
-			event.data().imu().empty())
+		if( !data.imageRaw().empty() ||
+			!data.imageCompressed().empty() ||
+			!data.laserScanRaw().isEmpty() ||
+			!data.laserScanCompressed().empty() || 
+			data.imu().empty())
 		{
-			if(_oldestAsyncImuStamp > 0.0 && event.data().stamp() < _oldestAsyncImuStamp) {
+			if(_oldestAsyncImuStamp > 0.0 && 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)."
-					"Current camera/lidar delay is %fs.",
-					event.data().stamp(), _oldestAsyncImuStamp, _imuBuffer.size(), UTimer::now() - event.data().stamp());
+					"than camera/lidar (assuming IMU latency is very small compared to camera/lidar).",
+					data.stamp(), _oldestAsyncImuStamp, _imuBuffer.size());
 				notify = false;
 			}
-			else if(_newestAsyncImuStamp > 0.0 && event.data().stamp()>=_newestAsyncImuStamp) {
+			else if(_newestAsyncImuStamp > 0.0 && 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). "
-					"Current camera/lidar delay is %fs.",
-					event.data().stamp(), _newestAsyncImuStamp, _imuBuffer.size(), UTimer::now() - event.data().stamp());
+					"than camera/lidar (assuming IMU latency is very small compared to camera/lidar).",
+					data.stamp(), _newestAsyncImuStamp, _imuBuffer.size());
 				notify = false;
 			}
 			else {
-				_dataBuffer.push_back(event);
+				_dataBuffer.push_back(data);
 				while(_dataBufferMaxSize > 0 && _dataBuffer.size() > _dataBufferMaxSize)
 				{
 					UDEBUG("Data buffer is full, the oldest data is removed to add the new one.");
@@ -213,11 +190,11 @@ void OdometryThread::addData(const SensorEvent & event)
 		}
 		else
 		{
-			_imuBuffer.push_back(event.data());
+			_imuBuffer.push_back(data);
 			if(_oldestAsyncImuStamp == 0) {
-				_oldestAsyncImuStamp = event.data().stamp();
+				_oldestAsyncImuStamp = data.stamp();
 			}
-			_newestAsyncImuStamp = event.data().stamp();
+			_newestAsyncImuStamp = data.stamp();
 		}
 	}
 	_dataMutex.unlock();
@@ -228,7 +205,7 @@ void OdometryThread::addData(const SensorEvent & event)
 	}
 }

-bool OdometryThread::getData(SensorEvent & event)
+bool OdometryThread::getData(SensorData & data)
 {
 	bool dataFilled = false;
 	_dataAdded.acquire();
@@ -242,12 +219,12 @@ bool OdometryThread::getData(SensorEvent & event)
 				_odometry->process(_imuBuffer.front());
 				double stamp =_imuBuffer.front().stamp();
 				_imuBuffer.pop_front();
-				if(stamp > _dataBuffer.front().data().stamp()) {
+				if(stamp > _dataBuffer.front().stamp()) {
 					break;
 				}
 			}

-			event = _dataBuffer.front();
+			data = _dataBuffer.front();
 			_dataBuffer.pop_front();
 			dataFilled = true;
 		}
@@ -608,8 +608,8 @@ void Optimizer::computeBACorrespondences(
 					}
 				}

-				if(sFrom.getWordsKpts().size() &&
-					sTo.getWordsKpts().size() &&
+				if(sFrom.getWords().size() &&
+					sTo.getWords().size() &&
 					sFrom.getWords3().size())
 				{
 					if(!rematchFeatures)
@@ -236,9 +236,6 @@ const std::map<std::string, std::pair<bool, std::string> > & Parameters::getRemo
 	{
 		// removed parameters

-		// 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, "")));

@@ -939,7 +936,7 @@ 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_FUSION
+#ifdef RTABMAP_VINS
 				std::cout << str << std::setw(spacing - str.size()) << "true" << std::endl;
 #else
 				std::cout << str << std::setw(spacing - str.size()) << "false" << std::endl;
@@ -375,9 +375,6 @@ 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()));
@@ -385,11 +382,8 @@ Transform RegistrationVis::computeTransformationImpl(
 				(int)fromSignature.getWords().size() == fromSignature.getWordsDescriptors().rows ||
 				fromSignature.sensorData().descriptors().empty() ||
 				fromSignature.getWordsDescriptors().empty() == 0);
-		UASSERT(toSignature.getWords().empty() ||
-				toSignature.getWordsKpts().empty() ||
-				(toSignature.getWords().size() == toSignature.getWordsKpts().size()));
-		UASSERT(toSignature.getWords().empty() ||
-				toSignature.getWords3().empty() ||
+		UASSERT((toSignature.getWords().empty() && toSignature.getWords3().empty())||
+				(toSignature.getWords().size() && 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 ||
@@ -1502,8 +1502,8 @@ bool Rtabmap::process(
 	float angleToClosestNodeInTheGraph = 0;
 	if(_rgbdSlamMode)
 	{
-		double linVar = odomCovariance.empty()?0.0f:uMax3(odomCovariance.at<double>(0,0), odomCovariance.at<double>(1,1)>=9999?0:odomCovariance.at<double>(1,1), odomCovariance.at<double>(2,2)>=9999?0:odomCovariance.at<double>(2,2));
-		double angVar = odomCovariance.empty()?0.0f:uMax3(odomCovariance.at<double>(3,3)>=9999?0:odomCovariance.at<double>(3,3), odomCovariance.at<double>(4,4)>=9999?0:odomCovariance.at<double>(4,4), odomCovariance.at<double>(5,5));
+		double linVar = odomCovariance.empty()?1.0f:uMax3(odomCovariance.at<double>(0,0), odomCovariance.at<double>(1,1)>=9999?0:odomCovariance.at<double>(1,1), odomCovariance.at<double>(2,2)>=9999?0:odomCovariance.at<double>(2,2));
+		double angVar = odomCovariance.empty()?1.0f:uMax3(odomCovariance.at<double>(3,3)>=9999?0:odomCovariance.at<double>(3,3), odomCovariance.at<double>(4,4)>=9999?0:odomCovariance.at<double>(4,4), odomCovariance.at<double>(5,5));
 		statistics_.addStatistic(Statistics::kMemoryOdometry_variance_lin(), (float)linVar);
 		statistics_.addStatistic(Statistics::kMemoryOdometry_variance_ang(), (float)angVar);

@@ -1607,7 +1607,6 @@ bool Rtabmap::process(
 					Transform t = _memory->computeTransform(oldId, signature->id(), guess, &info);
 					if(!t.isNull())
 					{
-						UASSERT(!info.covariance.empty() && info.covariance.at<double>(0,0) > 0.0 && info.covariance.at<double>(5,5) > 0.0);
 						UINFO("Odometry refining: update neighbor link (%d->%d, variance:lin=%f, ang=%f) from %s to %s",
 								oldId,
 								signature->id(),
@@ -1615,6 +1614,7 @@ bool Rtabmap::process(
 								info.covariance.at<double>(5,5),
 								guess.prettyPrint().c_str(),
 								t.prettyPrint().c_str());
+						UASSERT(info.covariance.at<double>(0,0) > 0.0 && info.covariance.at<double>(5,5) > 0.0);
 						_memory->updateLink(Link(oldId, signature->id(), signature->getLinks().begin()->second.type(), t, info.covariance.inv()));

 						if(_optimizeFromGraphEnd)
@@ -1894,7 +1894,7 @@ bool Rtabmap::process(
 								*iter,
 								transform.prettyPrint().c_str());
 						// Add a loop constraint
-						UASSERT(!info.covariance.empty() && info.covariance.at<double>(0,0) > 0.0 && info.covariance.at<double>(5,5) > 0.0);
+						UASSERT(info.covariance.at<double>(0,0) > 0.0 && info.covariance.at<double>(5,5) > 0.0);
 						if(_memory->addLink(Link(signature->id(), *iter, Link::kLocalTimeClosure, transform, getInformation(info.covariance))))
 						{
 							++proximityDetectionsInTimeFound;
@@ -2395,22 +2395,24 @@ bool Rtabmap::process(
 					distanceSoFar += _path[i-1].second.getDistance(_path[i].second);
 				}

-				if(_memory->getSignature(_path[i].first) != 0)
+				if(distanceSoFar <= _localRadius)
 				{
-					if(immunizedLocations.insert(_path[i].first).second)
+					if(_memory->getSignature(_path[i].first) != 0)
 					{
-						++immunizedLocally;
+						if(immunizedLocations.insert(_path[i].first).second)
+						{
+							++immunizedLocally;
+						}
+						UDEBUG("Path immunization: node %d (dist=%fm)", _path[i].first, distanceSoFar);
+					}
+					else if(retrievalLocalIds.size() < _maxLocalRetrieved)
+					{
+						UINFO("retrieval of node %d on path (dist=%fm)", _path[i].first, distanceSoFar);
+						retrievalLocalIds.push_back(_path[i].first);
+						// retrieved locations are automatically immunized
 					}
-					UDEBUG("Path immunization: node %d (dist=%fm)", _path[i].first, distanceSoFar);
 				}
-				else if(retrievalLocalIds.size() < _maxLocalRetrieved)
-				{
-					UINFO("retrieval of node %d on path (dist=%fm)", _path[i].first, distanceSoFar);
-					retrievalLocalIds.push_back(_path[i].first);
-					// retrieved locations are automatically immunized
-				}
-				
-				if(distanceSoFar > _localRadius)
+				else
 				{
 					UDEBUG("Stop on node %d (dist=%fm > %fm)",
 							_path[i].first, distanceSoFar, _localRadius);
@@ -2782,7 +2784,7 @@ bool Rtabmap::process(
 											signature->id(),
 											nearestId,
 											transform.prettyPrint().c_str());
-									UASSERT(!info.covariance.empty() && info.covariance.at<double>(0,0) > 0.0 && info.covariance.at<double>(5,5) > 0.0);
+									UASSERT(info.covariance.at<double>(0,0) > 0.0 && info.covariance.at<double>(5,5) > 0.0);

 									//for statistics
 									loopClosureVisualInliersMeanDist = info.inliersMeanDistance;
@@ -2993,7 +2995,7 @@ bool Rtabmap::process(
 										}

 										// set Identify covariance for laser scan matching only
-										UASSERT(!info.covariance.empty() && info.covariance.at<double>(0,0) > 0.0 && info.covariance.at<double>(5,5) > 0.0);
+										UASSERT(info.covariance.at<double>(0,0) > 0.0 && info.covariance.at<double>(5,5) > 0.0);
 										_memory->addLink(Link(signature->id(), nearestId, Link::kLocalSpaceClosure, transform, getInformation(info.covariance)/_proximityMergedScanCovFactor, scanMatchingIds));
 										loopClosureLinksAdded.push_back(std::make_pair(signature->id(), nearestId));

@@ -3081,7 +3083,7 @@ bool Rtabmap::process(
 			if(!rejectedLoopClosure)
 			{
 				// Make the new one the parent of the old one
-				UASSERT(!info.covariance.empty() && info.covariance.at<double>(0,0) > 0.0 && info.covariance.at<double>(5,5) > 0.0);
+				UASSERT(info.covariance.at<double>(0,0) > 0.0 && info.covariance.at<double>(5,5) > 0.0);
 				
 				loopClosureLinearVariance = uMax3(info.covariance.at<double>(0,0), info.covariance.at<double>(1,1)>=9999?0:info.covariance.at<double>(1,1), info.covariance.at<double>(2,2)>=9999?0:info.covariance.at<double>(2,2));
 				loopClosureAngularVariance = uMax3(info.covariance.at<double>(3,3)>=9999?0:info.covariance.at<double>(3,3), info.covariance.at<double>(4,4)>=9999?0:info.covariance.at<double>(4,4), info.covariance.at<double>(5,5));
@@ -3156,7 +3158,17 @@ bool Rtabmap::process(
 			UASSERT(uContains(_optimizedPoses, signature->id()));
 			UASSERT_MSG(uContains(_optimizedPoses, _path[_pathCurrentIndex].first), uFormat("id=%d", _path[_pathCurrentIndex].first).c_str());
 			Transform virtualLoop = _optimizedPoses.at(signature->id()).inverse() * _optimizedPoses.at(_path[_pathCurrentIndex].first);
-			_memory->addLink(Link(signature->id(), _path[_pathCurrentIndex].first, Link::kVirtualClosure, virtualLoop, cv::Mat::eye(6,6,CV_64FC1)*0.01)); // set high variance
+
+			if(_localRadius == 0.0f || virtualLoop.getNorm() < _localRadius)
+			{
+				_memory->addLink(Link(signature->id(), _path[_pathCurrentIndex].first, Link::kVirtualClosure, virtualLoop, cv::Mat::eye(6,6,CV_64FC1)*0.01)); // set high variance
+			}
+			else
+			{
+				UERROR("Virtual link larger than local radius (%fm > %fm). Aborting the plan!",
+						virtualLoop.getNorm(), _localRadius);
+				this->clearPath(-1);
+			}
 		}
 	}

@@ -6915,24 +6927,24 @@ void Rtabmap::updateGoalIndex()
 				{
 					distanceSoFar += _path[i-1].second.getDistance(_path[i].second);
 				}
-				
-				if(_path[i].first != _path[i-1].first)
+				if(distanceSoFar <= _localRadius)
 				{
-					const Signature * s = _memory->getSignature(_path[i].first);
-					if(s)
+					if(_path[i].first != _path[i-1].first)
 					{
-						if(!s->hasLink(_path[i-1].first) && _memory->getSignature(_path[i-1].first) != 0)
+						const Signature * s = _memory->getSignature(_path[i].first);
+						if(s)
 						{
-							Transform virtualLoop = _path[i].second.inverse() * _path[i-1].second;
-							_memory->addLink(Link(_path[i].first, _path[i-1].first, Link::kVirtualClosure, virtualLoop, cv::Mat::eye(6,6,CV_64FC1)*0.01)); // on the optimized path
-							UINFO("Added Virtual link between %d and %d", _path[i-1].first, _path[i].first);
+							if(!s->hasLink(_path[i-1].first) && _memory->getSignature(_path[i-1].first) != 0)
+							{
+								Transform virtualLoop = _path[i].second.inverse() * _path[i-1].second;
+								_memory->addLink(Link(_path[i].first, _path[i-1].first, Link::kVirtualClosure, virtualLoop, cv::Mat::eye(6,6,CV_64FC1)*0.01)); // on the optimized path
+								UINFO("Added Virtual link between %d and %d", _path[i-1].first, _path[i].first);
+							}
 						}
 					}
 				}
-
-				if(distanceSoFar > _localRadius)
+				else
 				{
-					UDEBUG("Farthest goal=%d : %f m", _path[i].first, distanceSoFar);
 					break;
 				}
 			}
@@ -6992,8 +7004,11 @@ void Rtabmap::updateGoalIndex()
 					if((goalIndex == _pathCurrentIndex && i == _path.size()-1) ||
 					   _pathUnreachableNodes.find(i) == _pathUnreachableNodes.end())
 					{
-						goalIndex = i;
-						if(distanceFromCurrentNode > _localRadius)
+						if(distanceFromCurrentNode <= _localRadius)
+						{
+							goalIndex = i;
+						}
+						else
 						{
 							break;
 						}
@@ -506,10 +506,9 @@ void RtabmapThread::addData(const OdometryEvent & odomEvent)
 				ignoreFrame = true;
 			}
 		}
-		UASSERT(!odomEvent.info().reg.covariance.empty());
 		if(!lastPose_.isIdentity() &&
-			(odomEvent.pose().isIdentity() ||
-			odomEvent.info().reg.covariance.at<double>(0,0)>=9999))
+						(odomEvent.pose().isIdentity() ||
+						odomEvent.info().reg.covariance.at<double>(0,0)>=9999))
 		{
 			if(odomEvent.pose().isIdentity())
 			{
@@ -548,7 +548,7 @@ void SensorData::setOccupancyGrid(
 			float cellSize,
 			const cv::Point3f & viewPoint)
 {
-	//UDEBUG("ground=%d obstacles=%d empty=%d", ground.cols, obstacles.cols, empty.cols);
+	UDEBUG("ground=%d obstacles=%d empty=%d", ground.cols, obstacles.cols, empty.cols);
 	if((!ground.empty() && (!_groundCellsCompressed.empty() || !_groundCellsRaw.empty())) ||
 	   (!obstacles.empty() && (!_obstacleCellsCompressed.empty() || !_obstacleCellsRaw.empty())) ||
 	   (!empty.empty() && (!_emptyCellsCompressed.empty() || !_emptyCellsRaw.empty())))
@@ -649,7 +649,7 @@ void SensorData::uncompressData(
 		cv::Mat * emptyCellsRaw,
 		cv::Mat * depthConfidenceRaw)
 {
-	/*UDEBUG("%d data(%d,%d,%d,%d,%d,%d,%d,%d)", 
+	UDEBUG("%d data(%d,%d,%d,%d,%d,%d,%d,%d)", 
 		this->id(),
 		imageRaw?1:0,
 		depthRaw?1:0,
@@ -658,7 +658,7 @@ void SensorData::uncompressData(
 		groundCellsRaw?1:0,
 		obstacleCellsRaw?1:0, 
 		emptyCellsRaw?1:0,
-		depthConfidenceRaw?1:0);*/
+		depthConfidenceRaw?1:0);
 	if(imageRaw == 0 &&
 		depthRaw == 0 &&
 		laserScanRaw == 0 &&
@@ -118,7 +118,7 @@ void Signature::addLinks(const std::map<int, Link> & links)
 }
 void Signature::addLink(const Link & link)
 {
-	//UDEBUG("Add link %d to %d (type=%d/%s var=%f,%f)", link.to(), this->id(), (int)link.type(), link.typeName().c_str(), link.transVariance(), link.rotVariance());
+	UDEBUG("Add link %d to %d (type=%d/%s var=%f,%f)", link.to(), this->id(), (int)link.type(), link.typeName().c_str(), link.transVariance(), link.rotVariance());
 	UASSERT_MSG(link.from() == this->id(), uFormat("%d->%d for signature %d (type=%d)", link.from(), link.to(), this->id(), link.type()).c_str());
 	UASSERT_MSG((link.to() != this->id()) || link.type()==Link::kPosePrior || link.type()==Link::kGravity, uFormat("%d->%d for signature %d (type=%d)", link.from(), link.to(), this->id(), link.type()).c_str());
 	UASSERT_MSG(link.to() == this->id() || _links.find(link.to()) == _links.end(), uFormat("Link %d (type=%d) already added to signature %d!", link.to(), link.type(), this->id()).c_str());
@@ -318,7 +318,7 @@ void Signature::setWords(const std::multimap<int, int> & words,
 	UASSERT_MSG(descriptors.empty() || descriptors.rows == (int)words.size(), uFormat("words=%d, descriptors=%d", (int)words.size(), descriptors.rows).c_str());
 	UASSERT_MSG(points.empty() || points.size() == words.size(),  uFormat("words=%d, points=%d", (int)words.size(), (int)points.size()).c_str());
 	UASSERT_MSG(keypoints.empty() || keypoints.size() == words.size(),  uFormat("words=%d, descriptors=%d", (int)words.size(), (int)keypoints.size()).c_str());
-	//UASSERT(words.empty() || !keypoints.empty() || !points.empty() || !descriptors.empty());
+	UASSERT(words.empty() || !keypoints.empty() || !points.empty() || !descriptors.empty());

 	_invalidWordsCount = 0;
 	for(std::multimap<int, int>::const_iterator iter=words.begin(); iter!=words.end(); ++iter)
@@ -328,7 +328,7 @@ void Signature::setWords(const std::multimap<int, int> & words,
 			++_invalidWordsCount;
 		}
 		// make sure indexes are all valid!
-		UASSERT_MSG(iter->second<0 || iter->second < (int)words.size(), uFormat("iter->second=%d words.size()=%d", iter->second, (int)words.size()).c_str());
+		UASSERT_MSG(iter->second >=0 && iter->second < (int)words.size(), uFormat("iter->second=%d words.size()=%d", iter->second, (int)words.size()).c_str());
 	}

 	_enabled = false;
@@ -51,6 +51,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <fstream>
 #include <string>

+#define KDTREE_SIZE 4
 #define KNN_CHECKS 32

 namespace rtabmap
@@ -68,11 +69,9 @@ VWDictionary::VWDictionary(const ParametersMap & parameters) :
 	_nndrRatio(Parameters::defaultKpNndrRatio()),
 	_newDictionaryPath(Parameters::defaultKpDictionaryPath()),
 	_newWordsComparedTogether(Parameters::defaultKpNewWordsComparedTogether()),
-	_serializeWithChecksum(Parameters::defaultKpSerializeWithChecksum()),
 	_lastWordId(0),
 	useDistanceL1_(false),
 	_flannIndex(new FlannIndex()),
-	_modified(true),
 	_strategy(kNNBruteForce)
 {
 	this->setNNStrategy((NNStrategy)Parameters::defaultKpNNStrategy());
@@ -90,7 +89,6 @@ void VWDictionary::parseParameters(const ParametersMap & parameters)
 	ParametersMap::const_iterator iter;
 	Parameters::parse(parameters, Parameters::kKpNndrRatio(), _nndrRatio);
 	Parameters::parse(parameters, Parameters::kKpNewWordsComparedTogether(), _newWordsComparedTogether);
-	Parameters::parse(parameters, Parameters::kKpSerializeWithChecksum(), _serializeWithChecksum);
 	Parameters::parse(parameters, Parameters::kKpIncrementalFlann(), _incrementalFlann);
 	Parameters::parse(parameters, Parameters::kKpFlannRebalancingFactor(), _rebalancingFactor);
 	bool byteToFloat = _byteToFloat;
@@ -162,7 +160,7 @@ void VWDictionary::setFixedDictionary(const std::string & dictionaryPath)
 				DBDriver * driver = DBDriver::create();
 				if(driver->openConnection(dictionaryPath, false))
 				{
-					driver->load(*this, false);
+					driver->load(this, false);
 					for(std::map<int, VisualWord*>::iterator iter=_visualWords.begin(); iter!=_visualWords.end(); ++iter)
 					{
 						iter->second->setSaved(true);
@@ -291,11 +289,6 @@ void VWDictionary::setFixedDictionary(const std::string & dictionaryPath)
 	_newDictionaryPath = dictionaryPath;
 }

-bool VWDictionary::isModified() const
-{
-	return _modified;
-}
-
 bool VWDictionary::setNNStrategy(NNStrategy strategy)
 {
 #if CV_MAJOR_VERSION < 3
@@ -491,13 +484,7 @@ void VWDictionary::update()

 	if(_notIndexedWords.size() || _visualWords.size() == 0 || _removedIndexedWords.size())
 	{
-		_modified = true;
-		bool firstUpdate = _removedIndexedWords.empty() && _visualWords.size() == _notIndexedWords.size();
-		UDEBUG("firstUpdate=%s (_removedIndexedWords=%ld, _visualWords=%ld, _notIndexedWords=%ld)", 
-			firstUpdate?"true":"false", _removedIndexedWords.size(), _visualWords.size(), _notIndexedWords.size());
-
-		if(!firstUpdate &&
-			_incrementalFlann &&
+		if(_incrementalFlann &&
 		   _strategy < kNNBruteForce &&
 		   _visualWords.size())
 		{
@@ -514,9 +501,7 @@ void VWDictionary::update()

 			if(_notIndexedWords.size())
 			{
-				UTimer timer;
-				timer.start();
-				ULOGGER_DEBUG("Incremental FLANN: Inserting %d words...", (int)_notIndexedWords.size(), _byteToFloat?"true":"false");
+				ULOGGER_DEBUG("Incremental FLANN: Inserting %d words...", (int)_notIndexedWords.size());
 				for(std::set<int>::iterator iter=_notIndexedWords.begin(); iter!=_notIndexedWords.end(); ++iter)
 				{
 					VisualWord* w = uValue(_visualWords, *iter, (VisualWord*)0);
@@ -543,13 +528,24 @@ void VWDictionary::update()
 					int index = 0;
 					if(!_flannIndex->isBuilt())
 					{
-						UDEBUG("Building FLANN index... (strategy=%s, byteToFloat=%s, useDistanceL1=%s, rebalancingFactor=%f)",
-							nnStrategyName(_strategy).c_str(), _byteToFloat?"true":"false", useDistanceL1_?"true":"false", _rebalancingFactor);
-						_flannIndex->buildIndex(
-							_strategy == kNNFlannNaive ? FlannIndex::FLANN_INDEX_LINEAR:
-							_strategy == kNNFlannLSH ? FlannIndex::FLANN_INDEX_LSH:
-							FlannIndex::FLANN_INDEX_KDTREE, // kNNFlannKdTree
-							descriptor, useDistanceL1_, _rebalancingFactor);
+						UDEBUG("Building FLANN index...");
+						switch(_strategy)
+						{
+						case kNNFlannNaive:
+							_flannIndex->buildLinearIndex(descriptor, useDistanceL1_, _rebalancingFactor);
+							break;
+						case kNNFlannKdTree:
+							UASSERT_MSG(descriptor.type() == CV_32F, "To use KdTree dictionary, float descriptors are required!");
+							_flannIndex->buildKDTreeIndex(descriptor, KDTREE_SIZE, useDistanceL1_, _rebalancingFactor);
+							break;
+						case kNNFlannLSH:
+							UASSERT_MSG(descriptor.type() == CV_8U, "To use LSH dictionary, binary descriptors are required!");
+							_flannIndex->buildLSHIndex(descriptor, 12, 20, 2, _rebalancingFactor);
+							break;
+						default:
+							UFATAL("Not supposed to be here!");
+							break;
+						}
 						UDEBUG("Building FLANN index... done!");
 					}
 					else
@@ -565,7 +561,7 @@ void VWDictionary::update()
 					inserted = _mapIdIndex.insert(std::pair<int, int>(w->id(), index));
 					UASSERT(inserted.second);
 				}
-				ULOGGER_DEBUG("Incremental FLANN: Inserting %d words... done! (in %f s)", (int)_notIndexedWords.size(), timer.ticks());
+				ULOGGER_DEBUG("Incremental FLANN: Inserting %d words... done!", (int)_notIndexedWords.size());
 			}
 		}
 		else if(_strategy >= kNNBruteForce &&
@@ -661,13 +657,23 @@ void VWDictionary::update()
 				ULOGGER_DEBUG("_mapIndexId.size() = %d, words.size()=%d, _dim=%d",_mapIndexId.size(), _visualWords.size(), dim);
 				ULOGGER_DEBUG("copying data = %f s", timer.ticks());

-				_flannIndex->buildIndex(
-					_strategy == kNNFlannNaive ? FlannIndex::FLANN_INDEX_LINEAR:
-						_strategy == kNNFlannLSH ? FlannIndex::FLANN_INDEX_LSH:
-							FlannIndex::FLANN_INDEX_KDTREE, // kNNFlannKdTree
-					_dataTree,
-					useDistanceL1_,
-					_incrementalDictionary&&_incrementalFlann?_rebalancingFactor:1);
+				switch(_strategy)
+				{
+				case kNNFlannNaive:
+					_flannIndex->buildLinearIndex(_dataTree, useDistanceL1_, _incrementalDictionary&&_incrementalFlann?_rebalancingFactor:1);
+					break;
+				case kNNFlannKdTree:
+					UASSERT_MSG(type == CV_32F, "To use KdTree dictionary, float descriptors are required!");
+					_flannIndex->buildKDTreeIndex(_dataTree, KDTREE_SIZE, useDistanceL1_, _incrementalDictionary&&_incrementalFlann?_rebalancingFactor:1);
+					break;
+				case kNNFlannLSH:
+					UASSERT_MSG(type == CV_8U, "To use LSH dictionary, binary descriptors are required!");
+					_flannIndex->buildLSHIndex(_dataTree, 12, 20, 2, _incrementalDictionary&&_incrementalFlann?_rebalancingFactor:1);
+					break;
+				default:
+					break;
+				}
+
 				ULOGGER_DEBUG("Time to create kd tree = %f s", timer.ticks());
 			}
 		}
@@ -683,146 +689,6 @@ void VWDictionary::update()
 	UDEBUG("");
 }

-std::vector<unsigned char> VWDictionary::serializeIndex() const
-{
-	if(_strategy >= kNNBruteForce) {
-		UINFO("Not flann strategy, ignoring serialization...");
-		return std::vector<unsigned char>();
-	}
-	if(!_flannIndex->isBuilt() || !_removedIndexedWords.empty() || !_notIndexedWords.empty() || _visualWords.empty()) {
-		UWARN("Flann index is not buit, or there are words not indexed, cannot do serialization.");
-		return std::vector<unsigned char>();
-	}
-
-	return _flannIndex->serializeIndex(_serializeWithChecksum);
-}
-
-void VWDictionary::deserializeIndex(const std::vector<unsigned char> & data)
-{
-	deserializeIndex(data.data(), data.size());
-}
-
-void VWDictionary::deserializeIndex(const unsigned char * data, size_t size)
-{
-	if(data== NULL || size == 0)
-	{
-		UWARN("Trying to deserialize empty data, aborting.");
-		return;
-	}
-	UDEBUG("Loading flann index... (data size=%ld bytes)", size);
-	if(_strategy >= kNNBruteForce) {
-		//ignore
-		return;
-	}
-
-	if(_flannIndex->isBuilt()) {
-		UERROR("Flann index is already built, cannot deserialize data!");
-		return;
-	}
-
-	if(_visualWords.empty()) {
-		UERROR("Descriptors should be added before deserializing flann index! See VWDictionary::addWord()");
-		return;
-	}
-
-	if(!(_removedIndexedWords.empty() && _visualWords.size() == _notIndexedWords.size())) {
-		UERROR("State of dictionary not as expected before deserializing. (removed words=%ld, words=%ld, not indexed=%ld)", 
-			_removedIndexedWords.size(), _visualWords.size(), _notIndexedWords.size());
-		return;
-	}
-		
-	std::map<int, int> mapIndexId;
-	std::map<int, int> mapIdIndex;
-	cv::Mat dataTree;
-
-	UTimer timer;
-	timer.start();
-
-	int dim = _visualWords.begin()->second->getDescriptor().cols;
-	int type;
-	if(_visualWords.begin()->second->getDescriptor().type() == CV_8U)
-	{
-		useDistanceL1_ = true;
-		if(_strategy == kNNFlannKdTree)
-		{
-			type = CV_32F;
-			if(!_byteToFloat)
-			{
-				dim *= 8;
-			}
-		}
-		else
-		{
-			type = _visualWords.begin()->second->getDescriptor().type();
-		}
-	}
-	else
-	{
-		type = _visualWords.begin()->second->getDescriptor().type();
-	}
-
-	UASSERT(type == CV_32F || type == CV_8U);
-	UASSERT(dim > 0);
-
-	// Create the data matrix
-	dataTree = cv::Mat(_visualWords.size(), dim, type); // SURF descriptors are CV_32F
-	std::map<int, VisualWord*>::const_iterator iter = _visualWords.begin();
-	for(unsigned int i=0; i < _visualWords.size(); ++i, ++iter)
-	{
-		cv::Mat descriptor;
-		if(iter->second->getDescriptor().type() == CV_8U)
-		{
-			if(_strategy == kNNFlannKdTree)
-			{
-				descriptor = convertBinTo32F(iter->second->getDescriptor(), _byteToFloat);
-			}
-			else
-			{
-				descriptor = iter->second->getDescriptor();
-			}
-		}
-		else
-		{
-			descriptor = iter->second->getDescriptor();
-		}
-
-		UASSERT_MSG(descriptor.type() == type, uFormat("%d vs %d", descriptor.type(), type).c_str());
-		UASSERT_MSG(descriptor.cols == dim, uFormat("%d vs %d", descriptor.cols, dim).c_str());
-
-		descriptor.copyTo(dataTree.row(i));
-		mapIndexId.insert(mapIndexId.end(), std::pair<int, int>(i, iter->second->id()));
-		mapIdIndex.insert(mapIdIndex.end(), std::pair<int, int>(iter->second->id(), i));
-	}
-
-	ULOGGER_DEBUG("mapIndexId.size() = %d, words.size()=%d, dim=%d", mapIndexId.size(), _visualWords.size(), dim);
-	ULOGGER_DEBUG("copying data = %f s", timer.ticks());
-
-	std::string errorMsg;
-	if(_flannIndex->loadIndex(
-		data,
-		size,
-		_strategy == kNNFlannNaive ? FlannIndex::FLANN_INDEX_LINEAR:
-			_strategy == kNNFlannLSH ? FlannIndex::FLANN_INDEX_LSH:
-				FlannIndex::FLANN_INDEX_KDTREE, 
-		dataTree, 
-		useDistanceL1_,
-		_incrementalDictionary && _incrementalFlann ? _rebalancingFactor:1,
-		&errorMsg))
-	{
-		_mapIndexId = mapIndexId;
-		_mapIdIndex = mapIdIndex;
-		_dataTree = dataTree;
-		_notIndexedWords.clear();
-		_modified = false;
-	}
-	else {
-		UWARN("Failed deserializing flann index data (error: %s), the index will be rebuilt on next update.", errorMsg.c_str());
-		_flannIndex->release(); // reset to initial state
-	}
-
-	ULOGGER_DEBUG("Time to load flann index = %f s", timer.ticks());
-}
-
 void VWDictionary::clear(bool printWarningsIfNotEmpty)
 {
 	ULOGGER_DEBUG("");
@@ -852,7 +718,6 @@ void VWDictionary::clear(bool printWarningsIfNotEmpty)
 	_unusedWords.clear();
 	_flannIndex->release();
 	useDistanceL1_ = false;
-	_modified = true;
 }

 int VWDictionary::getNextId()
@@ -919,21 +784,14 @@ std::list<int> VWDictionary::addNewWords(
 		type = _visualWords.begin()->second->getDescriptor().type();
 		UASSERT(type == CV_32F || type == CV_8U);
 	}
-	static std::string moreInfo = uFormat( 
-		"This could happen if the computer doesn't have access to same "
-		"feature detectors than when the database was created. This could "
-		"also happen if we enabled \"%s\" but the first frame received "
-		"was empty, thus features were re-extracted with a different detector "
-		"than the one used by the odometry.",
-		Parameters::kMemUseOdomFeatures().c_str());
 	if(dim && dim != descriptorsIn.cols)
 	{
-		UERROR("Descriptors (size=%d) are not the same size as already added words in dictionary (size=%d). %s", descriptorsIn.cols, dim, moreInfo.c_str());
+		UERROR("Descriptors (size=%d) are not the same size as already added words in dictionary(size=%d)", descriptorsIn.cols, dim);
 		return wordIds;
 	}
 	if(type>=0 && type != descriptorsIn.type())
 	{
-		UERROR("Descriptors (type=%d) are not the same type as already added words in dictionary (type=%d). %s", descriptorsIn.type(), type, moreInfo.c_str());
+		UERROR("Descriptors (type=%d) are not the same type as already added words in dictionary(type=%d)", descriptorsIn.type(), type);
 		return wordIds;
 	}

@@ -1536,15 +1394,15 @@ void VWDictionary::addWord(VisualWord * vw)
 {
 	if(vw)
 	{
-		_visualWords.insert(_visualWords.end(), std::pair<int, VisualWord *>(vw->id(), vw));
-		_notIndexedWords.insert(_notIndexedWords.end(), vw->id());
+		_visualWords.insert(std::pair<int, VisualWord *>(vw->id(), vw));
+		_notIndexedWords.insert(vw->id());
 		if(vw->getReferences().size())
 		{
 			_totalActiveReferences += uSum(uValues(vw->getReferences()));
 		}
 		else
 		{
-			_unusedWords.insert(_unusedWords.end(), std::pair<int, VisualWord *>(vw->id(), vw));
+			_unusedWords.insert(std::pair<int, VisualWord *>(vw->id(), vw));
 		}
 		if(_lastWordId < vw->id())
 		{
@@ -57,7 +57,7 @@ void VisualWord::addRef(int signatureId)
 	}
 	else
 	{
-		_references.insert(_references.end(), std::pair<int, int>(signatureId, 1));
+		_references.insert(std::pair<int, int>(signatureId, 1));
 	}
 	++_totalReferences;
 }
@@ -370,10 +370,9 @@ bool CameraDepthAI::init(const std::string & calibrationFolder, const std::strin
 		matrix[2][0], matrix[2][1], matrix[2][2]);

 	std::vector<float> coeffs = calibHandler.getDistortionCoefficients(cameraId);
-	if(calibHandler.getDistortionModel(cameraId) == dai::CameraModel::Perspective) {
-		UASSERT(coeffs.size()>=14);
-		distCoeffs = (cv::Mat_<double>(1,14) << coeffs[0], coeffs[1], coeffs[2], coeffs[3], coeffs[4], coeffs[5], coeffs[6], coeffs[7], coeffs[8], coeffs[9], coeffs[10], coeffs[11], coeffs[12], coeffs[13]);
-	}
+	if(calibHandler.getDistortionModel(cameraId) == dai::CameraModel::Perspective)
+		distCoeffs = (cv::Mat_<double>(1,8) << coeffs[0], coeffs[1], coeffs[2], coeffs[3], coeffs[4], coeffs[5], coeffs[6], coeffs[7]);
+
 	if(alphaScaling_>-1.0f)
 		newCameraMatrix = cv::getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, targetSize_, alphaScaling_);
 	else
@@ -523,19 +523,19 @@ bool CameraImages::readPoses(
 		UERROR("Cannot read pose file \"%s\".", filePath.c_str());
 		return false;
 	}
-	else if((format != 1 && format != 10 && format != 12 && format != 5 && format != 6 && format != 7 && format != 9) && poses.size() != this->imagesCount())
+	else if((format != 1 && format != 10 && format != 5 && format != 6 && format != 7 && format != 9) && poses.size() != this->imagesCount())
 	{
 		UERROR("The pose count is not the same as the images (%d vs %d)! Please remove "
 				"the pose file path if you don't want to use it (current file path=%s).",
 				(int)poses.size(), this->imagesCount(), filePath.c_str());
 		return false;
 	}
-	else if((format == 1 || format == 10 || format == 12 || format == 5 || format == 6 || format == 7 || format == 9) && (inOutStamps.empty() && stamps.size()!=poses.size()))
+	else if((format == 1 || format == 10 || format == 5 || format == 6 || format == 7 || format == 9) && (inOutStamps.empty() && stamps.size()!=poses.size()))
 	{
 		UERROR("When using RGBD-SLAM, GPS, MALAGA, ST LUCIA and EuRoC MAV formats, images must have timestamps!");
 		return false;
 	}
-	else if(format == 1 || format == 10 || format == 12 || format == 5 || format == 6 || format == 7 || format == 9)
+	else if(format == 1 || format == 10 || format == 5 || format == 6 || format == 7 || format == 9)
 	{
 		UDEBUG("");
 		//Match ground truth values with images
@@ -1,728 +0,0 @@
-/*
-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
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
-DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
-#include <rtabmap/core/camera/CameraOrbbecSDK.h>
-#include <rtabmap/core/util2d.h>
-#include <rtabmap/utilite/UTimer.h>
-#include <rtabmap/utilite/UStl.h>
-#include <rtabmap/utilite/UThread.h>
-
-#ifdef RTABMAP_ORBBEC_SDK
-#include <libobsensor/ObSensor.hpp>
-#endif
-
-namespace rtabmap
-{
-#ifdef RTABMAP_ORBBEC_SDK
-Transform obToRtabmap(const OBExtrinsic & t)
-{
-    return Transform(t.rot[0], t.rot[1], t.rot[2], t.trans[0]/1000.0f,
-                     t.rot[3], t.rot[4], t.rot[5], t.trans[1]/1000.0f,
-                     t.rot[6], t.rot[7], t.rot[8], t.trans[2]/1000.0f);
-}
-
-
-cv::Mat obColorFrameToCv(const ob::VideoFrame & videoFrame)
-{
-    cv::Mat rgb;
-    switch(videoFrame.getFormat()) {
-    case OB_FORMAT_MJPG: {
-        cv::Mat rawMat(1, videoFrame.getDataSize(), CV_8UC1, videoFrame.getData());
-        rgb = cv::imdecode(rawMat, 1);
-    } break;
-    case OB_FORMAT_NV21: {
-        cv::Mat rawMat(videoFrame.getHeight() * 3 / 2, videoFrame.getWidth(), CV_8UC1, videoFrame.getData());
-        cv::cvtColor(rawMat, rgb, cv::COLOR_YUV2BGR_NV21);
-    } break;
-    case OB_FORMAT_YUYV:
-    case OB_FORMAT_YUY2: {
-        cv::Mat rawMat(videoFrame.getHeight(), videoFrame.getWidth(), CV_8UC2, videoFrame.getData());
-        cv::cvtColor(rawMat, rgb, cv::COLOR_YUV2BGR_YUY2);
-    } break;
-    case OB_FORMAT_BGR: {
-        cv::Mat rawMat(videoFrame.getHeight(), videoFrame.getWidth(), CV_8UC3, videoFrame.getData());
-        cv::cvtColor(rawMat, rgb, cv::COLOR_BGR2RGB);
-    } break;
-    case OB_FORMAT_RGB: {
-        cv::Mat rawMat(videoFrame.getHeight(), videoFrame.getWidth(), CV_8UC3, videoFrame.getData());
-        cv::cvtColor(rawMat, rgb, cv::COLOR_RGB2BGR);
-    } break;
-    case OB_FORMAT_RGBA: {
-        cv::Mat rawMat(videoFrame.getHeight(), videoFrame.getWidth(), CV_8UC4, videoFrame.getData());
-        cv::cvtColor(rawMat, rgb, cv::COLOR_RGBA2BGR);
-    } break;
-    case OB_FORMAT_BGRA: {
-        cv::Mat rawMat(videoFrame.getHeight(), videoFrame.getWidth(), CV_8UC4, videoFrame.getData());
-        cv::cvtColor(rawMat, rgb, cv::COLOR_BGRA2RGB);
-    } break;
-    case OB_FORMAT_UYVY: {
-        cv::Mat rawMat(videoFrame.getHeight(), videoFrame.getWidth(), CV_8UC2, videoFrame.getData());
-        cv::cvtColor(rawMat, rgb, cv::COLOR_YUV2BGR_UYVY);
-    } break;
-    case OB_FORMAT_I420: {
-        cv::Mat rawMat(videoFrame.getHeight() * 3 / 2, videoFrame.getWidth(), CV_8UC1, videoFrame.getData());
-        cv::cvtColor(rawMat, rgb, cv::COLOR_YUV2BGR_I420);
-    } break;
-    case OB_FORMAT_Y8: {
-        rgb = cv::Mat(videoFrame.getHeight(), videoFrame.getWidth(), CV_8UC1, videoFrame.getData()).clone();
-    } break;
-    case OB_FORMAT_Y16: {
-        cv::Mat rawMat(videoFrame.getHeight(), videoFrame.getWidth(), CV_16UC1, videoFrame.getData());
-        rawMat.convertTo(rgb, CV_8UC1, 255.0 / 65535.0);
-    } break;
-    default:
-        break;
-    }
-    return rgb;
-}
-
-cv::Mat obDepthFrameToCv(const ob::DepthFrame & depthFrame)
-{
-    cv::Mat depth;
-    if(depthFrame.getFormat() == OB_FORMAT_Y16 || depthFrame.getFormat() == OB_FORMAT_Z16 || depthFrame.getFormat() == OB_FORMAT_Y12C4) {
-        cv::Mat rawMat = cv::Mat(depthFrame.getHeight(), depthFrame.getWidth(), CV_16UC1, depthFrame.getData());
-        float scale = depthFrame.getValueScale() / 1000.0f;
-        rawMat.convertTo(depth, CV_32F, scale);
-    }
-    return depth;
-}
-
-cv::Mat obIntrinsicToK(const OBCameraIntrinsic & intrinsics)
-{
-    cv::Mat K = cv::Mat::eye(3,3,CV_64FC1);
-    K.at<double>(0,0) = intrinsics.fx;
-    K.at<double>(1,1) = intrinsics.fy;
-    K.at<double>(0,2) = intrinsics.cx;
-    K.at<double>(1,2) = intrinsics.cy;
-    return K;
-}
-cv::Mat obIntrinsicToP(const OBCameraIntrinsic & intrinsics)
-{
-    cv::Mat P = cv::Mat::eye(3,4,CV_64FC1);
-    obIntrinsicToK(intrinsics).copyTo(P.colRange(0,3));
-    return P;
-}
-cv::Mat obDistortionToD(const OBCameraDistortion & distortion)
-{
-    cv::Mat D = cv::Mat(1,8,CV_64FC1);
-    D.at<double>(0,0) = distortion.k1;
-    D.at<double>(0,1) = distortion.k2;
-    D.at<double>(0,2) = distortion.p1;
-    D.at<double>(0,3) = distortion.p2;
-    D.at<double>(0,4) = distortion.k3;
-    D.at<double>(0,5) = distortion.k4;
-    D.at<double>(0,6) = distortion.k5;
-    D.at<double>(0,7) = distortion.k6;
-    if(distortion.k4 == 0 && distortion.k5 == 0 && distortion.k6 == 0)
-    {
-        D = D.colRange(0,5);
-    }
-    return D;
-}
-#endif
-
-bool CameraOrbbecSDK::available()
-{
-#ifdef RTABMAP_ORBBEC_SDK
-    return true;
-#else
-    return false;
-#endif
-}
-
-CameraOrbbecSDK::CameraOrbbecSDK(
-        std::string deviceId,
-        int colorWidth,
-        int colorHeight,
-        int depthWidth,
-        int depthHeight,
-        float imageRate,
-        const Transform & localTransform) :
-            Camera(imageRate, localTransform)
-#ifdef RTABMAP_ORBBEC_SDK
-            , deviceId_(deviceId),
-            colorWidth_(colorWidth),
-            colorHeight_(colorHeight),
-            depthWidth_(depthWidth),
-            depthHeight_(depthHeight),
-            pipeline_(nullptr),
-            imuPipeline_(nullptr),
-            alignFilter_(nullptr),
-            imuLocalTransformInitialized_(false),
-            lastAccStamp_(0),
-            lastImageStamp_(0),
-            globalTimestampAvailable_(false),
-            rectifyColor_(false),
-            convertDepthToMM_(true),
-            imuPublished_(true)
-#endif
-{
-}
-
-CameraOrbbecSDK::~CameraOrbbecSDK()
-{
-#ifdef RTABMAP_ORBBEC_SDK
-    this->close();
-#endif
-}
-
-void CameraOrbbecSDK::close()
-{
-#ifdef RTABMAP_ORBBEC_SDK
-    if(imuPipeline_) {
-        imuPipeline_->stop();
-        delete imuPipeline_;
-        imuPipeline_=nullptr;
-    }
-    
-    if(pipeline_) {
-        pipeline_->stop();
-        delete pipeline_;
-        pipeline_=nullptr;
-    }
-    delete alignFilter_;
-    alignFilter_ = nullptr;
-    imuLocalTransform_ = Transform();
-    imuLocalTransformInitialized_ = false;
-    lastAccStamp_ = 0;
-    lastImageStamp_ = 0;
-    globalTimestampAvailable_ = false;
-    model_ = CameraModel();
-    imuBuffer_.clear();
-#endif
-}
-
-bool CameraOrbbecSDK::init(const std::string & calibrationFolder, const std::string & cameraName)
-{
-#ifdef RTABMAP_ORBBEC_SDK
-    this->close();
-
-    std::shared_ptr<ob::Device> device;
-
-    ob::Context context;
-    auto devices = context.queryDeviceList();
-    UINFO("%d device(s) found", devices->getCount());
-    for(uint32_t i=0; i<devices->getCount(); ++i)
-    {
-        auto currentDevice = devices->getDevice(i);
-        auto info = currentDevice->getDeviceInfo();
-
-        if(deviceId_.find('-') != std::string::npos)
-        {
-            // UID
-            if(deviceId_.compare(info->getUid()) == 0) {
-                device = currentDevice;
-            }
-        }
-        else if(uSplitNumChar(deviceId_).size() > 1)
-        {
-            // Serial
-            if(deviceId_.compare(info->getSerialNumber()) == 0) {
-                device = currentDevice;
-            }
-        }
-        else if((deviceId_.empty() && i==0) ||
-                (!deviceId_.empty() && uStr2Int(deviceId_) == (int)i)) {
-            // Index
-            device = currentDevice;
-        }
-
-        std::string type = "Unknown";
-        switch(info->getDeviceType()) 
-        {
-            case OB_STRUCTURED_LIGHT_MONOCULAR_CAMERA:
-                type = "Structured Light Monocular Camera";
-                break;
-            case OB_STRUCTURED_LIGHT_BINOCULAR_CAMERA:
-                type = "Structured Light Binocular Camera";
-                break;
-            case OB_TOF_CAMERA:
-                type = "TOF Camera";
-                break;
-            default:
-                break;
-        }
-        UINFO("Device %ld:", i);
-        UINFO("   Name: %s", info->getName());
-        UINFO("   Type: %s", type.c_str());
-        UINFO("   Serial: %s", info->getSerialNumber());
-        UINFO("   UID: %s", info->getUid());
-        UINFO("   Chip: %s", info->getAsicName());
-        UINFO("   Hardware version: %s", info->getHardwareVersion());
-        UINFO("   Firmware version: %s", info->getFirmwareVersion());
-    }
-
-    if(device.get() == nullptr) {
-        if(deviceId_.empty()) {
-            UERROR( "Could not find any orbbec compatible devices! Verify that the "
-                    "camera is correctly connected and the udev rules are installed.");
-        }
-        else {
-            UERROR("Could not find an orbbec device with ID \"%s\"! Verify that the "
-                   "camera is correctly connected and the udev rules are installed. "
-                   "Unset the ID to choose the first camera found.");
-        }
-        
-        return false;
-    }
-
-    bool hasGyro = false;
-    bool hasAccel = false;
-    auto sensors = device->getSensorList();
-
-    if(device->isGlobalTimestampSupported())
-    {
-        UINFO("Global (host time sync) timestamp is supported.");
-        device->enableGlobalTimestamp(true);
-        globalTimestampAvailable_ = true;
-    }
-    else
-    {
-        UWARN("Global (host time sync) timestamp is not supported! We will use device timestamp, so the camera frames won't be synchronizable with other sensors.");
-    }
-
-    uint32_t maxColorFps = 0;
-    uint32_t maxDepthFps = 0;
-    for(uint32_t i=0; i<sensors->getCount(); ++i)
-    {
-        if(sensors->getSensorType(i) == OB_SENSOR_GYRO)
-        {
-            hasGyro = true;
-        }
-        if(sensors->getSensorType(i) == OB_SENSOR_ACCEL)
-        {
-            hasAccel = true;
-        }
-        if( sensors->getSensorType(i) == OB_SENSOR_DEPTH ||
-            sensors->getSensorType(i) == OB_SENSOR_COLOR)
-        {
-            auto profiles = sensors->getSensor(i)->getStreamProfileList();
-            UINFO("Supported %s profiles:", sensors->getSensorType(i) == OB_SENSOR_DEPTH?"depth":"color");
-            for(uint32_t j=0; j<profiles->getCount(); ++j)
-            {
-                auto profile = profiles->getProfile(j)->as<ob::VideoStreamProfile>();
-                UINFO("Resolution: %ldx%ld, FPS: %ld, Format: %d", 
-                    profile->getWidth(), profile->getHeight(), profile->getFps(), profile->getFormat(), j==0?" (default)":"");
-                
-                if(sensors->getSensorType(i) == OB_SENSOR_DEPTH) {
-                    if(profile->getFps() > maxDepthFps) {
-                        maxDepthFps = profile->getFps();
-                    }
-                }
-                else
-                {
-                    if(profile->getFps() > maxColorFps) {
-                        maxColorFps = profile->getFps();
-                    }
-                }
-                
-            }
-        }
-    }
-
-    std::shared_ptr<ob::Config> imuConfig;
-    if(imuPublished_)
-    {
-        if(hasGyro && hasAccel)
-        {
-            imuPipeline_ = new ob::Pipeline(device);
-            imuConfig = std::make_shared<ob::Config>();
-            imuConfig->enableGyroStream();
-            imuConfig->enableAccelStream();
-            try {
-                UINFO("Starting imu pipeline");
-                imuPipeline_->start(imuConfig, [&](std::shared_ptr<ob::FrameSet> frameSet) {
-                    if(frameSet->getCount() != 2)
-                    {
-                        return;
-                    }
-
-                    if(!imuLocalTransformInitialized_)
-                    {
-                        return;
-                    }
-
-                    UASSERT(frameSet->getFrame(OB_FRAME_ACCEL) != nullptr && 
-                            frameSet->getFrame(OB_FRAME_GYRO) != nullptr);
-
-                    auto accel = frameSet->getFrame(OB_FRAME_ACCEL)->as<const ob::AccelFrame>();
-                    auto gyro = frameSet->getFrame(OB_FRAME_GYRO)->as<const ob::GyroFrame>();
-
-                    uint64_t accelStampUs = globalTimestampAvailable_?accel->getGlobalTimeStampUs():accel->getTimeStampUs();
-                    uint64_t gyroStampUs = globalTimestampAvailable_?gyro->getGlobalTimeStampUs():gyro->getTimeStampUs();
-    
-                    if(accelStampUs != gyroStampUs)
-                    {
-                        UWARN("Received accel and gyro frames with different timestamps (%llu vs %llu), skipping.",
-                            accelStampUs, gyroStampUs);
-                        return;
-                    }
-                    
-                    double accStamp = double(accelStampUs)/1e6;
-
-                    if(accelStampUs <= lastAccStamp_) {
-                        return;
-                    }
-
-                    lastAccStamp_ = accelStampUs;
-
-                    auto accelValue = accel->getValue();
-                    auto gyroValue = gyro->getValue();
-                    if(isInterIMUPublishing())
-                    {
-                        IMU imu(cv::Vec3f(gyroValue.x, gyroValue.y, gyroValue.z), cv::Mat::eye(3,3,CV_64FC1),
-                                cv::Vec3f(accelValue.x, accelValue.y, accelValue.z), cv::Mat::eye(3,3,CV_64FC1),
-                                imuLocalTransform_);
-                        this->postInterIMU(imu, accStamp);
-                    }
-                    else
-                    {
-                        UScopeMutex lock(imuMutex_);
-                        imuBuffer_.emplace_hint(imuBuffer_.end(), accStamp, cv::Vec6f(gyroValue.x, gyroValue.y, gyroValue.z, accelValue.x, accelValue.y, accelValue.z));
-                        if(imuBuffer_.size()>1000) {
-                            imuBuffer_.erase(imuBuffer_.begin());
-                        }
-                    }
-                });
-            }
-            catch(const ob::Error & e) {
-                UERROR("Unexpected error when configuring IMU stream: %s", e.what());
-            }
-        }
-        else
-        {
-            UWARN("IMU option is enabled but the camera doesn't have an IMU, ignoring.");
-        }
-    }
-
-    pipeline_ = new ob::Pipeline(device);
-    auto config = std::make_shared<ob::Config>();
-
-    // Set highest frame rate possible to reduce color/depth sync diff
-    config->enableVideoStream(OB_STREAM_COLOR, colorWidth_, colorHeight_, maxColorFps, OB_FORMAT_RGB);
-    config->enableVideoStream(OB_STREAM_DEPTH, depthWidth_, depthHeight_, maxDepthFps, OB_FORMAT_Y16);
-
-    UINFO("Using color profile: %dx%d", colorWidth_, colorHeight_);
-    UINFO("Using depth profile: %dx%d", depthWidth_, depthHeight_);
-
-    config->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_ALL_TYPE_FRAME_REQUIRE);
-
-    config->setAlignMode(ALIGN_DISABLE);
-    config->setDepthScaleRequire(true);
-
-    pipeline_->enableFrameSync();
-
-    try {
-        UINFO("Starting camera pipeline");
-           pipeline_->start(config);
-
-        auto enabledStreams = pipeline_->getConfig()->getEnabledStreamProfileList();
-        if(imuPipeline_ != nullptr) {
-            for(uint32_t i=0; i<enabledStreams->getCount() && !imuLocalTransformInitialized_; ++i)
-            {
-                if(enabledStreams->getProfile(i)->getType() == OB_STREAM_COLOR)
-                {
-                    auto enabledImuStreams = imuPipeline_->getConfig()->getEnabledStreamProfileList();
-                    for(uint32_t j=0; j<enabledImuStreams->getCount(); ++j)
-                    {
-                        if(enabledImuStreams->getProfile(j)->getType() == OB_STREAM_ACCEL)
-                        {
-                            auto extrinsics = enabledStreams->getProfile(i)->as<ob::VideoStreamProfile>()->getExtrinsicTo(enabledImuStreams->getProfile(j)->as<ob::AccelStreamProfile>());
-                            // base -> color -> imu
-                            imuLocalTransform_ = this->getLocalTransform() * obToRtabmap(extrinsics);
-                            UINFO("IMU local transform: %s", imuLocalTransform_.prettyPrint().c_str());
-                            imuLocalTransformInitialized_ = true;
-                            break;
-                        }
-                    }
-                }
-            }
-        }
-
-        std::shared_ptr<ob::StreamProfile> colorProfile;
-        std::shared_ptr<ob::StreamProfile> depthProfile;
-        for(uint32_t i=0; i<enabledStreams->getCount(); ++i)
-        {
-            if(enabledStreams->getProfile(i)->getType() == OB_STREAM_COLOR) {
-                colorProfile = enabledStreams->getProfile(i);
-            }
-            else if(enabledStreams->getProfile(i)->getType() == OB_STREAM_DEPTH) {
-                depthProfile = enabledStreams->getProfile(i);
-            }
-        }
-        bool currentSelectionSupportsHwD2C = false;
-        auto hwD2CSupportedDepthStreamProfiles = pipeline_->getD2CDepthProfileList(colorProfile, ALIGN_D2C_HW_MODE);
-        if(hwD2CSupportedDepthStreamProfiles->count() == 0) {
-            UWARN("Current color profile selected doesn't support any hardware depth to color registration. Software registration is done instead.");
-        }
-        else
-        {
-            auto depthVsp = depthProfile->as<ob::VideoStreamProfile>();
-            auto count    = hwD2CSupportedDepthStreamProfiles->getCount();
-            for(uint32_t i = 0; i < count; i++) {
-                auto vsp = hwD2CSupportedDepthStreamProfiles->getProfile(i)->as<ob::VideoStreamProfile>();
-                UINFO("Supported depth to color format: Resolution: %ldx%ld, FPS: %ld, Format: %d", vsp->getWidth(), vsp->getHeight(), vsp->getFps(), vsp->getFormat(), i==0?" (default)":"");
-                if(vsp->getWidth() == depthVsp->getWidth() && vsp->getHeight() == depthVsp->getHeight() && vsp->getFormat() == depthVsp->getFormat()
-                && vsp->getFps() == depthVsp->getFps()) {
-                    currentSelectionSupportsHwD2C = true;
-                }
-            }
-        }
-        if(!currentSelectionSupportsHwD2C) {
-            UWARN("Hardware depth to color registration cannot be done with the selected color and depth profiles. "
-                  "Software registration is done instead, so more CPU will be needed on the host computer. "
-                  "Set logger level to info to see comptible depth formats for the selected color profile.");
-            alignFilter_ = new ob::Align(OB_STREAM_COLOR);
-            alignFilter_->setMatchTargetResolution(false);
-        }
-        else {
-            UINFO("Enabling hardware depth to color registration!");
-            config->setAlignMode(ALIGN_D2C_HW_MODE);
-            config->setDepthScaleRequire(false);
-            pipeline_->stop();
-            pipeline_->start(config);
-        }
-    }
-    catch(const ob::Error & e)
-    {
-        UERROR("Configuration not supported! Exception: %s", e.what());
-        UERROR("Supported formats:");
-        for(uint32_t i=0; i<sensors->getCount(); ++i)
-        {
-            if( sensors->getSensorType(i) == OB_SENSOR_DEPTH ||
-                sensors->getSensorType(i) == OB_SENSOR_COLOR)
-            {
-                auto profiles = sensors->getSensor(i)->getStreamProfileList();
-                for(uint32_t j=0; j<profiles->getCount(); ++j)
-                {
-                    auto profile = profiles->getProfile(j)->as<ob::VideoStreamProfile>();
-                    UERROR("%sResolution: %ldx%ld, FPS: %ld, Format: %d", 
-                        sensors->getSensorType(i) == OB_SENSOR_DEPTH?"Depth":"Color", 
-                        profile->getWidth(), 
-                        profile->getHeight(), 
-                        profile->getFps(), 
-                        profile->getFormat(), 
-                        j==0?" (default)":"");
-                }
-            }
-        }
-        return false;
-    }
-    
-    return true;
-#else
-    UERROR("CameraOrbbecSDK: RTAB-Map is not built with Orbbec SDK support!");
-    return false;
-#endif
-}
-
-bool CameraOrbbecSDK::isCalibrated() const
-{
-    return true;
-}
-
-std::string CameraOrbbecSDK::getSerial() const
-{
-#ifdef RTABMAP_ORBBEC_SDK
-    if(pipeline_) {
-        return pipeline_->getDevice()->getDeviceInfo()->getSerialNumber();
-    }
-#endif
-    return "";
-}
-
-void CameraOrbbecSDK::enableColorRectification(bool enabled)
-{
-#ifdef RTABMAP_ORBBEC_SDK
-    rectifyColor_ = enabled;
-#endif
-}
-
-void CameraOrbbecSDK::enableImu(bool enabled)
-{
-#ifdef RTABMAP_ORBBEC_SDK
-    imuPublished_ = enabled;
-#endif
-}
-
-void CameraOrbbecSDK::enableDepthMM(bool enabled)
-{
-#ifdef RTABMAP_ORBBEC_SDK
-    convertDepthToMM_ = enabled;
-#endif
-}
-
-SensorData CameraOrbbecSDK::captureImage(SensorCaptureInfo * info)
-{
-    SensorData data;
-
-#ifdef RTABMAP_ORBBEC_SDK
-    if(!pipeline_) {
-        UERROR("Camera is not initialized!");
-        return data;
-    }
-    auto frameset = pipeline_->waitForFrameset();
-    if(frameset == nullptr || frameset->getCount() == 0) {
-        UWARN("No frame received!");
-        return data;
-    }
-    if(frameset->getCount() != 2) {
-        UWARN("Received %s frames, expecting 2!", frameset->getCount());
-        return data;
-    }
-
-    if(alignFilter_ != nullptr) {
-        // Software depth to color registration
-        frameset = alignFilter_->process(frameset)->as<ob::FrameSet>();
-        UASSERT(frameset != nullptr);
-    }
-
-    auto colorFrame = frameset->getFrame(OB_FRAME_COLOR);
-    UASSERT(colorFrame != nullptr);
-    
-    auto depthFrame = frameset->getFrame(OB_FRAME_DEPTH);
-    UASSERT(depthFrame != nullptr);
-
-    auto colorVideoFrame = colorFrame->as<const ob::VideoFrame>();
-    auto depthVideoFrame = depthFrame->as<const ob::DepthFrame>();
-
-    cv::Mat rgb = obColorFrameToCv(*colorVideoFrame);
-    cv::Mat depth = obDepthFrameToCv(*depthVideoFrame);
-
-    if(rgb.empty()) {
-        UERROR("Could not convert the color frame! Type=%d Format=%d", colorFrame->getType(), colorVideoFrame->getFormat());
-    }
-    else if(depth.empty()) {
-        UERROR("Could not convert the depth frame! Type=%d Format=%d", depthFrame->getType(), depthVideoFrame->getFormat());
-    }
-    else if(!rgb.empty() && !depth.empty())
-    {
-        if(!model_.isValidForProjection())
-        {
-            auto streamProfile = colorFrame->getStreamProfile();
-            auto videoStreamProfile = streamProfile->as<ob::VideoStreamProfile>();
-
-            auto intrinsics = videoStreamProfile->getIntrinsic();
-            model_ = CameraModel(
-                getSerial(), 
-                cv::Size(intrinsics.width, intrinsics.height),
-                obIntrinsicToK(intrinsics),
-                obDistortionToD(videoStreamProfile->getDistortion()),
-                cv::Mat::eye(3,3,CV_64FC1),
-                obIntrinsicToP(intrinsics),
-                this->getLocalTransform());
-            if(rectifyColor_ && !model_.initRectificationMap()) {
-                UWARN("Could not initialize rectification map, color images won't be rectified.");
-            }
-        }
-    
-        if(rectifyColor_ && model_.isValidForRectification())
-        {
-            rgb = model_.rectifyImage(rgb);
-        }
-
-        if(convertDepthToMM_)
-        {
-            depth = util2d::cvtDepthFromFloat(depth);
-        }
-
-        uint64_t colorStampUs = globalTimestampAvailable_?colorFrame->getGlobalTimeStampUs():colorFrame->getTimeStampUs();
-        uint64_t depthStampUs = globalTimestampAvailable_?depthFrame->getGlobalTimeStampUs():depthFrame->getTimeStampUs();
-        double colorStamp = double(colorStampUs) / 1e6;
-        double depthStamp = double(depthStampUs) / 1e6;
-        if(fabs(colorStamp - depthStamp) > 0.018) {
-            // The difference seems varying between 0 and 17 ms normally
-            UWARN("Large timestamp difference (%fs) between color (%f) and depth (%f) frames. "
-                "Depth registration would be wrong on fast motion.", 
-                colorStamp - depthStamp, colorStamp, depthStamp);
-        }
-
-        uint64_t stampUs = colorStampUs < depthStampUs ? colorStampUs : depthStampUs;
-
-#ifdef WIN32
-        // On Windows, there is an issue that timestamps are not populated by default without following instructions from:
-        // https://github.com/orbbec/OrbbecSDK_v2/blob/main/scripts/env_setup/obsensor_metadata_win10.md
-        // Detect if the consecutive timestamps are identical, then send error!
-        if (stampUs <= lastImageStamp_)
-        {
-            UERROR("We detected non-consecutive timestamps, make sure you applied the fix from https://github.com/orbbec/OrbbecSDK_v2/blob/main/scripts/env_setup/obsensor_metadata_win10.md .");
-        }
-        lastImageStamp_ = stampUs;
-#endif
-        double stamp = double(stampUs)/1e6;
-
-        data = SensorData(rgb, depth, model_, this->getNextSeqID(), stamp);
-
-        if(imuPublished_ && !imuBuffer_.empty() && !this->isInterIMUPublishing())
-        {
-            cv::Vec6f imuVec;
-            std::map<double, cv::Vec6f>::const_iterator iterA, iterB;
-        
-            imuMutex_.lock();
-            int maximumTries = 10;
-            while(imuBuffer_.rbegin()->first < stamp && maximumTries-- > 0)
-            {
-                imuMutex_.unlock();
-                uSleep(1);
-                imuMutex_.lock();
-            }
-
-            if(imuBuffer_.rbegin()->first < stamp)
-            {
-                UWARN("Could not get IMU data at request image stamp %f after waiting 10 ms, latest imu stamp is %f", stamp, imuBuffer_.rbegin()->first);
-                imuMutex_.unlock();
-            }
-            else
-            {
-                // Interpolate imu data on image stamp
-                iterB = imuBuffer_.lower_bound(stamp);
-                iterA = iterB;
-                if(iterA != imuBuffer_.begin())
-                    iterA = --iterA;
-                if(iterA == iterB || stamp == iterB->first)
-                {
-                    imuVec = iterB->second;
-                }
-                else if(stamp > iterA->first && stamp < iterB->first)
-                {
-                    float t = (stamp-iterA->first) / (iterB->first-iterA->first);
-                    imuVec = iterA->second + t*(iterB->second - iterA->second);
-                }
-                imuBuffer_.erase(imuBuffer_.begin(), iterB);
-
-                imuMutex_.unlock();
-                data.setIMU(IMU(cv::Vec3d(imuVec[0], imuVec[1], imuVec[2]), cv::Mat::eye(3, 3, CV_64FC1), cv::Vec3d(imuVec[3], imuVec[4], imuVec[5]), cv::Mat::eye(3, 3, CV_64FC1), imuLocalTransform_));
-            }
-        }
-    }
-
-#else
-    UERROR("CameraOrbbecSDK: RTAB-Map is not built with Orbbec SDK support!");
-#endif
-    return data;
-}
-
-} // namespace rtabmap
@@ -176,8 +176,6 @@ Transform OdometryF2F::computeTransform(
 		if(info && this->isInfoDataFilled())
 		{
 			std::list<std::pair<int, std::pair<int, int> > > pairs;
-			UASSERT(tmpRefFrame.getWords().size() == tmpRefFrame.getWordsKpts().size());
-			UASSERT(newFrame.getWords().size() == newFrame.getWordsKpts().size());
 			EpipolarGeometry::findPairsUnique(tmpRefFrame.getWords(), newFrame.getWords(), pairs);
 			info->refCorners.resize(pairs.size());
 			info->newCorners.resize(pairs.size());
@@ -793,7 +793,6 @@ Transform OdometryF2M::computeTransform(

 					if(!lastFrameModels.empty())
 					{
-						UASSERT(lastFrame_->getWordsKpts().size() == lastFrame_->getWords().size());
 						for(std::multimap<int, int>::const_iterator iter = lastFrame_->getWords().begin(); iter!=lastFrame_->getWords().end(); ++iter)
 						{
 							const cv::Point3f & pt = lastFrame_->getWords3()[iter->second];
@@ -1560,10 +1559,6 @@ Transform OdometryF2M::computeTransform(
 		{
 			info->reg = regInfo.copyWithoutData();
 		}
-		if(output.isNull())
-		{
-			info->reg.covariance = cv::Mat::eye(6,6,CV_64FC1)*9999.0; // Lost
-		}
 	}

 	UINFO("Odom update time = %fs lost=%s features=%d inliers=%d/%d variance:lin=%f, ang=%f local_map=%d local_scan_map=%d",
@@ -25,7 +25,7 @@ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

-#include "rtabmap/core/odometry/OdometryVINSFusion.h"
+#include "rtabmap/core/odometry/OdometryVINS.h"
 #include "rtabmap/core/OdometryInfo.h"
 #include "rtabmap/core/util3d_transforms.h"
 #include "rtabmap/utilite/ULogger.h"
@@ -35,7 +35,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UDirectory.h"
 #include <opencv2/imgproc/types_c.h>

-#ifdef RTABMAP_VINS_FUSION
+#ifdef RTABMAP_VINS
 #include <estimator/estimator.h>
 #include <estimator/parameters.h>
 #include <camodocal/camera_models/PinholeCamera.h>
@@ -45,11 +45,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 namespace rtabmap {

-#ifdef RTABMAP_VINS_FUSION
-class VinsFusionEstimator: public Estimator
+#ifdef RTABMAP_VINS
+class VinsEstimator: public Estimator
 {
 public:
-	VinsFusionEstimator(
+	VinsEstimator(
 			const Transform & imuLocalTransform,
 			const StereoCameraModel & model,
 			bool rectified) : Estimator()
@@ -57,9 +57,6 @@ public:
 		MULTIPLE_THREAD = 0;
 		setParameter();

-		ROW=model.left().imageHeight();
-		COL=model.left().imageWidth();
-
 		//overwrite camera calibration only if received model is radtan, otherwise use config
 		UASSERT(NUM_OF_CAM >= 1 && NUM_OF_CAM <=2);

@@ -84,15 +81,6 @@ public:
 			camera->setParameters(params);
 			featureTracker.m_camera.push_back(camera);

-			double originalParalax = MIN_PARALLAX * FOCAL_LENGTH;
-			// If you have compiler error about FOCAL_LENGTH being const, make sure to use the following patch:
-			// https://gist.github.com/matlabbe/795ab37067367dca58bbadd8201d986c#file-vins-fusion_pull136-patch
-			FOCAL_LENGTH = params.fx();
-			MIN_PARALLAX = originalParalax / FOCAL_LENGTH;
-			ProjectionTwoFrameOneCamFactor::sqrt_info = FOCAL_LENGTH / 1.5 * Matrix2d::Identity();
-			ProjectionTwoFrameTwoCamFactor::sqrt_info = FOCAL_LENGTH / 1.5 * Matrix2d::Identity();
-			ProjectionOneFrameTwoCamFactor::sqrt_info = FOCAL_LENGTH / 1.5 * Matrix2d::Identity();
-
 			if(NUM_OF_CAM == 2)
 			{
 				camodocal::PinholeCameraPtr camera( new camodocal::PinholeCamera );
@@ -132,8 +120,8 @@ public:

 		Transform imuCam0 = imuLocalTransform.inverse() * model.localTransform();

-		tic[0] = TIC[0] = Vector3d(imuCam0.x(), imuCam0.y(), imuCam0.z());
-		ric[0] = RIC[0] = imuCam0.toEigen4d().block<3,3>(0,0);
+		tic[0] = Vector3d(imuCam0.x(), imuCam0.y(), imuCam0.z());
+		ric[0] = imuCam0.toEigen4d().block<3,3>(0,0);

 		if(NUM_OF_CAM == 2)
 		{
@@ -152,39 +140,54 @@ public:
 			UASSERT(!cam0cam1.isNull());
 			Transform imuCam1 = imuCam0 * cam0cam1;

-			tic[1] = TIC[0] = Vector3d(imuCam1.x(), imuCam1.y(), imuCam1.z());
-			ric[1] = RIC[0] = imuCam1.toEigen4d().block<3,3>(0,0);
+			tic[1] = Vector3d(imuCam1.x(), imuCam1.y(), imuCam1.z());
+			ric[1] = imuCam1.toEigen4d().block<3,3>(0,0);
 		}

 		for (int i = 0; i < NUM_OF_CAM; i++)
 		{
-			cout << " new extrinsic cam " << i << endl  << ric[i] << endl << tic[i].transpose() << endl;
-		}
-		for (int i = 0; i < NUM_OF_CAM; i++)
-		{
-			cout << " new intrinsic cam " << i << endl  << featureTracker.m_camera[i]->parametersToString() << endl;
+			cout << " exitrinsic cam " << i << endl  << ric[i] << endl << tic[i].transpose() << endl;
 		}
 		f_manager.setRic(ric);
+		ProjectionTwoFrameOneCamFactor::sqrt_info = FOCAL_LENGTH / 1.5 * Matrix2d::Identity();
+		ProjectionTwoFrameTwoCamFactor::sqrt_info = FOCAL_LENGTH / 1.5 * Matrix2d::Identity();
+		ProjectionOneFrameTwoCamFactor::sqrt_info = FOCAL_LENGTH / 1.5 * Matrix2d::Identity();
+		td = TD;
+		g = G;
+		cout << "set g " << g.transpose() << endl;
 	}

 	// Copy of original inputImage() so that overridden processMeasurements() is used and threading is disabled.
 	void inputImage(double t, const cv::Mat &_img, const cv::Mat &_img1)
 	{
-		TicToc processTime;
 	    inputImageCnt++;
 	    map<int, vector<pair<int, Eigen::Matrix<double, 7, 1>>>> featureFrame;
-	    if(_img1.empty()) {
+	    TicToc featureTrackerTime;
+	    if(_img1.empty())
 	        featureFrame = featureTracker.trackImage(t, _img);
-		}
-	    else {
+	    else
 	        featureFrame = featureTracker.trackImage(t, _img, _img1);
-		}
+	    //printf("featureTracker time: %f\n", featureTrackerTime.toc());
+
+	    //if(MULTIPLE_THREAD)
+	    //{
+	    //    if(inputImageCnt % 2 == 0)
+	    //    {
+	    //        mBuf.lock();
+	    //        featureBuf.push(make_pair(t, featureFrame));
+	    //        mBuf.unlock();
+	    //    }
+	    //}
+	    //else
+	    {
+	        mBuf.lock();
+	        featureBuf.push(make_pair(t, featureFrame));
+	        mBuf.unlock();
+	        TicToc processTime;
+	        processMeasurements();
+	        UDEBUG("VINS process time: %f", processTime.toc());
+	    }

-		mBuf.lock();
-		featureBuf.push(make_pair(t, featureFrame));
-		mBuf.unlock();
-		processMeasurements();
-		UDEBUG("VINS process time: %f", processTime.toc());
 	}

 	// Copy of original inputIMU() but with publisher commented
@@ -196,98 +199,127 @@ public:
 		//printf("input imu with time %f \n", t);
 		mBuf.unlock();

-		if (solver_flag == NON_LINEAR)
-		{
-			mPropagate.lock();
-			fastPredictIMU(t, linearAcceleration, angularVelocity);
-			mPropagate.unlock();
-		}
+		fastPredictIMU(t, linearAcceleration, angularVelocity);
+		//if (solver_flag == NON_LINEAR)
+		//	pubLatestOdometry(latest_P, latest_Q, latest_V, t);
 	}

 	// Copy of original processMeasurements() but with publishers commented and threading disabled
 	void processMeasurements()
 	{
-		pair<double, map<int, vector<pair<int, Eigen::Matrix<double, 7, 1> > > > > feature;
-		vector<pair<double, Eigen::Vector3d>> accVector, gyrVector;
-		if(!featureBuf.empty())
+		//while (1)
 		{
-			feature = featureBuf.front();
-			curTime = feature.first + td;
-			if (USE_IMU && !IMUAvailable(feature.first + td))
+			//printf("process measurments\n");
+			pair<double, map<int, vector<pair<int, Eigen::Matrix<double, 7, 1> > > > > feature;
+			vector<pair<double, Eigen::Vector3d>> accVector, gyrVector;
+			if(!featureBuf.empty())
 			{
-				printf("wait for imu ... \n");
-				return;
-			}
-			mBuf.lock();
-			if(USE_IMU)
-				getIMUInterval(prevTime, curTime, accVector, gyrVector);
+				feature = featureBuf.front();
+				curTime = feature.first + td;
+				//while(1)
+				//{
+					if (!((!USE_IMU  || IMUAvailable(feature.first + td))))
+					//if ((!USE_IMU  || IMUAvailable(feature.first + td)))
+					//	break;
+					//else
+					{
+						printf("wait for imu ... \n");
+						//if (! MULTIPLE_THREAD)
+							return;
+						//std::chrono::milliseconds dura(5);
+						//std::this_thread::sleep_for(dura);
+					}
+				//}
+				mBuf.lock();
+				if(USE_IMU)
+					getIMUInterval(prevTime, curTime, accVector, gyrVector);

-			featureBuf.pop();
-			mBuf.unlock();
+				featureBuf.pop();
+				mBuf.unlock();

-			if(USE_IMU)
-			{
-				if(!initFirstPoseFlag)
-					initFirstIMUPose(accVector);
-
-				for(size_t i = 0; i < accVector.size(); i++)
+				if(USE_IMU)
 				{
-					double dt;
-					if(i == 0)
-						dt = accVector[i].first - prevTime;
-					else if (i == accVector.size() - 1)
-						dt = curTime - accVector[i - 1].first;
-					else
-						dt = accVector[i].first - accVector[i - 1].first;
-					processIMU(accVector[i].first, dt, accVector[i].second, gyrVector[i].second);
+					if(!initFirstPoseFlag)
+						initFirstIMUPose(accVector);
+					UDEBUG("accVector.size() = %d", accVector.size());
+					for(size_t i = 0; i < accVector.size(); i++)
+					{
+						double dt;
+						if(i == 0)
+							dt = accVector[i].first - prevTime;
+						else if (i == accVector.size() - 1)
+							dt = curTime - accVector[i - 1].first;
+						else
+							dt = accVector[i].first - accVector[i - 1].first;
+						processIMU(accVector[i].first, dt, accVector[i].second, gyrVector[i].second);
+					}
 				}
+
+				processImage(feature.second, feature.first);
+
+				prevTime = curTime;
+
+				printStatistics(*this, 0);
+
+				//std_msgs::Header header;
+				//header.frame_id = "world";
+				//header.stamp = ros::Time(feature.first);
+
+				//pubOdometry(*this, header);
+				//pubKeyPoses(*this, header);
+				//pubCameraPose(*this, header);
+				//pubPointCloud(*this, header);
+				//pubKeyframe(*this);
+				//pubTF(*this, header);
 			}
-			mProcess.lock();
-			processImage(feature.second, feature.first);
-			prevTime = curTime;																
-			mProcess.unlock();
+
+			//if (! MULTIPLE_THREAD)
+			//	break;
+
+			//std::chrono::milliseconds dura(2);
+			//std::this_thread::sleep_for(dura);
 		}
 	}
 };
 #endif

-OdometryVINSFusion::OdometryVINSFusion(const ParametersMap & parameters) :
+OdometryVINS::OdometryVINS(const ParametersMap & parameters) :
 	Odometry(parameters)
-#ifdef RTABMAP_VINS_FUSION
+#ifdef RTABMAP_VINS
    ,
 	vinsEstimator_(0),
 	initGravity_(false),
 	previousPose_(Transform::getIdentity())
 #endif
 {
-#ifdef RTABMAP_VINS_FUSION
+#ifdef RTABMAP_VINS
 	// intialize
 	std::string configFilename;
-	Parameters::parse(parameters, Parameters::kOdomVINSFusionConfigPath(), configFilename);
+	Parameters::parse(parameters, Parameters::kOdomVINSConfigPath(), configFilename);
 	if(configFilename.empty())
 	{
-		UERROR("VINS config file is empty (%s)!",
-				Parameters::kOdomVINSFusionConfigPath().c_str());
+		UERROR("VINS config file is empty (%s=%s)!",
+				Parameters::kOdomVINSConfigPath().c_str(),
+				Parameters::kOdomVINSConfigPath().c_str());
 	}
 	else
 	{
-		UINFO("Using config file %s", configFilename.c_str());
 		readParameters(uReplaceChar(configFilename, '~', UDirectory::homeDir()));
 	}
 #endif
 }

-OdometryVINSFusion::~OdometryVINSFusion()
+OdometryVINS::~OdometryVINS()
 {
-#ifdef RTABMAP_VINS_FUSION
+#ifdef RTABMAP_VINS
 	delete vinsEstimator_;
 #endif
 }

-void OdometryVINSFusion::reset(const Transform & initialPose)
+void OdometryVINS::reset(const Transform & initialPose)
 {
 	Odometry::reset(initialPose);
-#ifdef RTABMAP_VINS_FUSION
+#ifdef RTABMAP_VINS
 	if(!initGravity_)
 	{
 		delete vinsEstimator_;
@@ -301,19 +333,18 @@ void OdometryVINSFusion::reset(const Transform & initialPose)
 }

 // return not null transform if odometry is correctly computed
-Transform OdometryVINSFusion::computeTransform(
+Transform OdometryVINS::computeTransform(
 		SensorData & data,
 		const Transform & guess,
 		OdometryInfo * info)
 {
 	Transform t;
-#ifdef RTABMAP_VINS_FUSION
+#ifdef RTABMAP_VINS
 	UTimer timer;

-	bool hasImage = !data.imageRaw().empty() && !data.rightRaw().empty() && data.stereoCameraModels().size() == 1 && data.stereoCameraModels()[0].isValidForProjection();
-
 	if(USE_IMU!=0 && !data.imu().empty())
 	{
+		double t = data.stamp();
 		double dx = data.imu().linearAcceleration().val[0];
 		double dy = data.imu().linearAcceleration().val[1];
 		double dz = data.imu().linearAcceleration().val[2];
@@ -327,19 +358,16 @@ Transform OdometryVINSFusion::computeTransform(

 		if(vinsEstimator_ != 0)
 		{
-			vinsEstimator_->inputIMU(data.stamp(), acc, gyr);
+			vinsEstimator_->inputIMU(t, acc, gyr);
 		}
 		else
 		{
 			lastImu_ = data.imu();
-			lastImuStamp_ = data.stamp();
-			if(!hasImage) {
-				UWARN("Waiting an image for initialization...");
-			}
+			UWARN("Waiting an image for initialization...");
 		}
 	}

-	if(hasImage)
+	if(!data.imageRaw().empty() && !data.rightRaw().empty() && data.stereoCameraModels().size() == 1 && data.stereoCameraModels()[0].isValidForProjection())
 	{
 		if(USE_IMU==1 && lastImu_.localTransform().isNull())
 		{
@@ -349,23 +377,10 @@ Transform OdometryVINSFusion::computeTransform(
 		if(vinsEstimator_ == 0)
 		{
 			// intialize
-			UINFO("Initializing with image %f", data.stamp());
-			vinsEstimator_ = new VinsFusionEstimator(
+			vinsEstimator_ = new VinsEstimator(
 					lastImu_.localTransform().isNull()?Transform::getIdentity():lastImu_.localTransform(),
 					data.stereoCameraModels()[0],
 					this->imagesAlreadyRectified());
-
-			if(USE_IMU) {
-				double dx = lastImu_.linearAcceleration().val[0];
-				double dy = lastImu_.linearAcceleration().val[1];
-				double dz = lastImu_.linearAcceleration().val[2];
-				double rx = lastImu_.angularVelocity().val[0];
-				double ry = lastImu_.angularVelocity().val[1];
-				double rz = lastImu_.angularVelocity().val[2];
-				Vector3d acc(dx, dy, dz);
-				Vector3d gyr(rx, ry, rz);
-				vinsEstimator_->inputIMU(lastImuStamp_, acc, gyr);
-			}
 		}

 		UDEBUG("Image update stamp=%f", data.stamp());
@@ -440,45 +455,36 @@ Transform OdometryVINSFusion::computeTransform(
 					info->reg.covariance = cv::Mat::eye(6,6, CV_64FC1);
 					info->reg.covariance *= this->framesProcessed() == 0?9999:0.0001;

-					// feature map: based on code from pubPointCloud() of vins's visualization.cpp
+					// feature map
+					Transform fixT = this->getPose()*previousPoseInv;
 					for (auto &it_per_id : vinsEstimator_->f_manager.feature)
 					{
-						if(it_per_id.feature_per_frame.size() < 2) {
-							// feature just added but not tracked, or old feature not tracked anymore
+						int used_num;
+						used_num = it_per_id.feature_per_frame.size();
+						if (!(used_num >= 2 && it_per_id.start_frame < WINDOW_SIZE - 2))
+							continue;
+						if (it_per_id.start_frame > WINDOW_SIZE * 3.0 / 4.0 || it_per_id.solve_flag != 1)
 							continue;
-						}
-
 						int imu_i = it_per_id.start_frame;
-						Vector3d pts_i = it_per_id.feature_per_frame[0].point * it_per_id.estimated_depth;
+						Vector3d pts_i = it_per_id.feature_per_frame[it_per_id.feature_per_frame.size()-1].point * it_per_id.estimated_depth;
 						Vector3d w_pts_i = vinsEstimator_->Rs[imu_i] * (vinsEstimator_->ric[0] * pts_i + vinsEstimator_->tic[0]) + vinsEstimator_->Ps[imu_i];

 						cv::Point3f p;
 						p.x = w_pts_i(0);
 						p.y = w_pts_i(1);
 						p.z = w_pts_i(2);
+						p = util3d::transformPoint(p, fixT);
+						info->localMap.insert(std::make_pair(it_per_id.feature_id, p));

-						int featureIndex = info->localMap.size();
-						info->localMap.insert(std::make_pair(featureIndex, p));
-
-						FeaturePerFrame & refFrame = it_per_id.feature_per_frame[0]; // First frame it was seen
-						FeaturePerFrame & newFrame = it_per_id.feature_per_frame[it_per_id.feature_per_frame.size()-1]; // Last frame it was seen (not necessary in last frame)
-						cv::Point2f refUV(refFrame.uv[0], refFrame.uv[1]);
-						cv::Point2f newUV(newFrame.uv[0], newFrame.uv[1]);
-						info->refCorners.push_back(refUV);
-						info->newCorners.push_back(newUV);
-
-						info->reg.matchesIDs.push_back(featureIndex);
-						if(it_per_id.solve_flag > 0) {
-							// Feature correctly tracked
-							info->words.insert(std::make_pair(featureIndex, cv::KeyPoint(newUV, 3.0f)));
-							info->cornerInliers.push_back(featureIndex);
-							info->reg.inliersIDs.push_back(featureIndex);
+						if(this->imagesAlreadyRectified())
+						{
+							cv::Point2f pt;
+							data.stereoCameraModels()[0].left().reproject(pts_i(0), pts_i(1), pts_i(2), pt.x, pt.y);
+							info->reg.inliersIDs.push_back(info->newCorners.size());
+							info->newCorners.push_back(pt);
 						}
-
-						++featureIndex;
 					}
-					info->features = info->localMap.size();
-					info->reg.inliers = info->reg.inliersIDs.size();
+					info->features = info->newCorners.size();
 					info->localMapSize = info->localMap.size();
 				}
 				UINFO("Odom update time = %fs p=%s", timer.elapsed(), p.prettyPrint().c_str());
@@ -486,7 +492,7 @@ Transform OdometryVINSFusion::computeTransform(
 		}
 		else
 		{
-			UWARN("VINS-Fusion not yet initialized... needing more data.");
+			UWARN("VINS not yet initialized... waiting to get enough IMU messages");
 		}
 	}
 	else if(!data.imageRaw().empty() && !data.depthRaw().empty())
@@ -90,10 +90,14 @@ typedef g2o::LinearSolverCSparse<SlamBlockSolver::PoseMatrixType> SlamLinearCSpa
 typedef g2o::LinearSolverCholmod<SlamBlockSolver::PoseMatrixType> SlamLinearCholmodSolver;
 #endif

-// We check if g2o/types/sba/sba_utils.h exists to know we use a version after December 24 2020
+// We use G2O_SRC_DIR to know we are version after December 24 2020
 // where VertexSBAPointXYZ has been renamed to VertexPointXYZ
 // (g2o: 0fcccb302787e70ff19f65e70fb103a1295b33a2)
-#ifdef RTABMAP_G2O_WITH_SBA_UTILS
+//
+// VCPKG commented G2O_SRC_DIR from their port so we cannot use
+// G2O_SRC_DIR on windows to deduce it, we then assume it is the
+// latest version without VertexSBAPointXYZ
+#if defined(G2O_SRC_DIR) or defined(WIN32)
 namespace g2o {
 typedef VertexPointXYZ VertexSBAPointXYZ;
 }
@@ -131,9 +131,7 @@ CREATE TABLE Admin (
 	opt_map BLOB,            -- compressed CV_8SC1 occupancy grid
 	opt_map_x_min FLOAT,
 	opt_map_y_min FLOAT, 
-	opt_map_resolution FLOAT,
-
-	dictionary_index BLOB,   -- serialized dictionary index
+	opt_map_resolution FLOAT, 

 	time_enter DATE
 );
@@ -1,183 +0,0 @@
-- *******************************************************************
--  DatabaseSchema: Script for creating the database
--   Usage:
--       $ sqlite3 LTM.db < DatabaseSchema.sql
--
-- *******************************************************************
-
-- *******************************************************************
-- CLEAN
-- *******************************************************************
-/*DROP TABLE Node;*/
-
-- *******************************************************************
-- CREATE
-- *******************************************************************
-CREATE TABLE Node (
-	id INTEGER NOT NULL,
-	map_id INTEGER NOT NULL,
-	weight INTEGER,
-	stamp FLOAT,
-	pose BLOB,                -- 3x4 float
-	ground_truth_pose BLOB,   -- 3x4 float
-	velocity BLOB,            -- 6 float (vx,vy,vz,vroll,vpitch,vyaw) m/s and rad/s
-	label TEXT,
-	gps BLOB,                 -- 1x6 double: stamp, longitude (DD), latitude (DD), altitude (m), accuracy (m), bearing (North 0->360 deg clockwise)
-	env_sensors BLOB,         -- Variable 3xdouble: (sensorId1, value, stamp, sensorId2, value, stamp, ...)
-	time_enter DATE,
-	PRIMARY KEY (id)
-);
-
-CREATE TABLE Data (
-	id INTEGER NOT NULL,
-	image BLOB,               -- compressed image (Grayscale or RGB)
-	depth BLOB,               -- compressed image (Depth or Right image)
-	depth_confidence BLOB,    -- compressed data (low=0 high=100)
-	calibration BLOB,         -- fx, fy, cx, cy, [baseline,] width, height, local_transform
-	
-	scan BLOB,                -- compressed data (Laser scan)
-	scan_info BLOB,           -- scan_max_pts, scan_max_range, scan_format, local_transform
-	
-	ground_cells BLOB,        -- compressed data (occupancy grid)
-	obstacle_cells BLOB,      -- compressed data (occupancy grid)
-	empty_cells BLOB,         -- compressed data (occupancy grid)
-	cell_size FLOAT,
-	view_point_x FLOAT,
-	view_point_y FLOAT,
-	view_point_z FLOAT,
-	
-	user_data BLOB,           -- compressed data (User data)
-	time_enter DATE,
-	PRIMARY KEY (id)
-);
-
-CREATE TABLE Link (
-	from_id INTEGER NOT NULL,
-	to_id INTEGER NOT NULL,
-	type INTEGER NOT NULL,    -- kNeighbor=0, kGlobalClosure=1, kLocalSpaceClosure=2, kLocalTimeClosure=3, kUserClosure=4, kVirtualClosure=5, kNeighborMerged=6, kPosePrior=7, kLandmark=8
-	information_matrix BLOB NOT NULL, -- 6x6 double (inverse covariance)
-	transform BLOB,           -- 3x4 float
-	user_data BLOB,           -- compressed data (User data)
-	FOREIGN KEY (from_id) REFERENCES Node(id),
-	FOREIGN KEY (to_id) REFERENCES Node(id)
-);
-
-- 
-CREATE TABLE Word (
-	id INTEGER NOT NULL,
-	descriptor_size INTEGER NOT NULL,
-	descriptor BLOB NOT NULL,
-	time_enter DATE,
-	PRIMARY KEY (id)
-);
-
-CREATE TABLE Feature (
-	node_id INTEGER NOT NULL,
-	word_id INTEGER NOT NULL,
-	pos_x FLOAT NOT NULL,
-	pos_y FLOAT NOT NULL,
-	size INTEGER NOT NULL,
-	dir FLOAT NOT NULL,
-	response FLOAT NOT NULL,
-	octave INTEGER NOT NULL,
-	depth_x FLOAT,
-	depth_y FLOAT,
-	depth_z FLOAT,
-	descriptor_size INTEGER,
-	descriptor BLOB,
-	FOREIGN KEY (node_id) REFERENCES Node(id)
-);
-
-CREATE TABLE GlobalDescriptor (
-	node_id INTEGER NOT NULL,
-	type INTEGER NOT NULL,
-	info BLOB,
-	data BLOB NOT NULL,
-	FOREIGN KEY (node_id) REFERENCES Node(id)
-);
-
--
-
-CREATE TABLE Info (
-	STM_size INTEGER,
-	last_sign_added INTEGER,
-	process_mem_used INTEGER,
-	database_mem_used INTEGER,
-	dictionary_size INTEGER,
-	parameters TEXT,
-	time_enter DATE
-);
-
-CREATE TABLE Statistics (
-	id INTEGER NOT NULL,
-	stamp FLOAT,
-	data BLOB,              -- compressed string
-	wm_state BLOB,	        -- compressed data
-	FOREIGN KEY (id) REFERENCES Node(id)
-);
-
-CREATE TABLE Admin (
-	version TEXT,
-	preview_image BLOB,      -- compressed image
-	
-	opt_cloud BLOB,          -- compressed data
-	opt_ids BLOB,            -- Node ids used to generate the optimized cloud/mesh
-	opt_poses BLOB,          -- compressed N*3x4 float 
-	opt_last_localization BLOB, -- 3x4 float
-	opt_polygons_size INTEGER, -- e.g., 3
-	opt_polygons BLOB,       -- compressed data [length_v0, i0,i1,i3, length_v1, i0,i1,i3]
-	opt_tex_coords BLOB,     -- compressed data [length_v0, u0,v0,u1,v1,u2,v2, length_v1, u0,v0,u1,v1,u2,v2]
-	opt_tex_materials BLOB,  -- compressed image
-	opt_map BLOB,            -- compressed CV_8SC1 occupancy grid
-	opt_map_x_min FLOAT,
-	opt_map_y_min FLOAT, 
-	opt_map_resolution FLOAT, 
-
-	time_enter DATE
-);
-
-- *******************************************************************
-- TRIGGERS
-- *******************************************************************
-CREATE TRIGGER insert_Feature BEFORE INSERT ON Feature 
-WHEN NOT EXISTS (SELECT Node.id FROM Node WHERE Node.id = NEW.node_id)
-BEGIN
- SELECT RAISE(ABORT, 'Foreign key constraint failed in Feature table');
-END;
-
- --   Creating a trigger for time_enter
-CREATE TRIGGER insert_Node_timeEnter AFTER INSERT ON Node
-BEGIN
- UPDATE Node SET time_enter = DATETIME('NOW')  WHERE rowid = new.rowid;
-END;
-
-CREATE TRIGGER insert_Data_timeEnter AFTER INSERT ON Data
-BEGIN
- UPDATE Node SET time_enter = DATETIME('NOW')  WHERE rowid = new.rowid;
-END;
-
-CREATE TRIGGER insert_Word_timeEnter AFTER INSERT ON Word
-BEGIN
- UPDATE Word SET time_enter = DATETIME('NOW')  WHERE rowid = new.rowid;
-END;
-
-CREATE TRIGGER insert_Info_timeEnter AFTER INSERT ON Info
-BEGIN
- UPDATE Info SET time_enter = DATETIME('NOW')  WHERE rowid = new.rowid;
-END;
-
-- *******************************************************************
-- INDEXES
-- *******************************************************************
-CREATE UNIQUE INDEX IDX_Node_id on Node (id);
-CREATE INDEX IDX_Feature_node_id on Feature (node_id);
-CREATE INDEX IDX_GlobalDescriptor_node_id on GlobalDescriptor (node_id);
-CREATE INDEX IDX_Link_from_id on Link (from_id);
-CREATE UNIQUE INDEX IDX_node_label on Node (label);
-CREATE UNIQUE INDEX IDX_Statistics_id on Statistics (id);
-
-- *******************************************************************
-- VERSION
-- *******************************************************************
-INSERT INTO Admin(version) VALUES('0.22.0');
-
@@ -103,6 +103,7 @@ public:
    {
        flann_algorithm_t index_type = get_param<flann_algorithm_t>(params,"algorithm");
        loaded_ = false;
+
        if (index_type == FLANN_INDEX_SAVED) {
            nnIndex_ = load_saved_index(features, get_param<std::string>(params,"filename"), distance);
            loaded_ = true;
@@ -179,20 +180,10 @@ public:
        if (fout == NULL) {
            throw FLANNException("Cannot open file");
        }
-        save(fout);
+        nnIndex_->saveIndex(fout);
        fclose(fout);
    }

-    /**
-     * Save index to file stream.
-     * Caller has to open file stream with "wb" and close it afterwards.
-     * @param filename
-     */
-    void save(FILE * stream)
-    {
-        nnIndex_->saveIndex(stream);
-    }
-
    /**
     * \returns number of features in this index.
     */
@@ -386,26 +377,6 @@ public:
    	return nnIndex_->radiusSearch(queries, indices, dists, radius, params);
    }

-    void load_saved_index(FILE* fin)
-    {
-        if(loaded_) {
-            throw FLANNException("Index already loaded!");
-        }
-        if(nnIndex_->sizeAtBuild() != 0) {
-            throw FLANNException("Index must not be already built to load data.");
-        }
-        if (fin == NULL) {
-            throw FLANNException("File pointer must be valid!");
-        }
-        IndexHeader header = load_header(fin);
-        if (header.h.data_type != flann_datatype_value<ElementType>::value) {
-            throw FLANNException("Datatype of saved index is different than of the one to be loaded.");
-        }
-        rewind(fin);
-        nnIndex_->loadIndex(fin);
-        loaded_ = true;
-    }
-
 private:
    IndexType* load_saved_index(const Matrix<ElementType>& dataset, const std::string& filename, Distance distance)
    {
@@ -50,24 +50,7 @@ void showUsage()
 {
 	printf("\nUsage:\n"
 			"rtabmap-rgbd_mapping driver\n"
-			"  driver       Driver number to use: 0=OpenNI-PCL (Kinect)\n"
-			"                                     1=OpenNI2    (Kinect and Xtion PRO Live)\n"
-			"                                     2=Freenect   (Kinect)\n"
-			"                                     3=OpenNI-CV  (Kinect)\n"
-			"                                     4=OpenNI-CV-ASUS (Xtion PRO Live)\n"
-			"                                     5=Freenect2  (Kinect v2)\n"
-			"                                     6=DC1394     (Bumblebee2)\n"
-			"                                     7=FlyCapture2 (Bumblebee2)\n"
-			"                                     8=ZED stereo\n"
-			"                                     9=RealSense\n"
-			"                                     10=Kinect for Windows 2 SDK\n"
-			"                                     11=RealSense2\n"
-			"                                     12=Kinect for Azure SDK\n"
-			"                                     13=MYNT EYE S\n"
-			"                                     14=ZED Open Capture\n"
-			"                                     15=depthai-core\n"
-			"                                     16=XVSDK     (SeerSense)\n"
-			"                                     17=Orbbec SDK\n\n");
+			"  driver       Driver number to use: 0=OpenNI-PCL, 1=OpenNI2, 2=Freenect, 3=OpenNI-CV, 4=OpenNI-CV-ASUS, 5=Freenect2, 6=ZED SDK, 7=RealSense, 8=RealSense2 9=Kinect for Azure SDK 10=MYNT EYE S\n\n");
 	exit(1);
 }

@@ -75,7 +58,7 @@ using namespace rtabmap;
 int main(int argc, char * argv[])
 {
 	ULogger::setType(ULogger::kTypeConsole);
-	ULogger::setLevel(ULogger::kInfo);
+	ULogger::setLevel(ULogger::kWarning);

 #ifdef RTABMAP_PYTHON
 	PythonInterface python; // Make sure we initialize python in main thread
@@ -89,120 +72,92 @@ int main(int argc, char * argv[])
 	else
 	{
 		driver = atoi(argv[argc-1]);
-		if(driver < 0 || driver > 17)
+		if(driver < 0 || driver > 10)
 		{
-			UERROR("driver should be between 0 and 17.");
+			UERROR("driver should be between 0 and 10.");
 			showUsage();
 		}
 	}

 	// Here is the pipeline that we will use:
 	// CameraOpenni -> "SensorEvent" -> OdometryThread -> "OdometryEvent" -> RtabmapThread -> "RtabmapEvent"
+
+	// Create the OpenNI camera, it will send a SensorEvent at the rate specified.
+	// Set transform to camera so z is up, y is left and x going forward
 	Camera * camera = 0;
-	if (driver == 0)
+	if(driver == 1)
 	{
-		camera = new rtabmap::CameraOpenni();
-	}
-	else if (driver == 1)
-	{
-		if (!rtabmap::CameraOpenNI2::available())
+		if(!CameraOpenNI2::available())
 		{
 			UERROR("Not built with OpenNI2 support...");
 			exit(-1);
 		}
-		camera = new rtabmap::CameraOpenNI2();
+		camera = new CameraOpenNI2();
 	}
-	else if (driver == 2)
+	else if(driver == 2)
 	{
-		if (!rtabmap::CameraFreenect::available())
+		if(!CameraFreenect::available())
 		{
 			UERROR("Not built with Freenect support...");
 			exit(-1);
 		}
-		camera = new rtabmap::CameraFreenect();
+		camera = new CameraFreenect();
 	}
-	else if (driver == 3)
+	else if(driver == 3)
 	{
-		if (!rtabmap::CameraOpenNICV::available())
+		if(!CameraOpenNICV::available())
 		{
 			UERROR("Not built with OpenNI from OpenCV support...");
 			exit(-1);
 		}
-		camera = new rtabmap::CameraOpenNICV(false);
+		camera = new CameraOpenNICV();
 	}
-	else if (driver == 4)
+	else if(driver == 4)
 	{
-		if (!rtabmap::CameraOpenNICV::available())
+		if(!CameraOpenNICV::available())
 		{
 			UERROR("Not built with OpenNI from OpenCV support...");
 			exit(-1);
 		}
-		camera = new rtabmap::CameraOpenNICV(true);
+		camera = new CameraOpenNICV(true);
 	}
 	else if (driver == 5)
 	{
-		if (!rtabmap::CameraFreenect2::available())
+		if (!CameraFreenect2::available())
 		{
 			UERROR("Not built with Freenect2 support...");
 			exit(-1);
 		}
-		camera = new rtabmap::CameraFreenect2(0, rtabmap::CameraFreenect2::kTypeColor2DepthSD);
+		camera = new CameraFreenect2(0, CameraFreenect2::kTypeColor2DepthSD);
 	}
 	else if (driver == 6)
 	{
-		if (!rtabmap::CameraStereoDC1394::available())
+		if (!CameraStereoZed::available())
 		{
-			UERROR("Not built with DC1394 support...");
+			UERROR("Not built with ZED SDK support...");
 			exit(-1);
 		}
-		camera = new rtabmap::CameraStereoDC1394();
+		camera = new CameraStereoZed(0, -1, 1, 1, 100, false);
 	}
 	else if (driver == 7)
 	{
-		if (!rtabmap::CameraStereoFlyCapture2::available())
-		{
-			UERROR("Not built with FlyCapture2/Triclops support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraStereoFlyCapture2();
-	}
-	else if (driver == 8)
-	{
-		if (!rtabmap::CameraStereoZed::available())
-		{
-			UERROR("Not built with ZED sdk support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraStereoZed(0);
-	}
-	else if (driver == 9)
-	{
-		if (!rtabmap::CameraRealSense::available())
+		if (!CameraRealSense::available())
 		{
 			UERROR("Not built with RealSense support...");
 			exit(-1);
 		}
-		camera = new rtabmap::CameraRealSense();
+		camera = new CameraRealSense();
 	}
-	else if (driver == 10)
+	else if (driver == 8)
 	{
-		if (!rtabmap::CameraK4W2::available())
+		if (!CameraRealSense2::available())
 		{
-			UERROR("Not built with Kinect for Windows 2 SDK support...");
+			UERROR("Not built with RealSense2 support...");
 			exit(-1);
 		}
-		camera = new rtabmap::CameraK4W2();
+		camera = new CameraRealSense2();
 	}
-	else if (driver == 11)
-	{
-		if (!rtabmap::CameraRealSense2::available())
-		{
-			UERROR("Not built with RealSense2 SDK support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraRealSense2();
-	}
-	else if (driver == 12)
+	else if (driver == 9)
 	{
 		if (!rtabmap::CameraK4A::available())
 		{
@@ -211,7 +166,7 @@ int main(int argc, char * argv[])
 		}
 		camera = new rtabmap::CameraK4A(1);
 	}
-	else if (driver == 13)
+	else if (driver == 10)
 	{
 		if (!rtabmap::CameraMyntEye::available())
 		{
@@ -220,45 +175,9 @@ int main(int argc, char * argv[])
 		}
 		camera = new rtabmap::CameraMyntEye();
 	}
-	else if (driver == 14)
-	{
-		if (!rtabmap::CameraStereoZedOC::available())
-		{
-			UERROR("Not built with Zed Open Capture support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraStereoZedOC(0);
-	}
-	else if (driver == 15)
-	{
-		if (!rtabmap::CameraDepthAI::available())
-		{
-			UERROR("Not built with depthai-core support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraDepthAI();
-	}
-	else if (driver == 16)
-	{
-		if (!rtabmap::CameraSeerSense::available())
-		{
-			UERROR("Not built with XVisio SDK support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraSeerSense();
-	}
-	else if (driver == 17)
-	{
-		if (!rtabmap::CameraOrbbecSDK::available())
-		{
-			UERROR("Not built with Orbbec SDK support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraOrbbecSDK();
-	}
 	else
 	{
-		UFATAL("");
+		camera = new rtabmap::CameraOpenni();
 	}

 	if(!camera->init())
@@ -178,7 +178,6 @@ protected Q_SLOTS:
 	void selectFreenect2();
 	void selectK4W2();
 	void selectK4A();
-	void selectOrbbecSDK();
 	void selectRealSense();
 	void selectRealSense2();
 	void selectRealSense2L515();
@@ -98,7 +98,6 @@ public:
 		kSrcRealSense2     = 9,
 		kSrcK4A            = 10,
 		kSrcSeerSense      = 11,
-		kSrcOrbbecSDK      = 12,

 		kSrcStereo         = 100,
 		kSrcDC1394         = 100,
@@ -174,7 +173,6 @@ public:
 	int getOdomRegistrationApproach() const;
 	double getOdomF2MGravitySigma() const;
 	bool isOdomDisabled() const;
-	bool isOdomAsGuessEnabled() const;
 	bool isOdomSensorAsGt() const;
 	bool isGroundTruthAligned() const;

@@ -369,7 +367,7 @@ private Q_SLOTS:
 	void changeDictionaryPath();
 	void changeOdometryORBSLAMVocabulary();
 	void changeOdometryOKVISConfigPath();
-	void changeOdometryVINSFusionConfigPath();
+	void changeOdometryVINSConfigPath();
 	void changeOdometryOpenVINSLeftMask();
 	void changeOdometryOpenVINSRightMask();
 	void changeIcpPMConfigPath();
@@ -179,8 +179,6 @@ AboutDialog::AboutDialog(QWidget * parent) :
 	_ui->label_depthai->setText(CameraDepthAI::available() ? "Yes" : "No");
 	_ui->label_depthai_license->setEnabled(CameraDepthAI::available());
 	_ui->label_xvsdk->setText(CameraSeerSense::available() ? "Yes" : "No");
-	_ui->label_orbbec_sdk->setText(CameraOrbbecSDK::available() ? "Yes" : "No");
-	_ui->label_orbbec_sdk_license->setEnabled(CameraOrbbecSDK::available());

 	_ui->label_toro->setText(Optimizer::isAvailable(Optimizer::kTypeTORO)?"Yes":"No");
 	_ui->label_toro_license->setEnabled(Optimizer::isAvailable(Optimizer::kTypeTORO)?true:false);
@@ -283,7 +281,7 @@ AboutDialog::AboutDialog(QWidget * parent) :
 	_ui->label_msckf_license->setEnabled(false);
 #endif

-#ifdef RTABMAP_VINS_FUSION
+#ifdef RTABMAP_VINS
 	_ui->label_vins_fusion->setText("Yes");
 	_ui->label_vins_fusion_license->setEnabled(true);
 #else
@@ -299,14 +297,6 @@ AboutDialog::AboutDialog(QWidget * parent) :
 	_ui->label_openvins_license->setEnabled(false);
 #endif

-#ifdef RTABMAP_CUVSLAM
-	_ui->label_cuvslam->setText("Yes");
-	_ui->label_cuvslam_license->setEnabled(true);
-#else
-	_ui->label_cuvslam->setText("No");
-	_ui->label_cuvslam_license->setEnabled(false);
-#endif
-
 }

 AboutDialog::~AboutDialog()
@@ -97,7 +97,11 @@ IF(MSVC)
    SET(SRC_FILES ${SRC_FILES} ${HEADERS})
 ENDIF(MSVC)

-SET(INCLUDE_DIRS "")
+SET(INCLUDE_DIRS
+	${CMAKE_CURRENT_SOURCE_DIR}/../include
+	${CMAKE_CURRENT_SOURCE_DIR}
+	${CMAKE_CURRENT_BINARY_DIR} # for qt ui generated in binary dir
+)

 IF(QT4_FOUND)
    INCLUDE(${QT_USE_FILE})
@@ -168,6 +172,9 @@ IF(VTK_USE_QVTK)
 	SET(LIBRARIES ${LIBRARIES} ${QVTK_LIBRARY})
 ENDIF(VTK_USE_QVTK)

+#include files
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
 add_definitions(${PCL_DEFINITIONS})

 # Include presets
@@ -198,12 +205,8 @@ generate_export_header(rtabmap_gui
 DEPRECATED_MACRO_NAME RTABMAP_DEPRECATED)

 target_include_directories(rtabmap_gui PUBLIC 
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR};${CMAKE_CURRENT_SOURCE_DIR}/../include;${CMAKE_CURRENT_BINARY_DIR};${CMAKE_CURRENT_BINARY_DIR}/include>"
-  "$<INSTALL_INTERFACE:${INSTALL_INCLUDE_DIR}>")
-
-target_include_directories(rtabmap_gui SYSTEM PUBLIC 
-  "$<BUILD_INTERFACE:${PUBLIC_INCLUDE_DIRS};${INCLUDE_DIRS}>"
-  "$<INSTALL_INTERFACE:${PUBLIC_INCLUDE_DIRS}>")
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include;${CMAKE_CURRENT_BINARY_DIR}/include;${PUBLIC_INCLUDE_DIRS}>"
+  "$<INSTALL_INTERFACE:${INSTALL_INCLUDE_DIR};${PUBLIC_INCLUDE_DIRS}>")

 TARGET_LINK_LIBRARIES(rtabmap_gui 
  PUBLIC
@@ -250,18 +250,17 @@ void CalibrationDialog::resetSettings()

 cv::Mat drawChessboard(int squareSize, int boardWidth, int boardHeight, int borderSize)
 {
-    int imageWidth = squareSize*(boardWidth+1) + 2*borderSize;
-	int imageHeight = squareSize*(boardHeight+1) + 2*borderSize;
-    cv::Mat chessboard(imageHeight, imageWidth, CV_8UC1, 255);
-	unsigned char rowColor = 0;
+    int imageWidth = squareSize*boardWidth + borderSize;
+	int imageHeight = squareSize*boardHeight + borderSize;
+    cv::Mat chessboard(imageWidth, imageHeight, CV_8UC1, 255);
+	unsigned char color = 0;
 	for(int i=borderSize;i<imageHeight-borderSize; i=i+squareSize) {
-		unsigned char colColor = rowColor;
+		color=~color;
 		for(int j=borderSize;j<imageWidth-borderSize;j=j+squareSize) {
-			cv::Mat roi=chessboard(cv::Rect(j,i,squareSize,squareSize));
-			roi.setTo(colColor);
-			colColor=~colColor;
+			cv::Mat roi=chessboard(cv::Rect(i,j,squareSize,squareSize));
+			roi.setTo(color);
+			color=~color;
 		}
-		rowColor = ~rowColor;
 	}
 	return chessboard;
 }
@@ -8361,7 +8361,7 @@ void DatabaseViewer::refineConstraint(int from, int to, Registration * reg, Regi
 		}

 		Transform toPoseInv = filteredScanPoses.at(currentLink.to()).inverse();
-		dbDriver_->loadNodeData(*fromS, !silent, true, !silent, !silent);
+		dbDriver_->loadNodeData(fromS, !silent, true, !silent, !silent);
 		fromS->sensorData().uncompressData();
 		LaserScan fromScan = fromS->sensorData().laserScanRaw();
 		int maxPoints = fromScan.size();
@@ -8507,8 +8507,8 @@ void DatabaseViewer::refineConstraint(int from, int to, Registration * reg, Regi
 			reextractVisualFeatures ||
 			!silent)
 		{
-			dbDriver_->loadNodeData(*fromS, reextractVisualFeatures || !silent || (reg->isScanRequired() && ui_->checkBox_icp_from_depth->isChecked()), reg->isScanRequired() || !silent, reg->isUserDataRequired() || !silent, !silent);
-			dbDriver_->loadNodeData(*toS, reextractVisualFeatures || !silent || (reg->isScanRequired() && ui_->checkBox_icp_from_depth->isChecked()), reg->isScanRequired() || !silent, reg->isUserDataRequired() || !silent, !silent);
+			dbDriver_->loadNodeData(fromS, reextractVisualFeatures || !silent || (reg->isScanRequired() && ui_->checkBox_icp_from_depth->isChecked()), reg->isScanRequired() || !silent, reg->isUserDataRequired() || !silent, !silent);
+			dbDriver_->loadNodeData(toS, reextractVisualFeatures || !silent || (reg->isScanRequired() && ui_->checkBox_icp_from_depth->isChecked()), reg->isScanRequired() || !silent, reg->isUserDataRequired() || !silent, !silent);
 		
 			if(!silent)
 			{
@@ -8603,7 +8603,6 @@ void DatabaseViewer::refineConstraint(int from, int to, Registration * reg, Regi

 	if(!transform.isNull())
 	{
-		UASSERT(!info.covariance.empty());
 		if(!transform.isIdentity())
 		{
 			if(info.covariance.at<double>(0,0)<=0.0)
@@ -8797,9 +8796,9 @@ bool DatabaseViewer::addConstraint(int from, int to, Registration * reg, bool si
 			!silent)
 		{
 			// Add sensor data to generate features
-			dbDriver_->loadNodeData(*fromS, reextractVisualFeatures || !silent || (reg->isScanRequired() && ui_->checkBox_icp_from_depth->isChecked()), reg->isScanRequired() || !silent, reg->isUserDataRequired() || !silent, !silent);
+			dbDriver_->loadNodeData(fromS, reextractVisualFeatures || !silent || (reg->isScanRequired() && ui_->checkBox_icp_from_depth->isChecked()), reg->isScanRequired() || !silent, reg->isUserDataRequired() || !silent, !silent);
 			fromS->sensorData().uncompressData();
-			dbDriver_->loadNodeData(*toS, reextractVisualFeatures || !silent || (reg->isScanRequired() && ui_->checkBox_icp_from_depth->isChecked()), reg->isScanRequired() || !silent, reg->isUserDataRequired() || !silent, !silent);
+			dbDriver_->loadNodeData(toS, reextractVisualFeatures || !silent || (reg->isScanRequired() && ui_->checkBox_icp_from_depth->isChecked()), reg->isScanRequired() || !silent, reg->isUserDataRequired() || !silent, !silent);
 			toS->sensorData().uncompressData();
 			if(reextractVisualFeatures)
 			{
@@ -44,7 +44,6 @@
        <file>images/oakd.png</file>
        <file>images/oakd_lite.png</file>
        <file>images/astra.png</file>
-        <file>images/astra2.png</file>
        <file>images/oakdpro.png</file>
        <file>images/seer_sense_DS80.png</file>
    </qresource>
@@ -1141,14 +1141,14 @@ void ImageView::mouseMoveEvent(QMouseEvent * event)
 	if(_mouseTracking->isChecked() &&
 		!_graphicsView->scene()->sceneRect().isNull() &&
 		!_image.isNull() &&
-		!_imageDepthCv.empty() && (_imageDepthCv.type() == CV_16UC1 || _imageDepthCv.type() == CV_32FC1))
+		!_imageDepthCv.empty() &&(_imageDepthCv.type() == CV_16UC1 || _imageDepthCv.type() == CV_32FC1))
 	{
 		float scale, offsetX, offsetY;
 		computeScaleOffsets(this->rect(), scale, offsetX, offsetY);
 		float u = (event->pos().x() - offsetX) / scale;
 		float v = (event->pos().y() - offsetY) / scale;
 		float depthScale = 1;
-		if(_image.width() != _imageDepthCv.cols)
+		if(_image.width() > _imageDepthCv.cols)
 		{
 			depthScale = float(_imageDepthCv.cols) / float(_image.width());
 		}
@@ -1382,16 +1382,6 @@ void ImageView::setImageDepth(const cv::Mat & imageDepth, const cv::Mat & imageD
 			// convert the depth values in height values
 			cv::Mat depthInBaseFrame = _imageDepthCv.clone();
 			int subImageWidth = _imageDepthCv.cols / _models.size();
-			std::vector<CameraModel> models; // scale model to size of depth image if needed
-			for(const auto & model: _models) {
-				UASSERT(subImageWidth <= model.imageWidth());
-				if(subImageWidth < model.imageWidth()) {
-					models.push_back(model.scaled(float(subImageWidth)/float(model.imageWidth())));
-				}
-				else {
-					models.push_back(model);
-				}
-			}
 			if(depthInBaseFrame.type() == CV_16UC1) {
 				for(int v=0; v<depthInBaseFrame.rows; ++v){
 					unsigned short * rowPtr = depthInBaseFrame.ptr<unsigned short>(v);
@@ -1400,9 +1390,9 @@ void ImageView::setImageDepth(const cv::Mat & imageDepth, const cv::Mat & imageD
 						if(val > 0) {
 							cv::Point3f pt;
 							int cameraIndex = u/subImageWidth;
-							UASSERT(cameraIndex>=0 && cameraIndex < (int)models.size() && subImageWidth == models[cameraIndex].imageWidth());
-							models[cameraIndex].project(u,v,float(val)/1000.0f, pt.x, pt.y, pt.z);
-							pt = util3d::transformPoint(pt, models[cameraIndex].localTransform());
+							UASSERT(cameraIndex>=0 && cameraIndex < (int)_models.size() && subImageWidth == _models[cameraIndex].imageWidth());
+							_models[cameraIndex].project(u,v,float(val)/1000.0f, pt.x, pt.y, pt.z);
+							pt = util3d::transformPoint(pt, _models[cameraIndex].localTransform());
 							val = (unsigned short)(pt.z*1000.0f);
 						}
 					}
@@ -1416,9 +1406,9 @@ void ImageView::setImageDepth(const cv::Mat & imageDepth, const cv::Mat & imageD
 						if(val > 0) {
 							cv::Point3f pt;
 							int cameraIndex = u/subImageWidth;
-							UASSERT(cameraIndex>=0 && cameraIndex < (int)models.size() && subImageWidth == models[cameraIndex].imageWidth());
-							models[cameraIndex].project(u,v,val, pt.x, pt.y, pt.z);
-							pt = util3d::transformPoint(pt, models[cameraIndex].localTransform());
+							UASSERT(cameraIndex>=0 && cameraIndex < (int)_models.size() && subImageWidth == _models[cameraIndex].imageWidth());
+							_models[cameraIndex].project(u,v,val, pt.x, pt.y, pt.z);
+							pt = util3d::transformPoint(pt, _models[cameraIndex].localTransform());
 							val = pt.z;
 						}
 					}
@@ -1448,8 +1438,8 @@ void ImageView::setImageDepth(const QImage & imageDepth, const QImage & imageDep
 	UASSERT(_imageDepth.width() && _imageDepth.height());

 	if( _image.width() > 0 &&
-		_image.width() != _imageDepth.width() &&
-		_image.height() != _imageDepth.height())
+		_image.width() > _imageDepth.width() &&
+		_image.height() > _imageDepth.height())
 	{
 		// scale depth to rgb
 		_imageDepth = _imageDepth.scaled(_image.size());
@@ -470,7 +470,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
 	connect(_ui->actionDepthAI_oakdlite, SIGNAL(triggered()), this, SLOT(selectDepthAIOAKDLite()));
 	connect(_ui->actionDepthAI_oakdpro, SIGNAL(triggered()), this, SLOT(selectDepthAIOAKDPro()));
 	connect(_ui->actionXvisio_SeerSense, SIGNAL(triggered()), this, SLOT(selectXvisioSeerSense()));
-	connect(_ui->actionOrbbecSDK_astra2, SIGNAL(triggered()), this, SLOT(selectOrbbecSDK()));
 	connect(_ui->actionVelodyne_VLP_16, SIGNAL(triggered()), this, SLOT(selectVLP16()));
 	_ui->actionFreenect->setEnabled(CameraFreenect::available());
 	_ui->actionOpenNI_PCL->setEnabled(CameraOpenni::available());
@@ -500,7 +499,6 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
    _ui->actionDepthAI_oakdlite->setEnabled(CameraDepthAI::available());
    _ui->actionDepthAI_oakdpro->setEnabled(CameraDepthAI::available());
 	_ui->actionXvisio_SeerSense->setEnabled(CameraSeerSense::available());
-	_ui->actionOrbbecSDK_astra2->setEnabled(CameraOrbbecSDK::available());
 	this->updateSelectSourceMenu();

 	connect(_ui->actionPreferences, SIGNAL(triggered()), this, SLOT(openPreferences()));
@@ -1677,7 +1675,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 					odom.info().type == (int)Odometry::kTypeViso2 ||
 					odom.info().type == (int)Odometry::kTypeFovis ||
 					odom.info().type == (int)Odometry::kTypeMSCKF ||
-					odom.info().type == (int)Odometry::kTypeVINSFusion ||
+					odom.info().type == (int)Odometry::kTypeVINS ||
 					odom.info().type == (int)Odometry::kTypeOpenVINS)
 			{
 				std::vector<cv::KeyPoint> kpts;
@@ -1727,6 +1725,7 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 			if( odom.info().type == (int)Odometry::kTypeF2M ||
 				odom.info().type == (int)Odometry::kTypeORBSLAM ||
 				odom.info().type == (int)Odometry::kTypeMSCKF ||
+				odom.info().type == (int)Odometry::kTypeVINS ||
 				odom.info().type == (int)Odometry::kTypeOpenVINS)
 			{
 				if(_ui->imageView_odometry->isFeaturesShown() && !_preferencesDialog->isOdomOnlyInliersShown())
@@ -1743,7 +1742,6 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 			}
 			if((odom.info().type == (int)Odometry::kTypeF2F ||
 				odom.info().type == (int)Odometry::kTypeViso2 ||
-				odom.info().type == (int)Odometry::kTypeVINSFusion ||
 				odom.info().type == (int)Odometry::kTypeFovis) && odom.info().refCorners.size())
 			{
 				if(_ui->imageView_odometry->isFeaturesShown() || _ui->imageView_odometry->isLinesShown())
@@ -1797,7 +1795,6 @@ void MainWindow::processOdometry(const rtabmap::OdometryEvent & odom, bool dataI
 	//Process info
 	if(_preferencesDialog->isCacheSavedInFigures() || _ui->statsToolBox->isVisible())
 	{
-		UASSERT(odom.info().reg.covariance.total() == 36 && odom.info().reg.covariance.type() == CV_64FC1);
 		double linVar = uMax3(odom.info().reg.covariance.at<double>(0,0), odom.info().reg.covariance.at<double>(1,1)>=9999?0:odom.info().reg.covariance.at<double>(1,1), odom.info().reg.covariance.at<double>(2,2)>=9999?0:odom.info().reg.covariance.at<double>(2,2));
 		double angVar = uMax3(odom.info().reg.covariance.at<double>(3,3)>=9999?0:odom.info().reg.covariance.at<double>(3,3), odom.info().reg.covariance.at<double>(4,4)>=9999?0:odom.info().reg.covariance.at<double>(4,4), odom.info().reg.covariance.at<double>(5,5));
 		_ui->statsToolBox->updateStat("Odometry/Inliers/", _preferencesDialog->isTimeUsedInFigures()?data->stamp()-_firstStamp:(float)data->id(), (float)odom.info().reg.inliers, _preferencesDialog->isCacheSavedInFigures());
@@ -2397,19 +2394,13 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 			// do it after scaling
 			std::multimap<int, cv::KeyPoint> wordsA;
 			std::multimap<int, cv::KeyPoint> wordsB;
-			if(signature.getWords().size() == signature.getWordsKpts().size())
+			for(std::map<int, int>::const_iterator iter=signature.getWords().begin(); iter!=signature.getWords().end(); ++iter)
 			{
-				for(std::map<int, int>::const_iterator iter=signature.getWords().begin(); iter!=signature.getWords().end(); ++iter)
-				{
-					wordsA.insert(wordsA.end(), std::make_pair(iter->first, signature.getWordsKpts()[iter->second]));
-				}
+				wordsA.insert(wordsA.end(), std::make_pair(iter->first, signature.getWordsKpts()[iter->second]));
 			}
-			if(loopSignature.getWords().size() == loopSignature.getWordsKpts().size())
+			for(std::map<int, int>::const_iterator iter=loopSignature.getWords().begin(); iter!=loopSignature.getWords().end(); ++iter)
 			{
-				for(std::map<int, int>::const_iterator iter=loopSignature.getWords().begin(); iter!=loopSignature.getWords().end(); ++iter)
-				{
-					wordsB.insert(wordsB.end(), std::make_pair(iter->first, loopSignature.getWordsKpts()[iter->second]));
-				}
+				wordsB.insert(wordsB.end(), std::make_pair(iter->first, loopSignature.getWordsKpts()[iter->second]));
 			}
 			this->drawKeypoints(wordsA, wordsB);

@@ -4372,7 +4363,7 @@ void MainWindow::createAndAddFeaturesToMap(int nodeId, const Transform & pose, i
 		UASSERT(iter->getWords().size() == iter->getWords3().size());
 		float maxDepth = _preferencesDialog->getCloudMaxDepth(0);
 		UDEBUG("rgb.channels()=%d");
-		if(!iter->getWords3().empty() && iter->getWords3().size() == iter->getWordsKpts().size())
+		if(!iter->getWords3().empty() && !iter->getWordsKpts().empty())
 		{
 			Transform invLocalTransform = Transform::getIdentity();
 			if(iter.value().sensorData().cameraModels().size() == 1 &&
@@ -5340,7 +5331,6 @@ void MainWindow::updateSelectSourceMenu()
 	_ui->actionDepthAI_oakdlite->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoDepthAI);
 	_ui->actionDepthAI_oakdpro->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcStereoDepthAI);
 	_ui->actionXvisio_SeerSense->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcSeerSense);
-	_ui->actionOrbbecSDK_astra2->setChecked(_preferencesDialog->getSourceDriver() == PreferencesDialog::kSrcOrbbecSDK);
 	_ui->actionVelodyne_VLP_16->setChecked(_preferencesDialog->getLidarSourceDriver() == PreferencesDialog::kSrcLidarVLP16);
 }

@@ -5999,7 +5989,7 @@ void MainWindow::startDetection()
 				_imuThread = 0;
 			}

-			if((!_sensorCapture->odomProvided() || _preferencesDialog->isOdomAsGuessEnabled()) && !_preferencesDialog->isOdomDisabled())
+			if(!_sensorCapture->odomProvided() && !_preferencesDialog->isOdomDisabled())
 			{
 				ParametersMap odomParameters = parameters;
 				if(_preferencesDialog->getOdomRegistrationApproach() < 3)
@@ -6057,7 +6047,7 @@ void MainWindow::startDetection()
 		}
 	}

-	if(_dataRecorder && _sensorCapture)
+	if(_dataRecorder && _sensorCapture && _odomThread)
 	{
 		UEventsManager::createPipe(_sensorCapture, _dataRecorder, "SensorEvent");
 	}
@@ -7217,11 +7207,6 @@ void MainWindow::selectK4A()
 	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcK4A);
 }

-void MainWindow::selectOrbbecSDK()
-{
-	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcOrbbecSDK);
-}
-
 void MainWindow::selectRealSense()
 {
 	_preferencesDialog->selectSourceDriver(PreferencesDialog::kSrcRealSense);
@@ -149,13 +149,11 @@ void MultiSessionLocWidget::updateView(

 				Link link = loopLinks.find(nodeId) != loopLinks.end()?loopLinks.find(nodeId)->second:Link();
 				std::multimap<int, cv::KeyPoint> keypoints;
-				if(s.getWords().size() == s.getWordsKpts().size()) {
-					for(std::multimap<int, int>::const_iterator jter=s.getWords().begin(); jter!=s.getWords().end(); ++jter)
+				for(std::multimap<int, int>::const_iterator jter=s.getWords().begin(); jter!=s.getWords().end(); ++jter)
+				{
+					if(jter->first>0 && lastSignature.getWords().find(jter->first) != lastSignature.getWords().end())
 					{
-						if(jter->first>0 && lastSignature.getWords().find(jter->first) != lastSignature.getWords().end())
-						{
-							keypoints.insert(std::make_pair(jter->first, s.getWordsKpts()[jter->second]));
-						}
+						keypoints.insert(std::make_pair(jter->first, s.getWordsKpts()[jter->second]));
 					}
 				}

@@ -226,7 +226,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 #ifndef RTABMAP_MSCKF_VIO
 	_ui->odom_strategy->setItemData(8, 0, Qt::UserRole - 1);
 #endif
-#ifndef RTABMAP_VINS_FUSION
+#ifndef RTABMAP_VINS
 	_ui->odom_strategy->setItemData(9, 0, Qt::UserRole - 1);
 #endif
 #ifndef RTABMAP_OPENVINS
@@ -398,10 +398,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	{
 		_ui->comboBox_cameraRGBD->setItemData(kSrcK4A - kSrcRGBD, 0, Qt::UserRole - 1);
 	}
-	if (!CameraOrbbecSDK::available())
-	{
-		_ui->comboBox_cameraRGBD->setItemData(kSrcOrbbecSDK - kSrcRGBD, 0, Qt::UserRole - 1);
-	}
 	if (!CameraRealSense::available())
 	{
 		_ui->comboBox_cameraRGBD->setItemData(kSrcRealSense - kSrcRGBD, 0, Qt::UserRole - 1);
@@ -771,39 +767,19 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->openni2_hshift, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->openni2_vshift, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->openni2_depth_decimation, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-	
 	connect(_ui->comboBox_freenect2Format, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->doubleSpinBox_freenect2MinDepth, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->doubleSpinBox_freenect2MaxDepth, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
-
 	connect(_ui->checkBox_freenect2BilateralFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkBox_freenect2EdgeAwareFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkBox_freenect2NoiseFiltering, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->lineEdit_freenect2Pipeline, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
-
 	connect(_ui->comboBox_k4w2Format, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-
-	connect(_ui->comboBox_k4a_rgb_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-	connect(_ui->comboBox_k4a_framerate, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-	connect(_ui->comboBox_k4a_depth_resolution, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-	connect(_ui->checkbox_k4a_irDepth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-	connect(_ui->lineEdit_k4a_mkv, SIGNAL(textChanged(const QString &)), this, SLOT(makeObsoleteSourcePanel()));
-	connect(_ui->source_checkBox_useMKVStamps, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-
-	connect(_ui->spinBox_orbbec_sdk_color_width, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-	connect(_ui->spinBox_orbbec_sdk_color_height, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-	connect(_ui->spinBox_orbbec_sdk_depth_width, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-	connect(_ui->spinBox_orbbec_sdk_depth_height, SIGNAL(valueChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-	connect(_ui->checkBox_orbbec_sdk_color_rectification, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-	connect(_ui->checkBox_orbbec_sdk_imu, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-	connect(_ui->checkBox_orbbec_sdk_depth_mm, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-
 	connect(_ui->comboBox_realsensePresetRGB, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->comboBox_realsensePresetDepth, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkbox_realsenseOdom, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkbox_realsenseDepthScaledToRGBSize, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->comboBox_realsenseRGBSource, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-
 	connect(_ui->checkbox_rs2_emitter, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkbox_rs2_irMode, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkbox_rs2_irDepth, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
@@ -942,7 +918,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	connect(_ui->doubleSpinBox_odom_sensor_scale_factor, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->doubleSpinBox_odom_sensor_wait_time, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->checkBox_odom_sensor_use_as_gt, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
-	connect(_ui->checkbox_passthrough_source_odom, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteSourcePanel()));

 	connect(_ui->comboBox_imuFilter_strategy, SIGNAL(currentIndexChanged(int)), this, SLOT(makeObsoleteSourcePanel()));
 	connect(_ui->comboBox_imuFilter_strategy, SIGNAL(currentIndexChanged(int)), _ui->stackedWidget_imuFilter, SLOT(setCurrentIndex(int)));
@@ -1030,7 +1005,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->lineEdit_rgbCompressionFormat->setObjectName(Parameters::kMemImageCompressionFormat().c_str());
 	_ui->lineEdit_depthCompressionFormat->setObjectName(Parameters::kMemDepthCompressionFormat().c_str());
 	_ui->general_checkBox_keepDescriptors->setObjectName(Parameters::kMemRawDescriptorsKept().c_str());
-	_ui->general_checkBox_loadVisualLocalFeaturesOnInit->setObjectName(Parameters::kMemLoadVisualLocalFeaturesOnInit().c_str());
 	_ui->general_checkBox_saveDepth16bits->setObjectName(Parameters::kMemSaveDepth16Format().c_str());
 	_ui->general_checkBox_compressionParallelized->setObjectName(Parameters::kMemCompressionParallelized().c_str());
 	_ui->general_checkBox_reduceGraph->setObjectName(Parameters::kMemReduceGraph().c_str());
@@ -1105,8 +1079,6 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->lineEdit_dictionaryPath->setObjectName(Parameters::kKpDictionaryPath().c_str());
 	connect(_ui->toolButton_dictionaryPath, SIGNAL(clicked()), this, SLOT(changeDictionaryPath()));
 	_ui->checkBox_kp_newWordsComparedTogether->setObjectName(Parameters::kKpNewWordsComparedTogether().c_str());
-	_ui->checkBox_kp_flannIndexSaved->setObjectName(Parameters::kKpFlannIndexSaved().c_str());
-	_ui->checkBox_kp_serializeWithChecksum->setObjectName(Parameters::kKpSerializeWithChecksum().c_str());
 	_ui->subpix_winSize_kp->setObjectName(Parameters::kKpSubPixWinSize().c_str());
 	_ui->subpix_iterations_kp->setObjectName(Parameters::kKpSubPixIterations().c_str());
 	_ui->subpix_eps_kp->setObjectName(Parameters::kKpSubPixEps().c_str());
@@ -1581,8 +1553,8 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	_ui->OdomMSCKFInitCovExTrans->setObjectName(Parameters::kOdomMSCKFInitCovExTrans().c_str());

 	// Odometry VINS
-	_ui->lineEdit_OdomVinsFusionPath->setObjectName(Parameters::kOdomVINSFusionConfigPath().c_str());
-	connect(_ui->toolButton_OdomVinsFusionPath, SIGNAL(clicked()), this, SLOT(changeOdometryVINSFusionConfigPath()));
+	_ui->lineEdit_OdomVinsPath->setObjectName(Parameters::kOdomVINSConfigPath().c_str());
+	connect(_ui->toolButton_OdomVinsPath, SIGNAL(clicked()), this, SLOT(changeOdometryVINSConfigPath()));

 	// Odometry OpenVINS
 	_ui->checkBox_OdomOpenVINSUseStereo->setObjectName(Parameters::kOdomOpenVINSUseStereo().c_str());
@@ -2256,13 +2228,6 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->comboBox_k4a_depth_resolution->setCurrentIndex(2);
 		_ui->checkbox_k4a_irDepth->setChecked(false);
 		_ui->lineEdit_k4a_mkv->clear();
-		_ui->spinBox_orbbec_sdk_color_width->setValue(800);
-		_ui->spinBox_orbbec_sdk_color_height->setValue(600);
-		_ui->spinBox_orbbec_sdk_depth_width->setValue(800);
-		_ui->spinBox_orbbec_sdk_depth_height->setValue(600);
-		_ui->checkBox_orbbec_sdk_color_rectification->setChecked(false);
-		_ui->checkBox_orbbec_sdk_imu->setChecked(true);
-		_ui->checkBox_orbbec_sdk_depth_mm->setChecked(true);
 		_ui->source_checkBox_useMKVStamps->setChecked(true);
 		_ui->lineEdit_cameraRGBDImages_path_rgb->setText("");
 		_ui->lineEdit_cameraRGBDImages_path_depth->setText("");
@@ -2341,7 +2306,6 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->doubleSpinBox_odom_sensor_scale_factor->setValue(1);
 		_ui->doubleSpinBox_odom_sensor_wait_time->setValue(100);
 		_ui->checkBox_odom_sensor_use_as_gt->setChecked(false);
-		_ui->checkbox_passthrough_source_odom->setChecked(false);

 		_ui->comboBox_imuFilter_strategy->setCurrentIndex(2);
 		_ui->doubleSpinBox_imuFilterMadgwickGain->setValue(Parameters::defaultImuFilterMadgwickGain());
@@ -2749,16 +2713,6 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	_ui->source_checkBox_useMKVStamps->setChecked(settings.value("useMkvStamps", _ui->source_checkBox_useMKVStamps->isChecked()).toBool());
 	settings.endGroup(); // K4A

-	settings.beginGroup("OrbbecSDK");
-	_ui->spinBox_orbbec_sdk_color_width->setValue(settings.value("color_width", _ui->spinBox_orbbec_sdk_color_width->value()).toInt());
-	_ui->spinBox_orbbec_sdk_color_height->setValue(settings.value("color_height", _ui->spinBox_orbbec_sdk_color_height->value()).toInt());
-	_ui->spinBox_orbbec_sdk_depth_width->setValue(settings.value("depth_width", _ui->spinBox_orbbec_sdk_depth_width->value()).toInt());
-	_ui->spinBox_orbbec_sdk_depth_height->setValue(settings.value("depth_height", _ui->spinBox_orbbec_sdk_depth_height->value()).toInt());
-	_ui->checkBox_orbbec_sdk_color_rectification->setChecked(settings.value("rectify_color", _ui->checkBox_orbbec_sdk_color_rectification->isChecked()).toBool());
-	_ui->checkBox_orbbec_sdk_imu->setChecked(settings.value("enable_imu", _ui->checkBox_orbbec_sdk_imu->isChecked()).toBool());
-	_ui->checkBox_orbbec_sdk_depth_mm->setChecked(settings.value("depth_mm", _ui->checkBox_orbbec_sdk_depth_mm->isChecked()).toBool());
-	settings.endGroup(); // Orbbec SDK
-
 	settings.beginGroup("RealSense");
 	_ui->comboBox_realsensePresetRGB->setCurrentIndex(settings.value("presetRGB", _ui->comboBox_realsensePresetRGB->currentIndex()).toInt());
 	_ui->comboBox_realsensePresetDepth->setCurrentIndex(settings.value("presetDepth", _ui->comboBox_realsensePresetDepth->currentIndex()).toInt());
@@ -2878,7 +2832,6 @@ void PreferencesDialog::readCameraSettings(const QString & filePath)
 	_ui->doubleSpinBox_odom_sensor_scale_factor->setValue(settings.value("odom_sensor_scale_factor", _ui->doubleSpinBox_odom_sensor_scale_factor->value()).toDouble());
 	_ui->doubleSpinBox_odom_sensor_wait_time->setValue(settings.value("odom_sensor_wait_time", _ui->doubleSpinBox_odom_sensor_wait_time->value()).toDouble());
 	_ui->checkBox_odom_sensor_use_as_gt->setChecked(settings.value("odom_sensor_odom_as_gt", _ui->checkBox_odom_sensor_use_as_gt->isChecked()).toBool());
-	_ui->checkbox_passthrough_source_odom->setChecked(settings.value("odom_sensor_as_guess", _ui->checkbox_passthrough_source_odom->isChecked()).toBool());
 	settings.endGroup(); // OdomSensor

 	settings.beginGroup("UsbCam");
@@ -3366,16 +3319,6 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
 	settings.setValue("useMkvStamps", _ui->source_checkBox_useMKVStamps->isChecked());
 	settings.endGroup(); // K4A

-	settings.beginGroup("OrbbecSDK");
-	settings.setValue("color_width", _ui->spinBox_orbbec_sdk_color_width->value());
-	settings.setValue("color_height", _ui->spinBox_orbbec_sdk_color_height->value());
-	settings.setValue("depth_width", _ui->spinBox_orbbec_sdk_depth_width->value());
-	settings.setValue("depth_height", _ui->spinBox_orbbec_sdk_depth_height->value());
-	settings.setValue("rectify_color", _ui->checkBox_orbbec_sdk_color_rectification->isChecked());
-	settings.setValue("enable_imu", _ui->checkBox_orbbec_sdk_imu->isChecked());
-	settings.setValue("depth_mm", _ui->checkBox_orbbec_sdk_depth_mm->isChecked());
-	settings.endGroup(); // Orbbec SDK
-
 	settings.beginGroup("RealSense");
 	settings.setValue("presetRGB",           _ui->comboBox_realsensePresetRGB->currentIndex());
 	settings.setValue("presetDepth",         _ui->comboBox_realsensePresetDepth->currentIndex());
@@ -3493,7 +3436,6 @@ void PreferencesDialog::writeCameraSettings(const QString & filePath) const
 	settings.setValue("odom_sensor_scale_factor", _ui->doubleSpinBox_odom_sensor_scale_factor->value());
 	settings.setValue("odom_sensor_wait_time", _ui->doubleSpinBox_odom_sensor_wait_time->value());
 	settings.setValue("odom_sensor_odom_as_gt", _ui->checkBox_odom_sensor_use_as_gt->isChecked());
-	settings.setValue("odom_sensor_as_guess", _ui->checkbox_passthrough_source_odom->isChecked());
 	settings.endGroup(); // OdomSensor

 	settings.beginGroup("UsbCam");
@@ -3788,6 +3730,15 @@ bool PreferencesDialog::validateForm()
 		_ui->odom_f2m_bundleStrategy->setCurrentIndex(0);
 	}

+	// verify that Robust and Reject threshold are not set at the same time
+	if(_ui->graphOptimization_robust->isChecked() && _ui->graphOptimization_maxError->value()>0.0)
+	{
+		QMessageBox::warning(this, tr("Parameter warning"),
+				tr("Robust graph optimization and maximum optimization error threshold cannot be "
+				   "both used at the same time. Disabling robust optimization."));
+		_ui->graphOptimization_robust->setChecked(false);
+	}
+
 	//verify binary features and nearest neighbor
 	// BOW dictionary type
 	if(_ui->comboBox_dictionary_strategy->currentIndex() == VWDictionary::kNNFlannLSH && _ui->comboBox_detector_strategy->currentIndex() <= 1)
@@ -5522,7 +5473,7 @@ void PreferencesDialog::updateOdometryStackedIndex(int index)
 	_ui->groupBox_odomOKVIS->setVisible(index==6);
 	_ui->groupBox_odomLOAM->setVisible(index==7);
 	_ui->groupBox_odomMSCKF->setVisible(index==8);
-	_ui->groupBox_odomVINSFusion->setVisible(index==9);
+	_ui->groupBox_odomVINS->setVisible(index==9);
 	_ui->groupBox_odomOpenVINS->setVisible(index==10);
 	_ui->groupBox_odomOpen3D->setVisible(index==12);
 }
@@ -5613,20 +5564,20 @@ void PreferencesDialog::changeOdometryOKVISConfigPath()
 	}
 }

-void PreferencesDialog::changeOdometryVINSFusionConfigPath()
+void PreferencesDialog::changeOdometryVINSConfigPath()
 {
 	QString path;
-	if(_ui->lineEdit_OdomVinsFusionPath->text().isEmpty())
+	if(_ui->lineEdit_OdomVinsPath->text().isEmpty())
 	{
 		path = QFileDialog::getOpenFileName(this, tr("VINS-Fusion Config"), this->getWorkingDirectory(), tr("VINS-Fusion config (*.yaml)"));
 	}
 	else
 	{
-		path = QFileDialog::getOpenFileName(this, tr("VINS-Fusion Config"), _ui->lineEdit_OdomVinsFusionPath->text(), tr("VINS-Fusion config (*.yaml)"));
+		path = QFileDialog::getOpenFileName(this, tr("VINS-Fusion Config"), _ui->lineEdit_OdomVinsPath->text(), tr("VINS-Fusion config (*.yaml)"));
 	}
 	if(!path.isEmpty())
 	{
-		_ui->lineEdit_OdomVinsFusionPath->setText(path);
+		_ui->lineEdit_OdomVinsPath->setText(path);
 	}
 }

@@ -5780,7 +5731,6 @@ void PreferencesDialog::updateSourceGrpVisibility()
 			 _ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect2-kSrcRGBD ||
 			 _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4W2 - kSrcRGBD ||
 			 _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4A - kSrcRGBD ||
-			 _ui->comboBox_cameraRGBD->currentIndex() == kSrcOrbbecSDK - kSrcRGBD ||
 			 _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - kSrcRGBD ||
 			 _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD ||
 			 _ui->comboBox_cameraRGBD->currentIndex() == kSrcOpenNI_PCL-kSrcRGBD ||
@@ -5790,7 +5740,6 @@ void PreferencesDialog::updateSourceGrpVisibility()
 	_ui->groupBox_freenect2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect2-kSrcRGBD);
 	_ui->groupBox_k4w2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4W2 - kSrcRGBD);
 	_ui->groupBox_k4a->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4A - kSrcRGBD);
-	_ui->groupBox_orbbec_sdk->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOrbbecSDK - kSrcRGBD);
 	_ui->groupBox_realsense->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense - kSrcRGBD);
 	_ui->groupBox_realsense2->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense2 - kSrcRGBD);
 	_ui->groupBox_cameraRGBDImages->setVisible(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRGBDImages-kSrcRGBD);
@@ -5834,7 +5783,7 @@ void PreferencesDialog::updateSourceGrpVisibility()

 	// Odom Sensor Group
 	_ui->frame_visual_odometry_sensor->setVisible(getOdomSourceDriver() != kSrcUndef); // Not Lidar None
-	_ui->comboBox_odom_sensor->setEnabled(_ui->comboBox_sourceType->currentIndex() != 3); // Don't enable when database is selected
+	_ui->groupBox_odom_sensor->setVisible(_ui->comboBox_sourceType->currentIndex() != 3); // Don't show when database is selected

 	// Lidar Sensor Group
 	_ui->comboBox_lidar_src->setEnabled(_ui->comboBox_sourceType->currentIndex() != 3); // Disable if database input
@@ -5860,7 +5809,6 @@ void PreferencesDialog::updateSourceGrpVisibility()
 			(_ui->comboBox_sourceType->currentIndex() == 2 && _ui->source_comboBox_image_type->currentIndex() == kSrcImages-kSrcRGB) ||
 			(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcFreenect - kSrcRGBD) || //Kinect360
 			(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcK4A - kSrcRGBD) || //K4A
-			(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcOrbbecSDK - kSrcRGBD) || //Orbbec SDK
 			(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcRealSense2 - kSrcRGBD) || //D435i
 			(_ui->comboBox_sourceType->currentIndex() == 0 && _ui->comboBox_cameraRGBD->currentIndex() == kSrcSeerSense - kSrcRGBD) ||
 			(_ui->comboBox_sourceType->currentIndex() == 1 && _ui->comboBox_cameraStereo->currentIndex() == kSrcStereoRealSense2 - kSrcStereo) || //T265
@@ -5969,10 +5917,6 @@ bool PreferencesDialog::isOdomDisabled() const
 {
 	return _ui->checkbox_odomDisabled->isChecked();
 }
-bool PreferencesDialog::isOdomAsGuessEnabled() const 
-{
-	return _ui->checkbox_passthrough_source_odom->isChecked();
-}
 bool PreferencesDialog::isOdomSensorAsGt() const
 {
 	return _ui->checkBox_odom_sensor_use_as_gt->isChecked();
@@ -6693,25 +6637,6 @@ Camera * PreferencesDialog::createCamera(
 						     _ui->comboBox_k4a_framerate->currentIndex(),
 						     _ui->comboBox_k4a_depth_resolution->currentIndex());
 	}
-	else if (driver == kSrcOrbbecSDK)
-	{
-		camera = new CameraOrbbecSDK(
-			device.toStdString(),
-			_ui->spinBox_orbbec_sdk_color_width->value(),
-			_ui->spinBox_orbbec_sdk_color_height->value(),
-			_ui->spinBox_orbbec_sdk_depth_width->value(),
-			_ui->spinBox_orbbec_sdk_depth_height->value(),
-			this->getGeneralInputRate(),
-			this->getSourceLocalTransform());
-		((CameraOrbbecSDK*)camera)->enableColorRectification(_ui->checkBox_orbbec_sdk_color_rectification->isChecked());
-		((CameraOrbbecSDK*)camera)->enableImu(_ui->checkBox_orbbec_sdk_imu->isChecked());
-		((CameraOrbbecSDK*)camera)->enableDepthMM(_ui->checkBox_orbbec_sdk_depth_mm->isChecked());
-		
-		camera->setInterIMUPublishing(
-			_ui->checkbox_publishInterIMU->isChecked(),
-			_ui->checkbox_publishInterIMU->isChecked() && getIMUFilteringStrategy()>0?
-					IMUFilter::create((IMUFilter::Type)(getIMUFilteringStrategy()-1), this->getAllParameters()):0);
-	}
 	else if (driver == kSrcRealSense)
 	{
 		if(useRawImages && _ui->comboBox_realsenseRGBSource->currentIndex()!=2)
@@ -101,7 +101,7 @@ void ProgressDialog::setCancelButtonVisible(bool visible)

 void ProgressDialog::appendText(const QString & text, const QColor & color)
 {
-	//UDEBUG(text.toStdString().c_str());
+	UDEBUG(text.toStdString().c_str());
 	_text->setText(text);
 	QString html = tr("<html><font color=\"#999999\">%1 </font><font color=\"%2\">%3</font></html>").arg(QTime::currentTime().toString("HH:mm:ss")).arg(color.name()).arg(text);
 	_detailedText->append(html);
@@ -360,7 +360,7 @@
                 <bool>false</bool>
                </property>
                <property name="minimum">
-                 <number>3</number>
+                 <number>2</number>
                </property>
                <property name="value">
                 <number>8</number>
@@ -373,7 +373,7 @@
                 <bool>false</bool>
                </property>
                <property name="minimum">
-                 <number>3</number>
+                 <number>2</number>
                </property>
                <property name="value">
                 <number>6</number>
@@ -35,7 +35,7 @@
        <number>99999</number>
       </property>
       <property name="value">
-        <number>500</number>
+        <number>100</number>
       </property>
      </widget>
     </item>
@@ -239,20 +239,9 @@
       </property>
       <addaction name="actionXvisio_SeerSense"/>
      </widget>
-      <widget class="QMenu" name="menuOrbbec_Astra_2">
-       <property name="title">
-        <string>Orbbec Astra 2</string>
-       </property>
-       <property name="icon">
-        <iconset resource="../GuiLib.qrc">
-         <normaloff>:/images/astra2.png</normaloff>:/images/astra2.png</iconset>
-       </property>
-       <addaction name="actionOrbbecSDK_astra2"/>
-      </widget>
      <addaction name="menuKinect_for_Xbox_360"/>
      <addaction name="menuXtion_PRO_LIVE"/>
      <addaction name="menuOrbbec_Astra"/>
-      <addaction name="menuOrbbec_Astra_2"/>
      <addaction name="menuSense_3D_scanner"/>
      <addaction name="menuKinect_v2"/>
      <addaction name="menuKinect_K4A"/>
@@ -1760,14 +1749,6 @@
    <string>Xvisio</string>
   </property>
  </action>
-  <action name="actionOrbbecSDK_astra2">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>Orbbec SDK</string>
-   </property>
-  </action>
 </widget>
 <customwidgets>
  <customwidget>
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
  <name>rtabmap</name>
-  <version>0.22.1</version>
+  <version>0.22.0</version>
  <description>RTAB-Map's standalone library. RTAB-Map is a RGB-D SLAM approach with real-time constraints.</description>
  <maintainer email="matlabbe@gmail.com">Mathieu Labbe</maintainer>
  <author>Mathieu Labbe</author>
@@ -66,10 +66,13 @@ void showUsage()
 			"                                     14=ZED Open Capture\n"
 			"                                     15=depthai-core\n"
 			"                                     16=XVSDK     (SeerSense)\n"
-			"                                     17=Orbbec SDK\n"
 			"  Options:\n"
 			"      -rate #.#                      Input rate Hz (default 0=inf)\n"
-			"      -device #                      Device ID (number or string)\n");
+			"      -device #                      Device ID (number or string)\n"
+			"      -save_stereo \"path\"            Save stereo images in a folder or a video file (side by side *.avi).\n"
+			"      -fourcc \"XXXX\"               Four characters FourCC code (default is \"MJPG\") used\n"
+			"                                       when saving stereo images to a video file.\n"
+			"                                       See http://www.fourcc.org/codecs.php for more codes.\n");
 	exit(1);
 }

@@ -89,7 +92,9 @@ int main(int argc, char * argv[])
 	//ULogger::setPrintWhere(false);

 	int driver = 0;
+	std::string stereoSavePath;
 	float rate = 0.0f;
+	std::string fourcc = "MJPG";
 	std::string deviceId;
 	if(argc < 2)
 	{
@@ -129,6 +134,37 @@ int main(int argc, char * argv[])
 				}
 				continue;
 			}
+			if(strcmp(argv[i], "-save_stereo") == 0)
+			{
+				++i;
+				if(i < argc)
+				{
+					stereoSavePath = argv[i];
+				}
+				else
+				{
+					showUsage();
+				}
+				continue;
+			}
+			if(strcmp(argv[i], "-fourcc") == 0)
+			{
+				++i;
+				if(i < argc)
+				{
+					fourcc = argv[i];
+					if(fourcc.size() != 4)
+					{
+						UERROR("fourcc should be 4 characters.");
+						showUsage();
+					}
+				}
+				else
+				{
+					showUsage();
+				}
+				continue;
+			}
 			if(strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-help") == 0)
 			{
 				showUsage();
@@ -141,9 +177,9 @@ int main(int argc, char * argv[])

 			// last
 			driver = atoi(argv[i]);
-			if(driver < 0 || driver > 17)
+			if(driver < 0 || driver > 15)
 			{
-				UERROR("driver should be between 0 and 17.");
+				UERROR("driver should be between 0 and 15.");
 				showUsage();
 			}
 		}
@@ -151,54 +187,63 @@ int main(int argc, char * argv[])
 	UINFO("Using driver %d (device=%s)", driver, deviceId.empty()?"0": deviceId.c_str());

 	rtabmap::Camera * camera = 0;
-	if(driver == 0)
+	if(driver < 6)
 	{
-		camera = new rtabmap::CameraOpenni(deviceId);
-	}
-	else if(driver == 1)
-	{
-		if(!rtabmap::CameraOpenNI2::available())
+		if(!stereoSavePath.empty())
 		{
-			UERROR("Not built with OpenNI2 support...");
-			exit(-1);
+			UWARN("-save_stereo option cannot be used with RGB-D drivers.");
+			stereoSavePath.clear();
 		}
-		camera = new rtabmap::CameraOpenNI2(deviceId);
-	}
-	else if(driver == 2)
-	{
-		if(!rtabmap::CameraFreenect::available())
+
+		if(driver == 0)
 		{
-			UERROR("Not built with Freenect support...");
-			exit(-1);
+			camera = new rtabmap::CameraOpenni(deviceId);
 		}
-		camera = new rtabmap::CameraFreenect(deviceId.empty()?0:uStr2Int(deviceId));
-	}
-	else if(driver == 3)
-	{
-		if(!rtabmap::CameraOpenNICV::available())
+		else if(driver == 1)
 		{
-			UERROR("Not built with OpenNI from OpenCV support...");
-			exit(-1);
+			if(!rtabmap::CameraOpenNI2::available())
+			{
+				UERROR("Not built with OpenNI2 support...");
+				exit(-1);
+			}
+			camera = new rtabmap::CameraOpenNI2(deviceId);
 		}
-		camera = new rtabmap::CameraOpenNICV(false);
-	}
-	else if(driver == 4)
-	{
-		if(!rtabmap::CameraOpenNICV::available())
+		else if(driver == 2)
 		{
-			UERROR("Not built with OpenNI from OpenCV support...");
-			exit(-1);
+			if(!rtabmap::CameraFreenect::available())
+			{
+				UERROR("Not built with Freenect support...");
+				exit(-1);
+			}
+			camera = new rtabmap::CameraFreenect(deviceId.empty()?0:uStr2Int(deviceId));
 		}
-		camera = new rtabmap::CameraOpenNICV(true);
-	}
-	else if(driver == 5)
-	{
-		if(!rtabmap::CameraFreenect2::available())
+		else if(driver == 3)
 		{
-			UERROR("Not built with Freenect2 support...");
-			exit(-1);
+			if(!rtabmap::CameraOpenNICV::available())
+			{
+				UERROR("Not built with OpenNI from OpenCV support...");
+				exit(-1);
+			}
+			camera = new rtabmap::CameraOpenNICV(false);
+		}
+		else if(driver == 4)
+		{
+			if(!rtabmap::CameraOpenNICV::available())
+			{
+				UERROR("Not built with OpenNI from OpenCV support...");
+				exit(-1);
+			}
+			camera = new rtabmap::CameraOpenNICV(true);
+		}
+		else if(driver == 5)
+		{
+			if(!rtabmap::CameraFreenect2::available())
+			{
+				UERROR("Not built with Freenect2 support...");
+				exit(-1);
+			}
+			camera = new rtabmap::CameraFreenect2(deviceId.empty()?0:uStr2Int(deviceId), rtabmap::CameraFreenect2::kTypeColor2DepthSD);
 		}
-		camera = new rtabmap::CameraFreenect2(deviceId.empty()?0:uStr2Int(deviceId), rtabmap::CameraFreenect2::kTypeColor2DepthSD);
 	}
 	else if(driver == 6)
 	{
@@ -299,15 +344,6 @@ int main(int argc, char * argv[])
 		}
 		camera = new rtabmap::CameraSeerSense();
 	}
-	else if (driver == 17)
-	{
-		if (!rtabmap::CameraOrbbecSDK::available())
-		{
-			UERROR("Not built with Orbbec SDK support...");
-			exit(-1);
-		}
-		camera = new rtabmap::CameraOrbbecSDK();
-	}
 	else
 	{
 		UFATAL("");
@@ -343,11 +379,54 @@ int main(int argc, char * argv[])
 		viewer = new pcl::visualization::CloudViewer("cloud");
 	}

+	cv::VideoWriter videoWriter;
+	UDirectory dir;
+	if(!stereoSavePath.empty() &&
+	   !data.imageRaw().empty() &&
+	   !data.rightRaw().empty())
+	{
+		if(UFile::getExtension(stereoSavePath).compare("avi") == 0)
+		{
+			if(data.imageRaw().size() == data.rightRaw().size())
+			{
+				if(rate <= 0)
+				{
+					UERROR("You should set the input rate when saving stereo images to a video file.");
+					showUsage();
+				}
+				cv::Size targetSize = data.imageRaw().size();
+				targetSize.width *= 2;
+				UASSERT(fourcc.size() == 4);
+				videoWriter.open(
+						stereoSavePath,
+						CV_FOURCC(fourcc.at(0), fourcc.at(1), fourcc.at(2), fourcc.at(3)),
+						rate,
+						targetSize,
+						data.imageRaw().channels() == 3);
+			}
+			else
+			{
+				UERROR("Images not the same size, cannot save stereo images to the video file.");
+			}
+		}
+		else if(UDirectory::exists(stereoSavePath))
+		{
+			UDirectory::makeDir(stereoSavePath+"/"+"left");
+			UDirectory::makeDir(stereoSavePath+"/"+"right");
+		}
+		else
+		{
+			UERROR("Directory \"%s\" doesn't exist.", stereoSavePath.c_str());
+			stereoSavePath.clear();
+		}
+	}
+
 	// to catch the ctrl-c
 	signal(SIGABRT, &sighandler);
 	signal(SIGTERM, &sighandler);
 	signal(SIGINT, &sighandler);

+	int id=1;
 	while(!data.imageRaw().empty() && (viewer==0 || !viewer->wasStopped()) && running)
 	{
 		cv::Mat rgb = data.imageRaw();
@@ -416,6 +495,43 @@ int main(int argc, char * argv[])
 		if(c == 27)
 			break; // if ESC, break and quit

+		if(videoWriter.isOpened())
+		{
+			cv::Mat left = data.imageRaw();
+			cv::Mat right = data.rightRaw();
+			if(left.size() == right.size())
+			{
+				cv::Size targetSize = left.size();
+				targetSize.width *= 2;
+				cv::Mat targetImage(targetSize, left.type());
+				if(right.type() != left.type())
+				{
+					cv::Mat tmp;
+					cv::cvtColor(right, tmp, left.channels()==3?CV_GRAY2BGR:CV_BGR2GRAY);
+					right = tmp;
+				}
+				UASSERT(left.type() == right.type());
+
+				cv::Mat roiA(targetImage, cv::Rect( 0, 0, left.size().width, left.size().height ));
+				left.copyTo(roiA);
+				cv::Mat roiB( targetImage, cvRect( left.size().width, 0, left.size().width, left.size().height ) );
+				right.copyTo(roiB);
+
+				videoWriter.write(targetImage);
+				printf("Saved frame %d to \"%s\"\n", id, stereoSavePath.c_str());
+			}
+			else
+			{
+				UERROR("Left and right images are not the same size!?");
+			}
+		}
+		else if(!stereoSavePath.empty())
+		{
+			cv::imwrite(stereoSavePath+"/"+"left/"+uNumber2Str(id) + ".jpg", data.imageRaw());
+			cv::imwrite(stereoSavePath+"/"+"right/"+uNumber2Str(id) + ".jpg", data.rightRaw());
+			printf("Saved frames %d to \"%s/left\" and \"%s/right\" directories\n", id, stereoSavePath.c_str(), stereoSavePath.c_str());
+		}
+		++id;
 		data = camera->takeData();
 	}
 	printf("Closing...\n");
@@ -32,13 +32,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/util3d_transforms.h>
 #include <rtabmap/core/util3d_surface.h>
 #include <rtabmap/core/util2d.h>
-#include <rtabmap/core/util3d_mapping.h>
 #include <rtabmap/core/optimizer/OptimizerG2O.h>
 #include <rtabmap/core/Graph.h>
-#include <rtabmap/core/global_map/OccupancyGrid.h>
-#ifdef RTABMAP_OCTOMAP
-#include <rtabmap/core/global_map/OctoMap.h>
-#endif
 #include <rtabmap/utilite/UMath.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UFile.h>
@@ -49,7 +44,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <pcl/common/common.h>
 #include <pcl/surface/poisson.h>
 #include <stdio.h>
-#include <fstream>

 #ifdef RTABMAP_PDAL
 #include <rtabmap/core/PDALWriter.h>
@@ -131,9 +125,6 @@ void showUsage()
 			"                              1=KML (Google Earth)\n"
 			"    --images              Export images with stamp as file name.\n"
 			"    --images_id           Export images with node id as file name.\n"
-			"    --map                 Export 2D occupancy grid. Note that with \"--opt 2\", the already optimized \n"
-			"                              map saved in database (if exists) is exported.\n"
-			"    --octomap             Export 3D OctoMap.\n"
 			"    --ba                  Do global bundle adjustment before assembling the clouds.\n"
 			"    --gain          #     Gain compensation value (default 1, set 0 to disable).\n"
 			"    --gain_gray           Do gain estimation compensation on gray channel only (default RGB channels).\n"
@@ -173,7 +164,7 @@ void showUsage()
 			"    --random_samples #    Number of output samples using a random filter (default 0, 0=disabled).\n"
 			"    --color_radius  #     Radius used to colorize polygons (default 0.05 m, 0 m with --scan). Set 0 for nearest color.\n"
 			"    --scan                Use laser scan for the point cloud.\n"
-			"    --save_in_db          Save resulting optimized poses, assembled point cloud, mesh or 2D occupancy grid in the database.\n"
+			"    --save_in_db          Save resulting assembled point cloud or mesh in the database.\n"
 			"    --xmin #              Minimum range on X axis to keep nodes to export.\n"
 			"    --xmax #              Maximum range on X axis to keep nodes to export.\n"
 			"    --ymin #              Minimum range on Y axis to keep nodes to export.\n"
@@ -200,37 +191,6 @@ class ConsoleProgessState : public ProgressState
 	}
 };

-void saveMap(
-	const std::string & outputDirectory,
-	const std::string & baseName,
-	const cv::Mat & map,
-	float xMin,
-	float yMin,
-	float cellSize,
-	const ParametersMap & parameters)
-{
-	cv::Mat map8U = rtabmap::util3d::convertMap2Image8U(map, true);
-	std::string path=outputDirectory+"/"+baseName+".pgm";
-
-	cv::imwrite(path, map8U);
-
-	std::string yaml = outputDirectory+"/"+baseName+".yaml";
-
-	float occupancyThr = Parameters::defaultGridGlobalOccupancyThr();
-	Parameters::parse(parameters, Parameters::kGridGlobalOccupancyThr(), occupancyThr);
-
-	std::ofstream file;
-	file.open (yaml);
-	file << "image: " << baseName << ".pgm" << std::endl;
-	file << "resolution: " << cellSize << std::endl;
-	file << "origin: [" << xMin << ", " << yMin << ", 0.0]" << std::endl;
-	file << "negate: 0" << std::endl;
-	file << "occupied_thresh: " << occupancyThr << std::endl;
-	file << "free_thresh: 0.196" << std::endl;
-	file << std::endl;
-	file.close();
-}
-
 int main(int argc, char * argv[])
 {
 	ULogger::setType(ULogger::kTypeConsole);
@@ -304,8 +264,6 @@ int main(int argc, char * argv[])
 	int exportGps = -1;
 	bool exportImages = false;
 	bool exportImagesId = false;
-	bool export2DMap = false;
-	bool exportOctomap = false;
 	int optimizationApproach = 0;
 	std::string outputName;
 	std::string outputDir;
@@ -613,18 +571,6 @@ int main(int argc, char * argv[])
 			exportImages = true;
 			exportImagesId = true;
 		}
-		else if(std::strcmp(argv[i], "--map") == 0)
-		{
-			export2DMap = true;
-		}
-		else if(std::strcmp(argv[i], "--octomap") == 0)
-		{
-#ifdef RTABMAP_OCTOMAP
-			exportOctomap = true;
-#else
-			printf("Option --octomap cannot be used, rtabmap is not built with OctoMap support.\n");
-#endif
-		}
 		else if(std::strcmp(argv[i], "--ba") == 0)
 		{
 			ba = true;
@@ -1171,9 +1117,7 @@ int main(int argc, char * argv[])
 		 exportPosesGt ||
 		 exportPosesGps ||
 		 exportGps>=0 ||
-		 texture ||
-		 export2DMap ||
-		 exportOctomap))
+		 texture))
 	{
 		printf("Launching the tool without any required option(s) is deprecated. We will add --cloud to keep compatibilty with old behavior.\n");
 		exportCloud = true;
@@ -1228,19 +1172,12 @@ int main(int argc, char * argv[])
 	}
 	printf("Opening database \"%s\"... done (%fs).\n", dbPath.c_str(), timer.ticks());

-	std::string outputDirectory = outputDir.empty()?UDirectory::getDir(dbPath):outputDir;
-	if(!UDirectory::exists(outputDirectory))
-	{
-		UDirectory::makeDir(outputDirectory);
-	}
-	std::string baseName = outputName.empty()?uSplit(UFile::getName(dbPath), '.').front():outputName;
-
 	std::map<int, Transform> optimizedPoses;
 	std::map<int, Transform> odomPoses;
 	std::multimap<int, Link> links;
 	dbDriver->getAllOdomPoses(odomPoses, true);
 	dbDriver->getAllLinks(links, true, true);
-	if(optimizationApproach == 3 || !(exportCloud || exportMesh || exportPoses || exportPosesCamera || exportPosesScan || exportPosesLandmarks || export2DMap || exportOctomap))
+	if(optimizationApproach == 3 || !(exportCloud || exportMesh || exportPoses || exportPosesCamera || exportPosesScan || exportPosesLandmarks))
 	{
 		// Just use odometry poses when exporting only images
 		optimizedPoses = odomPoses;
@@ -1263,22 +1200,6 @@ int main(int argc, char * argv[])
 			else
 			{
 				printf("Loading optimized poses from database... done (%d optimized poses loaded).\n", (int)optimizedPoses.size());
-				if(export2DMap)
-				{
-					printf("Loading optimized 2D occupancy grid from database...\n");
-					float xMin, yMin, cellSize;
-					cv::Mat map = dbDriver->load2DMap(xMin, yMin, cellSize);
-					if(map.empty()) {
-						printf("Optimized 2D occupancy grid in the database is empty, it will be regenerated.\n");
-					}
-					else{
-						saveMap(outputDirectory, baseName, map, xMin, yMin, cellSize, parameters);
-						printf("Loading optimized 2D occupancy grid from database... done! Saved to \"%s\" and \"%s\"\n",
-							(baseName+".pgm").c_str(), (baseName+".yaml").c_str());
-
-						export2DMap = false;
-					}
-				}
 			}
 		}
 		if(optimizationApproach <= 1)
@@ -1440,6 +1361,13 @@ int main(int argc, char * argv[])
 		}
 	}

+	std::string outputDirectory = outputDir.empty()?UDirectory::getDir(dbPath):outputDir;
+	if(!UDirectory::exists(outputDirectory))
+	{
+		UDirectory::makeDir(outputDirectory);
+	}
+	std::string baseName = outputName.empty()?uSplit(UFile::getName(dbPath), '.').front():outputName;
+
 	// Construct the cloud
 	if(exportCloud || exportMesh)
 	{
@@ -1449,11 +1377,6 @@ int main(int argc, char * argv[])
 	{
 		printf("Export images...\n");
 	}
-	else if(export2DMap || exportOctomap)
-	{
-		printf("Assemble global occupancy grid...\n");
-	}
-	
 	pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
 	pcl::PointCloud<pcl::PointXYZI>::Ptr assembledCloudI(new pcl::PointCloud<pcl::PointXYZI>);
 	std::map<int, rtabmap::Transform> robotPoses;
@@ -1476,12 +1399,6 @@ int main(int argc, char * argv[])
 	std::vector<int> rawViewpointIndices;
 	std::map<int, Transform> rawViewpoints;
 	std::map<int, Transform> densityPoses;
-	LocalGridCache localGridCache;
-	OccupancyGrid grid(&localGridCache, parameters);
-#ifdef RTABMAP_OCTOMAP
-	OctoMap octomap(&localGridCache, parameters);
-#endif
-	std::map<int, Transform> addedPosesToMap;
 	if(densityRadius && (exportCloud || exportMesh))
 	{
 		densityPoses = graph::radiusPosesFiltering(optimizedPoses, densityRadius, densityAngle*CV_PI/180.0f);
@@ -1519,7 +1436,7 @@ int main(int argc, char * argv[])
 		SensorData data;
 		bool loadImages = ((exportCloud || exportMesh) && (!cloudFromScan || texture || camProjection)) || exportImages;
 		bool loadScan = ((exportCloud || exportMesh) && cloudFromScan) || exportPosesScan;
-		if(loadImages || loadScan || export2DMap || exportOctomap)
+		if(loadImages || loadScan)
 		{
 			dbDriver->getNodeData(
 				iter->first, 
@@ -1527,7 +1444,7 @@ int main(int argc, char * argv[])
 				loadImages, 
 				loadScan,
 				false,
-				export2DMap || exportOctomap);
+				false);
 		}

 		// uncompress data
@@ -1839,29 +1756,6 @@ int main(int argc, char * argv[])
 			gtStamps.insert(std::make_pair(iter->first, stamp));
 		}

-		if(weight != -1 && (export2DMap || exportOctomap)) {
-			cv::Mat ground;
-			cv::Mat obstacles;
-			cv::Mat empty;
-			data.uncompressDataConst(0, 0, 0, 0, &ground, &obstacles, &empty);
-			if(ground.empty() && obstacles.empty() && empty.empty()) {
-				printf("Node %d doesn't have local occupancy grid, ignored!\n", iter->first);
-			}
-			else {
-				addedPosesToMap.insert(*iter);
-				localGridCache.add(iter->first, ground, obstacles, empty, data.gridCellSize(), data.gridViewPoint());
-				if(export2DMap && !grid.update(addedPosesToMap)) {
-					printf("Failed to assemble local grid %d to global occupancy grid!\n", iter->first);
-				}
-#ifdef RTABMAP_OCTOMAP
-				if(exportOctomap && !octomap.update(addedPosesToMap)) {
-					printf("Failed to assemble local grid %d to OctoMap!\n", iter->first);
-				}
-#endif
-				localGridCache.clear();
-			}
-		}
-
 		if(optimizedPoses.size() >= 500)
 		{
 			++processedNodes;
@@ -1880,55 +1774,16 @@ int main(int argc, char * argv[])
 	{
 		printf("Create and assemble the clouds... done (%fs, %d points).\n", timer.ticks(), !assembledCloud->empty()?(int)assembledCloud->size():(int)assembledCloudI->size());
 	}
-	else if(export2DMap || exportOctomap)
-	{
-		printf("Assemble global occupancy grid... done (%fs).\n", timer.ticks());
-	}

 	if(exportImages || exportImagesId)
 	{
 		printf("%d images exported!\n", imagesExported);
-		if(!(exportCloud || exportMesh || exportPoses || exportPosesCamera || exportPosesScan || export2DMap || exportOctomap)) {
+		if(!(exportCloud || exportMesh || exportPoses || exportPosesCamera || exportPosesScan)) {
 			//images exported, early exit.
 			return 0;
 		}
 	}

-	if(export2DMap)
-	{
-		if(grid.addedNodes().empty())
-		{
-			printf( "Option --map and/or --prob_map is enabled, but no local occupancy grids have been "
-					"assembled to the 2D occupancy grid. Use rtabmap-databaseViewer to regenerate them.\n");
-		}
-		else {
-			printf("Saving 2D occupancy grid...\n");
-			float xMin, yMin;
-			cv::Mat map = grid.getMap(xMin, yMin);
-			saveMap(outputDirectory, baseName, map, xMin, yMin, grid.getCellSize(), parameters);
-			printf("Saving 2D occupancy grid... done (%fs)! Saved to \"%s\" and \"%s\"\n", timer.ticks(),
-				(baseName+".pgm").c_str(), (baseName+".yaml").c_str());
-		}
-	}
-#ifdef RTABMAP_OCTOMAP
-	if(exportOctomap)
-	{
-		if(octomap.addedNodes().empty())
-		{
-			printf( "Option --octomap is enabled, but no local occupancy grids have been "
-					"assembled in the Octomap. Use rtabmap-databaseViewer to regenerate them.\n");
-		}
-		else {
-			pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = octomap.createCloud();
-			pcl::io::savePLYFile(outputDirectory+"/"+baseName+"_octomap.ply",*cloud);
-			printf("Saving 3D OctoMap...\n");
-			octomap.writeBinary(outputDirectory+"/"+baseName+"_octomap.bt");
-			printf("Saving 3D OctoMap... done (%fs)! Saved to \"%s\".\n", timer.ticks(),
-				(baseName+"_octomap.bt").c_str());
-		}
-	}
-#endif
-
 	ConsoleProgessState progressState;

 	if(saveInDb)
@@ -1938,15 +1793,7 @@ int main(int argc, char * argv[])
 		Transform lastlocalizationPose;
 		driver->loadOptimizedPoses(&lastlocalizationPose);
 		//optimized poses have changed, reset 2d map
-		if(export2DMap && grid.addedNodes().size() != 0) {
-			printf("Saved optimized 2D occupancy grid back to database!\n");
-			float xMin, yMin;
-			cv::Mat map = grid.getMap(xMin, yMin);
-			driver->save2DMap(map, xMin, yMin, grid.getCellSize());
-		}
-		else {
-			driver->save2DMap(cv::Mat(), 0, 0, 0);
-		}
+		driver->save2DMap(cv::Mat(), 0, 0, 0);
 		driver->saveOptimizedPoses(robotPoses, lastlocalizationPose);
 		cv::Vec3f vmin, vmax;
 		graph::computeMinMax(robotPoses, vmin, vmax);
@@ -400,12 +400,10 @@ int main(int argc, char * argv[])
 				std::map<int, int> wordsTo = uMultimapToMapUnique(dataTo.getWords());
 				std::map<int, cv::KeyPoint> kptsFrom;
 				std::map<int, cv::KeyPoint> kptsTo;
-				UASSERT(dataFrom.getWords().size() == dataFrom.getWordsKpts().size());
 				for(std::map<int, int>::iterator iter=wordsFrom.begin(); iter!=wordsFrom.end(); ++iter)
 				{
 					kptsFrom.insert(std::make_pair(iter->first, dataFrom.getWordsKpts()[iter->second]));
 				}
-				UASSERT(dataTo.getWords().size() == dataTo.getWordsKpts().size());
 				for(std::map<int, int>::iterator iter=wordsTo.begin(); iter!=wordsTo.end(); ++iter)
 				{
 					kptsTo.insert(std::make_pair(iter->first, dataTo.getWordsKpts()[iter->second]));
@@ -1,10 +1,10 @@

 set(LIBRARIES rtabmap_core)

-IF(WITH_QT AND (QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND))
+IF(WITH_QT AND (QT4_FOUND OR Qt5_FOUND))
    ADD_DEFINITIONS("-DWITH_QT")
    set(LIBRARIES ${LIBRARIES} rtabmap_gui)
-ENDIF(WITH_QT AND (QT4_FOUND OR Qt5_FOUND OR Qt6_FOUND))
+ENDIF(WITH_QT AND (QT4_FOUND OR Qt5_FOUND))

 ADD_EXECUTABLE(report main.cpp)
  
@@ -53,7 +53,7 @@ void showUsage()
 			"[Not built with Qt, statistics cannot be plotted]\n"
 #endif
 			"  path               Directory containing rtabmap databases or path of a database.\n"
-			"  Options:\n"
+			"  Options:"
 			"    --latex            Print table formatted in LaTeX with results.\n"
 			"    --kitti            Compute error based on KITTI benchmark.\n"
 			"    --relative         Compute relative motion error between poses.\n"
@@ -62,7 +62,7 @@ void showUsage()
 			"                         and compute error based on the scaled path.\n"
 			"    --poses            Export odometry to [path]_odom.txt, optimized graph to [path]_slam.txt \n"
 			"                         and ground truth to [path]_gt.txt in TUM RGB-D format.\n"
-			"    --poses_raw        Same as --poses, but poses are not aligned to gt.\n"
+			"    --poses_raw        Same as --poses, but poses are not aligned to gt."
 			"    --gt FILE.txt      Use this file as ground truth (TUM RGB-D format). It will\n"
 			"                         override the ground truth set in database if there is one.\n"
 			"                         If extension is *.db, the optimized poses of that database will\n"
@@ -73,10 +73,11 @@ void showUsage()
 			"     -default    Input database's parameters are ignored, using default ones instead.\n"
 			"     -odom       Recompute odometry. See \"Odom/\" parameters with --params. If -skip option\n"
 			"                 is used, it will be applied to odometry frames, not rtabmap frames. Multi-session\n"
-			"                 may not be detected correctly if the input covariance between sessions doesn't have 9999.\n"
-			"     -odom_input_guess   Forward input database's odometry (if exists) as guess when recomputing odometry.\n"
-			"     -odom_lin_var #.#   Override computed odometry linear covariance.\n"
-			"     -odom_ang_var #.#   Override computed odometry angular covariance.\n"
+			"                 cannot be detected in this mode (assuming the database contains continuous frames\n"
+			"                 of a single session).\n"
+			"     -odom_input_guess   Forward input database's odometry (if exists) as guess when recompting odometry.\n"
+			"     -odom_lin_var #.#   Override computed odometry linear covariance."
+			"     -odom_ang_var #.#   Override computed odometry angular covariance."
 			"     -start #    Start from this node ID.\n"
 			"     -stop #     Last node to process.\n"
 			"     -start_s #  Start from this map session ID.\n"
@@ -320,7 +321,6 @@ int main(int argc, char * argv[])
 		}
 		else if(strcmp(argv[i], "-odom_input_guess") == 0 || strcmp(argv[i], "--odom_input_guess") == 0)
 		{
-			recomputeOdometry = true;
 			useInputOdometryAsGuess = true;
 		}
 		else if (strcmp(argv[i], "-odom_lin_var") == 0 || strcmp(argv[i], "--odom_lin_var") == 0)
@@ -641,7 +641,7 @@ int main(int argc, char * argv[])
 	if (databases.empty())
 	{
 		printf("No input database \"%s\" detected!\n", inputDatabasePath.c_str());
-		return 1;
+		return -1;
 	}
 	for (std::list<std::string>::iterator iter = databases.begin(); iter != databases.end(); ++iter)
 	{
@@ -652,20 +652,20 @@ int main(int argc, char * argv[])
 			{
 				printf("Did you mean \"%s\"?\n", uReplaceChar(inputDatabasePath, ':', ";").c_str());
 			}
-			return 1;
+			return -1;
 		}

 		if (UFile::getExtension(*iter).compare("db") != 0)
 		{
 			printf("File \"%s\" is not a database format (*.db)!\n", iter->c_str());
-			return 1;
+			return -1;
 		}
 	}

 	if(UFile::getExtension(outputDatabasePath).compare("db") != 0)
 	{
 		printf("File \"%s\" is not a database format (*.db)!\n", outputDatabasePath.c_str());
-		return 1;
+		return -1;
 	}

 	if(UFile::exists(outputDatabasePath))
@@ -679,7 +679,7 @@ int main(int argc, char * argv[])
 	{
 		printf("Failed opening input database!\n");
 		delete dbDriver;
-		return 1;
+		return -1;
 	}

 	ParametersMap parameters;
@@ -792,7 +792,7 @@ int main(int argc, char * argv[])
 		printf("Input database doesn't have any nodes saved in it.\n");
 		dbDriver->closeConnection(false);
 		delete dbDriver;
-		return 1;
+		return -1;
 	}
 	if(!((!incrementalMemory || appendMode) && databases.size() > 1))
 	{
@@ -814,7 +814,7 @@ int main(int argc, char * argv[])
 		{
 			printf("Failed opening input database!\n");
 			delete dbDriver;
-			return 1;
+			return -1;
 		}
 		ids.clear();
 		dbDriver->getAllNodeIds(ids, false, false, !intermediateNodes);
@@ -928,8 +928,7 @@ int main(int argc, char * argv[])
 		}
 		else
 		{
-			printf("Odometry will be recomputed (\"odom\" option is set)%s.\n",
-				useInputOdometryAsGuess?" with input odometry guess (\"odom_guess_input\" option is set)":"");
+			printf("Odometry will be recomputed (odom option is set)\n");
 			Parameters::parse(parameters, Parameters::kRtabmapDetectionRate(), rtabmapUpdateRate);
 			if(rtabmapUpdateRate!=0)
 			{
@@ -952,28 +951,18 @@ int main(int argc, char * argv[])
 	}
 	camThread.postUpdate(&data, &info);
 	Transform lastLocalizationOdomPose = info.odomPose;
-	Transform previousOdomPose;
+	Transform previousOdomPose = info.odomPose;
 	cv::Mat odomCovariance;
 	bool inMotion = true;
 	while(data.isValid() && g_loopForever)
 	{
 		if(recomputeOdometry)
 		{
-			if(useInputOdometryAsGuess && !info.odomCovariance.empty() && info.odomCovariance.at<double>(0,0) >= 9999)
-			{
-				if(!odometry->getPose().isIdentity()) {
-					printf("Reset odometry as input odometry triggered new map\n");
-					odometry->reset(odometry->getPose());
-				}
-				previousOdomPose.setNull();
-			}
 			OdometryInfo odomInfo;
-			Transform pose = odometry->process(data, 
-				(useInputOdometryAsGuess && !info.odomPose.isNull() && !previousOdomPose.isNull())?previousOdomPose.inverse() * info.odomPose:Transform(),
-				&odomInfo);
-			if(!pose.isNull() && odomInfo.reg.covariance.total() == 36)
+			Transform pose = odometry->process(data, useInputOdometryAsGuess && !info.odomPose.isNull()?previousOdomPose.inverse() * info.odomPose:Transform(), &odomInfo);
+			previousOdomPose = info.odomPose;
+			if(odomInfo.reg.covariance.total() == 36)
 			{
-				previousOdomPose = info.odomPose;
 				if(odomLinVarOverride > 0.0)
 				{
 					odomInfo.reg.covariance.at<double>(0,0) = odomLinVarOverride;
@@ -987,20 +976,11 @@ int main(int argc, char * argv[])
 					odomInfo.reg.covariance.at<double>(5,5) = odomAngVarOverride;
 				}
 				if(uIsFinite(odomInfo.reg.covariance.at<double>(0,0)) &&
+					odomInfo.reg.covariance.at<double>(0,0) != 1.0 &&
 					odomInfo.reg.covariance.at<double>(0,0)>0.0)
 				{
-					if( useInputOdometryAsGuess && 
-						odomInfo.reg.covariance.at<double>(0,0) >= 9999 && 
-						!previousOdomPose.isNull() &&
-						(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();
-					}
 					// Use largest covariance error (to be independent of the odometry frame rate)
-					else if(odomCovariance.empty() || odomInfo.reg.covariance.at<double>(0,0) > odomCovariance.at<double>(0,0))
+					if(odomCovariance.empty() || odomInfo.reg.covariance.at<double>(0,0) > odomCovariance.at<double>(0,0))
 					{
 						odomCovariance = odomInfo.reg.covariance;
 					}
@@ -1025,27 +1005,19 @@ int main(int argc, char * argv[])
 					}
 				}

-				if(framesToSkip==0 && intermediateNodes)
+				data = dbReader->takeData(&info);
+				if(scanFromDepth)
 				{
-					data.setId(-1); // intermediate node
-				}
-				else
-				{
-					data = dbReader->takeData(&info);
-					if(scanFromDepth)
-					{
-						data.setLaserScan(LaserScan());
-					}
-					camThread.postUpdate(&data, &info);
-					++processed;
-					continue;
+					data.setLaserScan(LaserScan());
 				}
+				camThread.postUpdate(&data, &info);
+				++processed;
+				continue;
 			}
 			info.odomPose = pose;
 			info.odomCovariance = odomCovariance;
 			odomCovariance = cv::Mat();
-			if(data.id() != -1)
-				lastUpdateStamp = data.stamp();
+			lastUpdateStamp = data.stamp();

 			uInsert(globalMapStats, odomInfo.statistics(pose));
 		}
@@ -1326,6 +1298,7 @@ int main(int argc, char * argv[])
 		}
 	}

+	int databasesMerged = 0;
 	if(!incrementalMemory)
 	{
 		showLocalizationStats(outputDatabasePath);
@@ -1348,7 +1321,7 @@ int main(int argc, char * argv[])
 					mapIds.insert(id);
 				}
 			}
-			printf("Sessions linked to last pose: %ld/%ld\n", mapIds.size(), databases.size());
+			databasesMerged = mapIds.size();
 		}
 	}

@@ -1550,5 +1523,5 @@ int main(int argc, char * argv[])
 	}
 #endif

-	return 0;
+	return databasesMerged;
 }
@@ -58,7 +58,6 @@ void showUsage()
 			"  --output           Output directory. By default, results are saved in \"path\".\n"
 			"  --output_name      Output database name (default \"rtabmap\").\n"
 			"  --skip #           Skip X frames.\n"
-			"  --max_time_diff #.#  Maximum time difference with frame to attribute a valid ground truth pose (default 0.02 s).\n"
 			"  --quiet            Don't show log messages and iteration updates.\n"
 			"%s\n"
 			"Example:\n\n"
@@ -93,7 +92,6 @@ int main(int argc, char * argv[])
 	std::string output;
 	std::string outputName = "rtabmap";
 	int skipFrames = 0;
-	float maxTimeDiff = 0.02f;
 	bool quiet = false;
 	if(argc < 2)
 	{
@@ -116,11 +114,6 @@ int main(int argc, char * argv[])
 				skipFrames = atoi(argv[++i]);
 				UASSERT(skipFrames > 0);
 			}
-			else if(std::strcmp(argv[i], "--max_time_diff") == 0)
-			{
-				maxTimeDiff = atof(argv[++i]);
-				UASSERT(maxTimeDiff > 0.0f);
-			}
 			else if(std::strcmp(argv[i], "--quiet") == 0)
 			{
 				quiet = true;
@@ -165,16 +158,14 @@ int main(int argc, char * argv[])
 			"   Depth path:      %s\n"
 			"   Output:          %s\n"
 			"   Output name:     %s\n"
-			"   Skip frames:     %d\n"
-			"   Max time diff:   %f\n",
+			"   Skip frames:     %d\n",
 			seq.c_str(),
 			path.c_str(),
 			pathRgbImages.c_str(),
 			pathDepthImages.c_str(),
 			output.c_str(),
 			outputName.c_str(),
-			skipFrames,
-			maxTimeDiff);
+			skipFrames);
 	if(!pathGt.empty())
 	{
 		printf("   groundtruth.txt: %s\n", pathGt.c_str());
@@ -194,7 +185,6 @@ int main(int argc, char * argv[])
 	std::string sequenceName = UFile(path).getName();
 	Transform opticalRotation(0,0,1,0, -1,0,0,0, 0,-1,0,0);
 	float depthFactor = 5.0f;
-	int gtPoseFormat = 1;
 	if(sequenceName.find("freiburg1") != std::string::npos)
 	{
 		model = CameraModel(outputName+"_calib", 517.3, 516.5, 318.6, 255.3, opticalRotation, 0, cv::Size(640,480));
@@ -203,30 +193,10 @@ int main(int argc, char * argv[])
 	{
 		model = CameraModel(outputName+"_calib", 520.9, 521.0, 325.1, 249.7, opticalRotation, 0, cv::Size(640,480));
 	}
-	else if(sequenceName.find("freiburg3") != std::string::npos)
+	else //if(sequenceName.find("freiburg3") != std::string::npos)
 	{
 		model = CameraModel(outputName+"_calib", 535.4, 539.2, 320.1, 247.6, opticalRotation, 0, cv::Size(640,480));
 	}
-	else if(sequenceName.find("rgbd_bonn") != std::string::npos)
-	{
-		cv::Mat K = cv::Mat::eye(3,3,CV_64FC1);
-		K.at<double>(0,0) = 542.822841; // fx
-		K.at<double>(1,1) = 542.576870; // fy
-		K.at<double>(0,2) = 315.593520; // cx
-		K.at<double>(1,2) = 237.756098; // cy
-		cv::Mat D = cv::Mat::eye(1,5,CV_64FC1);
-		D.at<double>(0,0) = 0.039903;
-		D.at<double>(0,1) = -0.099343;
-		D.at<double>(0,2) = -0.000730;
-		D.at<double>(0,3) = -0.000144;
-		D.at<double>(0,4) = 0.000000;
-
-		model = CameraModel(outputName+"_calib", cv::Size(640,480), K, D, cv::Mat(), cv::Mat(), opticalRotation);
-		gtPoseFormat = 12;
-	}
-	else {
-		printf("ERROR: Dataset %s is not supported. Update rgbd_dataset tool to include the right calibration parameter for this dataset!\n", sequenceName.c_str());
-	}
 	//parameters.insert(ParametersPair(Parameters::kg2oBaseline(), uNumber2Str(40.0f/model.fx())));
 	model.save(path);

@@ -239,8 +209,7 @@ int main(int argc, char * argv[])
 	((CameraRGBDImages*)cameraThread.camera())->setTimestamps(true, "", false);
 	if(!pathGt.empty())
 	{
-		((CameraRGBDImages*)cameraThread.camera())->setGroundTruthPath(pathGt, gtPoseFormat);
-		((CameraRGBDImages*)cameraThread.camera())->setMaxPoseTimeDiff(maxTimeDiff);
+		((CameraRGBDImages*)cameraThread.camera())->setGroundTruthPath(pathGt, 1);
 	}

 	bool intermediateNodes = Parameters::defaultRtabmapCreateIntermediateNodes();
Author	SHA1	Message	Date
matlabbe	63a5f7b976	reset color inverted when reset	2025-07-10 16:57:42 -07:00
matlabbe	9e0b184fdc	CloudViewer: saving rendering options of the 3D view, re-apply current color index when moving through nodes.	2025-07-10 16:55:57 -07:00
matlabbe	f06b7c8b3e	ImageView: Depth colormap in base frame option. CloudViewer: added min/max range options for XYZ axes coloring.	2025-07-09 18:49:48 -07:00