merged master to noetic

Merge branch 'master' of github.com:introlab/rtabmap into noetic-devel
merged master
2026-10-09 11:37:02 +08:00 · 2025-04-27 15:28:58 -07:00 · 2025-02-12 19:51:57 -08:00 · 2024-11-30 19:48:15 -08:00 · 2024-11-30 18:33:35 -08:00
341 changed files with 11529 additions and 31406 deletions
@@ -0,0 +1,152 @@
+
+branches:
+  only:
+    - master
+    - devel
+
+os: Visual Studio 2015
+
+clone_folder: c:\projects\rtabmap
+
+platform: x64
+configuration: Release
+
+init:
+  - cmake --version
+  - call "C:\Program Files\Microsoft SDKs\Windows\v7.1\Bin\SetEnv.cmd" /x64
+  - call "C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" x86_amd64
+
+install:
+  # To download from google drive
+  - set PATH=C:\Python38-x64;C:\Python38-x64\Scripts;%PATH%
+  - ps: py -m pip --disable-pip-version-check install gdown>=5.1.0 
+  # Qt
+  - set QTDIR=C:\Qt\5.10.1\msvc2015_64
+  # make sure Qt bin path is before cmake bin path to avoid copying qt5 dlls from cmake before qt installation
+  - set PATH=%QTDIR%\bin;%PATH%
+  # Boost
+  - set PATH=%PATH%;C:\Libraries\boost_1_62_0\lib64-msvc-14.0
+  # Openni2
+  - ps: wget 'https://dl.dropboxusercontent.com/s/d98jv79l6oy9fxz/OpenNI2.exe?dl=0' -outfile OpenNI2.exe
+  - cmd: OpenNI2.exe -o"C:\Program Files" -y
+  - ECHO "Installed OpenNI2:"
+  - ps: "ls \"C:/Program Files/OpenNI2\""
+  - set PATH=%PATH%;C:\Program Files\OpenNI2\Redist
+  - set OPENNI2_INCLUDE64=C:\Program Files\OpenNI2\Include
+  - set OPENNI2_LIB64=C:\Program Files\OpenNI2\Lib
+  - set OPENNI2_REDIST64=C:\Program Files\OpenNI2\Redist
+  # OpenCV
+  #- appveyor-retry appveyor DownloadFile http://downloads.sourceforge.net/project/opencvlibrary/4.5.2/opencv-4.5.2-vc14_vc15.exe
+  #- cmd: opencv-4.5.2-vc14_vc15.exe -o"C:\Program Files" -y
+  #- ECHO "Installed OpenCV:"
+  #- ps: "ls \"C:/Program Files/opencv/build\""
+  #- set PATH=%PATH%;C:\Program Files\opencv\build\x64\vc14\bin
+  - ps: wget 'https://dl.dropboxusercontent.com/s/o6ofn491bc0jso1/opencv450_vc14.exe?dl=0' -outfile opencv.exe
+  - cmd: opencv.exe -o"C:\Program Files" -y
+  - ECHO "Installed OpenCV:"
+  - ps: "ls \"C:/Program Files/opencv\""
+  - set PATH=%PATH%;C:\Program Files\opencv\x64\vc14\bin
+  # VTK (including QVTK)
+  - ps: wget 'https://dl.dropboxusercontent.com/s/1l33b5l3f3y52gf/VTK-6_3-msvc140.exe?dl=0' -outfile VTK-6_3.exe
+  - cmd: VTK-6_3.exe -o"C:\Program Files" -y
+  - ECHO "Installed VTK:"
+  - ps: "ls \"C:/Program Files/VTK\""
+  - set PATH=%PATH%;C:\Program Files\VTK\bin
+  # QHull 
+  - ps: wget 'https://dl.dropboxusercontent.com/s/9widnk9msdsh2b8/Qhull-msvc140.exe?dl=0' -outfile Qhull.exe
+  - cmd: Qhull.exe -o"C:\Program Files" -y
+  - ECHO "Installed QHull:"
+  - ps: "ls \"C:/Program Files/Qhull\""
+  - set PATH=%PATH%;C:\Program Files\Qhull\bin
+  # FLANN 
+  - ps: wget 'https://dl.dropboxusercontent.com/s/7k58jbmqa51sxmh/FLANN-msvc140.exe?dl=0' -outfile FLANN.exe
+  - cmd: FLANN.exe -o"C:\Program Files" -y
+  - ECHO "Installed FLANN:"
+  - ps: "ls \"C:/Program Files/FLANN\""
+  - set PATH=%PATH%;C:\Program Files\FLANN\bin
+  # Eigen 
+  - ps: wget 'https://dl.dropboxusercontent.com/s/3v6i9i8dxj4o8ji/Eigen.exe?dl=0' -outfile Eigen.exe
+  - cmd: Eigen.exe -o"C:\Program Files" -y
+  - ECHO "Installed Eigen:"
+  - ps: "ls \"C:/Program Files/Eigen\""
+  # PCL
+  - ps: wget 'https://dl.dropboxusercontent.com/s/2iayr4lyqa50i9j/PCL_181_August2018_x64_vc14.exe?dl=0' -outfile PCL_1.8.1.exe
+  - cmd: PCL_1.8.1.exe -o"C:\Program Files" -y
+  - ECHO "Installed PCL:"
+  - ps: "ls \"C:/Program Files/PCL\""
+  - set PATH=%PATH%;C:\Program Files\PCL\bin
+  # zlib
+  - ps: gdown -q 0B46akLGdg-uaYm9MTTI4MUtUcmc
+  - ps: Expand-Archive zlib-1.2.8-vc2010-x64.zip -DestinationPath 'C:\Program Files'
+  - ECHO "Installed zlib:"
+  - ps: "ls \"C:/Program Files/zlib\""
+  - set PATH=%PATH%;C:\Program Files\zlib\bin
+  # g2o
+  - ps: wget 'https://dl.dropboxusercontent.com/s/ht74s5pa21wokzw/g2o.exe?dl=0' -outfile g2o.exe
+  - cmd: g2o.exe -o"C:\Program Files" -y
+  - ECHO "Installed g2o:"
+  - ps: "ls \"C:/Program Files/g2o\""
+  - set PATH=%PATH%;C:\Program Files\g2o\bin
+  # GTSAM
+  - ps: wget 'https://dl.dropboxusercontent.com/s/0fpr6r4cgsqmvhf/GTSAM-4_0_0_alpha2-msvc140.exe?dl=0' -outfile GTSAM.exe
+  - cmd: GTSAM.exe -o"C:\Program Files" -y
+  - ECHO "Installed GTSAM:"
+  - ps: "ls \"C:/Program Files/GTSAM\""
+  - set PATH=%PATH%;C:\Program Files\GTSAM\bin
+  # OctoMap
+  - ps: wget 'https://dl.dropboxusercontent.com/s/6jpxu0nm8ne6e54/octomap_x64_vc14.exe?dl=0' -outfile octomap.exe
+  - cmd: octomap.exe -o"C:\Program Files" -y
+  - ECHO "Installed OctoMap:"
+  - ps: "ls \"C:/Program Files/octomap-distribution\""
+  - set PATH=%PATH%;C:\Program Files\octomap-distribution\bin
+  # CPU-TSDF
+  - ps: wget 'https://dl.dropboxusercontent.com/s/mgges9va1uzxr0q/cpu_tsdf_sept2015_x64_vc14.exe?dl=0' -outfile cpu_tsdf.exe
+  - cmd: cpu_tsdf.exe -o"C:\Program Files" -y
+  - ECHO "Installed CPU-TSDF:"
+  - ps: "ls \"C:/Program Files/cpu_tsdf\""
+  - set PATH=%PATH%;C:\Program Files\cpu_tsdf\bin
+  # Open Chisel
+  - ps: wget 'https://dl.dropboxusercontent.com/s/0aaphcde4acrinm/open_chisel_x64_vc14.exe?dl=0' -outfile open_chisel.exe
+  - cmd: open_chisel.exe -o"C:\Program Files" -y
+  - ECHO "Installed Open Chisel:"
+  - ps: "ls \"C:/Program Files/open_chisel\""
+  - set PATH=%PATH%;C:\Program Files\open_chisel\bin
+  # yaml-cpp
+  - ps: wget 'https://dl.dropboxusercontent.com/s/22qfvftwj6zq8tj/yaml-cpp_x64_vc14.exe?dl=0' -outfile yaml-cpp.exe
+  - cmd: yaml-cpp.exe -o"C:\Program Files" -y
+  - ECHO "Installed yaml-cpp:"
+  - ps: "ls \"C:/Program Files/yaml-cpp\""
+  # RealSense2
+  - ps: wget 'https://github.com/IntelRealSense/librealsense/releases/download/v2.40.0/Intel.RealSense.SDK-WIN10-2.40.0.2482.exe' -outfile realsense2.exe
+  - cmd: realsense2.exe /VERYSILENT
+  - ECHO "Installed RealSense2:"
+  - ps: "ls \"C:/Program Files (x86)/Intel RealSense SDK 2.0\""
+  - set PATH=%PATH%;C:\Program Files (x86)\Intel RealSense SDK 2.0\bin\x64
+  - set RealSense2_ROOT_DIR=C:\Program Files (x86)\Intel RealSense SDK 2.0
+  # Kinect 4 Azure
+  - ps: wget 'https://download.microsoft.com/download/3/d/6/3d6d9e99-a251-4cf3-8c6a-8e108e960b4b/Azure%20Kinect%20SDK%201.4.1.exe' -outfile azure.exe
+  - cmd: azure.exe /quiet
+  - ECHO "Installed Kinect For Azure:"
+  - ps: "ls \"C:/Program Files/Azure Kinect SDK v1.4.1\""
+  - set PATH=%PATH%;C:\Program Files\Azure Kinect SDK v1.4.1\tools
+  - set K4A_ROOT_DIR=C:\Program Files\Azure Kinect SDK v1.4.1
+  
+before_build:
+  - cd c:\projects\rtabmap\build
+  - ECHO %PROGRAMFILES%
+  - ECHO %PATH%
+  - cmake -G "Visual Studio 14 2015 Win64" -DOpenCV_DIR="C:\Program Files\opencv\build" -DPCL_DIR="C:\Program Files\PCL\cmake" -DCPUTSDF_DIR="C:\Program Files\cpu_tsdf\share\cpu_tsdf" -Dyaml-cpp_DIR="C:\Program Files\yaml-cpp\CMake" -DBUILD_AS_BUNDLE=ON ..
+  
+after_build :
+  - cmake --build . --config Release --target package
+
+artifacts:
+  - path: build\RTABMap-*
+  
+notifications:
+  - provider: Email
+    to:
+      - [email protected]
+    on_build_success: false
+    on_build_failure: false
+    on_build_status_changed: true
@@ -1,24 +0,0 @@
-FROM introlab3it/rtabmap:android-noble-deps
-
-# remove ubuntu user
-RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
-
-RUN apt-get update && apt-get install -y sudo && \
-    apt-get clean && rm -rf /var/lib/apt/lists/
-
-ARG USERNAME=vscode
-ARG USER_UID=1000
-ARG USER_GID=1000
-
-RUN set -ex && \
-    groupadd --gid ${USER_GID} ${USERNAME} && \
-    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
-    usermod -a -G sudo ${USERNAME} && \
-    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
-    chmod 0440 /etc/sudoers.d/${USERNAME}
-
-RUN chmod +x /opt/android-sdk/tools/android
-
-RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
-
-
@@ -1,21 +1,9 @@
 {
-    "build": {
-      "dockerfile": "Dockerfile"
-    },
+    "image": "introlab3it/rtabmap:android-deps",
    "customizations": {
        "vscode": {
          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools", "vscjava.vscode-java-pack"]
        }
      },
-    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
-    "workspaceFolder": "/home/vscode/rtabmap",
-    "postStartCommand": "./.devcontainer/android/init.sh",
-    "settings": {
-      "terminal.integrated.defaultProfile.linux": "bash"
-    },
-    "remoteUser": "vscode",
    "runArgs": ["--privileged", "--network=host"]
 }
-
-
-  
@@ -1,17 +0,0 @@
-#!/bin/bash
-set -e
-
-echo "Running post-start initialization..."
-
-# copy required jars
-cp /opt/android/lib/*.jar app/android/libs/.
-
-mkdir -p build_android/arm64-v8a
-
-# resource tool
-cd build_android
-cmake -DANDROID_PREBUILD=ON ..
-make
-
-echo -e "\nTo build the APK, do (adjust API number):"
-echo -e '\nexport ANDROID_API=30 && cd build_android/arm64-v8a && cmake -DCMAKE_TOOLCHAIN_FILE=$ANDROID_NDK/build/cmake/android.toolchain.cmake -DANDROID_ABI=arm64-v8a -DANDROID_NDK=$ANDROID_NDK -DANDROID_NATIVE_API_LEVEL=$ANDROID_API -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/android/arm64-v8a -DCMAKE_FIND_ROOT_PATH="/opt/android/arm64-v8a/bin;/opt/android/arm64-v8a;/opt/android/arm64-v8a/share" -DBUILD_EXAMPLES=OFF -DBUILD_TOOLS=OFF -DOpenCV_DIR=/opt/android/arm64-v8a/sdk/native/jni ../..\nmake -j6\n'
@@ -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/${USERNAME}/.bashrc
-
-
@@ -1,30 +1,8 @@
 {
-    "build": {
-      "dockerfile": "Dockerfile"
-    },
+    "image": "introlab3it/rtabmap:24.04",
    "customizations": {
        "vscode": {
-          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools", "ms-vscode.cpptools-extension-pack"]
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
        }
-      },
-    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
-    "workspaceFolder": "/home/vscode/rtabmap",
-    //"mounts": ["source=${localEnv:HOME}/Documents/RTAB-Map,target=/home/vscode/Documents/RTAB-Map,type=bind,consistency=cached"],
-    "settings": {
-      "terminal.integrated.defaultProfile.linux": "bash"
-    },
-    "remoteUser": "vscode",
-    "hostRequirements": {
-        "gpu": "optional"
-    },
-    "runArgs": ["--privileged",
-                "--network=host",
-                "--gpus=all",
-                //"--runtime=nvidia", // uncommment this if rtabmap doesn't show up in nvidia-smi on the host computer
-                "--env=DISPLAY",
-                "--env=QT_X11_NO_MITSHM=1",
-                "--volume=/tmp/.X11-unix:/tmp/.X11-unix"],
-    "containerEnv": {
-        "NVIDIA_VISIBLE_DEVICES": "all"
-    }
+      }
 }
@@ -1,25 +0,0 @@
-FROM introlab3it/rtabmap:resolute-deps
-
-# For devcontainer
-# remove ubuntu user
-RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
-
-RUN apt-get update && apt-get install -y sudo && \
-    apt-get clean && rm -rf /var/lib/apt/lists/
-
-ARG USERNAME=vscode
-ARG USER_UID=1000
-ARG USER_GID=1000
-
-RUN set -ex && \
-    groupadd --gid ${USER_GID} ${USERNAME} && \
-    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
-    usermod -a -G sudo ${USERNAME} && \
-    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
-    chmod 0440 /etc/sudoers.d/${USERNAME}
-
-RUN mkdir -p /home/${USERNAME}/Documents/RTAB-Map && chown -R ${USERNAME} /home/${USERNAME}
-
-RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
-
-
@@ -1,30 +0,0 @@
-{
-    "build": {
-      "dockerfile": "Dockerfile"
-    },
-    "customizations": {
-        "vscode": {
-          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools", "ms-vscode.cpptools-extension-pack"]
-        }
-      },
-    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
-    "workspaceFolder": "/home/vscode/rtabmap",
-    //"mounts": ["source=${localEnv:HOME}/Documents/RTAB-Map,target=/home/vscode/Documents/RTAB-Map,type=bind,consistency=cached"],
-    "settings": {
-      "terminal.integrated.defaultProfile.linux": "bash"
-    },
-    "remoteUser": "vscode",
-    "hostRequirements": {
-        "gpu": "optional"
-    },
-    "runArgs": ["--privileged",
-                "--network=host",
-                "--gpus=all",
-                //"--runtime=nvidia", // uncommment this if rtabmap doesn't show up in nvidia-smi on the host computer
-                "--env=DISPLAY",
-                "--env=QT_X11_NO_MITSHM=1",
-                "--volume=/tmp/.X11-unix:/tmp/.X11-unix"],
-    "containerEnv": {
-        "NVIDIA_VISIBLE_DEVICES": "all"
-    }
-}
@@ -1,80 +0,0 @@
-
-FROM ubuntu:24.04
-
-ENV DEBIAN_FRONTEND=noninteractive
-
-# Install ROS2
-RUN apt update && \
-    apt install software-properties-common -y && \
-    add-apt-repository universe -y && \
-    apt update && \
-    apt install curl -y && \
-    export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}') && \
-    curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" && \
-    apt install /tmp/ros2-apt-source.deb && \
-    apt-get clean && rm -rf /var/lib/apt/lists/
-
-# Install build dependencies
-RUN apt-get update && \
-    apt upgrade -y && \
-    apt-get install -y \
-      git \
-      wget \
-      libtbb-dev \
-      libproj-dev \
-      libpcl-dev \
-      liboctomap-dev \
-      libfreenect-dev \
-      ros-rolling-ros-base \
-      ros-dev-tools \
-      ros-rolling-cv-bridge \
-      ros-rolling-image-geometry \
-      ros-rolling-laser-geometry \
-      ros-rolling-pcl-conversions \
-      ros-rolling-rviz-common \
-      ros-rolling-rviz-rendering \
-      ros-rolling-rviz-default-plugins \
-      ros-rolling-pcl-ros \
-      ros-rolling-imu-filter-madgwick \
-      ros-rolling-image-transport \
-      ros-rolling-octomap-msgs \
-      ros-rolling-libg2o \
-      ros-rolling-gtsam \
-      ros-rolling-libpointmatcher \
-      ros-rolling-qt-gui-cpp \
-      ros-rolling-diagnostic-updater && \
-    apt-get clean && rm -rf /var/lib/apt/lists/
-
-WORKDIR /root/
-
-RUN rm /bin/sh && ln -s /bin/bash /bin/sh
-
-RUN echo -e '#!/bin/bash\nset -e\n\n# setup ros2 environment\nsource "/opt/ros/rolling/setup.bash" --\nexec "$@"' > /ros_entrypoint.sh
-RUN chmod +x /ros_entrypoint.sh
-ENTRYPOINT [ "/ros_entrypoint.sh" ]
-
-# ros2 seems not sourcing by default its multi-arch folders
-ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/ros/rolling/lib/x86_64-linux-gnu
-
-# For devcontainer
-# remove ubuntu user
-RUN touch /var/mail/ubuntu && chown ubuntu /var/mail/ubuntu && userdel -r ubuntu
-
-RUN apt-get update && apt-get install -y sudo && \
-    apt-get clean && rm -rf /var/lib/apt/lists/
-
-ARG USERNAME=vscode
-ARG USER_UID=1000
-ARG USER_GID=1000
-
-RUN set -ex && \
-    groupadd --gid ${USER_GID} ${USERNAME} && \
-    useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} && \
-    usermod -a -G sudo ${USERNAME} && \
-    echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USERNAME} && \
-    chmod 0440 /etc/sudoers.d/${USERNAME}
-
-RUN mkdir -p /home/${USERNAME}/Documents/RTAB-Map && chown -R ${USERNAME} /home/${USERNAME}
-
-RUN echo "source /usr/share/bash-completion/completions/git" >> /home/${USERNAME}/.bashrc
-
@@ -1,30 +0,0 @@
-{
-    "build": {
-      "dockerfile": "Dockerfile"
-    },
-    "customizations": {
-        "vscode": {
-          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
-        }
-      },
-    "workspaceMount": "source=${localWorkspaceFolder},target=/home/vscode/rtabmap,type=bind",
-    "workspaceFolder": "/home/vscode/rtabmap",
-    //"mounts": ["source=${localEnv:HOME}/Documents/RTAB-Map,target=/home/vscode/Documents/RTAB-Map,type=bind,consistency=cached"],
-    "settings": {
-      "terminal.integrated.defaultProfile.linux": "bash"
-    },
-    "remoteUser": "vscode",
-    "hostRequirements": {
-        "gpu": "optional"
-    },
-    "runArgs": ["--privileged",
-                "--network=host",
-                "--gpus=all",
-                //"--runtime=nvidia", // uncommment this if rtabmap doesn't show up in nvidia-smi on the host computer
-                "--env=DISPLAY",
-                "--env=QT_X11_NO_MITSHM=1",
-                "--volume=/tmp/.X11-unix:/tmp/.X11-unix"],
-    "containerEnv": {
-        "NVIDIA_VISIBLE_DEVICES": "all"
-    }
-}
@@ -1,266 +0,0 @@
-name: 'Install macOS Source Dependencies'
-description: 'Builds (and per-dependency caches) the source-only deps not available from Homebrew (GTSAM, libnabo+libpointmatcher, OrbbecSDK, depthai) and installs them into /usr/local.'
-inputs:
-  os:
-    description: 'Runner os label (e.g. matrix.os), used to namespace the per-dependency caches. Required because intel/arm produce different binaries with identical Homebrew version strings.'
-    required: true
-  build_type:
-    description: 'CMake build type.'
-    required: false
-    default: 'Release'
-runs:
-  using: "composite"
-  steps:
-    - name: Resolve dependency versions
-      id: depver
-      shell: bash
-      # The source deps link against these Homebrew libraries and are compiled
-      # with Xcode's toolchain, so both are folded into the cache keys: a
-      # Homebrew bump (e.g. a new Eigen) or an Xcode update forces a rebuild.
-      run: |
-        BREW=$(brew list --versions eigen boost yaml-cpp | sort)
-        XCODE=$(xcodebuild -version 2>/dev/null || clang --version | head -1)
-        HASH=$(printf '%s\n%s\n' "$BREW" "$XCODE" | shasum | cut -d' ' -f1)
-        echo "hash=$HASH" >> "$GITHUB_OUTPUT"
-
-    # ----------------------------- GTSAM -----------------------------
-    - name: Cache GTSAM
-      id: cache-gtsam
-      uses: actions/cache@v4
-      with:
-        path: ${{ runner.temp }}/deps-stage/gtsam
-        key: gtsam-4.2.1-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/gtsam-4.2.1-eigen5.patch') }}-${{ steps.depver.outputs.hash }}
-
-    - name: Build GTSAM
-      if: steps.cache-gtsam.outputs.cache-hit != 'true'
-      shell: bash
-      run: |
-        set -e
-        NPROC=$(sysctl -n hw.logicalcpu)
-        PATCHES="${{ github.action_path }}/patches"
-        SRC="${{ runner.temp }}/src-deps/gtsam"
-        STAGE="${{ runner.temp }}/deps-stage/gtsam"
-        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
-        git clone --depth 1 --branch 4.2.1 https://github.com/borglab/gtsam.git "$SRC/gtsam"
-        cd "$SRC/gtsam"
-        git apply "$PATCHES/gtsam-4.2.1-eigen5.patch"
-        cmake -B build \
-          -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
-          -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF \
-          -DGTSAM_WITH_TBB=OFF \
-          -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \
-          -DGTSAM_BUILD_TESTS=OFF \
-          -DGTSAM_BUILD_UNSTABLE=OFF \
-          -DGTSAM_USE_SYSTEM_EIGEN=ON \
-          -DCMAKE_POLICY_VERSION_MINIMUM=3.5
-        cmake --build build -j$NPROC
-        DESTDIR="$STAGE" cmake --install build
-
-    # ----------------- libnabo + libpointmatcher --------------------
-    # Built together: libpointmatcher depends on libnabo, so keeping them in one
-    # unit keeps the build order internal (lpm finds libnabo in the unit's stage).
-    - name: Cache pointmatcher
-      id: cache-pointmatcher
-      uses: actions/cache@v4
-      with:
-        path: ${{ runner.temp }}/deps-stage/pointmatcher
-        key: pointmatcher-nabo1.1.2-lpm1.4.4-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/libnabo-1.1.2.patch', '.github/actions/install-macos-source-deps/patches/libpointmatcher-1.4.4-boost.patch') }}-${{ steps.depver.outputs.hash }}
-
-    - name: Build pointmatcher
-      if: steps.cache-pointmatcher.outputs.cache-hit != 'true'
-      shell: bash
-      run: |
-        set -e
-        NPROC=$(sysctl -n hw.logicalcpu)
-        PATCHES="${{ github.action_path }}/patches"
-        SRC="${{ runner.temp }}/src-deps/pointmatcher"
-        STAGE="${{ runner.temp }}/deps-stage/pointmatcher"
-        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
-        # libnabo (required by libpointmatcher)
-        git clone --depth 1 --branch 1.1.2 https://github.com/ethz-asl/libnabo.git "$SRC/libnabo"
-        cd "$SRC/libnabo"
-        git apply "$PATCHES/libnabo-1.1.2.patch"
-        cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }}
-        cmake --build build -j$NPROC
-        DESTDIR="$STAGE" cmake --install build
-        # libpointmatcher (finds libnabo from the unit's staged prefix)
-        git clone --depth 1 --branch 1.4.4 https://github.com/ethz-asl/libpointmatcher.git "$SRC/libpointmatcher"
-        cd "$SRC/libpointmatcher"
-        git apply "$PATCHES/libpointmatcher-1.4.4-boost.patch"
-        cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} -DCMAKE_PREFIX_PATH="$STAGE/usr/local" -DBUILD_EVALUATIONS=OFF -DBUILD_EXAMPLES=OFF
-        cmake --build build -j$NPROC
-        DESTDIR="$STAGE" cmake --install build
-
-    # ----------------------------- OrbbecSDK ------------------------
-    - name: Cache OrbbecSDK
-      id: cache-orbbec
-      uses: actions/cache@v4
-      with:
-        path: ${{ runner.temp }}/deps-stage/orbbec
-        key: orbbec-2.8.7-usrlocal-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/orbbecsdk-2.8.7-cmake-config-install.patch') }}-${{ steps.depver.outputs.hash }}
-
-    - name: Build OrbbecSDK
-      if: steps.cache-orbbec.outputs.cache-hit != 'true'
-      shell: bash
-      run: |
-        set -e
-        NPROC=$(sysctl -n hw.logicalcpu)
-        PATCHES="${{ github.action_path }}/patches"
-        SRC="${{ runner.temp }}/src-deps/orbbec"
-        STAGE="${{ runner.temp }}/deps-stage/orbbec"
-        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
-        git clone --depth 1 --branch v2.8.7 https://github.com/orbbec/OrbbecSDK_v2.git "$SRC/OrbbecSDK_v2"
-        cd "$SRC/OrbbecSDK_v2"
-        git apply "$PATCHES/orbbecsdk-2.8.7-cmake-config-install.patch"
-        # OrbbecSDK defaults its install prefix to /opt/OrbbecSDK; force /usr/local
-        # so it stages under usr/local like the other deps and is installed/found.
-        cmake -B build -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} -DCMAKE_INSTALL_PREFIX=/usr/local -DOB_BUILD_DOCS=OFF -DOB_BUILD_EXAMPLES=OFF -DOB_BUILD_TOOLS=OFF -DOB_INSTALL_EXAMPLES_SOURCE=OFF
-        cmake --build build -j$NPROC
-        DESTDIR="$STAGE" cmake --install build
-
-    # ----------------------------- depthai --------------------------
-    - name: Cache depthai
-      id: cache-depthai
-      uses: actions/cache@v4
-      with:
-        path: ${{ runner.temp }}/deps-stage/depthai
-        key: depthai-2.32.0-usrlocal-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/depthai-2.32.0-hunter-macos.patch') }}-${{ steps.depver.outputs.hash }}
-
-    - name: Build depthai
-      if: steps.cache-depthai.outputs.cache-hit != 'true'
-      shell: bash
-      run: |
-        set -e
-        NPROC=$(sysctl -n hw.logicalcpu)
-        PATCHES="${{ github.action_path }}/patches"
-        SRC="${{ runner.temp }}/src-deps/depthai"
-        STAGE="${{ runner.temp }}/deps-stage/depthai"
-        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
-        # depthai 2.32.0 (Hunter-based; v2 does NOT use vcpkg/CMake presets)
-        git clone --depth 1 --branch v2.32.0 https://github.com/luxonis/depthai-core.git "$SRC/depthai-core"
-        cd "$SRC/depthai-core"
-        git submodule update --init --recursive
-        # Route zlib to Homebrew: Hunter's pinned zlib fork has a classic
-        # TARGET_OS_MAC fdopen block that won't compile against the modern macOS SDK.
-        git apply "$PATCHES/depthai-2.32.0-hunter-macos.patch"
-        # v2 and its old Hunter deps declare cmake_minimum_required < 3.5, which the
-        # runner's CMake 4.x rejects, and CMAKE_POLICY_VERSION_MINIMUM does not
-        # propagate into Hunter's sub-builds. Use a pinned CMake 3.x just for depthai
-        # (Hunter reuses the same cmake binary for its dependency sub-builds).
-        python3 -m venv "$SRC/cmake3-venv"
-        "$SRC/cmake3-venv/bin/pip" install -q "cmake==3.31.6"
-        CMAKE3="$SRC/cmake3-venv/bin/cmake"
-        # DEPTHAI_ENABLE_CURL=OFF: Hunter's CURL drags in the broken zlib and also
-        # fails to configure on this toolchain; rtabmap doesn't need depthai's CURL.
-        # depthai-core defaults its install prefix to <build>/install; force
-        # /usr/local so it stages under usr/local like the other deps.
-        "$CMAKE3" -B build \
-          -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
-          -DCMAKE_INSTALL_PREFIX=/usr/local \
-          -DBUILD_SHARED_LIBS=ON \
-          -DDEPTHAI_ENABLE_CURL=OFF \
-          -DDEPTHAI_BUILD_TESTS=OFF \
-          -DDEPTHAI_BUILD_EXAMPLES=OFF \
-          -DCMAKE_PREFIX_PATH="$(brew --prefix zlib)"
-        "$CMAKE3" --build build -j$NPROC
-        DESTDIR="$STAGE" "$CMAKE3" --install build
-
-    # ----------------------------- opengv ---------------------------
-    - name: Cache opengv
-      id: cache-opengv
-      uses: actions/cache@v4
-      with:
-        path: ${{ runner.temp }}/deps-stage/opengv
-        key: opengv-91f4b19c-usrlocal-${{ inputs.os }}-${{ hashFiles('.github/actions/install-macos-source-deps/patches/opengv-91f4b19c-macos.patch') }}-${{ steps.depver.outputs.hash }}
-
-    - name: Build opengv
-      if: steps.cache-opengv.outputs.cache-hit != 'true'
-      shell: bash
-      run: |
-        set -e
-        NPROC=$(sysctl -n hw.logicalcpu)
-        PATCHES="${{ github.action_path }}/patches"
-        SRC="${{ runner.temp }}/src-deps/opengv"
-        STAGE="${{ runner.temp }}/deps-stage/opengv"
-        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
-        # opengv pins a commit (not a tag), so clone then checkout.
-        git clone https://github.com/laurentkneip/opengv.git "$SRC/opengv"
-        cd "$SRC/opengv"
-        git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3
-        # Disable the -march=native/armv7-a/armv8-a flags so it builds portably on
-        # both Intel and Apple Silicon runners.
-        git apply "$PATCHES/opengv-91f4b19c-macos.patch"
-        # CMAKE_POLICY_VERSION_MINIMUM=3.5: opengv declares an ancient
-        # cmake_minimum_required that modern CMake rejects. EIGEN_INCLUDE_DIR points
-        # opengv's bundled FindEigen at Homebrew's eigen (covers /opt/homebrew on arm64).
-        cmake -B build \
-          -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
-          -DCMAKE_INSTALL_PREFIX=/usr/local \
-          -DBUILD_TESTS=OFF \
-          -DBUILD_SHARED_LIBS=ON \
-          -DCMAKE_POLICY_VERSION_MINIMUM=3.5 \
-          -DEIGEN_INCLUDE_DIR="$(brew --prefix eigen)/include/eigen3"
-        cmake --build build -j$NPROC
-        DESTDIR="$STAGE" cmake --install build
-
-    # ----------------------------- g2o ------------------------------
-    - name: Cache g2o
-      id: cache-g2o
-      uses: actions/cache@v4
-      with:
-        path: ${{ runner.temp }}/deps-stage/g2o
-        key: g2o-67cbe15c-${{ inputs.os }}-${{ steps.depver.outputs.hash }}
-
-    - name: Build g2o
-      if: steps.cache-g2o.outputs.cache-hit != 'true'
-      shell: bash
-      run: |
-        set -e
-        NPROC=$(sysctl -n hw.logicalcpu)
-        SRC="${{ runner.temp }}/src-deps/g2o"
-        STAGE="${{ runner.temp }}/deps-stage/g2o"
-        rm -rf "$SRC"; mkdir -p "$SRC" "$STAGE"
-        # g2o pins a commit (not a tag), so clone then checkout.
-        git clone https://github.com/RainerKuemmerle/g2o.git "$SRC/g2o"
-        cd "$SRC/g2o"
-        git checkout 67cbe15c998737ac6705d3cd18201a72be0d073d
-        # CMAKE_INSTALL_PREFIX=/usr/local so it stages under usr/local like the
-        # other deps. Homebrew's libomp is keg-only and g2o does not propagate
-        # OpenMP's include/lib dirs, so with Apple clang <omp.h> isn't found and
-        # libomp isn't linked; add its include (-I) and lib (-L -lomp) explicitly.
-        LIBOMP=$(brew --prefix libomp)
-        cmake -B build \
-          -DCMAKE_BUILD_TYPE=${{ inputs.build_type }} \
-          -DCMAKE_INSTALL_PREFIX=/usr/local \
-          -DCMAKE_PREFIX_PATH="$LIBOMP" \
-          -DCMAKE_C_FLAGS="-I$LIBOMP/include" \
-          -DCMAKE_CXX_FLAGS="-I$LIBOMP/include" \
-          -DCMAKE_EXE_LINKER_FLAGS="-L$LIBOMP/lib -lomp" \
-          -DCMAKE_SHARED_LINKER_FLAGS="-L$LIBOMP/lib -lomp" \
-          -DG2O_BUILD_APPS=OFF \
-          -DG2O_BUILD_EXAMPLES=OFF \
-          -DG2O_USE_OPENMP=ON \
-          -DG2O_USE_OPENGL=OFF
-        cmake --build build -j$NPROC
-        DESTDIR="$STAGE" cmake --install build
-
-    # ------------------- install all units into /usr/local ----------
-    - name: Install source dependencies into /usr/local
-      shell: bash
-      # Copy each (cached or freshly built) staged tree into /usr/local so
-      # rtabmap's find_package() and the bundle fixup (which search /usr/local)
-      # pick them up. Runs on both cache hit and miss.
-      run: |
-        set -e
-        STAGE="${{ runner.temp }}/deps-stage"
-        found=0
-        for unit in gtsam pointmatcher orbbec depthai opengv g2o; do
-          if [ -d "$STAGE/$unit/usr/local" ]; then
-            sudo cp -a "$STAGE/$unit/usr/local/." /usr/local/
-            found=1
-          fi
-        done
-        if [ "$found" != "1" ]; then
-          echo "No staged source dependencies found under $STAGE" >&2
-          exit 1
-        fi
@@ -1,41 +0,0 @@
-diff --git a/cmake/depthaiDependencies.cmake b/cmake/depthaiDependencies.cmake
-index 6b0b44f98..672c26402 100644
--- a/cmake/depthaiDependencies.cmake
-+++ b/cmake/depthaiDependencies.cmake
-@@ -17,7 +17,9 @@ else()
-     hunter_add_package(FP16)
-     hunter_add_package(libarchive-luxonis)
-     hunter_add_package(spdlog)
-    hunter_add_package(ZLIB)
-+    # ZLIB: use the system/Homebrew copy instead of Hunter's (the old pinned
-+    # zlib fork fails to build against the modern macOS SDK). Found below via
-+    # the standard FindZLIB module, which provides the same ZLIB::ZLIB target.
-     if(DEPTHAI_ENABLE_BACKWARD)
-         hunter_add_package(Backward)
-     endif()
-@@ -45,8 +47,23 @@ if(NOT CONFIG_MODE OR (CONFIG_MODE AND NOT DEPTHAI_SHARED_LIBS))
-     # libarchive for firmware packages
-     find_package(archive_static ${_QUIET} CONFIG REQUIRED)
-     find_package(lzma ${_QUIET} CONFIG REQUIRED)
-    # ZLIB for compressing Apps
-    find_package(ZLIB CONFIG REQUIRED)
-+    # ZLIB for compressing Apps.
-+    # Use the system/Homebrew zlib directly instead of Hunter's: Hunter's pinned
-+    # zlib fork fails to build against the modern macOS SDK, and Hunter also
-+    # intercepts find_package(ZLIB) via its own FindZLIB on the module path, so
-+    # we locate it manually and expose the ZLIB::zlib target depthai expects.
-+    find_path(SYSTEM_ZLIB_INCLUDE_DIR NAMES zlib.h)
-+    find_library(SYSTEM_ZLIB_LIBRARY NAMES z)
-+    if(NOT SYSTEM_ZLIB_INCLUDE_DIR OR NOT SYSTEM_ZLIB_LIBRARY)
-+        message(FATAL_ERROR "System zlib not found (looked for zlib.h and libz). Install via: brew install zlib")
-+    endif()
-+    if(NOT TARGET ZLIB::zlib)
-+        add_library(ZLIB::zlib UNKNOWN IMPORTED)
-+        set_target_properties(ZLIB::zlib PROPERTIES
-+            IMPORTED_LOCATION "${SYSTEM_ZLIB_LIBRARY}"
-+            INTERFACE_INCLUDE_DIRECTORIES "${SYSTEM_ZLIB_INCLUDE_DIR}"
-+        )
-+    endif()
- 
-     # spdlog for library and device logging
-     find_package(spdlog ${_QUIET} CONFIG REQUIRED)
@@ -1,83 +0,0 @@
-diff --git a/cmake/HandleEigen.cmake b/cmake/HandleEigen.cmake
-index b3b4f66b6..651cd1009 100644
--- a/cmake/HandleEigen.cmake
-+++ b/cmake/HandleEigen.cmake
-@@ -59,7 +59,12 @@ else()
- endif()
-
- # Detect Eigen version:
-set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
-+# Since Eigen 5.0.0 the version macros moved from Eigen/src/Core/util/Macros.h
-+# to a dedicated Eigen/Version header, so check the new location first.
-+set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/Version")
-+if (NOT EXISTS ${EIGEN_VER_H})
-+    set(EIGEN_VER_H "${GTSAM_EIGEN_INCLUDE_FOR_BUILD}/Eigen/src/Core/util/Macros.h")
-+endif()
- if (EXISTS ${EIGEN_VER_H})
-     file(READ "${EIGEN_VER_H}" STR_EIGEN_VERSION)
-
-diff --git a/gtsam/base/Matrix.h b/gtsam/base/Matrix.h
-index cfedf6d8c..9c9771407 100644
--- a/gtsam/base/Matrix.h
-+++ b/gtsam/base/Matrix.h
-@@ -54,7 +54,7 @@ using Matrix7##N = Eigen::Matrix<double, 7, N>;  \
- using Matrix8##N = Eigen::Matrix<double, 8, N>;  \
- using Matrix9##N = Eigen::Matrix<double, 9, N>;  \
- static const Eigen::MatrixBase<Matrix##N>::IdentityReturnType I_##N##x##N = Matrix##N::Identity(); \
-static const Eigen::MatrixBase<Matrix##N>::ConstantReturnType Z_##N##x##N = Matrix##N::Zero();
-+static const decltype(Matrix##N::Zero()) Z_##N##x##N = Matrix##N::Zero();
-
- GTSAM_MAKE_MATRIX_DEFS(1)
- GTSAM_MAKE_MATRIX_DEFS(2)
-diff --git a/gtsam/base/Vector.h b/gtsam/base/Vector.h
-index f7923ff88..5410393f6 100644
--- a/gtsam/base/Vector.h
-+++ b/gtsam/base/Vector.h
-@@ -27,6 +27,7 @@
-
- #include <gtsam/global_includes.h>
- #include <Eigen/Core>
-+#include <cassert>
- #include <iosfwd>
- #include <list>
-
-@@ -42,14 +43,14 @@ typedef Eigen::Matrix<double, 1, 1> Vector1;
- typedef Eigen::Vector2d Vector2;
- typedef Eigen::Vector3d Vector3;
-
-static const Eigen::MatrixBase<Vector2>::ConstantReturnType Z_2x1 = Vector2::Zero();
-static const Eigen::MatrixBase<Vector3>::ConstantReturnType Z_3x1 = Vector3::Zero();
-+static const decltype(Vector2::Zero()) Z_2x1 = Vector2::Zero();
-+static const decltype(Vector3::Zero()) Z_3x1 = Vector3::Zero();
-
- // Create handy typedefs and constants for vectors with N>3
- // VectorN and Z_Nx1, for N=1..9
- #define GTSAM_MAKE_VECTOR_DEFS(N)                \
-   using Vector##N = Eigen::Matrix<double, N, 1>; \
-  static const Eigen::MatrixBase<Vector##N>::ConstantReturnType Z_##N##x1 = Vector##N::Zero();
-+  static const decltype(Vector##N::Zero()) Z_##N##x1 = Vector##N::Zero();
-
- GTSAM_MAKE_VECTOR_DEFS(4)
- GTSAM_MAKE_VECTOR_DEFS(5)
-diff --git a/gtsam/linear/iterative.h b/gtsam/linear/iterative.h
-index 22f65b8de..20a0c936e 100644
--- a/gtsam/linear/iterative.h
-+++ b/gtsam/linear/iterative.h
-@@ -61,7 +61,7 @@ namespace gtsam {
-
-     /** Apply operator A'*e */
-     Vector operator^(const Vector& e) const {
-      return A_ ^ e;
-+      return gtsam::operator^(A_, e);
-     }
-
-     /**
-@@ -71,7 +71,7 @@ namespace gtsam {
-
-     /** gradient of objective function 0.5*|Ax-b_|^2 at x = A_'*(Ax-b_) */
-     Vector gradient(const Vector& x) const {
-      return A() ^ (A() * x - b());
-+      return gtsam::operator^(A(), Vector(A() * x - b()));
-     }
-
-     /** Apply operator A */
@@ -1,87 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index a5f0c44..69340e4 100644
--- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -78,18 +78,18 @@ elseif ()
- 	endif ()
- endif ()
-
-# enable C++11 support.
-+# enable C++14 support (required by recent Eigen versions).
- if (CMAKE_VERSION VERSION_LESS "3.1")
- 	if (MSVC)
- 		message(FATAL_ERROR "CMake version 3.1 or later is required to compile ${PROJECT_NAME} with Microsoft Visual C++")
- 	endif ()
- 	if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-		set (CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")
-+		set (CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}")
- 	else ()
-		set (CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
-+		set (CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS}")
- 	endif ()
- else ()
-	set (CMAKE_CXX_STANDARD 11)
-+	set (CMAKE_CXX_STANDARD 14)
- endif ()
-
- #======================== External Dependencies ===============================
-diff --git a/experimental/kdtree_cpu.cpp b/experimental/kdtree_cpu.cpp
-index 302b672..d63fcd3 100644
--- a/experimental/kdtree_cpu.cpp
-+++ b/experimental/kdtree_cpu.cpp
-@@ -31,6 +31,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- #include "nabo_experimental.h"
- #include "../nabo/index_heap.h"
-+#include <cassert>
- #include <iostream>
- #include <stdexcept>
- #include <limits>
-diff --git a/nabo/kdtree_cpu.cpp b/nabo/kdtree_cpu.cpp
-index cb1f8d1..52a444f 100644
--- a/nabo/kdtree_cpu.cpp
-+++ b/nabo/kdtree_cpu.cpp
-@@ -37,6 +37,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- #include <queue>
- #include <algorithm>
- #include <utility>
-+#include <cassert>
- #ifdef HAVE_OPENMP
- #include <omp.h>
- #endif
-diff --git a/nabo/kdtree_opencl.cpp b/nabo/kdtree_opencl.cpp
-index 5a9fee2..fb1345f 100644
--- a/nabo/kdtree_opencl.cpp
-+++ b/nabo/kdtree_opencl.cpp
-@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
- #include "nabo_private.h"
- #include "index_heap.h"
-+#include <cassert>
- #include <iostream>
- #include <sstream>
- #include <fstream>
-diff --git a/tests/knnshow.cpp b/tests/knnshow.cpp
-index 6f4d3fc..c612378 100644
--- a/tests/knnshow.cpp
-+++ b/tests/knnshow.cpp
-@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
-
- #include "nabo/nabo.h"
-+#include <cassert>
- #include <iostream>
- #include <fstream>
- #include <stdexcept>
-diff --git a/tests/knnvalidate.cpp b/tests/knnvalidate.cpp
-index 2430249..2a7dcc4 100644
--- a/tests/knnvalidate.cpp
-+++ b/tests/knnvalidate.cpp
-@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- #include "nabo/nabo.h"
- #include "helpers.h"
- //#include "experimental/nabo_experimental.h"
-+#include <cassert>
- #include <iostream>
- #include <fstream>
- #include <stdexcept>
@@ -1,32 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 9dabfd0..7b73418 100644
--- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -128,9 +128,9 @@ endif()
- #--------------------
- # DEPENDENCY:  boost
- #--------------------
-find_package(Boost REQUIRED COMPONENTS thread system program_options date_time)
-+find_package(Boost REQUIRED COMPONENTS thread program_options date_time)
- if (Boost_MINOR_VERSION GREATER 47)
-	find_package(Boost REQUIRED COMPONENTS thread system program_options date_time chrono)
-+	find_package(Boost REQUIRED COMPONENTS thread program_options date_time chrono)
- endif ()
-
- #--------------------
-diff --git a/libpointmatcherConfig.cmake.in b/libpointmatcherConfig.cmake.in
-index 6de2c85..7c887fd 100644
--- a/libpointmatcherConfig.cmake.in
-+++ b/libpointmatcherConfig.cmake.in
-@@ -7,9 +7,9 @@
- include(CMakeFindDependencyMacro)
- find_dependency(libnabo REQUIRED)
- find_dependency(yaml-cpp REQUIRED)
-find_package(Boost COMPONENTS thread system program_options date_time REQUIRED)
-+find_package(Boost COMPONENTS thread program_options date_time REQUIRED)
- if (Boost_MINOR_VERSION GREATER 47)
-  find_package(Boost COMPONENTS thread system program_options date_time chrono REQUIRED)
-+  find_package(Boost COMPONENTS thread program_options date_time chrono REQUIRED)
- endif ()
- include(${CMAKE_CURRENT_LIST_DIR}/libpointmatcher-config.cmake)
-
@@ -1,309 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 9660f55..0186da4 100644
--- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -31,12 +31,12 @@ IF(MSVC)
-   add_definitions(-D_USE_MATH_DEFINES)
- ELSE()
-   IF (CMAKE_SYSTEM_PROCESSOR MATCHES "(arm64)|(ARM64)|(aarch64)|(AARCH64)")
-    add_definitions (-march=armv8-a)
-+    #add_definitions (-march=armv8-a)
-   ELSEIF (CMAKE_SYSTEM_PROCESSOR MATCHES 
-           "(arm)|(ARM)|(armhf)|(ARMHF)|(armel)|(ARMEL)")
-    add_definitions (-march=armv7-a)
-+    #add_definitions (-march=armv7-a)
-   ELSE ()
-    add_definitions (-march=native) #TODO use correct c++11 def once everybody has moved to gcc 4.7 # for now I even removed std=gnu++0x
-+    #add_definitions (-march=native) #TODO use correct c++11 def once everybody has moved to gcc 4.7 # for now I even removed std=gnu++0x
-   ENDIF()
-   add_definitions (
-     -O3
-@@ -181,7 +181,7 @@ add_library( random_generators test/random_generators.cpp test/random_generators
- set_target_properties( opengv random_generators PROPERTIES
-                     SOVERSION ${PROJECT_VERSION}
-                     VERSION ${PROJECT_VERSION}
-                    CXX_STANDARD 11
-+                    CXX_STANDARD 14
-                     CXX_STANDARD_REQUIRED ON
-                     DEBUG_POSTFIX d )
- 
-@@ -329,7 +329,7 @@ IF (BUILD_TESTS)
-     test_Sturm
- 
-     PROPERTIES
-    CXX_STANDARD 11
-+    CXX_STANDARD 14
-     CXX_STANDARD_REQUIRED ON
-     DEBUG_POSTFIX d )
- 
-diff --git a/modules/FindEigen.cmake b/modules/FindEigen.cmake
-index 126f4a0..39b5524 100644
--- a/modules/FindEigen.cmake
-+++ b/modules/FindEigen.cmake
-@@ -30,7 +30,13 @@ if(NOT Eigen_FIND_VERSION)
- endif(NOT Eigen_FIND_VERSION)
- 
- macro(_eigen3_check_version)
-  file(READ "${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
-+  # Since Eigen 5.0.0 the version macros moved from Eigen/src/Core/util/Macros.h
-+  # to a dedicated Eigen/Version header, so check the new location first.
-+  if(EXISTS "${EIGEN_INCLUDE_DIR}/Eigen/Version")
-+    file(READ "${EIGEN_INCLUDE_DIR}/Eigen/Version" _eigen3_version_header)
-+  else()
-+    file(READ "${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
-+  endif()
- 
-   string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
-   set(EIGEN_WORLD_VERSION "${CMAKE_MATCH_1}")
-diff --git a/src/absolute_pose/CentralAbsoluteAdapter.cpp b/src/absolute_pose/CentralAbsoluteAdapter.cpp
-index 684fa7e..a4ff2bd 100644
--- a/src/absolute_pose/CentralAbsoluteAdapter.cpp
-+++ b/src/absolute_pose/CentralAbsoluteAdapter.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/absolute_pose/CentralAbsoluteAdapter.hpp>
- 
- 
-diff --git a/src/absolute_pose/MACentralAbsolute.cpp b/src/absolute_pose/MACentralAbsolute.cpp
-index 6edbabc..1687d45 100644
--- a/src/absolute_pose/MACentralAbsolute.cpp
-+++ b/src/absolute_pose/MACentralAbsolute.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/absolute_pose/MACentralAbsolute.hpp>
- 
- 
-diff --git a/src/absolute_pose/MANoncentralAbsolute.cpp b/src/absolute_pose/MANoncentralAbsolute.cpp
-index d9b5b09..a7ae689 100644
--- a/src/absolute_pose/MANoncentralAbsolute.cpp
-+++ b/src/absolute_pose/MANoncentralAbsolute.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/absolute_pose/MANoncentralAbsolute.hpp>
- 
- opengv::absolute_pose::MANoncentralAbsolute::MANoncentralAbsolute(
-diff --git a/src/absolute_pose/NoncentralAbsoluteAdapter.cpp b/src/absolute_pose/NoncentralAbsoluteAdapter.cpp
-index 30176aa..6a0e405 100644
--- a/src/absolute_pose/NoncentralAbsoluteAdapter.cpp
-+++ b/src/absolute_pose/NoncentralAbsoluteAdapter.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/absolute_pose/NoncentralAbsoluteAdapter.hpp>
- 
- opengv::absolute_pose::NoncentralAbsoluteAdapter::NoncentralAbsoluteAdapter(
-diff --git a/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp b/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
-index 88c237a..58a82f4 100644
--- a/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
-+++ b/src/absolute_pose/NoncentralAbsoluteMultiAdapter.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/absolute_pose/NoncentralAbsoluteMultiAdapter.hpp>
- 
- opengv::absolute_pose::NoncentralAbsoluteMultiAdapter::NoncentralAbsoluteMultiAdapter(
-diff --git a/src/absolute_pose/methods.cpp b/src/absolute_pose/methods.cpp
-index b1f0889..19c4eaf 100644
--- a/src/absolute_pose/methods.cpp
-+++ b/src/absolute_pose/methods.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/absolute_pose/methods.hpp>
- #include <opengv/Indices.hpp>
- 
-diff --git a/src/absolute_pose/modules/main.cpp b/src/absolute_pose/modules/main.cpp
-index ed0c271..99f7f35 100644
--- a/src/absolute_pose/modules/main.cpp
-+++ b/src/absolute_pose/modules/main.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <Eigen/NonLinearOptimization>
- #include <Eigen/NumericalDiff>
- 
-diff --git a/src/math/arun.cpp b/src/math/arun.cpp
-index a0d6296..f5c0ac3 100644
--- a/src/math/arun.cpp
-+++ b/src/math/arun.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/math/arun.hpp>
- 
- opengv::rotation_t
-diff --git a/src/point_cloud/MAPointCloud.cpp b/src/point_cloud/MAPointCloud.cpp
-index 81fd5dd..cdccae3 100644
--- a/src/point_cloud/MAPointCloud.cpp
-+++ b/src/point_cloud/MAPointCloud.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/point_cloud/MAPointCloud.hpp>
- 
- opengv::point_cloud::MAPointCloud::MAPointCloud(
-diff --git a/src/point_cloud/PointCloudAdapter.cpp b/src/point_cloud/PointCloudAdapter.cpp
-index f9faaeb..28fbb7e 100644
--- a/src/point_cloud/PointCloudAdapter.cpp
-+++ b/src/point_cloud/PointCloudAdapter.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/point_cloud/PointCloudAdapter.hpp>
- 
- opengv::point_cloud::PointCloudAdapter::PointCloudAdapter(
-diff --git a/src/point_cloud/methods.cpp b/src/point_cloud/methods.cpp
-index 5409eeb..7a26e6a 100644
--- a/src/point_cloud/methods.cpp
-+++ b/src/point_cloud/methods.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/point_cloud/methods.hpp>
- #include <opengv/Indices.hpp>
- 
-diff --git a/src/relative_pose/CentralRelativeAdapter.cpp b/src/relative_pose/CentralRelativeAdapter.cpp
-index 38e9a62..5018bd8 100644
--- a/src/relative_pose/CentralRelativeAdapter.cpp
-+++ b/src/relative_pose/CentralRelativeAdapter.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/CentralRelativeAdapter.hpp>
- 
- opengv::relative_pose::CentralRelativeAdapter::CentralRelativeAdapter(
-diff --git a/src/relative_pose/CentralRelativeMultiAdapter.cpp b/src/relative_pose/CentralRelativeMultiAdapter.cpp
-index 2ab7476..49a3a07 100644
--- a/src/relative_pose/CentralRelativeMultiAdapter.cpp
-+++ b/src/relative_pose/CentralRelativeMultiAdapter.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/CentralRelativeMultiAdapter.hpp>
- 
- opengv::relative_pose::CentralRelativeMultiAdapter::CentralRelativeMultiAdapter(
-diff --git a/src/relative_pose/CentralRelativeWeightingAdapter.cpp b/src/relative_pose/CentralRelativeWeightingAdapter.cpp
-index a6ab478..7684526 100644
--- a/src/relative_pose/CentralRelativeWeightingAdapter.cpp
-+++ b/src/relative_pose/CentralRelativeWeightingAdapter.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/CentralRelativeWeightingAdapter.hpp>
- 
- opengv::relative_pose::CentralRelativeWeightingAdapter::CentralRelativeWeightingAdapter(
-diff --git a/src/relative_pose/MACentralRelative.cpp b/src/relative_pose/MACentralRelative.cpp
-index ec2959f..75e76d5 100644
--- a/src/relative_pose/MACentralRelative.cpp
-+++ b/src/relative_pose/MACentralRelative.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/MACentralRelative.hpp>
- 
- opengv::relative_pose::MACentralRelative::MACentralRelative(
-diff --git a/src/relative_pose/MANoncentralRelative.cpp b/src/relative_pose/MANoncentralRelative.cpp
-index cea9c14..8566aeb 100644
--- a/src/relative_pose/MANoncentralRelative.cpp
-+++ b/src/relative_pose/MANoncentralRelative.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/MANoncentralRelative.hpp>
- 
- opengv::relative_pose::MANoncentralRelative::MANoncentralRelative(
-diff --git a/src/relative_pose/MANoncentralRelativeMulti.cpp b/src/relative_pose/MANoncentralRelativeMulti.cpp
-index 49f8ecf..8b62e07 100644
--- a/src/relative_pose/MANoncentralRelativeMulti.cpp
-+++ b/src/relative_pose/MANoncentralRelativeMulti.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/MANoncentralRelativeMulti.hpp>
- 
- opengv::relative_pose::MANoncentralRelativeMulti::MANoncentralRelativeMulti(
-diff --git a/src/relative_pose/NoncentralRelativeAdapter.cpp b/src/relative_pose/NoncentralRelativeAdapter.cpp
-index 552f180..775d520 100644
--- a/src/relative_pose/NoncentralRelativeAdapter.cpp
-+++ b/src/relative_pose/NoncentralRelativeAdapter.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/NoncentralRelativeAdapter.hpp>
- 
- opengv::relative_pose::NoncentralRelativeAdapter::NoncentralRelativeAdapter(
-diff --git a/src/relative_pose/NoncentralRelativeMultiAdapter.cpp b/src/relative_pose/NoncentralRelativeMultiAdapter.cpp
-index f41edbe..733023c 100644
--- a/src/relative_pose/NoncentralRelativeMultiAdapter.cpp
-+++ b/src/relative_pose/NoncentralRelativeMultiAdapter.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/NoncentralRelativeMultiAdapter.hpp>
- 
- opengv::relative_pose::NoncentralRelativeMultiAdapter::NoncentralRelativeMultiAdapter(
-diff --git a/src/relative_pose/methods.cpp b/src/relative_pose/methods.cpp
-index 0027dae..7678567 100644
--- a/src/relative_pose/methods.cpp
-+++ b/src/relative_pose/methods.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/methods.hpp>
- #include <opengv/Indices.hpp>
- 
-diff --git a/src/relative_pose/modules/fivept_nister/modules.cpp b/src/relative_pose/modules/fivept_nister/modules.cpp
-index 4b134c5..258d416 100644
--- a/src/relative_pose/modules/fivept_nister/modules.cpp
-+++ b/src/relative_pose/modules/fivept_nister/modules.cpp
-@@ -29,6 +29,7 @@
-  ******************************************************************************/
- 
- 
-+#include <cassert>
- #include <opengv/relative_pose/modules/fivept_nister/modules.hpp>
- #include <Eigen/NonLinearOptimization>
- #include <Eigen/NumericalDiff>
@@ -1,29 +0,0 @@
-diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
-index 261f2cda..644e068f 100644
--- a/src/CMakeLists.txt
-+++ b/src/CMakeLists.txt
-@@ -92,17 +92,20 @@ if(OB_IS_MAIN_PROJECT)
-     )
- 
-     install(FILES "${CMAKE_CURRENT_BINARY_DIR}/generated/Export.h" DESTINATION include/libobsensor/h)
-    install(EXPORT ${OB_SDK_LIB_NAME}Config NAMESPACE ob:: DESTINATION lib)
-+    install(EXPORT ${OB_SDK_LIB_NAME}Config NAMESPACE ob:: DESTINATION lib/cmake/${OB_SDK_LIB_NAME})
- 
-     include(CMakePackageConfigHelpers)
-+    # Name the version file <pkg>ConfigVersion.cmake (not <pkg>Version.cmake) and
-+    # install it next to the config in lib/cmake/<pkg>, so find_package(OrbbecSDK)
-+    # discovers it in config mode and reads its version.
-     write_basic_package_version_file(
-        "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}Version.cmake"
-+        "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}ConfigVersion.cmake"
-         VERSION "${PROJECT_VERSION}"
-         COMPATIBILITY SameMajorVersion
-     )
-     install(
-        FILES "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}Version.cmake"
-        DESTINATION lib
-+        FILES "${CMAKE_CURRENT_BINARY_DIR}/${OB_SDK_LIB_NAME}ConfigVersion.cmake"
-+        DESTINATION lib/cmake/${OB_SDK_LIB_NAME}
-     )
-     if(MSVC)
-         install(FILES $<TARGET_PDB_FILE:${OB_SDK_LIB_NAME}> DESTINATION bin OPTIONAL)
@@ -1,70 +0,0 @@
-name: 'Install Windows Dependencies with CUDA'
-description: 'Installs PCL, Qt, VTK, g2o and others'
-runs:
-  using: "composite"
-  steps:
-    - name: Set up MSVC Developer Command Prompt
-      uses: ilammy/msvc-dev-cmd@v1
-      with:
-        arch: x64 
-  
-    - name: Install CUDA
-      uses: Jimver/[email protected]
-      id: cuda-toolkit
-      with:
-        cuda: '13.0.0'
-        use-github-cache: True
-
-    - name: Verify CUDA
-      shell: bash
-      run: |
-        nvcc --version
-        echo "CUDA Path: $CUDA_PATH"
-  
-    - name: Cache vcpkg
-      id: cache-vcpkg
-      uses: actions/cache@v4
-      with:
-        path: ${{ runner.workspace }}/vcpkg_installed
-        key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-cuda130_v4
-
-    - name: Download and Install vcpkg
-      if: steps.cache-vcpkg.outputs.cache-hit != 'true'
-      shell: pwsh
-      run: |
-        $install_dir = "${{ runner.workspace }}\vcpkg_installed"
-        $archivePath = "${{ runner.workspace }}\vcpkg-export.7z"
-
-        # The 7z is built locally with bundle_windows_deps_cuda.bat and uploaded to a
-        # GitHub release. Resolve it by filename via the API (authenticated with the
-        # built-in token) so it works even from a *draft* release and regardless of
-        # the (changing) asset id. Requires the workflow to run in-repo (github.token
-        # can't read introlab drafts from a fork PR).
-        $repo = "introlab/rtabmap"
-        $releaseTag = "0.23.8"
-        $assetName = "vcpkg-export-66c0373d-x64-vs2022-cuda130.7z"
-        $apiHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/vnd.github+json" }
-        # Select the release by tag_name (populated on drafts too, and unique), then
-        # take the asset from THAT release so concurrent releases can't be confused.
-        $rel = (Invoke-RestMethod -Uri "https://api.github.com/repos/$repo/releases?per_page=100" -Headers $apiHeaders) |
-               Where-Object { $_.tag_name -eq $releaseTag } | Select-Object -First 1
-        if (-not $rel) { throw "Release tagged $releaseTag not found (including drafts)" }
-        $asset = $rel.assets | Where-Object { $_.name -eq $assetName } | Select-Object -First 1
-        if (-not $asset) { throw "Asset $assetName not found in release $releaseTag" }
-        Write-Host "Downloading $assetName (asset id $($asset.id)) ..."
-        $dlHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/octet-stream" }
-        Invoke-WebRequest -Uri $asset.url -Headers $dlHeaders -OutFile $archivePath
-        & 7z x $archivePath "-o$install_dir" -y
-
-    - name: Add vcpkg to PATH and env variable
-      shell: pwsh
-      run: |
-        $vcpkg_path = "${{ runner.workspace }}\vcpkg_installed"
-        echo "VCPKG_EXPORT_PATH=$vcpkg_path" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
-        echo "$vcpkg_path\installed\x64-windows-release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
-        # K4A runtime DLLs (k4a.dll, k4arecord.dll) live in the SDK bin; needed on PATH so fixup_bundle resolves them at package time.
-        echo "$vcpkg_path\installed\x64-windows-release\sdk\windows-desktop\amd64\release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
-        echo "${{env.CUDA_PATH}}\bin\x64" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
-        echo "${{env.CUDA_PATH}}\extras\CUPTI\lib64" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
-        echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\torch\lib" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
-        echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\numpy.libs" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
@@ -1,54 +0,0 @@
-name: 'Install Windows Dependencies'
-description: 'Installs PCL, Qt, VTK, g2o and others'
-runs:
-  using: "composite"
-  steps:
-    - name: Set up MSVC Developer Command Prompt
-      uses: ilammy/msvc-dev-cmd@v1
-      with:
-        arch: x64 
-  
-    - name: Cache vcpkg
-      id: cache-vcpkg
-      uses: actions/cache@v4
-      with:
-        path: ${{ runner.workspace }}/vcpkg_installed
-        key: ${{ runner.os }}-vcpkg-export-66c0373d-x64-vs2022-v6
-
-    - name: Download and Install vcpkg
-      if: steps.cache-vcpkg.outputs.cache-hit != 'true'
-      shell: pwsh
-      run: |
-        $install_dir = "${{ runner.workspace }}\vcpkg_installed"
-        $archivePath = "${{ runner.workspace }}\vcpkg-export.7z"
-
-        # The 7z is built locally with bundle_windows_deps.bat and uploaded to a
-        # GitHub release. Resolve it by filename via the API (authenticated with the
-        # built-in token) so it works even from a *draft* release and regardless of
-        # the (changing) asset id. Requires the workflow to run in-repo (github.token
-        # can't read introlab drafts from a fork PR).
-        $repo = "introlab/rtabmap"
-        $releaseTag = "0.23.8"
-        $assetName = "vcpkg-export-66c0373d-x64-vs2022.7z"
-        $apiHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/vnd.github+json" }
-        # Select the release by tag_name (populated on drafts too, and unique), then
-        # take the asset from THAT release so concurrent releases can't be confused.
-        $rel = (Invoke-RestMethod -Uri "https://api.github.com/repos/$repo/releases?per_page=100" -Headers $apiHeaders) |
-               Where-Object { $_.tag_name -eq $releaseTag } | Select-Object -First 1
-        if (-not $rel) { throw "Release tagged $releaseTag not found (including drafts)" }
-        $asset = $rel.assets | Where-Object { $_.name -eq $assetName } | Select-Object -First 1
-        if (-not $asset) { throw "Asset $assetName not found in release $releaseTag" }
-        Write-Host "Downloading $assetName (asset id $($asset.id)) ..."
-        $dlHeaders = @{ Authorization = "Bearer ${{ github.token }}"; "User-Agent" = "rtabmap-ci"; Accept = "application/octet-stream" }
-        Invoke-WebRequest -Uri $asset.url -Headers $dlHeaders -OutFile $archivePath
-        & 7z x $archivePath "-o$install_dir" -y
-
-    - name: Add vcpkg to PATH and env variable
-      shell: pwsh
-      run: |
-        $vcpkg_path = "${{ runner.workspace }}\vcpkg_installed"
-        echo "VCPKG_EXPORT_PATH=$vcpkg_path" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
-        echo "$vcpkg_path\installed\x64-windows-release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
-        # K4A runtime DLLs (k4a.dll, k4arecord.dll) live in the SDK bin; needed on PATH so fixup_bundle resolves them at package time.
-        echo "$vcpkg_path\installed\x64-windows-release\sdk\windows-desktop\amd64\release\bin" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
-        echo "$vcpkg_path\installed\x64-windows-release\tools\python3\Lib\site-packages\numpy.libs" | Out-File -FilePath $env:GITHUB_PATH -Encoding utf8 -Append
@@ -1,15 +0,0 @@
-name: Cleanup PR Artifacts
-on:
-  pull_request:
-    types: [closed]
-
-jobs:
-  delete-artifacts:
-    runs-on: ubuntu-latest
-    permissions:
-      actions: write
-    steps:
-      - name: Delete PR Artifacts
-        uses: geekyeggo/delete-artifact@v5
-        with:
-          name: build-output-*
@@ -1,80 +0,0 @@
-name: CMake-Linux
-
-on:
-  push:
-    branches: 
-      - master
-  pull_request:
-    branches: 
-      - '**'
-
-env:
-  BUILD_TYPE: Release
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
-  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
-
-jobs:
-  build:
-    name: ${{ matrix.build_name }}
-    runs-on: ${{ matrix.os }}
-    strategy:
-      fail-fast: true
-      matrix:
-        build_name: [ubuntu-22.04, ubuntu-24.04, ubuntu-24.04-with-opengv, ubuntu-26.04]
-        include:
-        - build_name: ubuntu-22.04
-          os: ubuntu-22.04
-          extra_deps: "libunwind-dev libceres-dev"
-          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON"
-        - build_name: ubuntu-24.04
-          os: ubuntu-24.04
-          extra_deps: "libg2o-dev libceres-dev"
-          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON"
-        - build_name: ubuntu-24.04-with-opengv
-          os: ubuntu-24.04
-          extra_deps: "libg2o-dev libceres-dev"
-          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DBUILD_OPENGV=ON"
-        - build_name: ubuntu-26.04
-          os: ubuntu-26.04
-          extra_deps: "libg2o-dev libceres-dev"
-          extra_cmake_def: "-DWITH_CERES=ON -DWITH_PYTHON=ON -DBUILD_OPENGV=ON"
-
-    steps:
-    - uses: actions/checkout@v4
-
-    - name: Install Linux Dependencies
-      run: |
-        DEBIAN_FRONTEND=noninteractive
-        sudo apt-get update
-        sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev ${{ matrix.extra_deps }}
-
-    - name: Set up Python
-      uses: actions/setup-python@v5
-      with:
-        python-version: '3.x'
-
-    - name: Install Python Dependencies
-      run: |
-        python -m pip install --upgrade pip
-        pip install numpy pybind11
-
-    - name: Configure CMake
-      run: |
-        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DPython3_EXECUTABLE=$(which python3) -Dpybind11_DIR=$(python3 -m pybind11 --cmakedir) ${{ matrix.extra_cmake_def }}
-
-    - name: Build
-      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
-
-    - name: Info
-      working-directory: ${{github.workspace}}/build/bin
-      run: |
-        ./rtabmap-console --version
-
-#    - name: Test
-#      working-directory: ${{github.workspace}}/build
-#      # Execute tests defined by the CMake configuration.  
-#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
-#      run: ctest -C ${{env.BUILD_TYPE}}
-      
@@ -1,96 +0,0 @@
-name: CMake-MacOS
-
-on:
-  push:
-    branches: 
-      - master
-  pull_request:
-    branches: 
-      - '**'
-
-env:
-  BUILD_TYPE: Release
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
-  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
-
-jobs:
-  build:
-    name: ${{ matrix.build_name }}
-    runs-on: ${{ matrix.os }}
-    strategy:
-      fail-fast: true
-      matrix:
-        build_name: [macos-sequoia-intel, macos-sequoia-apple-silicon, macos-tahoe-intel, macos-tahoe-apple-silicon]
-        include:
-        - build_name: macos-sequoia-intel
-          os: macos-15-intel
-        - build_name: macos-sequoia-apple-silicon
-          os: macos-15
-        - build_name: macos-tahoe-intel
-          os: macos-26-intel
-        - build_name: macos-tahoe-apple-silicon
-          os: macos-26
-    steps:
-    - uses: actions/checkout@v4
-
-    - name: Install Brew Dependencies
-      run: |
-        # Update brew and install from Brewfile if present, or specific packages
-        brew install pcl opencv octomap pdal yaml-cpp librealsense libfreenect libusb zlib libomp suite-sparse ceres-solver
-
-    - name: Install Source Dependencies
-      # Build (and per-dependency cache) the source-only deps not available from
-      # Homebrew, then install them into /usr/local. See the composite action.
-      uses: ./.github/actions/install-macos-source-deps
-      with:
-        os: ${{ matrix.os }}
-        build_type: ${{ env.BUILD_TYPE }}
-
-    - name: Configure CMake
-      run: |
-        # Apple clang has no built-in OpenMP; point find_package(OpenMP) at
-        # Homebrew's keg-only libomp so PCL/g2o/rtabmap enable OpenMP instead of
-        # repeatedly logging "Could NOT find OpenMP".
-        LIBOMP=$(brew --prefix libomp)
-        cmake -B ${{github.workspace}}/build \
-          -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} \
-          -DBUILD_AS_BUNDLE=ON \
-          -DWITH_ORBBEC_SDK=ON \
-          -DWITH_DEPTHAI=ON \
-          -DWITH_CERES=ON \
-          -DOpenMP_C_FLAGS="-Xclang -fopenmp -I$LIBOMP/include" \
-          -DOpenMP_C_LIB_NAMES=omp \
-          -DOpenMP_CXX_FLAGS="-Xclang -fopenmp -I$LIBOMP/include" \
-          -DOpenMP_CXX_LIB_NAMES=omp \
-          -DOpenMP_omp_LIBRARY="$LIBOMP/lib/libomp.dylib"
-
-    - name: Build
-      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
-
-    - name: Info
-      working-directory: ${{github.workspace}}/build/bin
-      run: |
-        ./rtabmap-console --version
-
-    - name: Build MacOS Package
-      run: |
-        cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }} --target package
-
-    - name: Upload RTABMap Artifacts (DMG)
-      uses: actions/upload-artifact@v4
-      with:
-        name: RTABMap-Binaries-${{ matrix.build_name }}-nonsigned-zip
-        path: |
-          build/RTABMap-*.dmg
-        compression-level: 0
-        if-no-files-found: warn
-        retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
-
-#    - name: Test
-#      working-directory: ${{github.workspace}}/build
-#      # Execute tests defined by the CMake configuration.  
-#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
-#      run: ctest -C ${{env.BUILD_TYPE}}
-      
@@ -3,7 +3,7 @@ name: CMake-ROS
 on:
  push:
    branches: 
-      - master
+      - noetic-devel
  pull_request:
    branches: 
      - '**'
@@ -12,43 +12,46 @@ env:
  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
  BUILD_TYPE: Release

-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
-  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
-
 jobs:
  build:
    # The CMake configure and build commands are platform agnostic and should work equally
    # well on Windows or Mac.  You can convert this to a matrix build if you need
    # cross-platform coverage.
    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
-    name: ${{ matrix.ros_distribution }}
-    runs-on: ubuntu-latest
+    name: Build on ros ${{ matrix.ros_distribution }} and ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
-        ros_distribution: [ humble, jazzy, kilted, lyrical, rolling]
+        ros_distribution: [ noetic ]
        include:
-        - ros_distribution: 'humble'
-          skip_keys: ""
-        - ros_distribution: 'jazzy'
-          skip_keys: ""
-        - ros_distribution: 'kilted'
-          skip_keys: ""
-        - ros_distribution: 'lyrical'
-          skip_keys: "libpointmatcher"
-        - ros_distribution: 'rolling'
-          skip_keys: ""
-    container:
-      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-full
+        - ros_distribution: 'noetic'
+          os: ubuntu-20.04
+
    steps:   
-    - uses: actions/checkout@v4
    - uses: ros-tooling/[email protected]
      with:
        required-ros-distributions: ${{ matrix.ros_distribution }}
-    - uses: ros-tooling/[email protected]
-      with:
-        package-name: rtabmap
-        target-ros2-distro: ${{ matrix.ros_distribution }}
-        rosdep-skip-keys: "${{ matrix.skip_keys }}"
+    
+    - uses: actions/checkout@v4
+
+    - name: Install dependencies
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        rosdep update
+        rosdep install --from-paths ${{github.workspace}} -y
+
+    - name: Configure CMake
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+
+    - name: Build
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Info
+      working-directory: ${{github.workspace}}/build/bin
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        ./rtabmap-console --version
      
@@ -1,125 +0,0 @@
-name: CMake-Windows
-
-on:
-  push:
-    branches: 
-      - master
-  pull_request:
-    branches: 
-      - '**'
-
-env:
-  BUILD_TYPE: Release
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
-  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
-
-jobs:
-  build:
-    name: ${{ matrix.build_name }}
-    runs-on: ${{ matrix.os }}
-    strategy:
-      fail-fast: true
-      matrix:
-        build_name: [windows-2022, windows-2022-cuda]
-        include:
-        - build_name: windows-2022
-          os: windows-2022
-          extra_deps: ""
-          extra_cmake_def: '-DWITH_TORCH=OFF -DWITH_ZED=OFF'
-        - build_name: windows-2022-cuda
-          os: windows-2022
-          extra_deps: ""
-          extra_cmake_def: '-DWITH_TORCH=ON -DWITH_ZED=ON -DWITH_CUDASIFT=ON'
-
-    steps:
-    - uses: actions/checkout@v4
-
-    - name: Install Windows Dependencies
-      if: matrix.build_name == 'windows-2022'
-      uses: ./.github/actions/install-windows-deps
- 
-    - name: Install Windows Dependencies with CUDA
-      if: matrix.build_name == 'windows-2022-cuda'
-      uses: ./.github/actions/install-windows-cuda-deps
-
-    - name: Configure CMake
-      run: |
-        # K4A, K4W2 and ZED are located via these env vars (FindK4A.cmake / FindKinectSDK2.cmake
-        # and the install rules), pointing at the export where the bundle staged their SDK files.
-        $env:K4A_ROOT_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release"
-        $env:KINECTSDK20_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release"
-        $env:ZED_SDK_ROOT_DIR = "${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release"
-        cmake `
-          -B ${{github.workspace}}/build `
-          -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} `
-          -DBUILD_AS_BUNDLE=ON `
-          -DWITH_PYTHON=ON `
-          -DWITH_CERES=ON `
-          -DWITH_ORBBEC_SDK=ON `
-          -DWITH_FREENECT2=ON `
-          -DWITH_K4W2=ON `
-          -DWITH_K4A=ON `
-          -DWITH_DEPTHAI=ON `
-          -DWITH_REALSENSE2=ON `
-          -DWITH_CCCORELIB=ON `
-          ${{ matrix.extra_cmake_def }} `
-          -DVCPKG_MANIFEST_INSTALL=OFF `
-          -DVCPKG_TARGET_TRIPLET=x64-windows-release `
-          -DVCPKG_INSTALLED_DIR="${{env.VCPKG_EXPORT_PATH}}/installed" `
-          -DCMAKE_TOOLCHAIN_FILE=${{env.VCPKG_EXPORT_PATH}}/scripts/buildsystems/vcpkg.cmake `
-          -DTorch_DIR=${{env.VCPKG_EXPORT_PATH}}/installed/x64-windows-release/tools/python3/Lib/site-packages/torch/share/cmake/Torch
-
-    - name: Build
-      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
-
-    - name: Info
-      # Skipped for CUDA: the binary links ZED (sl_zed64.dll -> nvcuvid/nvEncodeAPI64),
-      # which need the NVIDIA driver; the GPU-less runner can't load the exe.
-      if: matrix.build_name != 'windows-2022-cuda'
-      working-directory: ${{github.workspace}}/build/bin
-      run: |
-        ./rtabmap-console --version
-
-    - name: Build Windows Package
-      shell: pwsh
-      run: |
-        if ("${{ github.event_name }}" -eq "pull_request") {
-          cpack --config build/CPackConfig.cmake -G ZIP -B build
-        } else {
-          cmake --build ${{ github.workspace }}/build --config ${{ env.BUILD_TYPE }} --target package
-        }
-
-    - name: Rename CUDA artifacts
-      if: matrix.build_name == 'windows-2022-cuda'
-      shell: pwsh
-      run: Get-ChildItem -Path "build" -Filter "RTABMap-*" | Rename-Item -NewName { $_.BaseName + "_cuda" + $_.Extension }
-
-    - name: Upload RTABMap Artifacts (ZIP)
-      uses: actions/upload-artifact@v4
-      with:
-        name: RTABMap-Binaries-${{ matrix.build_name }}-zip
-        path: |
-          build/RTABMap-*.zip
-        compression-level: 0
-        if-no-files-found: warn
-        retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
-
-    - name: Upload RTABMap Artifacts (Installer)
-      if: github.event_name != 'pull_request'
-      uses: actions/upload-artifact@v4
-      with:
-        name: RTABMap-Binaries-${{ matrix.build_name }}-exe
-        path: |
-          build/RTABMap-*.exe
-        compression-level: 0
-        if-no-files-found: warn
-        retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
-
-#    - name: Test
-#      working-directory: ${{github.workspace}}/build
-#      # Execute tests defined by the CMake configuration.  
-#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
-#      run: ctest -C ${{env.BUILD_TYPE}}
-      
@@ -0,0 +1,49 @@
+name: CMake
+
+on:
+  push:
+    branches: 
+      - master
+  pull_request:
+    branches: 
+      - '**'
+
+env:
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    name: ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-24.04, ubuntu-22.04]
+
+    steps:    
+    - name: Install dependencies
+      run: |
+        DEBIAN_FRONTEND=noninteractive
+        sudo apt-get update
+        sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev
+
+    - uses: actions/checkout@v4
+
+    - name: Configure CMake
+      run: |
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+
+    - name: Build
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Info
+      working-directory: ${{github.workspace}}/build/bin
+      run: |
+        ./rtabmap-console --version
+
+#    - name: Test
+#      working-directory: ${{github.workspace}}/build
+#      # Execute tests defined by the CMake configuration.  
+#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+#      run: ctest -C ${{env.BUILD_TYPE}}
+      
@@ -4,13 +4,6 @@ on:
  push:
    branches:
      - 'master'
-  pull_request:
-    branches:
-      - '**'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
-  cancel-in-progress: ${{ github.event_name == 'pull_request' }}

 jobs:
  docker_deps:
@@ -22,15 +15,14 @@ jobs:
    #    $ sudo apt-get upgrade qemu-user-static
    #    $ docker run --rm --privileged multiarch/qemu-user-static --reset -p yes -c yes
    # More info: https://github.com/introlab/rtabmap/issues/1454
-    # Skipped on pull requests; built and pushed only on push to master.
-    if: github.event_name != 'pull_request'
+    if: false

    runs-on: ubuntu-latest
    
    strategy:
      fail-fast: false
      matrix:
-        docker_tag: [focal-deps, jammy-deps, noble-deps, noble-kilted-deps, resolute-deps]
+        docker_tag: [focal-deps, jammy-deps, jammy-iron-deps, noble-deps]
        include:
        - docker_tag: focal-deps
          docker_tags: |
@@ -38,6 +30,7 @@ jobs:
          docker_platforms: |
            linux/amd64
            linux/arm64
+            linux/arm/v7
          docker_path: 'focal/deps'
        - docker_tag: jammy-deps
          docker_tags: |
@@ -46,6 +39,12 @@ jobs:
            linux/amd64
            linux/arm64
          docker_path: 'jammy/deps'
+        - docker_tag: jammy-iron-deps
+          docker_tags: |
+            introlab3it/rtabmap:jammy-iron-deps
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'jammy-iron/deps'
        - docker_tag: noble-deps
          docker_tags: |
            introlab3it/rtabmap:noble-deps
@@ -53,20 +52,6 @@ jobs:
            linux/amd64
            linux/arm64
          docker_path: 'noble/deps'
-        - docker_tag: noble-kilted-deps
-          docker_tags: |
-            introlab3it/rtabmap:noble-kilted-deps
-          docker_platforms: |
-            linux/amd64
-            linux/arm64
-          docker_path: 'noble-kilted/deps'
-        - docker_tag: resolute-deps
-          docker_tags: |
-            introlab3it/rtabmap:resolute-deps
-          docker_platforms: |
-            linux/amd64
-            linux/arm64
-          docker_path: 'resolute/deps'
    
    steps:
      -
@@ -99,15 +84,13 @@ jobs:
          cache-to: type=inline
  
  docker:
-    needs: docker_deps
-    # Run even when docker_deps is skipped (it is, on pull requests).
-    if: ${{ !cancelled() && !failure() }}
+    #needs: docker_deps
    runs-on: ubuntu-latest
    
    strategy:
      fail-fast: false
      matrix:
-        docker_tag: [bionic, focal, jammy, noble, noble-kilted, resolute, android23, android24, android26, android30]
+        docker_tag: [bionic, focal, jammy, jammy-iron, noble, android23, android24, android26, android30]
        include:
        - docker_tag: bionic
          docker_tags: |
@@ -129,6 +112,7 @@ jobs:
          docker_platforms: |
            linux/amd64
            linux/arm64
+            linux/arm/v7
          docker_path: 'focal'
        - docker_tag: jammy
          docker_tags: |
@@ -140,6 +124,14 @@ jobs:
            linux/amd64
            linux/arm64
          docker_path: 'jammy'
+        - docker_tag: jammy-iron
+          docker_tags: |
+            introlab3it/rtabmap:jammy-iron
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'jammy-iron'
        - docker_tag: noble
          docker_tags: |
            introlab3it/rtabmap:noble
@@ -150,25 +142,6 @@ jobs:
            linux/amd64
            linux/arm64
          docker_path: 'noble'
-        - docker_tag: noble-kilted
-          docker_tags: |
-            introlab3it/rtabmap:noble-kilted
-          docker_args: |
-            NOT_USED=0
-          docker_platforms: |
-            linux/amd64
-            linux/arm64
-          docker_path: 'noble-kilted'
-        - docker_tag: resolute
-          docker_tags: |
-            introlab3it/rtabmap:resolute
-            introlab3it/rtabmap:26.04
-          docker_args: |
-            NOT_USED=0
-          docker_platforms: |
-            linux/amd64
-            linux/arm64
-          docker_path: 'resolute'
        - docker_tag: android23
          docker_tags: |
            introlab3it/rtabmap:android23
@@ -177,7 +150,7 @@ jobs:
            API_VERSION=23
          docker_platforms: |
            linux/amd64
-          docker_path: 'noble/android/rtabmap_apiXX'
+          docker_path: 'bionic/android/rtabmap_apiXX'
        - docker_tag: android24
          docker_tags: |
            introlab3it/rtabmap:android24
@@ -185,7 +158,7 @@ jobs:
            API_VERSION=24
          docker_platforms: |
            linux/amd64
-          docker_path: 'noble/android/rtabmap_apiXX'
+          docker_path: 'bionic/android/rtabmap_apiXX'
        - docker_tag: android26
          docker_tags: |
            introlab3it/rtabmap:android26
@@ -193,7 +166,7 @@ jobs:
            API_VERSION=26
          docker_platforms: |
            linux/amd64
-          docker_path: 'noble/android/rtabmap_apiXX'
+          docker_path: 'bionic/android/rtabmap_apiXX'
        - docker_tag: android30
          docker_tags: |
            introlab3it/rtabmap:android30
@@ -201,7 +174,7 @@ jobs:
            API_VERSION=30
          docker_platforms: |
            linux/amd64
-          docker_path: 'noble/android/rtabmap_apiXX'
+          docker_path: 'bionic/android/rtabmap_apiXX'
    
    steps:
      -
@@ -217,9 +190,6 @@ jobs:
        uses: docker/setup-buildx-action@v3
      -
        name: Login to DockerHub
-        # Only needed when pushing; skipped on pull requests (secrets are
-        # unavailable for fork PRs and we don't push there anyway).
-        if: github.event_name != 'pull_request'
        uses: docker/login-action@v3
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
@@ -229,8 +199,8 @@ jobs:
        uses: docker/build-push-action@v6
        with:
          context: .
-          push: ${{ github.event_name != 'pull_request' }}
-          platforms: ${{ github.event_name == 'pull_request' && 'linux/amd64' || matrix.docker_platforms }}
+          push: true
+          platforms: ${{ matrix.docker_platforms }}
          file: ./docker/${{ matrix.docker_path }}/Dockerfile
          build-args: |
            ${{ matrix.docker_args }}
@@ -1,114 +0,0 @@
-name: iOS
-
-on:
-  push:
-    branches:
-      - master
-    paths: &ios_paths
-      - '.github/workflows/ios.yml'
-      - 'app/ios/**'
-      - 'app/android/jni/**'
-      - 'corelib/**'
-      - 'utilite/**'
-      - 'cmake_modules/**'
-      - 'CMakeLists.txt'
-  pull_request:
-    branches:
-      - '**'
-    paths: *ios_paths
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
-  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
-
-env:
-  # Pre-built iOS dependencies (content of app/ios/RTABMapApp/Libraries, generated by install_deps.sh).
-  # Bump this when the dependency set changes (must match the Xcode toolchain below).
-  DEPS_URL: https://github.com/introlab/rtabmap/releases/download/0.23.1/libraries-ios-xcode26.5.zip
-  XCODE_VERSION: '26.5'
-
-jobs:
-  build:
-    name: build-ios
-    # macos-26 (Tahoe) ships Xcode 26.x, matching the toolchain used to build the prebuilt libraries.
-    runs-on: macos-26
-
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Select Xcode ${{ env.XCODE_VERSION }}
-        uses: maxim-lobanov/setup-xcode@v1
-        with:
-          xcode-version: ${{ env.XCODE_VERSION }}
-
-      - name: Versions
-        run: |
-          xcodebuild -version
-          cmake --version || brew install cmake
-
-      - name: Cache prebuilt dependencies archive
-        id: deps-cache
-        uses: actions/cache@v4
-        with:
-          path: deps.zip
-          # Keyed on the archive URL (release tag + filename), so the cache is
-          # reused until DEPS_URL is bumped, regardless of other workflow edits.
-          key: ${{ runner.os }}-ios-deps-${{ env.DEPS_URL }}
-
-      - name: Download prebuilt dependencies
-        if: steps.deps-cache.outputs.cache-hit != 'true'
-        run: curl -L "$DEPS_URL" -o deps.zip
-
-      - name: Extract dependencies into Libraries
-        run: |
-          set -eux
-          mkdir -p app/ios/RTABMapApp/Libraries
-          rm -rf deps_extract && mkdir -p deps_extract
-          unzip -q deps.zip -d deps_extract
-          # The archive holds the *content* of the Libraries folder (include/ lib/ share/),
-          # but tolerate an extra top-level Libraries/ wrapper just in case.
-          if [ -d deps_extract/Libraries ]; then
-            SRC=deps_extract/Libraries
-          else
-            SRC=deps_extract
-          fi
-          cp -R "$SRC"/. app/ios/RTABMapApp/Libraries/
-          test -d app/ios/RTABMapApp/Libraries/include
-          test -d app/ios/RTABMapApp/Libraries/lib
-
-      - name: Build rtabmap core (third-party deps are skipped, already provided by the archive)
-        working-directory: app/ios/RTABMapApp
-        run: ./install_deps.sh
-
-      - name: Build RTABMapApp
-        run: |
-          xcodebuild \
-            -project app/ios/RTABMapApp.xcodeproj \
-            -scheme RTABMapApp \
-            -configuration Release \
-            -sdk iphoneos \
-            -destination 'generic/platform=iOS' \
-            -derivedDataPath build \
-            CODE_SIGNING_ALLOWED=NO \
-            CODE_SIGNING_REQUIRED=NO \
-            CODE_SIGN_IDENTITY="" \
-            DEVELOPMENT_TEAM="" \
-            build
-
-      - name: Package app (unsigned .ipa)
-        run: |
-          set -eux
-          APP_DIR="build/Build/Products/Release-iphoneos"
-          rm -rf Payload && mkdir Payload
-          cp -R "$APP_DIR/RTABMapApp.app" Payload/
-          # Unsigned .ipa: not installable as-is, but ready for later (re)signing.
-          zip -q -r RTABMapApp-unsigned.ipa Payload
-
-      - name: Upload app artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: RTABMapApp-ios-unsigned
-          path: RTABMapApp-unsigned.ipa
-          compression-level: 0
-          if-no-files-found: error
-          retention-days: ${{ github.event_name == 'pull_request' && 1 || 90 }}
@@ -12,9 +12,3 @@ compile_flags.txt
 tags
 build_*
 *.bak
-
-# Windows bundle: vcpkg tree, build output, and deps built from source (bundle_windows_deps.bat)
-vcpkg/
-vcpkg_installed/
-vcpkg_binaries/
-vcpkg_deps_from_source/
@@ -1,6 +1,5 @@
 # Top-Level CmakeLists.txt
 cmake_minimum_required(VERSION 3.14)
-
 PROJECT( RTABMap )
 SET(PROJECT_PREFIX rtabmap)

@@ -12,7 +11,6 @@ IF(NOT MULTI_ARCH AND NOT DEFINED CMAKE_INSTALL_LIBDIR)
 ENDIF(NOT MULTI_ARCH AND NOT DEFINED CMAKE_INSTALL_LIBDIR)

 INCLUDE(GNUInstallDirs)
-INCLUDE(FetchContent)

 ####### local cmake modules #######
 SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
@@ -21,18 +19,10 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 # VERSION
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
-SET(RTABMAP_MINOR_VERSION 23)
-SET(RTABMAP_PATCH_VERSION 8)
+SET(RTABMAP_MINOR_VERSION 21)
+SET(RTABMAP_PATCH_VERSION 13)
 SET(RTABMAP_VERSION
  ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
-
-# Make sure we have valid version so that RTABMAP_VERSION_COMPARE logic in Version.h works
-IF(RTABMAP_MINOR_VERSION GREATER 99)
-MESSAGE(FATAL_ERROR "RTABMAP_MINOR_VERSION must be < 100, bump major version and restart minor to 0!")
-ENDIF()
-IF(RTABMAP_PATCH_VERSION GREATER 99)
-MESSAGE(FATAL_ERROR "RTABMAP_PATCH_VERSION must be < 100, bump minor version and restart patch to 0!")
-ENDIF()
  
 SET(PROJECT_VERSION "${RTABMAP_VERSION}")

@@ -93,6 +83,14 @@ IF(MINGW)
    SET(CMAKE_SHARED_LINKER_FLAGS "-Wl,--enable-auto-import")
 ENDIF(MINGW)

+# GCC 4 required
+IF(UNIX OR MINGW)
+    EXEC_PROGRAM( gcc ARGS "-dumpversion" OUTPUT_VARIABLE GCC_VERSION )
+    IF(GCC_VERSION VERSION_LESS "4.0.0")
+        MESSAGE(FATAL_ERROR "GCC ${GCC_VERSION} found, but version 4.x.x minimum is required")
+    ENDIF(GCC_VERSION VERSION_LESS "4.0.0")
+ENDIF(UNIX OR MINGW)
+
 #The CDT Error Parser cannot handle error messages that span 
 #more than one line, which is the default gcc behavior. 
 #In order to force gcc to generate single line error messages with no line wrapping
@@ -200,17 +198,15 @@ option(WITH_CCCORELIB     "Include CCCoreLib support"            OFF)
 option(WITH_OPEN3D        "Include Open3D support"               OFF)
 option(WITH_LOAM          "Include LOAM support"                 OFF)
 option(WITH_FLOAM         "Include FLOAM support"                OFF)
-option(WITH_LIOSAM        "Include LIO-SAM support"              OFF)
 option(WITH_FLYCAPTURE2   "Include FlyCapture2/Triclops support" ON)
 option(WITH_ZED           "Include ZED sdk support"              ON)
 option(WITH_ZEDOC         "Include ZED Open Capture support"     ON)
 option(WITH_REALSENSE     "Include RealSense support"            ON)
 option(WITH_REALSENSE_SLAM "Include RealSenseSlam support"       ON)
-option(WITH_REALSENSE2    "Include RealSense2 support"           ON)
+option(WITH_REALSENSE2    "Include RealSense support"            ON)
 option(WITH_MYNTEYE       "Include mynteye-s support"            ON)
-option(WITH_DEPTHAI       "Include depthai-core v2 support"      OFF)
+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)
@@ -222,15 +218,12 @@ 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)
 option(WITH_OPENGV        "Include OpenGV support"               ON)
-option(BUILD_OPENGV       "Build OpenGV internally instead of using the system one" OFF)
-option(WITH_APRILTAG      "Include AprilTag support"             OFF)
 IF(MOBILE_BUILD)
 option(PCL_OMP            "With PCL OMP implementations"         OFF)
 ELSE()
@@ -403,7 +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)
@@ -425,14 +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)
@@ -503,30 +496,22 @@ 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
-            PATHS ${G2O_INCLUDES}
-            NO_DEFAULT_PATH)
-        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()
-        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()
+       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)
+           MESSAGE(STATUS "Old g2o factory version detected without shared ptr (factory file: ${G2O_FACTORY_FILE}).")
+           SET(G2O_CPP11 2)
+       ELSE()
+           MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
+           SET(G2O_CPP11 1)
+       ENDIF()
    ELSE()
        FIND_PACKAGE(G2O QUIET)
        IF(G2O_FOUND)
@@ -538,16 +523,6 @@ ENDIF(WITH_G2O)
 IF(WITH_GTSAM)
    # Force config mode to ignore PCL's findGTSAM.cmake file
    FIND_PACKAGE(GTSAM CONFIG QUIET)
-    IF(GTSAM_FOUND)
-      # For issue https://github.com/introlab/rtabmap/pull/1626
-      FIND_FILE(GTSAM_NOISE_MODEL_FACTOR_N_FILE gtsam/nonlinear/NoiseModelFactorN.h
-         PATHS ${GTSAM_INCLUDE_DIR}
-         NO_DEFAULT_PATH)
-      IF(GTSAM_NOISE_MODEL_FACTOR_N_FILE)
-         MESSAGE(STATUS "GTSAM with NoiseModelFactorN.h")
-         ADD_DEFINITIONS("-DGTSAM_WITH_NOISE_MODEL_FACTOR_N")
-      ENDIF(GTSAM_NOISE_MODEL_FACTOR_N_FILE)
-    ENDIF(GTSAM_FOUND)
 ENDIF(WITH_GTSAM)

 IF(WITH_MRPT)
@@ -566,7 +541,7 @@ 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)
@@ -592,14 +567,10 @@ 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})
@@ -607,7 +578,7 @@ 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)
@@ -619,7 +590,7 @@ 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)
@@ -627,25 +598,19 @@ 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)
-IF(WITH_LIOSAM)
-    find_package(lio_sam QUIET)
-    IF(lio_sam_FOUND)
-       MESSAGE(STATUS "Found lio_sam: ${lio_sam_INCLUDE_DIRS}")
-    ENDIF(lio_sam_FOUND)
-ENDIF(WITH_LIOSAM)

 SET(ZED_FOUND FALSE)
 IF(WITH_ZED)
@@ -658,8 +623,7 @@ IF(WITH_ZED)
       IF(CUDA_FOUND)
        MESSAGE(STATUS "Found CUDA: ${CUDA_INCLUDE_DIRS}")
       ELSE()
-        MESSAGE(WARNING "CUDA is required to build with Zed sdk! Set -DWITH_ZED=OFF if you don't have CUDA.")
-		SET(ZED_FOUND FALSE)
+        MESSAGE(FATAL_ERROR "CUDA is required to build with Zed sdk! Set -DWITH_ZED=OFF if you don't have CUDA.")
       ENDIF()
    ENDIF(ZED_FOUND)
 ENDIF(WITH_ZED)
@@ -711,28 +675,19 @@ IF(WITH_MYNTEYE)
 ENDIF(WITH_MYNTEYE)

 IF(WITH_DEPTHAI)
-    # Force DepthAI major version 2 (>=2.24, <3.0): the v3 API is not yet
-    # supported (see CameraDepthAI).
-    FIND_PACKAGE(depthai 2.24...<3.0)
+    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)
@@ -744,35 +699,35 @@ 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}")
@@ -780,32 +735,34 @@ 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)
       MESSAGE(STATUS "Found brisk: ${BRISK_INCLUDE_DIRS}")
+       find_package(opengv REQUIRED)
+       MESSAGE(STATUS "Found opengv: ${OPENGV_INCLUDE_DIRS}")
       find_package(Ceres 1.9.0 REQUIRED EXACT) # OKVIS requires this specific version
       MESSAGE(STATUS "Found ceres ${Ceres_VERSION}: ${CERES_INCLUDE_DIRS}")
    ENDIF(okvis_FOUND)
@@ -814,7 +771,7 @@ 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)
@@ -822,29 +779,39 @@ 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(OpenVINS)
+    FIND_PACKAGE(ov_msckf QUIET)
+    # On ROS2, the indirect includes and libraries
+    # are not forwarded by ov_msckf target, append them manually
+    FIND_PACKAGE(ov_core QUIET)
+    FIND_PACKAGE(ov_init QUIET)
+    IF(ov_msckf_FOUND AND ov_core_FOUND AND ov_init_FOUND)
+      SET(ov_msckf_INCLUDE_DIRS
+         ${ov_msckf_INCLUDE_DIRS}
+         ${ov_core_INCLUDE_DIRS}
+         ${ov_init_INCLUDE_DIRS})
+      SET(ov_msckf_LIBRARIES
+         ${ov_msckf_LIBRARIES}
+         ${ov_core_LIBRARIES}
+         ${ov_init_LIBRARIES})
+      MESSAGE(STATUS "Found OpenVINS: ${ov_msckf_INCLUDE_DIRS}")
+    ENDIF()
 ENDIF(WITH_OPENVINS)

 IF(WITH_FASTCV)
@@ -854,97 +821,27 @@ IF(WITH_FASTCV)
    ENDIF(FastCV_FOUND)
 ENDIF(WITH_FASTCV)

-IF(WITH_APRILTAG)
-    FIND_PACKAGE(apriltag QUIET)
-    IF(apriltag_FOUND)
-      get_target_property(APRILTAG_LOCATION apriltag::apriltag LOCATION)
-      get_target_property(APRILTAG_INCLUDES apriltag::apriltag INTERFACE_INCLUDE_DIRECTORIES)
-      FIND_FILE(apriltag_aruco_4x4_50_header NAMES tagAruco4x4_50.h PATH_SUFFIXES aruco PATHS ${APRILTAG_INCLUDES} NO_DEFAULT_PATH)
-      SET(WITH_APRILTAG_ARUCO NO)
-      IF(apriltag_aruco_4x4_50_header)
-         SET(WITH_APRILTAG_ARUCO YES)
-      ENDIF()
-      MESSAGE(STATUS "Found apriltag (with aruco=${WITH_APRILTAG_ARUCO}): ${APRILTAG_LOCATION} ${APRILTAG_INCLUDES}")
-    ENDIF(apriltag_FOUND)
-ENDIF(WITH_APRILTAG)
-
-IF(WITH_OPENGV OR okvis_FOUND)
-   if(NOT BUILD_OPENGV)
-      FIND_PACKAGE(opengv QUIET)
-   endif()
-
-   if(opengv_FOUND)
-      MESSAGE(STATUS "Found system-installed OpenGV: ${opengv_INCLUDE_DIRS}")
-   elseif(BUILD_OPENGV)
-      SET(PCL_USING_MARCHNATIVE OFF)
-      if(PCL_COMPILE_OPTIONS)
-         if("${PCL_COMPILE_OPTIONS}" MATCHES "-march=native")
-            set(PCL_USING_MARCHNATIVE ON)
-         endif()
-      elseif("${PCL_DEFINITIONS}" MATCHES "-march=native")
-         set(PCL_USING_MARCHNATIVE ON)
-      endif()
-      SET(MSG_EXTRA "without -march-native (not used by PCL)")
-      if(PCL_USING_MARCHNATIVE)
-         set(MSG_EXTRA "with -march-native (used by PCL)")
-      endif()
-   
-      message(STATUS "Download/Build OpenGV internally (BUILD_OPENGV=ON) ${MSG_EXTRA}.")     
-      function(add_submodule_opengv)
-         FetchContent_Declare(
-            opengv
-            GIT_REPOSITORY https://github.com/laurentkneip/opengv.git
-            GIT_TAG        91f4b19c73450833a40e463ad3648aae80b3a7f3
-            PATCH_COMMAND ${CMAKE_COMMAND} 
-                  -DPATCH_FILE=${CMAKE_CURRENT_LIST_DIR}/patches/opengv_91f4b19c.patch
-                  -P ${CMAKE_CURRENT_LIST_DIR}/patches/apply_patch.cmake
-         )
-         set(BUILD_SHARED_LIBS OFF)
-         set(BUILD_TESTS OFF)
-         set(CMAKE_BUILD_TYPE Release)
-         set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
-         # OpenGV's CMakeLists.txt declares cmake_minimum_required(VERSION 2.x),
-         # which CMake >= 4.0 (e.g. recent Ubuntu) rejects. Allow it to configure.
-         set(CMAKE_POLICY_VERSION_MINIMUM 3.5)
-         # Eigen should have been already added by PCL, just populate the compatible variables
-         IF(EIGEN_INCLUDE_DIRS)
-            set(EIGEN_INCLUDE_DIRS "${EIGEN_INCLUDE_DIRS}" CACHE PATH "Eigen include dirs" FORCE)
-            set(EIGEN_INCLUDE_DIR "${EIGEN_INCLUDE_DIRS}" CACHE PATH "Eigen include dir" FORCE)
-         ELSEIF(Eigen3_INCLUDE_DIRS)
-            set(EIGEN_INCLUDE_DIRS "${Eigen3_INCLUDE_DIRS}" CACHE PATH "Eigen include dirs" FORCE)
-            set(EIGEN_INCLUDE_DIR "${Eigen3_INCLUDE_DIRS}" CACHE PATH "Eigen include dir" FORCE)
-         ENDIF()
-         set(BUILD_WITH_MARCHNATIVE ${PCL_USING_MARCHNATIVE})
-         FetchContent_MakeAvailable(opengv)
-      endfunction()
-
-      add_submodule_opengv()
-      set(opengv_FOUND TRUE)
-      set(opengv_VERSION "internal")
-   endif()
-ENDIF()
+IF(WITH_OPENGV)
+    FIND_PACKAGE(opengv QUIET)
+    IF(opengv_FOUND)
+       MESSAGE(STATUS "Found OpenGV: ${opengv_INCLUDE_DIRS}")
+    ENDIF(opengv_FOUND)
+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 14.0.0)
-    IF(CUVSLAM_FOUND)
-        MESSAGE(STATUS "Found cuVSLAM: ${CUVSLAM_INCLUDE_DIRS}")
-    ENDIF()
-ENDIF(WITH_CUVSLAM)
-
 SET(DISABLE_NEW_DTAGS_FLAG "--disable-new-dtags")
 IF(NOT (APPLE OR WIN32) AND BUILD_WITH_RPATH_NOT_RUNPATH)
    ADD_LINK_OPTIONS(LINKER:${DISABLE_NEW_DTAGS_FLAG})
 ENDIF()

 IF(NOT MSVC)
-    IF(Qt6_FOUND OR (G2O_FOUND AND G2O_CPP11 EQUAL 1) OR (GTSAM_FOUND AND GTSAM_VERSION VERSION_GREATER_EQUAL "4.3.0") OR TORCH_FOUND OR MRPT_FOUND)
+    IF(Qt6_FOUND OR (G2O_FOUND AND G2O_CPP11 EQUAL 1) OR TORCH_FOUND OR MRPT_FOUND)
      # Qt6 requires c++17
      include(CheckCXXCompilerFlag)
      CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
@@ -1032,14 +929,10 @@ 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 "//")
@@ -1071,12 +964,6 @@ ENDIF(NOT Open3D_FOUND)
 IF(NOT FastCV_FOUND)
   SET(FASTCV "//")
 ENDIF(NOT FastCV_FOUND)
-IF(NOT apriltag_FOUND)
-   SET(APRILTAG "//")
-   SET(APRILTAG_ARUCO "//")
-ELSEIF(NOT WITH_APRILTAG_ARUCO)
-   SET(APRILTAG_ARUCO "//")
-ENDIF()
 IF(NOT opengv_FOUND OR NOT WITH_OPENGV)
   SET(OPENGV "//")
 ENDIF(NOT opengv_FOUND OR NOT WITH_OPENGV)
@@ -1095,9 +982,6 @@ ENDIF(NOT loam_velodyne_FOUND)
 IF(NOT floam_FOUND)
   SET(FLOAM "//")
 ENDIF(NOT floam_FOUND)
-IF(NOT lio_sam_FOUND)
-   SET(LIOSAM "//")
-ENDIF(NOT lio_sam_FOUND)
 IF(NOT Freenect_FOUND)
   SET(FREENECT "//")
 ENDIF()
@@ -1174,9 +1058,6 @@ 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)
@@ -1211,14 +1092,11 @@ IF(NOT msckf_vio_FOUND)
   SET(MSCKF_VIO "//")
 ENDIF()
 IF(NOT vins_FOUND)
-   SET(VINSFUSION "//")
+   SET(VINS "//")
 ENDIF()
-IF(NOT OpenVINS_FOUND)
+IF(NOT ov_msckf_FOUND)
   SET(OPENVINS "//")
 ENDIF()
-IF(NOT CUVSLAM_FOUND)
-   SET(CUVSLAM "//")
-ENDIF()
 IF(NOT ORB_SLAM_FOUND)
   SET(ORB_SLAM "//")
 ENDIF()
@@ -1362,17 +1240,7 @@ install(FILES package.xml DESTINATION "${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_PR
 #######################
 IF(BUILD_AS_BUNDLE)
  SET(CMAKE_INSTALL_SYSTEM_RUNTIME_COMPONENT runtime)
-  IF(WIN32)
-    set(CMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP TRUE)
-	set(CPACK_NSIS_EXTRA_INSTALL_COMMANDS "
-      ExecWait '\\\"$INSTDIR\\\\vc_redist.x64.exe\\\" /quiet /norestart'
-    ")
-  ENDIF()
  INCLUDE(InstallRequiredSystemLibraries)
-  set(CPACK_NSIS_COMPONENT_INSTALL OFF)
-  set(CPACK_ARCHIVE_COMPONENT_INSTALL ON)
-  set(CPACK_COMPONENTS_GROUPING ALL_COMPONENTS_IN_ONE)
-  set(CPACK_COMPONENTS_ALL runtime)
 ENDIF(BUILD_AS_BUNDLE)

 SET(CPACK_PACKAGE_NAME "${PROJECT_NAME}")
@@ -1486,33 +1354,28 @@ ENDIF(PCL_COMPILE_OPTIONS)
 MESSAGE(STATUS "")
 MESSAGE(STATUS "Optional dependencies ('*' affects some default parameters) :")
 IF(OpenCV_FOUND)
-  IF(OPENCV_ARUCO_FOUND)
-    set(ARUCO_STR "YES")
-  ELSE()
-    set(ARUCO_STR "NO")
-  ENDIF()
  IF(OpenCV_VERSION_MAJOR EQUAL 2)
    IF(OPENCV_NONFREE_FOUND)
-      MESSAGE(STATUS " *With OpenCV 2 nonfree module (SIFT/SURF) = YES, aruco = ${ARUCO_STR} (License: Non commercial)")
+      MESSAGE(STATUS " *With OpenCV 2 nonfree module (SIFT/SURF) = YES (License: Non commercial)")
    ELSE()
-      MESSAGE(STATUS " *With OpenCV 2 nonfree module (SIFT/SURF) = NO, aruco = ${ARUCO_STR} (not found, License: BSD)")
+      MESSAGE(STATUS " *With OpenCV 2 nonfree module (SIFT/SURF) = NO (not found, License: BSD)")
    ENDIF()
  ELSE()
    IF(OPENCV_XFEATURES2D_FOUND)
      IF(NONFREE STREQUAL "//")
        IF((OpenCV_VERSION_MAJOR LESS 4) OR ((OpenCV_VERSION_MAJOR EQUAL 4) AND (OpenCV_VERSION_MINOR LESS 5)))
-          MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = NO, aruco = ${ARUCO_STR} (License: BSD)")
+          MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = NO (License: BSD)")
        ELSE()
-          MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = NO, aruco = ${ARUCO_STR} (License: Apache 2)")
+          MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = NO (License: Apache 2)")
        ENDIF()
      ELSE()
-        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = YES, aruco = ${ARUCO_STR} (License: Non commercial)")
+        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = YES (License: Non commercial)")
      ENDIF()
    ELSE()
      IF((OpenCV_VERSION_MAJOR LESS 4) OR ((OpenCV_VERSION_MAJOR EQUAL 4) AND (OpenCV_VERSION_MINOR LESS 5)))
-        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = NO, nonfree = NO, aruco = ${ARUCO_STR} (License: BSD)")
+        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = NO, nonfree = NO (License: BSD)")
      ELSE()
-        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = NO, nonfree = NO, aruco = ${ARUCO_STR} (License: Apache 2)")
+        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = NO, nonfree = NO (License: Apache 2)")
      ENDIF()
    ENDIF()
  ENDIF()
@@ -1547,26 +1410,15 @@ MESSAGE(STATUS "  With ORB OcTree           = NO (WITH_ORB_OCTREE=OFF)")
 ENDIF()

 IF(TORCH_FOUND)
-MESSAGE(STATUS "  With SuperPoint           = YES (License: GPLv3) libtorch=${Torch_VERSION}")
+MESSAGE(STATUS "  With SupertPoint          = YES (License: GPLv3) libtorch=${Torch_VERSION}")
 ELSEIF(NOT WITH_TORCH)
-MESSAGE(STATUS "  With SuperPoint           = NO (WITH_TORCH=OFF)")
+MESSAGE(STATUS "  With SupertPoint          = NO (WITH_TORCH=OFF)")
 ELSE()
-MESSAGE(STATUS "  With SuperPoint           = NO (libtorch not found)")
+MESSAGE(STATUS "  With SupertPoint          = NO (libtorch not found)")
 ENDIF()

-IF(TORCH_FOUND AND WITH_PYTHON AND Python3_FOUND)
-MESSAGE(STATUS "  With Superpoint Rpautrat  = YES (Liscense: MIT) libtorch=${Torch_VERSION}")
-ELSEIF(NOT WITH_TORCH)
-MESSAGE(STATUS "  With Superpoint Rpautrat  = NO (WITH_TORCH=OFF)")
-ELSEIF(NOT WITH_PYTHON)
-MESSAGE(STATUS "  With Superpoint Rpautrat  = NO (WITH_PYTHON=OFF)")
-ELSE()
-MESSAGE(STATUS "  Wtih Superpoint Rpautrat  = NO (libtorch and/or python3 not found)")
-ENDIF()
-
-
 IF(WITH_PYTHON AND Python3_FOUND)
-MESSAGE(STATUS "  With Python${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}           = YES (License: PSF)")
+MESSAGE(STATUS "  With Python${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}            = YES (License: PSF)")
 ELSEIF(NOT WITH_PYTHON)
 MESSAGE(STATUS "  With Python3              = NO (WITH_PYTHON=OFF)")
 ELSE()
@@ -1587,14 +1439,6 @@ ELSE()
 MESSAGE(STATUS "  With FastCV               = NO (FastCV not found)")
 ENDIF()

-IF(apriltag_FOUND)
-MESSAGE(STATUS "  With AprilTag ${apriltag_VERSION}       = YES (aruco=${WITH_APRILTAG_ARUCO}) (License: BSD 2-Clause License)")
-ELSEIF(NOT WITH_APRILTAG)
-MESSAGE(STATUS "  With AprilTag             = NO (WITH_APRILTAG=OFF)")
-ELSE()
-MESSAGE(STATUS "  With AprilTag             = NO (apriltag not found)")
-ENDIF()
-
 IF(PDAL_FOUND)
 MESSAGE(STATUS "  With PDAL ${PDAL_VERSION}           = YES (License: BSD)")
 ELSEIF(NOT WITH_PDAL)
@@ -1704,11 +1548,7 @@ MESSAGE(STATUS "  With Open3D               = NO (Open3D not found)")
 ENDIF()

 IF(opengv_FOUND AND WITH_OPENGV)
-IF(opengv_VERSION STREQUAL "internal")
-MESSAGE(STATUS "  With OpenGV (internal)    = YES (License: BSD)")
-ELSE()
 MESSAGE(STATUS "  With OpenGV ${opengv_VERSION}           = YES (License: BSD)")
-ENDIF()
 ELSEIF(NOT WITH_OPENGV)
 MESSAGE(STATUS "  With OpenGV               = NO (WITH_OPENGV=OFF)")
 ELSE()
@@ -1727,7 +1567,7 @@ 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)")
@@ -1823,7 +1663,7 @@ ELSE()
 MESSAGE(STATUS "  With FlyCapture2/Triclops = NO (Point Grey SDK not found)")
 ENDIF()

-IF(ZED_FOUND)
+IF(ZED_FOUND AND CUDA_FOUND)
 MESSAGE(STATUS "  With ZED                  = YES")
 ELSEIF(NOT WITH_ZED)
 MESSAGE(STATUS "  With ZED                  = NO (WITH_ZED=OFF)")
@@ -1879,7 +1719,7 @@ MESSAGE(STATUS "  With DepthAI ${depthai_VERSION}       = YES (License: MIT)")
 ELSEIF(NOT WITH_DEPTHAI)
 MESSAGE(STATUS "  With DepthAI              = NO (WITH_DEPTHAI=OFF)")
 ELSE()
-MESSAGE(STATUS "  With DepthAI              = NO (depthai-core v2 not found)")
+MESSAGE(STATUS "  With DepthAI              = NO (depthai-core not found)")
 ENDIF()

 IF(xvsdk_FOUND)
@@ -1890,14 +1730,6 @@ 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)
@@ -1915,13 +1747,6 @@ MESSAGE(STATUS "  With floam                = NO (WITH_FLOAM=OFF)")
 ELSE()
 MESSAGE(STATUS "  With floam                = NO (floam not found)")
 ENDIF()
-IF(lio_sam_FOUND)
-MESSAGE(STATUS "  With lio_sam              = YES (License: BSD)")
-ELSEIF(NOT WITH_LIOSAM)
-MESSAGE(STATUS "  With lio_sam              = NO (WITH_LIOSAM=OFF)")
-ELSE()
-MESSAGE(STATUS "  With lio_sam              = NO (lio_sam not found)")
-ENDIF()

 IF(libfovis_FOUND)
 MESSAGE(STATUS "  With libfovis             = YES (License: GPLv2)")
@@ -1966,12 +1791,12 @@ ENDIF()
 IF(vins_FOUND)
 MESSAGE(STATUS "  With VINS-Fusion          = YES (License: GPLv3)")
 ELSEIF(NOT WITH_VINS)
-MESSAGE(STATUS "  With VINS-Fusion          = NO (WITH_VINS_FUSION=OFF)")
+MESSAGE(STATUS "  With VINS-Fusion          = NO (WITH_VINS=OFF)")
 ELSE()
 MESSAGE(STATUS "  With VINS-Fusion          = NO (VINS-Fusion not found)")
 ENDIF()

-IF(OpenVINS_FOUND)
+IF(ov_msckf_FOUND)
 MESSAGE(STATUS "  With OpenVINS             = YES (License: GPLv3)")
 ELSEIF(NOT WITH_OPENVINS)
 MESSAGE(STATUS "  With OpenVINS             = NO (WITH_OPENVINS=OFF)")
@@ -1989,14 +1814,6 @@ 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 "--------------------------------------------")

@@ -7,7 +7,7 @@ rtabmap
 [![Downloads][downloads-image]][downloads]
 [![License][license-image]][license]

-[release-image]: https://img.shields.io/badge/release-0.23.1-green.svg?style=flat
+[release-image]: https://img.shields.io/badge/release-0.21.4-green.svg?style=flat
 [releases]: https://github.com/introlab/rtabmap/releases

 [downloads-image]: https://img.shields.io/github/downloads/introlab/rtabmap/total?label=downloads
@@ -35,12 +35,13 @@ This project is supported by [IntRoLab - Intelligent / Interactive / Integrated
  <table>
    <tbody>
        <tr>
-           <td>
-           <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-linux.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-linux.yml/badge.svg" alt="CMake Linux Build Status"/> <br> 
-           <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-windows.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-windows.yml/badge.svg" alt="CMake Windows Build Status"/> <br> 
-           <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-macos.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-macos.yml/badge.svg" alt="CMake MaCOS Build Status"/> <br> 
-           <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml/badge.svg" alt="CMake ROS Build Status"/> <br> 
-           <a href="https://github.com/introlab/rtabmap/actions/workflows/docker.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/docker.yml/badge.svg" alt="Docker Build Status"/>
+           <td>Linux</td>
+           <td><a href="https://github.com/introlab/rtabmap/actions/workflows/cmake.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/rtabmap/actions/workflows/docker.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/docker.yml/badge.svg" alt="Build Status"/>
+           </td>
+        </tr>
+        <tr>
+           <td>Windows</td>
+           <td><a href="https://ci.appveyor.com/project/matlabbe/rtabmap/branch/master"><img src="https://ci.appveyor.com/api/projects/status/hr73xspix9oqa26h/branch/master?svg=true" alt="Build Status"/>
           </td>
        </tr>
     </tbody>
@@ -58,7 +59,7 @@ This project is supported by [IntRoLab - Intelligent / Interactive / Integrated
            <td><a href="http://build.ros.org/job/Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary/"><img src="http://build.ros.org/buildStatus/icon?job=Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary" alt="Build Status"/></td>
        </tr>
        <tr>
-            <td rowspan="4">ROS 2</td>
+            <td rowspan="3">ROS 2</td>
            <td>Humble</td>
            <td><a href="http://build.ros2.org/job/Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
        </tr>
@@ -66,10 +67,6 @@ This project is supported by [IntRoLab - Intelligent / Interactive / Integrated
            <td>Jazzy</td>
            <td><a href="http://build.ros2.org/job/Jbin_uN64__rtabmap__ubuntu_noble_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Jbin_uN64__rtabmap__ubuntu_noble_amd64__binary" alt="Build Status"/></td>
        </tr>
-        <tr>
-            <td>Kilted</td>
-            <td><a href="http://build.ros2.org/job/Kbin_uN64__rtabmap__ubuntu_noble_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Kbin_uN64__rtabmap__ubuntu_noble_amd64__binary" alt="Build Status"/></td>
-        </tr>
        <tr>
            <td>Rolling</td>
            <td><a href="http://build.ros2.org/job/Rbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
@@ -35,13 +35,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #define RTABMAP_VERSION_MINOR @PROJECT_VERSION_MINOR@
 #define RTABMAP_VERSION_PATCH @PROJECT_VERSION_PATCH@

-#define RTABMAP_VERSION_COMPARE(OP, MAJOR, MINOR, PATCH) (RTABMAP_VERSION_MAJOR*10000+RTABMAP_VERSION_MINOR*100+RTABMAP_VERSION_PATCH OP MAJOR*10000+MINOR*100+PATCH)
+#define RTABMAP_VERSION_COMPARE(major, minor, patch)  (major>=@PROJECT_VERSION_MAJOR@ || (major==@PROJECT_VERSION_MAJOR@ && minor>=@PROJECT_VERSION_MINOR@) || (major==@PROJECT_VERSION_MAJOR@ && minor==@PROJECT_VERSION_MINOR@ && patch >=@PROJECT_VERSION_PATCH@))

@NONFREE@#define RTABMAP_NONFREE
@TORO@#define RTABMAP_TORO
@G2O@#define RTABMAP_G2O
@G2O_CPP_CONF@#define RTABMAP_G2O_CPP11 @G2O_CPP11@
-@G2O_WITH_SBA_UTILS_CONF@#define RTABMAP_G2O_WITH_SBA_UTILS
@GTSAM@#define RTABMAP_GTSAM
@CERES@#define RTABMAP_CERES
@MRPT@#define RTABMAP_MRPT
@@ -63,7 +62,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@CUDASIFT@#define RTABMAP_CUDASIFT
@LOAM@#define RTABMAP_LOAM
@FLOAM@#define RTABMAP_FLOAM
-@LIOSAM@#define RTABMAP_LIOSAM
@DC1394@#define RTABMAP_DC1394
@FLYCAPTURE2@#define RTABMAP_FLYCAPTURE2
@ZED@#define RTABMAP_ZED
@@ -74,7 +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
@@ -85,16 +82,13 @@ 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
@PYTHON@#define RTABMAP_PYTHON
@MADGWICK@#define RTABMAP_MADGWICK
-@APRILTAG@#define RTABMAP_APRILTAG
-@APRILTAG_ARUCO@#define RTABMAP_APRILTAG_WITH_ARUCO

 #include <pcl/pcl_config.h>

@@ -37,8 +37,8 @@ namespace rtabmap {
 //////////////////////////////
 // CameraARCore
 //////////////////////////////
-CameraARCore::CameraARCore(void* env, void* context, void* activity, bool depthFromMotion, float upstreamRelocalizationAccThr):
-	CameraMobile(upstreamRelocalizationAccThr),
+CameraARCore::CameraARCore(void* env, void* context, void* activity, bool depthFromMotion, bool smoothing, float upstreamRelocalizationAccThr):
+	CameraMobile(smoothing, upstreamRelocalizationAccThr),
 	env_(env),
 	context_(context),
 	activity_(activity),
@@ -50,7 +50,7 @@ namespace rtabmap {

 class CameraARCore : public CameraMobile {
 public:
-	CameraARCore(void* env, void* context, void* activity, bool depthFromMotion = false, float upstreamRelocalizationAccThr = 0.0f);
+	CameraARCore(void* env, void* context, void* activity, bool depthFromMotion = false, bool smoothing = false, float upstreamRelocalizationAccThr = 0.0f);
 	virtual ~CameraARCore();

 	virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height);
@@ -40,8 +40,8 @@ namespace rtabmap {
 //////////////////////////////
 // CameraAREngine
 //////////////////////////////
-CameraAREngine::CameraAREngine(void* env, void* context, void* activity, float upstreamRelocalizationAccThr):
-	CameraMobile(upstreamRelocalizationAccThr),
+CameraAREngine::CameraAREngine(void* env, void* context, void* activity, bool smoothing, float upstreamRelocalizationAccThr):
+	CameraMobile(smoothing, upstreamRelocalizationAccThr),
 	env_(env),
 	context_(context),
 	activity_(activity),
@@ -46,7 +46,7 @@ namespace rtabmap {

 class CameraAREngine : public CameraMobile {
 public:
-	CameraAREngine(void* env, void* context, void* activity, float upstreamRelocalizationAccThr = 0.0f);
+	CameraAREngine(void* env, void* context, void* activity, bool smoothing = false, float upstreamRelocalizationAccThr = 0.0f);
 	virtual ~CameraAREngine();

 	virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height);
@@ -41,6 +41,9 @@ namespace rtabmap {
 //////////////////////////////
 // CameraMobile
 //////////////////////////////
+const float CameraMobile::bilateralFilteringSigmaS = 2.0f;
+const float CameraMobile::bilateralFilteringSigmaR = 0.075f;
+
 const rtabmap::Transform CameraMobile::opticalRotation = Transform(
 		0.0f,  0.0f,  1.0f, 0.0f,
 	   -1.0f,  0.0f,  0.0f, 0.0f,
@@ -50,12 +53,13 @@ const rtabmap::Transform CameraMobile::opticalRotationInv = Transform(
 	    0.0f,  0.0f, -1.0f, 0.0f,
 		1.0f,  0.0f,  0.0f, 0.0f);

-CameraMobile::CameraMobile(float upstreamRelocalizationAccThr) :
+CameraMobile::CameraMobile(bool smoothing, float upstreamRelocalizationAccThr) :
 		Camera(10),
 		deviceTColorCamera_(Transform::getIdentity()),
 		textureId_(0),
 		uvs_initialized_(false),
 		stampEpochOffset_(0.0),
+		smoothing_(smoothing),
 		colorCameraToDisplayRotation_(ROTATION_0),
 		originUpdate_(true),
 		upstreamRelocalizationAccThr_(upstreamRelocalizationAccThr),
@@ -390,135 +394,124 @@ SensorData CameraMobile::updateDataOnRender(Transform & pose)
 void CameraMobile::postUpdate()
 {
 	if(data_.isValid())
-    {
-        // adjust origin
-        if(!originOffset_.isNull())
-        {
-            dataPose_ = originOffset_ * dataPose_;
-            viewMatrix_ = glm::inverse(rtabmap::glmFromTransform(rtabmap::opengl_world_T_rtabmap_world * originOffset_ *rtabmap::rtabmap_world_T_opengl_world)*glm::inverse(viewMatrix_));
-            occlusionModel_.setLocalTransform(originOffset_ * occlusionModel_.localTransform());
-        }
-        
-        if(lastKnownGPS_.stamp() > 0.0 && data_.stamp()-lastKnownGPS_.stamp()<1.0)
-        {
-            data_.setGPS(lastKnownGPS_);
-        }
-        else if(lastKnownGPS_.stamp()>0.0)
-        {
-            LOGD("GPS too old (current time=%f, gps time = %f)", data_.stamp(), lastKnownGPS_.stamp());
-        }
-        
-        if(lastEnvSensors_.size())
-        {
-            data_.setEnvSensors(lastEnvSensors_);
-            lastEnvSensors_.clear();
-        }
-        
-        
-        // Rotate image depending on the camera orientation
-        if(colorCameraToDisplayRotation_ == ROTATION_90)
-        {
-            UDEBUG("ROTATION_90");
-            cv::Mat rgb, depth, confidence;
-            cv::Mat rgbt;
-            cv::flip(data_.imageRaw(),rgb,1);
-            cv::transpose(rgb,rgbt);
-            rgb = rgbt;
-            cv::Mat deptht;
-            cv::flip(data_.depthRaw(),depth,1);
-            cv::transpose(depth,deptht);
-            depth = deptht;
-            if(!data_.depthConfidenceRaw().empty()) {
-                cv::Mat conft;
-                cv::flip(data_.depthConfidenceRaw(),confidence,1);
-                cv::transpose(confidence,conft);
-                confidence = conft;
-            }
-            CameraModel model = data_.cameraModels()[0];
-            cv::Size sizet(model.imageHeight(), model.imageWidth());
-            model = CameraModel(
-                                model.fy(),
-                                model.fx(),
-                                model.cy(),
-                                model.cx()>0?model.imageWidth()-model.cx():0,
-                                model.localTransform()*rtabmap::Transform(0,-1,0,0, 1,0,0,0, 0,0,1,0));
-            model.setImageSize(sizet);
-            data_.setRGBDImage(rgb, depth, confidence, model);
-            
-            std::vector<cv::KeyPoint> keypoints = data_.keypoints();
-            for(size_t i=0; i<keypoints.size(); ++i)
-            {
-                keypoints[i].pt.x = data_.keypoints()[i].pt.y;
-                keypoints[i].pt.y = rgb.rows - data_.keypoints()[i].pt.x;
-            }
-            data_.setFeatures(keypoints, data_.keypoints3D(), cv::Mat());
-        }
-        else if(colorCameraToDisplayRotation_ == ROTATION_180)
-        {
-            UDEBUG("ROTATION_180");
-            cv::Mat rgb, depth, confidence;
-            cv::flip(data_.imageRaw(),rgb,1);
-            cv::flip(rgb,rgb,0);
-            cv::flip(data_.depthOrRightRaw(),depth,1);
-            cv::flip(depth,depth,0);
-            if(!data_.depthConfidenceRaw().empty()) {
-                cv::flip(data_.depthConfidenceRaw(),confidence,1);
-                cv::flip(confidence,confidence,0);
-            }
-            CameraModel model = data_.cameraModels()[0];
-            cv::Size sizet(model.imageWidth(), model.imageHeight());
-            model = CameraModel(
-                                model.fx(),
-                                model.fy(),
-                                model.cx()>0?model.imageWidth()-model.cx():0,
-                                model.cy()>0?model.imageHeight()-model.cy():0,
-                                model.localTransform()*rtabmap::Transform(0,0,0,0,0,1,0));
-            model.setImageSize(sizet);
-            data_.setRGBDImage(rgb, depth, confidence, model);
-            
-            std::vector<cv::KeyPoint> keypoints = data_.keypoints();
-            for(size_t i=0; i<keypoints.size(); ++i)
-            {
-                keypoints[i].pt.x = rgb.cols - data_.keypoints()[i].pt.x;
-                keypoints[i].pt.y = rgb.rows - data_.keypoints()[i].pt.y;
-            }
-            data_.setFeatures(keypoints, data_.keypoints3D(), cv::Mat());
-        }
-        else if(colorCameraToDisplayRotation_ == ROTATION_270)
-        {
-            UDEBUG("ROTATION_270");
-            cv::Mat rgb, depth, confidence;
-            cv::transpose(data_.imageRaw(),rgb);
-            cv::flip(rgb,rgb,1);
-            cv::transpose(data_.depthOrRightRaw(),depth);
-            cv::flip(depth,depth,1);
-            if(!data_.depthConfidenceRaw().empty()) {
-                cv::transpose(data_.depthConfidenceRaw(),confidence);
-                cv::flip(confidence,confidence,1);
-            }
-            CameraModel model = data_.cameraModels()[0];
-            cv::Size sizet(model.imageHeight(), model.imageWidth());
-            model = CameraModel(
-                                model.fy(),
-                                model.fx(),
-                                model.cy()>0?model.imageHeight()-model.cy():0,
-                                model.cx(),
-                                model.localTransform()*rtabmap::Transform(0,1,0,0, -1,0,0,0, 0,0,1,0));
-            model.setImageSize(sizet);
-            data_.setRGBDImage(rgb, depth, confidence, model);
-            
-            std::vector<cv::KeyPoint> keypoints = data_.keypoints();
-            for(size_t i=0; i<keypoints.size(); ++i)
-            {
-                keypoints[i].pt.x = rgb.cols - data_.keypoints()[i].pt.y;
-                keypoints[i].pt.y = data_.keypoints()[i].pt.x;
-            }
-            data_.setFeatures(keypoints, data_.keypoints3D(), cv::Mat());
-        }
-        else
-        {
-            UDEBUG("ROTATION_0");
-        }
+	{
+		// adjust origin
+		if(!originOffset_.isNull())
+		{
+			dataPose_ = originOffset_ * dataPose_;
+			viewMatrix_ = glm::inverse(rtabmap::glmFromTransform(rtabmap::opengl_world_T_rtabmap_world * originOffset_ *rtabmap::rtabmap_world_T_opengl_world)*glm::inverse(viewMatrix_));
+			occlusionModel_.setLocalTransform(originOffset_ * occlusionModel_.localTransform());
+		}
+
+		if(lastKnownGPS_.stamp() > 0.0 && data_.stamp()-lastKnownGPS_.stamp()<1.0)
+		{
+			data_.setGPS(lastKnownGPS_);
+		}
+		else if(lastKnownGPS_.stamp()>0.0)
+		{
+			LOGD("GPS too old (current time=%f, gps time = %f)", data_.stamp(), lastKnownGPS_.stamp());
+		}
+
+		if(lastEnvSensors_.size())
+		{
+			data_.setEnvSensors(lastEnvSensors_);
+			lastEnvSensors_.clear();
+		}
+
+		if(smoothing_ && !data_.depthRaw().empty())
+		{
+			//UTimer t;
+			data_.setDepthOrRightRaw(rtabmap::util2d::fastBilateralFiltering(data_.depthRaw(), bilateralFilteringSigmaS, bilateralFilteringSigmaR));
+			//LOGD("Bilateral filtering, time=%fs", t.ticks());
+		}
+
+		// Rotate image depending on the camera orientation
+		if(colorCameraToDisplayRotation_ == ROTATION_90)
+		{
+			UDEBUG("ROTATION_90");
+			cv::Mat rgb, depth;
+			cv::Mat rgbt(data_.imageRaw().cols, data_.imageRaw().rows, data_.imageRaw().type());
+			cv::flip(data_.imageRaw(),rgb,1);
+			cv::transpose(rgb,rgbt);
+			rgb = rgbt;
+			cv::Mat deptht(data_.depthRaw().cols, data_.depthRaw().rows, data_.depthRaw().type());
+			cv::flip(data_.depthRaw(),depth,1);
+			cv::transpose(depth,deptht);
+			depth = deptht;
+			CameraModel model = data_.cameraModels()[0];
+			cv::Size sizet(model.imageHeight(), model.imageWidth());
+			model = CameraModel(
+					model.fy(),
+					model.fx(),
+					model.cy(),
+					model.cx()>0?model.imageWidth()-model.cx():0,
+					model.localTransform()*rtabmap::Transform(0,-1,0,0, 1,0,0,0, 0,0,1,0));
+			model.setImageSize(sizet);
+			data_.setRGBDImage(rgb, depth, model);
+
+			std::vector<cv::KeyPoint> keypoints = data_.keypoints();
+			for(size_t i=0; i<keypoints.size(); ++i)
+			{
+				keypoints[i].pt.x = data_.keypoints()[i].pt.y;
+				keypoints[i].pt.y = rgb.rows - data_.keypoints()[i].pt.x;
+			}
+			data_.setFeatures(keypoints, data_.keypoints3D(), cv::Mat());
+		}
+		else if(colorCameraToDisplayRotation_ == ROTATION_180)
+		{
+			UDEBUG("ROTATION_180");
+			cv::Mat rgb, depth;
+			cv::flip(data_.imageRaw(),rgb,1);
+			cv::flip(rgb,rgb,0);
+			cv::flip(data_.depthOrRightRaw(),depth,1);
+			cv::flip(depth,depth,0);
+			CameraModel model = data_.cameraModels()[0];
+			cv::Size sizet(model.imageWidth(), model.imageHeight());
+			model = CameraModel(
+					model.fx(),
+					model.fy(),
+					model.cx()>0?model.imageWidth()-model.cx():0,
+					model.cy()>0?model.imageHeight()-model.cy():0,
+					model.localTransform()*rtabmap::Transform(0,0,0,0,0,1,0));
+			model.setImageSize(sizet);
+			data_.setRGBDImage(rgb, depth, model);
+
+			std::vector<cv::KeyPoint> keypoints = data_.keypoints();
+			for(size_t i=0; i<keypoints.size(); ++i)
+			{
+				keypoints[i].pt.x = rgb.cols - data_.keypoints()[i].pt.x;
+				keypoints[i].pt.y = rgb.rows - data_.keypoints()[i].pt.y;
+			}
+			data_.setFeatures(keypoints, data_.keypoints3D(), cv::Mat());
+		}
+		else if(colorCameraToDisplayRotation_ == ROTATION_270)
+		{
+			UDEBUG("ROTATION_270");
+			cv::Mat rgb(data_.imageRaw().cols, data_.imageRaw().rows, data_.imageRaw().type());
+			cv::transpose(data_.imageRaw(),rgb);
+			cv::flip(rgb,rgb,1);
+			cv::Mat depth(data_.depthOrRightRaw().cols, data_.depthOrRightRaw().rows, data_.depthOrRightRaw().type());
+			cv::transpose(data_.depthOrRightRaw(),depth);
+			cv::flip(depth,depth,1);
+			CameraModel model = data_.cameraModels()[0];
+			cv::Size sizet(model.imageHeight(), model.imageWidth());
+			model = CameraModel(
+					model.fy(),
+					model.fx(),
+					model.cy()>0?model.imageHeight()-model.cy():0,
+					model.cx(),
+					model.localTransform()*rtabmap::Transform(0,1,0,0, -1,0,0,0, 0,0,1,0));
+			model.setImageSize(sizet);
+			data_.setRGBDImage(rgb, depth, model);
+
+			std::vector<cv::KeyPoint> keypoints = data_.keypoints();
+			for(size_t i=0; i<keypoints.size(); ++i)
+			{
+				keypoints[i].pt.x = rgb.cols - data_.keypoints()[i].pt.y;
+				keypoints[i].pt.y = data_.keypoints()[i].pt.x;
+			}
+			data_.setFeatures(keypoints, data_.keypoints3D(), cv::Mat());
+		}
 	}
 }

@@ -70,6 +70,9 @@ private:

 class CameraMobile : public Camera, public UEventsSender {
 public:
+	static const float bilateralFilteringSigmaS;
+	static const float bilateralFilteringSigmaR;
+
 	static const rtabmap::Transform opticalRotation;
 	static const rtabmap::Transform opticalRotationInv;
    
@@ -84,7 +87,7 @@ public:
            int kptsSize = 3);

 public:
-	CameraMobile(float upstreamRelocalizationAccThr = 0.0f);
+	CameraMobile(bool smoothing = false, float upstreamRelocalizationAccThr = 0.0f);
 	virtual ~CameraMobile();

 	// abstract functions
@@ -107,6 +110,7 @@ public:

 	const CameraModel & getCameraModel() const {return model_;}
 	const Transform & getDeviceTColorCamera() const {return deviceTColorCamera_;}
+	void setSmoothing(bool enabled) {smoothing_ = enabled;}
 	virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height) {colorCameraToDisplayRotation_ = colorCameraToDisplayRotation;}
 	void setGPS(const GPS & gps);
 	void addEnvSensor(int type, float value);
@@ -140,6 +144,7 @@ protected:
 private:
 	bool firstFrame_;
 	double stampEpochOffset_;
+	bool smoothing_;
 	ScreenRotation colorCameraToDisplayRotation_;
 	GPS lastKnownGPS_;
 	EnvSensors lastEnvSensors_;
@@ -114,7 +114,8 @@ void onTangoEventAvailableRouter(void* context, const TangoEvent* event)
 //////////////////////////////
 // CameraTango
 //////////////////////////////
-CameraTango::CameraTango(bool colorCamera, int decimation, bool publishRawScan) :
+CameraTango::CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing) :
+		CameraMobile(smoothing),
 		tango_config_(0),
 		colorCamera_(colorCamera),
 		decimation_(decimation),
@@ -45,7 +45,7 @@ namespace rtabmap {

 class CameraTango : public CameraMobile {
 public:
-	CameraTango(bool colorCamera, int decimation, bool publishRawScan);
+	CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing);
 	virtual ~CameraTango();

 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
@@ -84,9 +84,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

 const int g_optMeshId = -100;

-const float g_bilateralFilteringSigmaS = 2.0f;
-const float g_bilateralFilteringSigmaR = 0.075f;
-
 #ifdef __ANDROID__
 static JavaVM *jvm;
 static jobject RTABMapActivity = 0;
@@ -233,7 +230,6 @@ RTABMapApp::RTABMapApp() :
 		trajectoryMode_(false),
 		rawScanSaved_(false),
 		smoothing_(true),
-		depthBleedingError_(0.0f),
 		depthFromMotion_(false),
 		cameraColor_(true),
 		fullResolution_(false),
@@ -249,11 +245,7 @@ RTABMapApp::RTABMapApp() :
 		maxGainRadius_(0.02f),
 		renderingTextureDecimation_(4),
 		backgroundColor_(0.2f),
-#ifndef RTABMAP_ARCORE
-        depthConfidence_(100), // iOS
-#else
-		depthConfidence_(0),
-#endif
+        depthConfidence_(2),
        upstreamRelocalizationMaxAcc_(0.0f),
 		exportPointCloudFormat_("ply"),
 		dataRecorderMode_(false),
@@ -274,20 +266,20 @@ RTABMapApp::RTABMapApp() :
 		lastPoseEventTime_(0.0),
 		visualizingMesh_(false),
 		exportedMeshUpdated_(false),
-		optTextureMesh_(new pcl::TextureMesh),
-		optRefId_(0),
-		optRefPose_(0),
 		measuresUpdated_(false),
-		metricSystem_(true),
+        targetPoint_(new pcl::PointCloud<pcl::PointXYZRGB>),
+        quadSample_(new pcl::PointCloud<pcl::PointXYZ>),
+        quadSamplePolygons_(2),
+        metricSystem_(true),
        measuringTextSize_(0.05f),
 		snapAxisThr_(0.95),
        measuringMode_(0),
        addMeasureClicked_(false),
        teleportClicked_(false),
        removeMeasureClicked_(false),
-		targetPoint_(new pcl::PointCloud<pcl::PointXYZRGB>),
-        quadSample_(new pcl::PointCloud<pcl::PointXYZ>),
-        quadSamplePolygons_(2),
+		optTextureMesh_(new pcl::TextureMesh),
+		optRefId_(0),
+		optRefPose_(0),
 		mapToOdom_(rtabmap::Transform::getIdentity())

 {
@@ -469,13 +461,7 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
 				LOGI("Open: Found optimized mesh! Visualizing it.");
 				optTextureMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true);
                optMesh_ = rtabmap::Mesh();
-                if(textures.rows > 4096) // Limitation iOS, just for rendering on device
-                {
-                    cv::resize(textures, optTexture_, cv::Size(4096, 4096), 0.0f, 0.0f, cv::INTER_AREA);
-                }
-                else {
-                    optTexture_ = textures;
-                }
+				optTexture_ = textures;
                if(!optTexture_.empty())
 				{
 					LOGI("Open: Texture mesh: %dx%d.", optTexture_.cols, optTexture_.rows);
@@ -583,8 +569,8 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
 						rtabmap::SensorData data = signatures.at(id).sensorData();
                        rawPoses_.insert(std::make_pair(id, signatures.at(id).getPose()));

-						cv::Mat tmpA, tmpB, tmpC;
-						data.uncompressData(&tmpA, &tmpB, 0, 0, 0, 0, 0, depthConfidence_>0?&tmpC:0);
+						cv::Mat tmpA, depth;
+						data.uncompressData(&tmpA, &depth);

 						if(!(!data.imageRaw().empty() && !data.depthRaw().empty()) && !data.laserScanCompressed().isEmpty())
 						{
@@ -600,30 +586,8 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
 							if(!data.imageRaw().empty() && !data.depthRaw().empty() && (!useExternalLidar_ || data.laserScanRaw().isEmpty()))
 							{
                                int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
-
-								if(smoothing_ || depthBleedingError_>0.0f)
-								{
-									cv::Mat depth = data.depthRaw();
-									if(depthBleedingError_ > 0.0f)
-									{
-										rtabmap::util2d::depthBleedingFiltering(depth, depthBleedingError_);
-									}
-									if(smoothing_)
-									{
-										depth = rtabmap::util2d::fastBilateralFiltering(depth, g_bilateralFilteringSigmaS, g_bilateralFilteringSigmaR);
-									}
-									data.setRGBDImage(data.imageRaw(), depth, data.depthConfidenceRaw(), data.cameraModels());
-								}
-
-								cloud = rtabmap::util3d::cloudRGBFromSensorData(
-									data, 
-									meshDecimation, 
-									maxCloudDepth_, 
-									minCloudDepth_, 
-									indices.get(), 
-									rtabmap::ParametersMap(), 
-									std::vector<float>(), 
-									depthConfidence_);
+                                
+								cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get());
 							}
 							else
 							{
@@ -911,11 +875,11 @@ int RTABMapApp::updateMeshDecimation(int width, int height)
        {
            meshDecimation = 5;
        }
-        else if(width % 3 == 0 && height % 3 == 0)
+        else if(width % 3 == 0 && width % 3 == 0)
        {
            meshDecimation = 3;
        }
-        else if(width % 2 == 0 && height % 2 == 0)
+        else if(width % 2 == 0 && width % 2 == 0)
        {
            meshDecimation = 2;
        }
@@ -982,7 +946,7 @@ bool RTABMapApp::startCamera()
 	if(cameraDriver_ == 0) // Tango
 	{
 #ifdef RTABMAP_TANGO
-		camera_ = new rtabmap::CameraTango(cameraColor_, !cameraColor_ || fullResolution_?1:2, rawScanSaved_);
+		camera_ = new rtabmap::CameraTango(cameraColor_, !cameraColor_ || fullResolution_?1:2, rawScanSaved_, smoothing_);

 		if (TangoService_setBinder(env, iBinder) != TANGO_SUCCESS) {
 		    UERROR("TangoHandler::ConnectTango, TangoService_setBinder error");
@@ -997,7 +961,7 @@ bool RTABMapApp::startCamera()
 	else if(cameraDriver_ == 1)
 	{
 #ifdef RTABMAP_ARCORE
-		camera_ = new rtabmap::CameraARCore(env, context, activity, depthFromMotion_, upstreamRelocalizationMaxAcc_);
+		camera_ = new rtabmap::CameraARCore(env, context, activity, depthFromMotion_, smoothing_, upstreamRelocalizationMaxAcc_);
 #else
 		UERROR("RTAB-Map is not built with ARCore support!");
 #endif
@@ -1005,14 +969,14 @@ bool RTABMapApp::startCamera()
 	else if(cameraDriver_ == 2)
 	{
 #ifdef RTABMAP_ARENGINE
-		camera_ = new rtabmap::CameraAREngine(env, context, activity, upstreamRelocalizationMaxAcc_);
+		camera_ = new rtabmap::CameraAREngine(env, context, activity, smoothing_, upstreamRelocalizationMaxAcc_);
 #else
 		UERROR("RTAB-Map is not built with AREngine support!");
 #endif
 	}
 	else if(cameraDriver_ == 3)
 	{
-		camera_ = new rtabmap::CameraMobile(upstreamRelocalizationMaxAcc_);
+		camera_ = new rtabmap::CameraMobile(smoothing_, upstreamRelocalizationMaxAcc_);
 	}

 	if(camera_ == 0)
@@ -1039,11 +1003,7 @@ bool RTABMapApp::startCamera()
 		cameraJustInitialized_ = true;
 		if(useExternalLidar_)
 		{
-#if BOOST_VERSION >= 108700
-            rtabmap::LidarVLP16 * lidar = new rtabmap::LidarVLP16(boost::asio::ip::make_address("192.168.1.201"), 2368, true);
-#else
 			rtabmap::LidarVLP16 * lidar = new rtabmap::LidarVLP16(boost::asio::ip::address_v4::from_string("192.168.1.201"), 2368, true);
-#endif
 			lidar->init();
 			camera_->setImageRate(0); // if lidar, to get close camera synchronization
 			sensorCaptureThread_ = new rtabmap::SensorCaptureThread(lidar, camera_, camera_, rtabmap::Transform::getIdentity());
@@ -1394,8 +1354,8 @@ int RTABMapApp::Render()
 #ifdef DEBUG_RENDERING_PERFORMANCE
 				LOGD("Camera updateOnRender %fs", time.ticks());
 #endif
-                // We check if we are in measuring mode: not visualizing mesh or rtabmap is not started (localization mode)
-				if(main_scene_.background_renderer_ == 0 && camera_->getTextureId() != 0 && (!visualizingMesh_ || !(rtabmapThread_ == 0 || !rtabmapThread_->isRunning())))
+                // We detect if we are in measuring mode if rtabmap is not running
+				if(main_scene_.background_renderer_ == 0 && camera_->getTextureId() != 0 && !(rtabmapThread_ == 0 || !rtabmapThread_->isRunning()))
 				{
 					main_scene_.background_renderer_ = new BackgroundRenderer();
 					main_scene_.background_renderer_->InitializeGlContent(((rtabmap::CameraMobile*)camera_)->getTextureId(), cameraDriver_ <= 2);
@@ -1576,6 +1536,7 @@ int RTABMapApp::Render()
                int textId = 0;
                int quadId = 0;
                int circleId = 0;
+                float sphereRadius = 0.02f;
                float quadSize=0.05f;
                float quadAlpha = 0.3f;

@@ -2049,8 +2010,8 @@ int RTABMapApp::Render()
 								{
 									rtabmap::SensorData data = bufferedSensorData.at(id);

-									cv::Mat tmpA, tmpB, tmpC;
-									data.uncompressData(&tmpA, &tmpB, 0, 0, 0, 0, 0, depthConfidence_>0?&tmpC:0);
+									cv::Mat tmpA, depth;
+									data.uncompressData(&tmpA, &depth);
 									if(!(!data.imageRaw().empty() && !data.depthRaw().empty()) && !data.laserScanCompressed().isEmpty())
 									{
 										rtabmap::LaserScan scan;
@@ -2068,20 +2029,7 @@ int RTABMapApp::Render()
 										if(!data.imageRaw().empty() && !data.depthRaw().empty() && (!useExternalLidar_ || data.laserScanRaw().isEmpty()))
 										{
                                            int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
-											if(smoothing_ || depthBleedingError_>0.0f)
-											{
-												cv::Mat depth = data.depthRaw();
-												if(depthBleedingError_ > 0.0f)
-												{
-													rtabmap::util2d::depthBleedingFiltering(depth, depthBleedingError_);
-												}
-												if(smoothing_)
-												{
-													depth = rtabmap::util2d::fastBilateralFiltering(depth, g_bilateralFilteringSigmaS, g_bilateralFilteringSigmaR);
-												}
-												data.setRGBDImage(data.imageRaw(), depth, data.depthConfidenceRaw(), data.cameraModels());
-											}
-											cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get(), rtabmap::ParametersMap(), std::vector<float>(), depthConfidence_);
+											cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get());
 										}
 										else
 										{
@@ -2297,7 +2245,7 @@ int RTABMapApp::Render()
 							if(!sensorEvent.data().imageRaw().empty() && !sensorEvent.data().depthRaw().empty() && (!useExternalLidar_ || sensorEvent.data().laserScanRaw().isEmpty()))
 							{
                                int meshDecimation = updateMeshDecimation(sensorEvent.data().depthRaw().cols, sensorEvent.data().depthRaw().rows);
-								cloud = rtabmap::util3d::cloudRGBFromSensorData(sensorEvent.data(), meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get(), rtabmap::ParametersMap(), std::vector<float>(), depthConfidence_);
+								cloud = rtabmap::util3d::cloudRGBFromSensorData(sensorEvent.data(), meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get());
 							}
 							else
 							{
@@ -3000,7 +2948,7 @@ void RTABMapApp::setTrajectoryMode(bool enabled)
 void RTABMapApp::setGraphOptimization(bool enabled)
 {
 	graphOptimization_ = enabled;
-	if((sensorCaptureThread_ == 0) && rtabmap_ && rtabmap_->getMemory()->getLastWorkingSignature(false)!=0)
+	if((sensorCaptureThread_ == 0) && rtabmap_ && rtabmap_->getMemory()->getLastWorkingSignature()!=0)
 	{
 		std::map<int, rtabmap::Transform> poses;
 		std::multimap<int, rtabmap::Link> links;
@@ -3067,11 +3015,6 @@ void RTABMapApp::setSmoothing(bool enabled)
 	}
 }

-void RTABMapApp::setDepthBleedingError(float value)
-{
-	depthBleedingError_ = value;
-}
-
 void RTABMapApp::setDepthFromMotion(bool enabled)
 {
 	if(depthFromMotion_ != enabled)
@@ -3164,10 +3107,10 @@ void RTABMapApp::setBackgroundColor(float gray)

 void RTABMapApp::setDepthConfidence(int value)
 {
-    depthConfidence_ = value*50; // [0,2] -> [0,100]
-    if(depthConfidence_>100)
+    depthConfidence_ = value;
+    if(depthConfidence_>2)
    {
-        depthConfidence_ = 100;
+        depthConfidence_ = 2;
    }
 }

@@ -3467,19 +3410,6 @@ bool RTABMapApp::exportMesh(
 							if(!data.imageRaw().empty() && !data.depthRaw().empty() && data.cameraModels().size() == 1)
 							{
                                int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
-								if(smoothing_ || depthBleedingError_>0.0f)
-								{
-									cv::Mat depth = data.depthRaw();
-									if(depthBleedingError_ > 0.0f)
-									{
-										rtabmap::util2d::depthBleedingFiltering(depth, depthBleedingError_);
-									}
-									if(smoothing_)
-									{
-										depth = rtabmap::util2d::fastBilateralFiltering(depth, g_bilateralFilteringSigmaS, g_bilateralFilteringSigmaR);
-									}
-									data.setRGBDImage(data.imageRaw(), depth, data.depthConfidenceRaw(), data.cameraModels());
-								}
 								cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get());
 								model = data.cameraModels()[0];
 								depth = data.depthRaw();
@@ -3747,20 +3677,7 @@ bool RTABMapApp::exportMesh(
 							if(!data.imageRaw().empty() && !data.depthRaw().empty() && data.cameraModels().size() == 1)
 							{
                                int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
-								if(smoothing_ || depthBleedingError_>0.0f)
-								{
-									cv::Mat depth = data.depthRaw();
-									if(depthBleedingError_ > 0.0f)
-									{
-										rtabmap::util2d::depthBleedingFiltering(depth, depthBleedingError_);
-									}
-									if(smoothing_)
-									{
-										depth = rtabmap::util2d::fastBilateralFiltering(depth, g_bilateralFilteringSigmaS, g_bilateralFilteringSigmaR);
-									}
-									data.setRGBDImage(data.imageRaw(), depth, data.depthConfidenceRaw(), data.cameraModels());
-								}
-								cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, 0, rtabmap::ParametersMap(), std::vector<float>(), depthConfidence_);
+								cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_);
 								polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
 							}
 						}
@@ -4018,20 +3935,7 @@ bool RTABMapApp::exportMesh(
 					if(!data.imageRaw().empty() && !data.depthRaw().empty())
 					{
 						// full resolution
-						if(smoothing_ || depthBleedingError_>0.0f)
-						{
-							cv::Mat depth = data.depthRaw();
-							if(depthBleedingError_ > 0.0f)
-							{
-								rtabmap::util2d::depthBleedingFiltering(depth, depthBleedingError_);
-							}
-							if(smoothing_)
-							{
-								depth = rtabmap::util2d::fastBilateralFiltering(depth, g_bilateralFilteringSigmaS, g_bilateralFilteringSigmaR);
-							}
-							data.setRGBDImage(data.imageRaw(), depth, data.depthConfidenceRaw(), data.cameraModels());
-						}
-						cloud = rtabmap::util3d::cloudRGBFromSensorData(data, 1, maxCloudDepth_, minCloudDepth_, indices.get(), rtabmap::ParametersMap(), std::vector<float>(), depthConfidence_);
+						cloud = rtabmap::util3d::cloudRGBFromSensorData(data, 1, maxCloudDepth_, minCloudDepth_, indices.get());
 					}
                    else if(!data.laserScanRaw().empty())
                    {
@@ -4061,20 +3965,7 @@ bool RTABMapApp::exportMesh(
 						if(!data.imageRaw().empty() && !data.depthRaw().empty())
 						{
                            int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
-							if(smoothing_ || depthBleedingError_>0.0f)
-							{
-								cv::Mat depth = data.depthRaw();
-								if(depthBleedingError_ > 0.0f)
-								{
-									rtabmap::util2d::depthBleedingFiltering(depth, depthBleedingError_);
-								}
-								if(smoothing_)
-								{
-									depth = rtabmap::util2d::fastBilateralFiltering(depth, g_bilateralFilteringSigmaS, g_bilateralFilteringSigmaR);
-								}
-								data.setRGBDImage(data.imageRaw(), depth, data.depthConfidenceRaw(), data.cameraModels());
-							}
-							cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get(), rtabmap::ParametersMap(), std::vector<float>(), depthConfidence_);
+							cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get());
 						}
                        else if(!data.laserScanRaw().empty())
                        {
@@ -4226,13 +4117,7 @@ bool RTABMapApp::postExportation(bool visualize)
 				LOGI("postExportation: Found optimized mesh! Visualizing it.");
 				optTextureMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true);
                optMesh_ = rtabmap::Mesh();
-                if(textures.rows > 4096) // Limitation iOS, just for rendering on device
-                {
-                    cv::resize(textures, optTexture_, cv::Size(4096, 4096), 0.0f, 0.0f, cv::INTER_AREA);
-                }
-                else {
-                    optTexture_ = textures;
-                }
+                optTexture_ = textures;

 				boost::mutex::scoped_lock  lock(renderingMutex_);
 				visualizingMesh_ = true;
@@ -4639,7 +4524,6 @@ void RTABMapApp::postOdometryEvent(


 				cv::Mat outputDepth;
-				cv::Mat outputDepthConfidence;
 				if(depth && depthHeight>0 && depthWidth>0)
 				{
 #ifndef DISABLE_LOG
@@ -4649,21 +4533,32 @@ void RTABMapApp::postOdometryEvent(
                    {
                        // IOS
                        outputDepth = cv::Mat(depthHeight, depthWidth, CV_32FC1, (void*)depth).clone();
-                        if(conf && confWidth == depthWidth && confHeight == depthHeight && confFormat == 1278226488)
+                        if(conf && confWidth == depthWidth && confHeight == depthHeight && confFormat == 1278226488 && depthConfidence_>0)
                        {
-							// https://developer.apple.com/documentation/arkit/arconfidencelevel
-							// 0 = low
-							// 1 = medium
-							// 2 = high
-							// Re-scale confidence from [0,2] to [0,100]
-							cv::Mat(depthHeight, depthWidth, CV_8UC1, (void*)conf).convertTo(outputDepthConfidence, CV_8UC1, 50, 0);
+                            const unsigned char * confPtr = (const unsigned char *)conf;
+                            float * depthPtr = outputDepth.ptr<float>();
+                            int i=0;
+                            for (int y = 0; y < outputDepth.rows; ++y)
+                            {
+                                for (int x = 0; x < outputDepth.cols; ++x)
+                                {
+                                    // https://developer.apple.com/documentation/arkit/arconfidencelevel
+                                    // 0 = low
+                                    // 1 = medium
+                                    // 2 = high
+                                    if(confPtr[y*outputDepth.cols + x] < depthConfidence_)
+                                    {
+                                        depthPtr[y*outputDepth.cols + x] = 0.0f;
+                                        ++i;
+                                    }
+                                }
+                            }
                        }
                    }
                    else if(depthLen == 2*depthWidth*depthHeight)
                    {
                        // ANDROID
                        outputDepth = cv::Mat(depthHeight, depthWidth, CV_16UC1);
-						outputDepthConfidence = cv::Mat(depthHeight, depthWidth, CV_8UC1);
                        uint16_t *dataShort = (uint16_t *)depth;
                        for (int y = 0; y < outputDepth.rows; ++y)
                        {
@@ -4672,13 +4567,6 @@ void RTABMapApp::postOdometryEvent(
                                uint16_t depthSample = dataShort[y*outputDepth.cols + x];
                                uint16_t depthRange = (depthSample & 0x1FFF); // first 3 bits are confidence
                                outputDepth.at<uint16_t>(y,x) = depthRange;
-								// https://developer.android.com/reference/android/graphics/ImageFormat#DEPTH16
-								// The confidence value is an estimate of correctness for this sample. It 
-								// is encoded in the 3 most significant bits of the sample, with a value of 
-								// 0 representing 100% confidence, a value of 1 representing 0% confidence, a 
-								// value of 2 representing 1/7, a value of 3 representing 2/7, and so on.
-								uint8_t depthConfidence = uint8_t((depthSample >> 13) & 0x7);
-								outputDepthConfidence.at<uint8_t>(y,x) = depthConfidence == 0 ? 100 : (depthConfidence - 1)*100 / 7;
                            }
                        }
                    }
@@ -4738,9 +4626,7 @@ void RTABMapApp::postOdometryEvent(
 								depth_fx, 0, depth_cx,
 								0, depth_fy, depth_cy,
 								0, 0, 1);
-						cv::Mat regConfidence;
-						outputDepth = rtabmap::util2d::registerDepth(outputDepth, outputDepthConfidence, depthK, outputDepth.size(), colorK, rgbToDepth, regConfidence);
-						outputDepthConfidence = regConfidence;
+						outputDepth = rtabmap::util2d::registerDepth(outputDepth, depthK, outputDepth.size(), colorK, rgbToDepth);
 #ifndef DISABLE_LOG
 						UDEBUG("Depth registration time: %fs", time.elapsed());
 #endif
@@ -4780,8 +4666,8 @@ void RTABMapApp::postOdometryEvent(
                        depthModel.setLocalTransform(pose*model.localTransform());
                        camera_->setOcclusionImage(outputDepth, depthModel);
                    }
-
-					rtabmap::SensorData data(scan, outputRGB, outputDepth, outputDepthConfidence, model, 0, stamp);
+                    
+					rtabmap::SensorData data(scan, outputRGB, outputDepth, model, 0, stamp);
 					data.setFeatures(kpts,  kpts3, cv::Mat());
                    glm::mat4 projectionMatrix(0);
                    projectionMatrix[0][0] = p00;
@@ -139,7 +139,6 @@ class RTABMapApp : public UEventsHandler {
  void setCameraColor(bool enabled);
  void setFullResolution(bool enabled);
  void setSmoothing(bool enabled);
-  void setDepthBleedingError(float value);
  void setDepthFromMotion(bool enabled);
  void setAppendMode(bool enabled);
  void setUpstreamRelocalizationAccThr(float value);
@@ -236,7 +235,6 @@ class RTABMapApp : public UEventsHandler {
  bool trajectoryMode_;
  bool rawScanSaved_;
  bool smoothing_;
-  float depthBleedingError_;
  bool depthFromMotion_;
  bool cameraColor_;
  bool fullResolution_;
@@ -252,7 +250,7 @@ class RTABMapApp : public UEventsHandler {
  float maxGainRadius_;
  int renderingTextureDecimation_;
  float backgroundColor_;
-  unsigned char depthConfidence_;
+  int depthConfidence_;
  float upstreamRelocalizationMaxAcc_;
  std::string exportPointCloudFormat_;

@@ -512,19 +512,6 @@ Java_com_introlab_rtabmap_RTABMapLib_setSmoothing(
 	}
 }
 JNIEXPORT void JNICALL
-Java_com_introlab_rtabmap_RTABMapLib_setDepthBleedingError(
-		JNIEnv*, jclass, jlong native_application, float value)
-{
-	if(native_application)
-	{
-		return native(native_application)->setDepthBleedingError(value);
-	}
-	else
-	{
-		UERROR("native_application is null!");
-	}
-}
-JNIEXPORT void JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_setDepthFromMotion(
 		JNIEnv*, jclass, jlong native_application, bool enabled)
 {
@@ -114,13 +114,6 @@
 		        android:title="@string/pref_title_smoothing"
 		        android:summary="@string/pref_summary_smoothing"
 		        android:defaultValue="@string/pref_default_smoothing"/>
-			<ListPreference
-		        android:key="@string/pref_key_depth_bleeding_error"
-		        android:title="@string/pref_title_depth_bleeding_error"
-		        android:summary="@string/pref_summary_depth_bleeding_error"
-		        android:entries="@array/pref_depth_bleeding_error_keys"
-		   	    android:entryValues="@array/pref_depth_bleeding_error_values"
-		   		android:defaultValue="@string/pref_default_depth_bleeding_error"/>
 		    <com.introlab.rtabmap.CustomSwitchPreference
 		        android:key="@string/pref_key_fisheye"
 		        android:title="@string/pref_title_fisheye"
@@ -76,8 +76,6 @@
    <string name="pref_default_resolution">false</string>
    <string name="pref_key_smoothing">pref_key_smoothing</string>
    <string name="pref_default_smoothing">false</string>
-    <string name="pref_key_depth_bleeding_error">pref_key_depth_bleeding_error</string>
-    <string name="pref_default_depth_bleeding_error">0.0</string>
    <string name="pref_key_fisheye">pref_key_fisheye</string>
    <string name="pref_default_fisheye">false</string>
    
@@ -339,8 +337,6 @@
    <string name="pref_summary_resolution">Save HD images of the color camera if you want very detailed textures. More memory will be required.</string>
    <string name="pref_title_smoothing">Smoothing</string>
    <string name="pref_summary_smoothing">Smooth the point clouds.</string>
-    <string name="pref_title_depth_bleeding_error">Depth Bleeding Filtering Error</string>
-    <string name="pref_summary_depth_bleeding_error">Filter noisy depth points on the edges.</string>
    <string name="pref_title_fisheye">Fish Eye Camera</string>
    <string name="pref_summary_fisheye">Use fish eye camera instead of the color camera. May not work on some devices.</string>
    <string name="pref_title_update_rate">Update Rate</string>
@@ -440,26 +436,6 @@
        <item>"29.41995"</item>
        <item>"19.6133"</item>
    </string-array>
-    <string-array name="pref_depth_bleeding_error_keys">
-        <item>"Disabled"</item>
-        <item>"2.5 cm"</item>
-        <item>"5 cm"</item>
-        <item>"10 cm"</item>
-        <item>"15 cm"</item>
-        <item>"20 cm"</item>
-        <item>"25 cm"</item>
-        <item>"30 cm"</item>
-    </string-array>
-    <string-array name="pref_depth_bleeding_error_values">
-        <item>"0"</item>
-        <item>"0.025"</item>
-        <item>"0.05"</item>
-        <item>"0.10"</item>
-        <item>"0.15"</item>
-        <item>"0.20"</item>
-        <item>"0.25"</item>
-        <item>"0.30"</item>
-    </string-array>
    <string-array name="pref_max_speed_keys">
        <item>"No Limit"</item>
        <item>"High"</item>
@@ -1140,7 +1140,6 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 			RTABMapLib.setRawScanSaved(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_raw_scan_saved), Boolean.parseBoolean(getString(R.string.pref_default_raw_scan_saved))));
 			RTABMapLib.setFullResolution(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_resolution), Boolean.parseBoolean(getString(R.string.pref_default_resolution))));
 			RTABMapLib.setSmoothing(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_smoothing), Boolean.parseBoolean(getString(R.string.pref_default_smoothing))));
-			RTABMapLib.setDepthBleedingError(nativeApplication, Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_depth_bleeding_error), getString(R.string.pref_default_depth_bleeding_error))));
 			RTABMapLib.setDepthFromMotion(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_depth_from_motion), Boolean.parseBoolean(getString(R.string.pref_default_depth_from_motion))));
 			RTABMapLib.setCameraColor(nativeApplication, !sharedPref.getBoolean(getString(R.string.pref_key_fisheye), Boolean.parseBoolean(getString(R.string.pref_default_fisheye))));
 			RTABMapLib.setAppendMode(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_append), Boolean.parseBoolean(getString(R.string.pref_default_append))));
@@ -73,7 +73,6 @@ public class RTABMapLib
    public static native void setRawScanSaved(long nativeApplication, boolean enabled);
    public static native void setFullResolution(long nativeApplication, boolean enabled);
    public static native void setSmoothing(long nativeApplication, boolean enabled);
-    public static native void setDepthBleedingError(long nativeApplication, float value);
    public static native void setDepthFromMotion(long nativeApplication, boolean enabled);
    public static native void setCameraColor(long nativeApplication, boolean enabled);
    public static native void setAppendMode(long nativeApplication, boolean enabled);
@@ -222,8 +222,7 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
        ((Preference)findPreference(getString(R.string.pref_key_background_color))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_background_color))).getEntry() + ") "+getString(R.string.pref_summary_background_color));
        ((Preference)findPreference(getString(R.string.pref_key_rendering_texture_decimation))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_rendering_texture_decimation))).getEntry() + ") "+getString(R.string.pref_summary_rendering_texture_decimation));
          
-        ((Preference)findPreference(getString(R.string.pref_key_depth_bleeding_error))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_depth_bleeding_error))).getEntry() + ") "+getString(R.string.pref_summary_depth_bleeding_error));
-		((Preference)findPreference(getString(R.string.pref_key_arcore_relocalization_acc_thr))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_arcore_relocalization_acc_thr))).getEntry() + ") "+getString(R.string.pref_summary_arcore_relocalization_acc_thr));
+        ((Preference)findPreference(getString(R.string.pref_key_arcore_relocalization_acc_thr))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_arcore_relocalization_acc_thr))).getEntry() + ") "+getString(R.string.pref_summary_arcore_relocalization_acc_thr));
        ((Preference)findPreference(getString(R.string.pref_key_update_rate))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_update_rate))).getEntry() + ") "+getString(R.string.pref_summary_update_rate));
        ((Preference)findPreference(getString(R.string.pref_key_max_speed))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_max_speed))).getEntry() + ") "+getString(R.string.pref_summary_max_speed));
        ((Preference)findPreference(getString(R.string.pref_key_time_thr))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_time_thr))).getEntry() + ") "+getString(R.string.pref_summary_time_thr));
@@ -286,8 +285,7 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
        	if(key.compareTo(getString(R.string.pref_key_background_color))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_background_color));
        	if(key.compareTo(getString(R.string.pref_key_rendering_texture_decimation))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_rendering_texture_decimation));
        	
-        	if(key.compareTo(getString(R.string.pref_key_depth_bleeding_error))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_depth_bleeding_error));
-			if(key.compareTo(getString(R.string.pref_key_arcore_relocalization_acc_thr))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_arcore_relocalization_acc_thr));
+        	if(key.compareTo(getString(R.string.pref_key_arcore_relocalization_acc_thr))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_arcore_relocalization_acc_thr));
        	if(key.compareTo(getString(R.string.pref_key_update_rate))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_update_rate));
        	if(key.compareTo(getString(R.string.pref_key_max_speed))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_max_speed));
        	if(key.compareTo(getString(R.string.pref_key_time_thr))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_time_thr));
@@ -8,90 +8,49 @@

 /* Begin PBXBuildFile section */
 		4E0D83832621F52C00C879AC /* Settings.bundle in Resources */ = {isa = PBXBuildFile; fileRef = 4E0D83822621F52C00C879AC /* Settings.bundle */; };
-		4E10D89C2DE409870015926D /* librtabmap_core.a in Frameworks */ = {isa = PBXBuildFile; fileRef = 4EFD0EB0259D5BE500575D88 /* librtabmap_core.a */; };
-		4E10D89D2DE409870015926D /* librtabmap_utilite.a in Frameworks */ = {isa = PBXBuildFile; fileRef = 4EFD0EAF259D5BE500575D88 /* librtabmap_utilite.a */; };
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-		4E10D8A02DE409BB0015926D /* libopencv_tracking.a in Frameworks */ = {isa = PBXBuildFile; fileRef = 4EFD0ECC259D5BFC00575D88 /* libopencv_tracking.a */; };
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+		4EFD0F2C259D5C2200575D88 /* libg2o_types_slam2d_addons.a in Frameworks */ = {isa = PBXBuildFile; fileRef = 4EFD0F16259D5C2200575D88 /* libg2o_types_slam2d_addons.a */; };
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+		4EFD0F2F259D5C2200575D88 /* libmetis.a in Frameworks */ = {isa = PBXBuildFile; fileRef = 4EFD0F19259D5C2200575D88 /* libmetis.a */; };
+		4EFD0F30259D5C2200575D88 /* libg2o_types_sclam2d.a in Frameworks */ = {isa = PBXBuildFile; fileRef = 4EFD0F1A259D5C2200575D88 /* libg2o_types_sclam2d.a */; };
+		4EFD0F31259D5C2200575D88 /* libg2o_types_sim3.a in Frameworks */ = {isa = PBXBuildFile; fileRef = 4EFD0F1B259D5C2200575D88 /* libg2o_types_sim3.a */; };
+		4EFD0F32259D5C2200575D88 /* libgtsam.a in Frameworks */ = {isa = PBXBuildFile; fileRef = 4EFD0F1C259D5C2200575D88 /* libgtsam.a */; };
+		4EFD0F34259D5C2900575D88 /* libflann_cpp_s.a in Frameworks */ = {isa = PBXBuildFile; fileRef = 4EFD0F33259D5C2900575D88 /* libflann_cpp_s.a */; };
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 		4EFD0F3A259D5D1500575D88 /* CameraMobile.cpp in Sources */ = {isa = PBXBuildFile; fileRef = 4EFD0F38259D5D1500575D88 /* CameraMobile.cpp */; };
+		4EFD0F3D259D5D5C00575D88 /* libsqlite3.tbd in Frameworks */ = {isa = PBXBuildFile; fileRef = 4EFD0F3C259D5D5C00575D88 /* libsqlite3.tbd */; };
+		4EFD0F50259D67D900575D88 /* liblibwebp.a in Frameworks */ = {isa = PBXBuildFile; fileRef = 4EFD0F4B259D67D900575D88 /* liblibwebp.a */; };
+		4EFD0F51259D67D900575D88 /* liblibpng.a in Frameworks */ = {isa = PBXBuildFile; fileRef = 4EFD0F4C259D67D900575D88 /* liblibpng.a */; };
+		4EFD0F52259D67D900575D88 /* liblibjpeg-turbo.a in Frameworks */ = {isa = PBXBuildFile; fileRef = 4EFD0F4D259D67D900575D88 /* liblibjpeg-turbo.a */; };
+		4EFD0F53259D67D900575D88 /* libzlib.a in Frameworks */ = {isa = PBXBuildFile; fileRef = 4EFD0F4E259D67D900575D88 /* libzlib.a */; };
+		4EFD0F54259D67D900575D88 /* liblibprotobuf.a in Frameworks */ = {isa = PBXBuildFile; fileRef = 4EFD0F4F259D67D900575D88 /* liblibprotobuf.a */; };
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+				4ED73AD12D7FECF3007899C2 /* liblaszip.a in Frameworks */,
+				4EFD0F50259D67D900575D88 /* liblibwebp.a in Frameworks */,
+				4EFD0F51259D67D900575D88 /* liblibpng.a in Frameworks */,
+				4EFD0F52259D67D900575D88 /* liblibjpeg-turbo.a in Frameworks */,
+				4EFD0F53259D67D900575D88 /* libzlib.a in Frameworks */,
+				4EFD0F54259D67D900575D88 /* liblibprotobuf.a in Frameworks */,
+				4EFD0F3D259D5D5C00575D88 /* libsqlite3.tbd in Frameworks */,
 				4EFD0F36259D5C7300575D88 /* vtk.framework in Frameworks */,
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+				4EFD0F1E259D5C2200575D88 /* libg2o_ext_csparse.a in Frameworks */,
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+				4EFD0F21259D5C2200575D88 /* libg2o_solver_pcg.a in Frameworks */,
+				4EFD0F22259D5C2200575D88 /* libg2o_types_data.a in Frameworks */,
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+				4EFD0F24259D5C2200575D88 /* libgtsam_unstable.a in Frameworks */,
+				4EFD0F25259D5C2200575D88 /* libg2o_types_icp.a in Frameworks */,
+				4EFD0F26259D5C2200575D88 /* libg2o_solver_csparse.a in Frameworks */,
+				4EFD0F27259D5C2200575D88 /* libg2o_solver_structure_only.a in Frameworks */,
+				4EFD0F28259D5C2200575D88 /* libg2o_solver_eigen.a in Frameworks */,
+				4EFD0F29259D5C2200575D88 /* libg2o_csparse_extension.a in Frameworks */,
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+				4EFD0F2E259D5C2200575D88 /* libg2o_types_slam3d.a in Frameworks */,
+				4EFD0F2F259D5C2200575D88 /* libmetis.a in Frameworks */,
+				4EFD0F30259D5C2200575D88 /* libg2o_types_sclam2d.a in Frameworks */,
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+				4E8B155426273A580037FC53 /* Zip in Frameworks */,
+				4EFD0EDD259D5BFC00575D88 /* libopencv_video.a in Frameworks */,
+				4EFD0EDE259D5BFC00575D88 /* libopencv_aruco.a in Frameworks */,
+				4EFD0EDF259D5BFC00575D88 /* libopencv_photo.a in Frameworks */,
+				4EFD0EE0259D5BFC00575D88 /* libopencv_line_descriptor.a in Frameworks */,
+				4EFD0EE1259D5BFC00575D88 /* libopencv_features2d.a in Frameworks */,
+				4EFD0EE2259D5BFC00575D88 /* libopencv_bgsegm.a in Frameworks */,
+				4EFD0EE3259D5BFC00575D88 /* libopencv_dnn_objdetect.a in Frameworks */,
+				4EFD0EE4259D5BFC00575D88 /* libopencv_objdetect.a in Frameworks */,
+				4EFD0EE5259D5BFC00575D88 /* libopencv_flann.a in Frameworks */,
+				4EFD0EE6259D5BFC00575D88 /* libopencv_stitching.a in Frameworks */,
+				4EFD0EE7259D5BFC00575D88 /* libopencv_imgproc.a in Frameworks */,
+				4EFD0EE8259D5BFC00575D88 /* libopencv_ml.a in Frameworks */,
+				4EFD0EE9259D5BFC00575D88 /* libopencv_rgbd.a in Frameworks */,
+				4EFD0EEA259D5BFC00575D88 /* libopencv_xphoto.a in Frameworks */,
+				4EFD0EEB259D5BFC00575D88 /* libopencv_phase_unwrapping.a in Frameworks */,
+				4EFD0EEC259D5BFC00575D88 /* libopencv_optflow.a in Frameworks */,
+				4EFD0EED259D5BFC00575D88 /* libopencv_imgcodecs.a in Frameworks */,
+				4EFD0EEE259D5BFC00575D88 /* libopencv_fuzzy.a in Frameworks */,
+				4EFD0EEF259D5BFC00575D88 /* libopencv_dpm.a in Frameworks */,
+				4EFD0EF0259D5BFC00575D88 /* libopencv_plot.a in Frameworks */,
+				4EFD0EF1259D5BFC00575D88 /* libopencv_dnn.a in Frameworks */,
+				4EFD0EF2259D5BFC00575D88 /* libopencv_saliency.a in Frameworks */,
+				4EFD0EF3259D5BFC00575D88 /* libopencv_videoio.a in Frameworks */,
+				4EFD0EF4259D5BFC00575D88 /* libopencv_hfs.a in Frameworks */,
+				4EFD0EF5259D5BFC00575D88 /* libopencv_tracking.a in Frameworks */,
+				4EFD0EF6259D5BFC00575D88 /* libopencv_text.a in Frameworks */,
+				4EFD0EF7259D5BFC00575D88 /* libopencv_face.a in Frameworks */,
+				4EFD0EF8259D5BFC00575D88 /* libopencv_bioinspired.a in Frameworks */,
+				4EFD0EF9259D5BFC00575D88 /* libopencv_highgui.a in Frameworks */,
+				4EFD0EFA259D5BFC00575D88 /* libopencv_core.a in Frameworks */,
+				4EFD0EFB259D5BFC00575D88 /* libopencv_shape.a in Frameworks */,
+				4EFD0EFC259D5BFC00575D88 /* libopencv_datasets.a in Frameworks */,
+				4EFD0EFD259D5BFC00575D88 /* libopencv_img_hash.a in Frameworks */,
+				4EFD0EFE259D5BFC00575D88 /* libopencv_surface_matching.a in Frameworks */,
+				4EFD0EFF259D5BFC00575D88 /* libopencv_calib3d.a in Frameworks */,
+				4EFD0F00259D5BFC00575D88 /* libopencv_structured_light.a in Frameworks */,
+				4EFD0F01259D5BFC00575D88 /* libopencv_reg.a in Frameworks */,
+				4EFD0F02259D5BFC00575D88 /* libopencv_xfeatures2d.a in Frameworks */,
+				4EFD0F03259D5BFC00575D88 /* libopencv_videostab.a in Frameworks */,
+				4EFD0F04259D5BFC00575D88 /* libopencv_ccalib.a in Frameworks */,
+				4EFD0F05259D5BFC00575D88 /* libopencv_ximgproc.a in Frameworks */,
+				4EFD0EB1259D5BE500575D88 /* librtabmap_utilite.a in Frameworks */,
+				4EFD0EB2259D5BE500575D88 /* librtabmap_core.a in Frameworks */,
 				4EFD0EAB259D581800575D88 /* OpenGLES.framework in Frameworks */,
-				4E10D89C2DE409870015926D /* librtabmap_core.a in Frameworks */,
-				4E10D89D2DE409870015926D /* librtabmap_utilite.a in Frameworks */,
-				4E10D89E2DE409A60015926D /* libopencv_xfeatures2d.a in Frameworks */,
-				4E10D89F2DE409B20015926D /* libopencv_video.a in Frameworks */,
-				4E10D8A02DE409BB0015926D /* libopencv_tracking.a in Frameworks */,
-				4E10D8A12DE409C00015926D /* libopencv_optflow.a in Frameworks */,
-				4E10D8A22DE409C70015926D /* libopencv_imgproc.a in Frameworks */,
-				4E10D8A32DE409CA0015926D /* libopencv_features2d.a in Frameworks */,
-				4E10D8A42DE409CE0015926D /* libopencv_core.a in Frameworks */,
-				4E10D8A52DE409D10015926D /* libopencv_calib3d.a in Frameworks */,
-				4E10D8A62DE409D50015926D /* libopencv_aruco.a in Frameworks */,
-				4E10D8A72DE409F40015926D /* libopencv_flann.a in Frameworks */,
-				4E10D8A82DE40A1B0015926D /* libopencv_ximgproc.a in Frameworks */,
-				4E10D8A92DE40A3A0015926D /* libopencv_photo.a in Frameworks */,
-				4E10D8AA2DE40A6C0015926D /* libopencv_objdetect.a in Frameworks */,
-				4E10D8AB2DE40A8C0015926D /* libopencv_stitching.a in Frameworks */,
-				4E10D8AC2DE40AA20015926D /* libopencv_imgcodecs.a in Frameworks */,
-				4E3525672DE4C72D00F39D8F /* libamd.a in Frameworks */,
-				4E3525642DE4C71C00F39D8F /* libsuitesparseconfig.a in Frameworks */,
-				4E3525652DE4C71C00F39D8F /* libspqr.a in Frameworks */,
-				4E35255E2DE4C71000F39D8F /* libcxsparse.a in Frameworks */,
-				4E35255F2DE4C71000F39D8F /* libcolamd.a in Frameworks */,
-				4E3525602DE4C71000F39D8F /* libcamd.a in Frameworks */,
-				4E3525612DE4C71000F39D8F /* libccolamd.a in Frameworks */,
-				4E3525592DE4C6F600F39D8F /* libcholmod.a in Frameworks */,
-				4E10D8AD2DE40E990015926D /* libg2o_core.a in Frameworks */,
-				4E3525572DE4C6E500F39D8F /* libg2o_solver_cholmod.a in Frameworks */,
-				4E3525542DE4C6E500F39D8F /* libg2o_csparse_extension.a in Frameworks */,
-				4E3525552DE4C6E500F39D8F /* libg2o_solver_csparse.a in Frameworks */,
-				4E10D8AE2DE40E990015926D /* libg2o_solver_dense.a in Frameworks */,
-				4E10D8AF2DE40E990015926D /* libg2o_solver_eigen.a in Frameworks */,
-				4E10D8B02DE40E990015926D /* libg2o_solver_pcg.a in Frameworks */,
-				4E10D8B12DE40E990015926D /* libg2o_solver_slam2d_linear.a in Frameworks */,
-				4E10D8B22DE40E990015926D /* libg2o_solver_structure_only.a in Frameworks */,
-				4E10D8B32DE40E990015926D /* libg2o_stuff.a in Frameworks */,
-				4E10D8B42DE40E990015926D /* libg2o_types_data.a in Frameworks */,
-				4E10D8B52DE40E990015926D /* libg2o_types_icp.a in Frameworks */,
-				4E10D8B62DE40E990015926D /* libg2o_types_sba.a in Frameworks */,
-				4E10D8B72DE40E990015926D /* libg2o_types_sclam2d.a in Frameworks */,
-				4E10D8B82DE40E990015926D /* libg2o_types_sim3.a in Frameworks */,
-				4E10D8B92DE40E990015926D /* libg2o_types_slam2d_addons.a in Frameworks */,
-				4E10D8BA2DE40E990015926D /* libg2o_types_slam2d.a in Frameworks */,
-				4E10D8BB2DE40E990015926D /* libg2o_types_slam3d_addons.a in Frameworks */,
-				4E10D8BC2DE40E990015926D /* libg2o_types_slam3d.a in Frameworks */,
-				4E10D8BD2DE40EC70015926D /* libpcl_common.a in Frameworks */,
-				4E10D8BE2DE40EC70015926D /* libpcl_features.a in Frameworks */,
-				4E10D8BF2DE40EC70015926D /* libpcl_filters.a in Frameworks */,
-				4E10D8C02DE40EC70015926D /* libpcl_io_ply.a in Frameworks */,
-				4E10D8C12DE40EC70015926D /* libpcl_io.a in Frameworks */,
-				4E10D8C22DE40EC70015926D /* libpcl_kdtree.a in Frameworks */,
-				4E10D8C32DE40EC70015926D /* libpcl_keypoints.a in Frameworks */,
-				4E10D8C42DE40EC70015926D /* libpcl_ml.a in Frameworks */,
-				4E10D8C52DE40EC70015926D /* libpcl_octree.a in Frameworks */,
-				4E10D8C62DE40EC70015926D /* libpcl_registration.a in Frameworks */,
-				4E10D8C72DE40EC70015926D /* libpcl_sample_consensus.a in Frameworks */,
-				4E10D8C82DE40EC70015926D /* libpcl_search.a in Frameworks */,
-				4E10D8C92DE40EC70015926D /* libpcl_segmentation.a in Frameworks */,
-				4E10D8CA2DE40EC70015926D /* libpcl_stereo.a in Frameworks */,
-				4E10D8CB2DE40EC70015926D /* libpcl_surface.a in Frameworks */,
-				4E10D8CC2DE40EE30015926D /* libgtsam_unstable.a in Frameworks */,
-				4E10D8CD2DE40EE30015926D /* libgtsam.a in Frameworks */,
-				4E10D8CE2DE40EE30015926D /* libmetis-gtsam.a in Frameworks */,
-				4E10D8CF2DE40EF90015926D /* libboost_serialization.a in Frameworks */,
-				4E10D8D02DE40F060015926D /* libboost_timer.a in Frameworks */,
-				4E10D8D42DE40F2A0015926D /* libboost_thread.a in Frameworks */,
-				4E10D8D12DE40F190015926D /* liblas_c.a in Frameworks */,
-				4E10D8D22DE40F190015926D /* liblas.a in Frameworks */,
-				4E10D8D32DE40F190015926D /* liblaszip.a in Frameworks */,
-				4E10D8E12DE4101B0015926D /* liblibjpeg-turbo.a in Frameworks */,
-				4E10D8E22DE4101B0015926D /* liblibpng.a in Frameworks */,
+				4EFD0B36259D4DE900575D88 /* libboost_filesystem.a in Frameworks */,
+				4EFD0B37259D4DE900575D88 /* libboost_program_options.a in Frameworks */,
+				4EFD0B38259D4DE900575D88 /* libboost_regex.a in Frameworks */,
+				4EFD0B39259D4DE900575D88 /* libboost_iostreams.a in Frameworks */,
+				4EFD0B3A259D4DE900575D88 /* libboost_date_time.a in Frameworks */,
+				4EFD0B3B259D4DE900575D88 /* libboost_serialization.a in Frameworks */,
+				4EFD0B3C259D4DE900575D88 /* libboost_system.a in Frameworks */,
+				4EFD0B3D259D4DE900575D88 /* libboost_signals.a in Frameworks */,
+				4EFD0B3E259D4DE900575D88 /* libboost_thread.a in Frameworks */,
+				4EFD0B3F259D4DE900575D88 /* libboost_timer.a in Frameworks */,
+				4EFD0B40259D4DE900575D88 /* libboost_chrono.a in Frameworks */,
+				4EFD0B51259D4DF100575D88 /* libpcl_stereo.a in Frameworks */,
+				4EFD0B52259D4DF100575D88 /* libpcl_registration.a in Frameworks */,
+				4EFD0B53259D4DF100575D88 /* libpcl_features.a in Frameworks */,
+				4EFD0B54259D4DF100575D88 /* libpcl_filters.a in Frameworks */,
+				4EFD0B55259D4DF100575D88 /* libpcl_sample_consensus.a in Frameworks */,
+				4EFD0B56259D4DF100575D88 /* libpcl_kdtree.a in Frameworks */,
+				4EFD0B57259D4DF100575D88 /* libpcl_search.a in Frameworks */,
+				4EFD0B58259D4DF100575D88 /* libpcl_surface.a in Frameworks */,
+				4EFD0B59259D4DF100575D88 /* libpcl_keypoints.a in Frameworks */,
+				4EFD0B5A259D4DF100575D88 /* libpcl_recognition.a in Frameworks */,
+				4EFD0B5B259D4DF100575D88 /* libpcl_octree.a in Frameworks */,
+				4EFD0B5C259D4DF100575D88 /* libpcl_io.a in Frameworks */,
+				4EFD0B5D259D4DF100575D88 /* libpcl_common.a in Frameworks */,
+				4EFD0B5E259D4DF100575D88 /* libpcl_io_ply.a in Frameworks */,
+				4EFD0B5F259D4DF100575D88 /* libpcl_ml.a in Frameworks */,
+				4EFD0B60259D4DF100575D88 /* libpcl_segmentation.a in Frameworks */,
 			);
 			runOnlyForDeploymentPostprocessing = 0;
 		};
@@ -492,51 +509,6 @@
 		4EFD0B2A259D4DE900575D88 /* Frameworks */ = {
 			isa = PBXGroup;
 			children = (
-				4E3525662DE4C72D00F39D8F /* libamd.a */,
-				4E3525632DE4C71C00F39D8F /* libspqr.a */,
-				4E3525622DE4C71C00F39D8F /* libsuitesparseconfig.a */,
-				4E35255C2DE4C71000F39D8F /* libcamd.a */,
-				4E35255D2DE4C71000F39D8F /* libccolamd.a */,
-				4E35255B2DE4C71000F39D8F /* libcolamd.a */,
-				4E35255A2DE4C71000F39D8F /* libcxsparse.a */,
-				4E3525582DE4C6F600F39D8F /* libcholmod.a */,
-				4E3525562DE4C6E500F39D8F /* libg2o_solver_cholmod.a */,
-				4E10D8DB2DE40FF60015926D /* libade.a */,
-				4E10D8DA2DE40FF60015926D /* libIlmImf.a */,
-				4E10D8DC2DE40FF60015926D /* liblibprotobuf.a */,
-				4E10D8D92DE40FF60015926D /* libzlib.a */,
-				4E10D8D72DE40FCA0015926D /* liblibpng.a */,
-				4E10D8D52DE40FBE0015926D /* liblibjpeg-turbo.a */,
-				4E10D8682DE408EE0015926D /* libboost_atomic.a */,
-				4E10D8732DE408EF0015926D /* libboost_charconv.a */,
-				4E10D8642DE408EE0015926D /* libboost_container.a */,
-				4E10D8762DE408EF0015926D /* libboost_contract.a */,
-				4E10D8652DE408EE0015926D /* libboost_graph.a */,
-				4E10D8662DE408EE0015926D /* libboost_json.a */,
-				4E10D86A2DE408EF0015926D /* libboost_locale.a */,
-				4E10D87B2DE408EF0015926D /* libboost_nowide.a */,
-				4E10D8792DE408EF0015926D /* libboost_prg_exec_monitor.a */,
-				4E10D8712DE408EF0015926D /* libboost_random.a */,
-				4E10D87A2DE408EF0015926D /* libboost_stacktrace_addr2line.a */,
-				4E10D8672DE408EE0015926D /* libboost_stacktrace_basic.a */,
-				4E10D8602DE408EE0015926D /* libboost_stacktrace_noop.a */,
-				4E10D87C2DE408EF0015926D /* libboost_test_exec_monitor.a */,
-				4E10D8742DE408EF0015926D /* libboost_type_erasure.a */,
-				4E10D8702DE408EF0015926D /* libboost_unit_test_framework.a */,
-				4E10D86F2DE408EF0015926D /* libboost_url.a */,
-				4E10D8722DE408EF0015926D /* libboost_wave.a */,
-				4E10D8612DE408EE0015926D /* libboost_wserialization.a */,
-				4E10D8752DE408EF0015926D /* liblas_c.a */,
-				4E10D86B2DE408EF0015926D /* liblz4.a */,
-				4E10D8622DE408EE0015926D /* libmetis-gtsam.a */,
-				4E10D86C2DE408EF0015926D /* libopencv_dnn_superres.a */,
-				4E10D8772DE408EF0015926D /* libopencv_gapi.a */,
-				4E10D8692DE408EE0015926D /* libopencv_intensity_transform.a */,
-				4E10D87D2DE408EF0015926D /* libopencv_mcc.a */,
-				4E10D86E2DE408EF0015926D /* libopencv_quality.a */,
-				4E10D86D2DE408EF0015926D /* libopencv_rapid.a */,
-				4E10D8782DE408EF0015926D /* libopencv_signal.a */,
-				4E10D8632DE408EE0015926D /* libopencv_wechat_qrcode.a */,
 				4ED73AD02D7FECF3007899C2 /* liblaszip.a */,
 				4EFAA9422CAE4E960055DA51 /* liblas.a */,
 				4EFD0F4D259D67D900575D88 /* liblibjpeg-turbo.a */,
@@ -917,7 +889,7 @@
 				ALWAYS_SEARCH_USER_PATHS = NO;
 				CLANG_ANALYZER_NONNULL = YES;
 				CLANG_ANALYZER_NUMBER_OBJECT_CONVERSION = YES_AGGRESSIVE;
-				CLANG_CXX_LANGUAGE_STANDARD = "gnu++17";
+				CLANG_CXX_LANGUAGE_STANDARD = "gnu++14";
 				CLANG_CXX_LIBRARY = "libc++";
 				CLANG_ENABLE_MODULES = YES;
 				CLANG_ENABLE_OBJC_ARC = YES;
@@ -948,7 +920,7 @@
 				DEBUG_INFORMATION_FORMAT = dwarf;
 				ENABLE_STRICT_OBJC_MSGSEND = YES;
 				ENABLE_TESTABILITY = YES;
-				GCC_C_LANGUAGE_STANDARD = gnu17;
+				GCC_C_LANGUAGE_STANDARD = gnu11;
 				GCC_DYNAMIC_NO_PIC = NO;
 				GCC_NO_COMMON_BLOCKS = YES;
 				GCC_OPTIMIZATION_LEVEL = 0;
@@ -978,7 +950,7 @@
 				ALWAYS_SEARCH_USER_PATHS = NO;
 				CLANG_ANALYZER_NONNULL = YES;
 				CLANG_ANALYZER_NUMBER_OBJECT_CONVERSION = YES_AGGRESSIVE;
-				CLANG_CXX_LANGUAGE_STANDARD = "gnu++17";
+				CLANG_CXX_LANGUAGE_STANDARD = "gnu++14";
 				CLANG_CXX_LIBRARY = "libc++";
 				CLANG_ENABLE_MODULES = YES;
 				CLANG_ENABLE_OBJC_ARC = YES;
@@ -1009,7 +981,7 @@
 				DEBUG_INFORMATION_FORMAT = "dwarf-with-dsym";
 				ENABLE_NS_ASSERTIONS = NO;
 				ENABLE_STRICT_OBJC_MSGSEND = YES;
-				GCC_C_LANGUAGE_STANDARD = gnu17;
+				GCC_C_LANGUAGE_STANDARD = gnu11;
 				GCC_NO_COMMON_BLOCKS = YES;
 				GCC_PREPROCESSOR_DEFINITIONS = "";
 				GCC_WARN_64_TO_32_BIT_CONVERSION = YES;
@@ -1063,9 +1035,8 @@
 					"$(inherited)",
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/lib",
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
-					"$(PROJECT_DIR)/RTABMapApp/Libraries/lib/opencv4/3rdparty",
 				);
-				MARKETING_VERSION = 0.23.7;
+				MARKETING_VERSION = 0.21.11;
 				OTHER_CFLAGS = "";
 				PRODUCT_BUNDLE_IDENTIFIER = com.introlab.rtabmap;
 				PRODUCT_NAME = "$(TARGET_NAME)";
@@ -1077,12 +1048,11 @@
 				SYSTEM_HEADER_SEARCH_PATHS = (
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include/eigen3\"",
-					"\"$(SRCROOT)/RTABMapApp/Libraries/include/pcl-1.15\"",
-					"\"$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.23\"",
+					"\"$(SRCROOT)/RTABMapApp/Libraries/include/pcl-1.11\"",
+					"\"$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.21\"",
 					"\"$(SRCROOT)/../android/jni/tango-gl/include\"",
 					"\"$(SRCROOT)/../android/jni/third-party/include\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/lib/vtk.framework/Headers\"",
-					"\"$(SRCROOT)/RTABMapApp/Libraries/include/opencv4\"",
 				);
 				TARGETED_DEVICE_FAMILY = "1,2";
 				VALIDATE_WORKSPACE = NO;
@@ -1123,9 +1093,8 @@
 					"$(inherited)",
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/lib",
 					"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
-					"$(PROJECT_DIR)/RTABMapApp/Libraries/lib/opencv4/3rdparty",
 				);
-				MARKETING_VERSION = 0.23.7;
+				MARKETING_VERSION = 0.21.11;
 				ONLY_ACTIVE_ARCH = YES;
 				OTHER_CFLAGS = "";
 				PRODUCT_BUNDLE_IDENTIFIER = com.introlab.rtabmap;
@@ -1138,12 +1107,11 @@
 				SYSTEM_HEADER_SEARCH_PATHS = (
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/include/eigen3\"",
-					"\"$(SRCROOT)/RTABMapApp/Libraries/include/pcl-1.15\"",
-					"\"$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.23\"",
+					"\"$(SRCROOT)/RTABMapApp/Libraries/include/pcl-1.11\"",
+					"\"$(SRCROOT)/RTABMapApp/Libraries/include/rtabmap-0.21\"",
 					"\"$(SRCROOT)/../android/jni/tango-gl/include\"",
 					"\"$(SRCROOT)/../android/jni/third-party/include\"",
 					"\"$(SRCROOT)/RTABMapApp/Libraries/lib/vtk.framework/Headers\"",
-					"\"$(SRCROOT)/RTABMapApp/Libraries/include/opencv4\"",
 				);
 				TARGETED_DEVICE_FAMILY = "1,2";
 				VALIDATE_WORKSPACE = NO;
@@ -505,13 +505,6 @@ void setSmoothingNative(const void *object, bool enabled)
    else
        UERROR("object is null!");
 }
-void setDepthBleedingErrorNative(const void *object, float value)
-{
-    if(object)
-        native(object)->setDepthBleedingError(value);
-    else
-        UERROR("object is null!");
-}
 void setAppendModeNative(const void *object, bool enabled)
 {
    if(object)
@@ -101,7 +101,6 @@ void setGraphVisibleNative(const void *object, bool visible);
 void setGridVisibleNative(const void *object, bool visible);
 void setFullResolutionNative(const void *object, bool enabled);
 void setSmoothingNative(const void *object, bool enabled);
-void setDepthBleedingErrorNative(const void *object, float value);
 void setAppendModeNative(const void *object, bool enabled);
 void setUpstreamRelocalizationAccThrNative(const void *object, float value);
 void setMaxCloudDepthNative(const void *object, float value);
@@ -453,9 +453,6 @@ class RTABMap {
    func setSmoothing(enabled: Bool) {
        setSmoothingNative(native_rtabmap, enabled)
    }
-    func setDepthBleedingError(value: Float) {
-        setDepthBleedingErrorNative(native_rtabmap, value)
-    }
    func setAppendMode(enabled: Bool) {
        setAppendModeNative(native_rtabmap, enabled)
    }
@@ -162,6 +162,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
    func resetNoTouchTimer(_ showHud: Bool = false) {
        if(showHud)
        {
+            print("Show HUD")
            mMenuOpened = false
            mHudVisible = true
            setNeedsStatusBarAppearanceUpdate()
@@ -183,6 +184,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
        }
        else if(mState != .STATE_WELCOME && mState != .STATE_CAMERA && presentedViewController as? UIAlertController == nil && !mMenuOpened)
        {
+            print("Hide HUD")
            self.mHudVisible = false
            self.setNeedsStatusBarAppearanceUpdate()
            self.updateState(state: self.mState)
@@ -838,11 +840,13 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
            self.isPaused = true
            view?.enableSetNeedsDisplay = true
            self.view.setNeedsDisplay()
+            print("enableSetNeedsDisplay")
        }
        else
        {
            view?.enableSetNeedsDisplay = false
            self.isPaused = false
+            print("disableSetNeedsDisplay")
        }
        
        if !self.isPaused {
@@ -930,6 +934,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
        ])
        
        // Measuring menu
+        print("measuringMode = \(measuringMode)")
        let measuringMenu = UIMenu(title: "Measuring...", image: UIImage(systemName: "ruler"), children: [
            UIAction(title: "Plane to Plane Mode", image: measuringMode == 0 ? UIImage(systemName: "checkmark.circle") : UIImage(systemName: "circle"), handler: { _ in
                self.measuringMode = 0
@@ -1511,7 +1516,6 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
        rtabmap!.setNodesFiltering(enabled: defaults.bool(forKey: "NodesFiltering"));
        rtabmap!.setFullResolution(enabled: defaults.bool(forKey: "HDMode"));
        rtabmap!.setSmoothing(enabled: defaults.bool(forKey: "Smoothing"));
-        rtabmap!.setDepthBleedingError(value: defaults.float(forKey: "DepthBleedingError"));
        rtabmap!.setAppendMode(enabled: defaults.bool(forKey: "AppendMode"));
        rtabmap!.setUpstreamRelocalizationAccThr(value: defaults.float(forKey: "UpstreamRelocalizationFilteringAccThr"));
        rtabmap!.setExportPointCloudFormat(format: defaults.string(forKey: "ExportPointCloudFormat")!);
@@ -1914,9 +1918,7 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
            })
            
        }))
-	
-        let previousState = mState
-        
+
        updateState(state: .STATE_PROCESSING);
        
        present(alertView, animated: true, completion: {
@@ -1987,11 +1989,8 @@ class ViewController: GLKViewController, ARSessionDelegate, RTABMapObserver, UIP
                            self.updateState(state: .STATE_VISUALIZING)
                            
                            self.rtabmap!.postExportation(visualize: true)
-							
-                            if previousState != .STATE_VISUALIZING
-                            {
-                                self.setGLCamera(type: 2)
-                            }
+
+                            self.setGLCamera(type: 2)

                            if self.openedDatabasePath == nil
                            {
@@ -2,7 +2,7 @@

 set -euxo pipefail

-# Tested on Apple Silicon Mac, with cmake 4.0.2, XCode 16.3.
+# Tested on Apple Silicon Mac, with cmake 3.19.2.

 mkdir -p Libraries
 cd Libraries
@@ -28,65 +28,41 @@ sysroot=iphoneos
 # Boost
 if [ ! -e $prefix/include/boost ]
 then
-if [ ! -e boost-1.88.0 ]
+if [ ! -e boost_1_59_0 ]
 then
  echo "wget boost..."
-  curl -L https://github.com/boostorg/boost/releases/download/boost-1.88.0/boost-1.88.0-cmake.tar.gz -o boost-1.88.0-cmake.tar.gz
-  tar -xzf boost-1.88.0-cmake.tar.gz
+  curl -L https://downloads.sourceforge.net/project/boost/boost/1.59.0/boost_1_59_0.tar.gz -o boost_1_59_0.tar.gz
+  tar -xzf boost_1_59_0.tar.gz
 fi
-cd boost-1.88.0
+cd boost_1_59_0
+curl -L https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/489ff2869eccd6f8d03ffb9090ef839108762741/BoostConfig.cmake.in -o BoostConfig.cmake.in
+curl -L https://gist.github.com/matlabbe/0bce8feeb73a499a76afbbcc5c687221/raw/b07fe7d4e5dfe5f1d110c733e5cf660d79a26378/CMakeLists.txt -o CMakeLists.txt
 mkdir -p build
 cd build
-cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DBOOST_INCOMPATIBLE_LIBRARIES="process;context;coroutine;fiber;fiber_numa;log_setup;log;cobalt" -DBOOST_IOSTREAMS_ENABLE_ZLIB=OFF -DBOOST_IOSTREAMS_ENABLE_BZIP2=OFF ..
+cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix ..
 cmake --build . --config Release
 cmake --build . --config Release --target install
 cd $pwd
-#rm -r boost-1.88.0-cmake.tar.gz boost-1.88.0
+#rm -r boost_1_59_0.tar.gz boost_1_59_0
 fi

 # eigen
 if [ ! -e $prefix/include/eigen3 ]
 then
-if [ ! -e eigen-3.4.0 ]
+if [ ! -e eigen-3.3.9 ]
 then
  echo "wget eigen..."
-  curl -L https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.tar.gz -o 3.4.0.tar.gz
-  tar -xzf 3.4.0.tar.gz
+  curl -L https://gitlab.com/libeigen/eigen/-/archive/3.3.9/eigen-3.3.9.tar.gz -o 3.3.9.tar.gz
+  tar -xzf 3.3.9.tar.gz
 fi
-cd eigen-3.4.0
+cd eigen-3.3.9
 mkdir -p build
 cd build
 cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix ..
 cmake --build . --config Release
 cmake --build . --config Release --target install
 cd $pwd
-#rm -r 3.4.0.tar.gz eigen-3.4.0
-fi
-
-# lz4 (required by flann)
-if [ ! -e $prefix/include/lz4.h ]
-then
-if [ ! -e lz4 ]
-then
-  echo "wget lz4..."
-  git clone https://github.com/lz4/lz4.git -b v1.10.0
-fi
-cd lz4
-if [ ! -e LZ4Config.cmake.in ]
-then
-  curl -L https://gist.githubusercontent.com/matlabbe/abd0242305c29495bbba26065269daf2/raw/ad0b1865c02e61449f58358fdc4ddbed3cb5fb87/LZ4Config.cmake.in -o LZ4Config.cmake.in
-fi
-if [ ! -e CMakeLists.txt ]
-then
-  curl -L https://gist.githubusercontent.com/matlabbe/abd0242305c29495bbba26065269daf2/raw/ad0b1865c02e61449f58358fdc4ddbed3cb5fb87/CMakeLists.txt -o CMakeLists.txt
-fi
-mkdir -p build
-cd build
-cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix ..
-cmake --build . --config Release -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS=""  CODE_SIGNING_ALLOWED="NO"
-cmake --build . --config Release --target install -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS=""  CODE_SIGNING_ALLOWED="NO"
-cd $pwd
-#rm -r lz4
+#rm -r 3.3.9.tar.gz eigen-3.3.9
 fi

 # FLANN
@@ -95,17 +71,19 @@ then
 if [ ! -e flann ]
 then
  echo "wget flann..."
-  git clone https://github.com/flann-lib/flann.git -b 1.9.2
+  git clone https://github.com/flann-lib/flann.git -b 1.8.4
 fi
 cd flann
-if [ ! -e flann_ios_lz4.patch ]
+if [ ! -e flann_ios.patch ]
 then
-  curl -L https://gist.githubusercontent.com/matlabbe/c858ba36fb85d5e44d8667dfb3543e12/raw/2586a356dec2b11440ec3c1bb113e709e1266d97/flann_ios_lz4.patch  -o flann_ios_lz4.patch
-  git apply flann_ios_lz4.patch
+  curl -L https://gist.githubusercontent.com/matlabbe/c858ba36fb85d5e44d8667dfb3543e12/raw/8fc40aa9bc3267604869444020476a49f14ab424/flann_ios.patch  -o flann_ios.patch
+  git apply flann_ios.patch
 fi
 mkdir -p build
 cd build
-cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DBUILD_PYTHON_BINDINGS=OFF -DBUILD_MATLAB_BINDINGS=OFF -DBUILD_C_BINDINGS=OFF -DBUILD_EXAMPLES=OFF -DBUILD_TESTS=OFF -DBUILD_DOC=OFF -DUSE_OPENMP=OFF -DLZ4_DIR=$prefix/lib/lz4  ..
+# comment "add_subdirectory( test )" in top CMakeLists.txt
+# comment "add_subdirectory( doc )" in top CMakeLists.txt
+cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DBUILD_PYTHON_BINDINGS=OFF -DBUILD_MATLAB_BINDINGS=OFF -DBUILD_C_BINDINGS=OFF  ..
 cmake --build . --config Release -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS=""  CODE_SIGNING_ALLOWED="NO"
 cmake --build . --config Release --target install -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS=""  CODE_SIGNING_ALLOWED="NO"
 cd $pwd
@@ -117,14 +95,17 @@ if [ ! -e $prefix/include/gtsam ]
 then
 if [ ! -e gtsam ]
 then
-  git clone https://github.com/borglab/gtsam.git -b 4.2
+  git clone https://bitbucket.org/gtborg/gtsam.git
+  cd gtsam
+  git checkout fbb9d3bdda8b88df51896bc401bfd170573e66f5
+else
+  cd gtsam
 fi
-cd gtsam
 # patch
-if [ ! -e gtsam_4_2_ios.patch ]
+if [ ! -e gtsam_GKlib_ios_fix.patch ]
 then
-  curl -L https://gist.githubusercontent.com/matlabbe/76d658dddb841b3355ae3a6e32850cd8/raw/e7355348c2d536ec50f41effa775ed251ae4e045/gtsam_4_2_ios.patch -o gtsam_4_2_ios.patch
-  git apply gtsam_4_2_ios.patch
+  curl -L https://gist.github.com/matlabbe/76d658dddb841b3355ae3a6e32850cd8/raw/7033cba1c89097b0c830651d7277c04dc92cbdd9/gtsam_GKlib_ios_fix.patch -o gtsam_GKlib_ios_fix.patch
+  git apply gtsam_GKlib_ios_fix.patch
 fi
 mkdir -p build
 cd build
@@ -135,36 +116,22 @@ cd $pwd
 #rm -rf gtsam
 fi

-# suitesparse (dependency of g2o)
-if [ ! -e $prefix/include/suitesparse/SuiteSparse_config.h ]
-then
-if [ ! -e SuiteSparse ]
-then
-  git clone https://github.com/DrTimothyAldenDavis/SuiteSparse.git -b v7.6.1
-fi
-cd SuiteSparse
-mkdir -p build
-cd build
-cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DCMAKE_FIND_ROOT_PATH=$prefix -DSUITESPARSE_USE_OPENMP=OFF -DSUITESPARSE_ENABLE_PROJECTS="cholmod;cxsparse;spqr"  ..
-cmake --build . --config Release -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS=""  CODE_SIGNING_ALLOWED="NO"
-cmake --build . --config Release --target install -- CODE_SIGN_IDENTITY="" CODE_SIGNING_REQUIRED="NO" CODE_SIGN_ENTITLEMENTS=""  CODE_SIGNING_ALLOWED="NO"
-cd $pwd
-fi
-
 # g2o
 if [ ! -e $prefix/include/g2o ]
 then
 if [ ! -e g2o ]
 then
-  git clone https://github.com/RainerKuemmerle/g2o.git -b 20241228_git
+  git clone https://github.com/RainerKuemmerle/g2o.git
+  cd g2o
+  git checkout a3f7706bdbb849b2808dc3e1b7aee189f63b498e
+else
+  cd g2o
 fi
-cd g2o
 # patch
-if [ ! -e g2o_20241228_ios.patch ]
+if [ ! -e g2o_ios_fix.patch ]
 then
-ls
-  curl -L https://gist.githubusercontent.com/matlabbe/b9ccfeae8f0744b275cab23510872680/raw/6fe2ffe5ba8fba59171adbd2f38f9c3999c61f75/g2o_20241228_ios.patch -o g2o_20241228_ios.patch
-  git apply g2o_20241228_ios.patch
+  curl -L https://gist.github.com/matlabbe/b9ccfeae8f0744b275cab23510872680/raw/a58e06accba3976420d4b61341685c123193810e/g2o_ios_fix.patch -o g2o_ios_fix.patch
+  git apply g2o_ios_fix.patch
 fi
 mkdir -p build
 cd build
@@ -175,18 +142,6 @@ cd $pwd
 #rm -rf g2o
 fi

-# g2o's installed CMake config hard-codes the absolute build-time prefix of its
-# external dependencies (e.g. suitesparse) in INTERFACE_INCLUDE_DIRECTORIES. That
-# path doesn't exist when the prebuilt Libraries archive is unpacked on another
-# machine (CI), breaking find_package(g2o) with "includes non-existent path".
-# Rewrite those absolute paths to be relocatable (relative to the config file).
-# Run unconditionally (outside the build guard above) so it also fixes the prebuilt
-# archive in CI, where the g2o build step is skipped.
-find "$prefix/lib" -path '*/cmake/g2o/*.cmake' -print0 | while IFS= read -r -d '' f
-do
-  sed -i '' -E 's#[^";]*/Libraries#${CMAKE_CURRENT_LIST_DIR}/../../..#g' "$f"
-done
-
 # VTK
 if [ ! -e $prefix/lib/vtk.framework ]
 then
@@ -194,10 +149,11 @@ if [ ! -e VTK ]
 then
  git clone https://github.com/Kitware/VTK.git
  cd VTK
-  git checkout tags/v9.5.0.rc1
+  git checkout tags/v8.2.0
 else
  cd VTK
 fi
+git cherry-pick bf3ae8072df2393c7270509bae41be0776826346
 mkdir -p build
 cd build
 cmake -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_FRAMEWORK_INSTALL_PREFIX=$prefix/lib -DIOS_DEVICE_ARCHITECTURES="arm64" -DIOS_SIMULATOR_ARCHITECTURES="" -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF -DVTK_IOS_BUILD=ON -DModule_vtkFiltersModeling=ON ..
@@ -207,28 +163,26 @@ cd $pwd
 #rm -rf VTK
 fi

-
-
 # PCL
-if [ ! -e $prefix/include/pcl-1.15 ]
+if [ ! -e $prefix/include/pcl-1.11 ]
 then
 if [ ! -e pcl ]
 then
  git clone https://github.com/PointCloudLibrary/pcl.git
  cd pcl
-  git checkout tags/pcl-1.15.0
+  git checkout tags/pcl-1.11.1
 else
  cd pcl
 fi
 # patch
-if [ ! -e pcl_1_15_0_ios.patch ]
+if [ ! -e pcl_1_11_1_vtk_ios_support.patch ]
 then
-  curl -L https://gist.githubusercontent.com/matlabbe/f3ba9366eb91e1b855dadd2ddce5746d/raw/7231688d7fb9e86df72ca7c5f355d6b9727205d5/pcl_1_15_0_ios.patch -o pcl_1_15_0_ios.patch
-  git apply pcl_1_15_0_ios.patch
+  curl -L https://gist.github.com/matlabbe/f3ba9366eb91e1b855dadd2ddce5746d/raw/6869cf26211ab15492599e557b0e729b23b2c119/pcl_1_11_1_vtk_ios_support.patch -o pcl_1_11_1_vtk_ios_support.patch
+  git apply pcl_1_11_1_vtk_ios_support.patch
 fi
 mkdir -p build
 cd build
-cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_recognition=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_OPENMP=OFF -DWITH_VTK=ON -DPCL_FLANN_REQUIRED_TYPE=STATIC -DPCL_SHARED_LIBS=OFF -DPCL_ENABLE_SSE=OFF -DCMAKE_FIND_ROOT_PATH=$prefix ..
+cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DBUILD_apps=OFF -DBUILD_examples=OFF -DBUILD_tools=OFF -DBUILD_visualization=OFF -DBUILD_tracking=OFF -DBUILD_people=OFF -DBUILD_global_tests=OFF -DWITH_QT=OFF -DWITH_OPENGL=OFF -DWITH_VTK=ON -DPCL_SHARED_LIBS=OFF -DPCL_ENABLE_SSE=OFF -DCMAKE_FIND_ROOT_PATH=$prefix ..
 cmake --build . --config Release
 cmake --build . --config Release --target install
 cd $pwd
@@ -236,21 +190,32 @@ cd $pwd
 fi

 # OpenCV
-if [ ! -e $prefix/include/opencv4 ]
+if [ ! -e $prefix/include/opencv2 ]
 then
 if [ ! -e opencv_contrib ]
 then
-  git clone https://github.com/opencv/opencv_contrib.git -b 4.11.0
+  git clone https://github.com/opencv/opencv_contrib.git
+  cd opencv_contrib
+  git checkout tags/3.4.2
 fi
 cd $pwd
 if [ ! -e opencv ]
 then
-  git clone https://github.com/opencv/opencv.git -b 4.11.0
+  git clone https://github.com/opencv/opencv.git
+  cd opencv
+  git checkout tags/3.4.2
+else
+  cd opencv
+fi
+if [ ! -e opencv_ios.patch ]
+then
+  curl -L https://gist.githubusercontent.com/matlabbe/fdc3ab4854f3a68fbde7277f543b4e5b/raw/f340839c09165056d3845645df24b76507542fd2/opencv_ios.patch -o opencv_ios.patch
+  git apply opencv_ios.patch
 fi
-cd opencv
 mkdir -p build
 cd build
-cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DOPENCV_EXTRA_MODULES_PATH=$prefix/opencv_contrib/modules -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DWITH_CUDA=OFF -DWITH_WEBP=OFF -DWITH_OPENEXR=OFF -DBUILD_opencv_apps=OFF -DBUILD_opencv_xobjdetect=OFF -DBUILD_opencv_stereo=OFF -DOPENCV_ENABLE_NONFREE=ON ..
+# add "add_definitions(-DPNG_ARM_NEON_OPT=0)" in 3rdparty/libpng/CMakeLists.txt
+cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DOPENCV_EXTRA_MODULES_PATH=$prefix/opencv_contrib/modules -DBUILD_TESTS=OFF -DBUILD_PERF_TESTS=OFF -DWITH_CUDA=OFF -DBUILD_opencv_apps=OFF -DBUILD_opencv_xobjdetect=OFF -DBUILD_opencv_stereo=OFF ..
 cmake --build . --config Release
 cmake --build . --config Release --target install
 cd $pwd
@@ -263,10 +228,12 @@ if [ ! -e $prefix/include/laszip ]
 then
 if [ ! -e LASzip ]
 then
-  git clone https://github.com/LASzip/LASzip.git -b 2.0.1
+  git clone https://github.com/LASzip/LASzip.git
+  cd LASzip
+  git checkout 2.0.1
+else
+  cd LASzip
 fi
-cd LASzip
-sed -i '' 's/cmake_minimum_required(VERSION 2.6.0)/cmake_minimum_required(VERSION 3.5)/g' CMakeLists.txt
 sed -i '' 's/add_subdirectory(tools)/#add_subdirectory(tools)/g' CMakeLists.txt
 mkdir -p build
 cd build
@@ -284,7 +251,6 @@ then
  git clone https://github.com/libLAS/libLAS.git
 fi
 cd libLAS
-sed -i '' 's/cmake_minimum_required(VERSION 2.8.11)/cmake_minimum_required(VERSION 3.5)/g' CMakeLists.txt
 sed -i '' 's/SHARED/STATIC/g' src/CMakeLists.txt
 mkdir -p build
 cd build
@@ -300,6 +266,6 @@ cmake -DANDROID_PREBUILD=ON ../../../../..
 cmake --build . --config Release
 mkdir -p ios
 cd ios
-cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DCMAKE_FIND_ROOT_PATH=$prefix -DWITH_QT=OFF -DBUILD_APP=OFF -DBUILD_TOOLS=OFF -DWITH_TORO=OFF -DWITH_VERTIGO=OFF -DWITH_MADGWICK=OFF -DWITH_ORB_OCTREE=ON  -DBUILD_EXAMPLES=OFF -DWITH_LIBLAS=ON -DWITH_OPENGV=OFF ../../../../../..
+cmake -G Xcode -DCMAKE_SYSTEM_NAME=iOS -DCMAKE_OSX_ARCHITECTURES=arm64 -DCMAKE_OSX_SYSROOT=$sysroot -DBUILD_SHARED_LIBS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_OSX_DEPLOYMENT_TARGET=12.0 -DCMAKE_INSTALL_PREFIX=$prefix -DCMAKE_FIND_ROOT_PATH=$prefix -DWITH_QT=OFF -DBUILD_APP=OFF -DBUILD_TOOLS=OFF -DWITH_TORO=OFF -DWITH_VERTIGO=OFF -DWITH_MADGWICK=OFF -DWITH_ORB_OCTREE=OFF  -DBUILD_EXAMPLES=OFF -DWITH_LIBLAS=ON ../../../../../..
 cmake --build . --config Release
 cmake --build . --config Release --target install
@@ -58,7 +58,7 @@
 			<key>Type</key>
 			<string>PSGroupSpecifier</string>
 			<key>FooterText</key>
-			<string>Choosing between high and low depth confidence depends on the application. If precise geometry is critical, prioritize high depth confidence even if it means fewer points. If you need a dense point cloud for analysis, even in areas with weak LiDAR signal, a lower depth confidence might be suitable at the cost of highly interpolated points (that could give a wavy look of some surfaces). Note: it is possible to change confidence level in post-processing.</string>
+			<string>Choosing between high and low depth confidence depends on the application. If precise geometry is critical, prioritize high depth confidence even if it means fewer points. If you need a dense point cloud for analysis, even in areas with weak LiDAR signal, a lower depth confidence might be suitable at the cost of highly interpolated points (that could give a wavy look of some surfaces). Important: the points with too low confidence are not saved in the db file, so we cannot recover or filter these points in post-processing.</string>
 		</dict>
 		<dict>
 			<key>DefaultValue</key>
@@ -86,7 +86,7 @@
 			<key>Type</key>
 			<string>PSGroupSpecifier</string>
 			<key>FooterText</key>
-			<string>Smooth the point clouds. Note that this can be changed in post-processing.</string>
+			<string>Smooth the point clouds.</string>
 		</dict>
 		<dict>
 			<key>Type</key>
@@ -98,44 +98,6 @@
 			<key>DefaultValue</key>
 			<false/>
 		</dict>
-		<dict>
-			<key>Type</key>
-			<string>PSGroupSpecifier</string>
-			<key>FooterText</key>
-			<string>Filter interpolated depth pixels between foreground and background objects. Note that values can be changed in post-processing.</string>
-		</dict>
-		<dict>
-			<key>Type</key>
-			<string>PSMultiValueSpecifier</string>
-			<key>Title</key>
-			<string>Depth Bleeding Filter Error</string>
-			<key>Key</key>
-			<string>DepthBleedingError</string>
-			<key>DefaultValue</key>
-			<string>0</string>
-			<key>Titles</key>
-			<array>
-				<string>Disabled</string>
-				<string>2.5 cm</string>
-				<string>5 cm</string>
-				<string>10 cm</string>
-				<string>15 cm</string>
-				<string>20 cm</string>
-				<string>25 cm</string>
-				<string>30 cm</string>
-			</array>
-			<key>Values</key>
-			<array>
-				<string>0</string>
-				<string>0.025</string>
-				<string>0.05</string>
-				<string>0.10</string>
-				<string>0.15</string>
-				<string>0.20</string>
-				<string>0.25</string>
-				<string>0.30</string>
-			</array>
-		</dict>
 		<dict>
 			<key>Type</key>
 			<string>PSGroupSpecifier</string>
@@ -628,7 +590,7 @@
 			<key>Type</key>
 			<string>PSGroupSpecifier</string>
 			<key>FooterText</key>
-			<string>BRIEF, FREAK and ORB are binary features, which are fast to compute and use less memory. SURF and SIFT are high dimensional float descriptors (rotation/scale/shear-invariant), so they use more memory and CPU but they are significantly better to detect loop closures in large environments. Warning: Changing feature type will automatically reset the map!</string>
+			<string>BRIEF features are fast to compute but are not rotation invariant like FREAK. Warning: Changing feature type will automatically reset the map!</string>
 		</dict>
 		<dict>
 			<key>Type</key>
@@ -641,21 +603,13 @@
 			<string>6</string>
 			<key>Titles</key>
 			<array>
-				<string>SURF</string>
-				<string>SIFT</string>
-				<string>GFTT-FREAK</string>
-				<string>GFTT-BRIEF</string>
-				<string>GFTT-ORB</string>
-				<string>ORB-OCTREE</string>
+				<string>BRIEF</string>
+				<string>FREAK</string>
 			</array>
 			<key>Values</key>
 			<array>
-				<string>0</string>
-				<string>1</string>
-				<string>5</string>
 				<string>6</string>
-				<string>8</string>
-				<string>10</string>
+				<string>5</string>
 			</array>
 		</dict>
 		<dict>
@@ -494,7 +494,7 @@
 		</dict>
 		<dict>
 			<key>DefaultValue</key>
-			<string>0.22.0</string>
+			<string>0.21.11</string>
 			<key>Key</key>
 			<string>Version</string>
 			<key>Title</key>
@@ -24,23 +24,15 @@ IF(WIN32)
  ELSE( MINGW )
    SET(SRC_FILES ${SRC_FILES} ${PROJECT_NAME}.rc)
  ENDIF( MINGW )
-ENDIF(WIN32)
-
-IF(BUILD_AS_BUNDLE)
-  ADD_DEFINITIONS("-DBUILD_AS_BUNDLE")
+ENDIF(WIN32)
+
+IF(BUILD_AS_BUNDLE)
+  ADD_DEFINITIONS("-DBUILD_AS_BUNDLE")
 ENDIF()

 # Add binary
 IF(APPLE AND BUILD_AS_BUNDLE)
  ADD_EXECUTABLE(rtabmap_app MACOSX_BUNDLE ${SRC_FILES})
-  # Custom Info.plist providing NSCameraUsageDescription, required by macOS to
-  # grant the app access to USB/UVC cameras (e.g. Orbbec, RealSense). A bundle
-  # identifier is also set: macOS ties the camera (TCC) permission to it, so it
-  # must be non-empty for the permission to be granted/persisted.
-  SET_TARGET_PROPERTIES(rtabmap_app PROPERTIES
-    MACOSX_BUNDLE_INFO_PLIST ${CMAKE_CURRENT_SOURCE_DIR}/Info.plist.in
-    MACOSX_BUNDLE_GUI_IDENTIFIER "com.introlab.rtabmap"
-    MACOSX_BUNDLE_BUNDLE_NAME "${CMAKE_BUNDLE_NAME}")
 ELSEIF(WIN32 AND BUILD_AS_BUNDLE)
  ADD_EXECUTABLE(rtabmap_app WIN32 ${SRC_FILES})
 ELSE()
@@ -78,13 +70,13 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
  SET(thirdparty_dest_dir bin)
 
  IF(APPLE)
-    SET(plugin_dest_dir MacOS/plugins)
-    IF(Qt6_FOUND)
-       SET(plugin_dest_dir PlugIns)
+    SET(plugin_dest_dir MacOS/plugins)
+    IF(Qt6_FOUND)
+       SET(plugin_dest_dir PlugIns)
    ENDIF()
    SET(qtconf_dest_dir Resources)
    SET(thirdparty_dest_dir MacOS)
-    SET(APPS "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/MacOS/${CMAKE_BUNDLE_NAME}")
+    SET(APPS "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/MacOS/${CMAKE_BUNDLE_NAME}")
  ENDIF(APPLE)

  IF(OpenNI2_FOUND)
@@ -103,225 +95,47 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
          DESTINATION ${thirdparty_dest_dir} 
          COMPONENT runtime 
          REGEX ".*pdb" EXCLUDE)
-	IF(NOT WIN32)
-		INSTALL(FILES "${OpenNI2_BIN_DIR}/OpenNI.ini" 
+    INSTALL(FILES "${OpenNI2_BIN_DIR}/OpenNI.ini" 
          DESTINATION ${thirdparty_dest_dir} 
          COMPONENT runtime)
-	ENDIF()
  ENDIF(OpenNI2_FOUND)
  
  IF(k4a_FOUND)
-	# Install needed depthengine_2_0.dll. Its location varies by K4A SDK version:
-	# v1.4.1 ships it under sdk/windows-desktop/amd64/release/bin, or fallback in tools/.
+	# Install needed depthengine_2_0.dll
    IF(WIN32)
 		file(TO_CMAKE_PATH "$ENV{K4A_ROOT_DIR}" ENV_K4A_ROOT_DIR)
-		set(DEPTHENGINE_DLL "")
-		foreach(_depthengine_dir
-			"${ENV_K4A_ROOT_DIR}/sdk/windows-desktop/amd64/release/bin"
-			"${ENV_K4A_ROOT_DIR}/tools")
-			if(EXISTS "${_depthengine_dir}/depthengine_2_0.dll")
-				set(DEPTHENGINE_DLL "${_depthengine_dir}/depthengine_2_0.dll")
-				break()
-			endif()
-		endforeach()
-		IF(DEPTHENGINE_DLL)
-			INSTALL(FILES "${DEPTHENGINE_DLL}"
-              DESTINATION ${thirdparty_dest_dir}
-              COMPONENT runtime)
-		ELSE()
-			MESSAGE(WARNING "depthengine_2_0.dll not found under $ENV{K4A_ROOT_DIR} (sdk/windows-desktop/amd64/release/bin or tools); Kinect for Azure depth may not work at runtime.")
-		ENDIF()
+		INSTALL(FILES "${ENV_K4A_ROOT_DIR}/tools/depthengine_2_0.dll" 
+          DESTINATION ${thirdparty_dest_dir} 
+          COMPONENT runtime)
 	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 ${thirdparty_dest_dir} 
-          COMPONENT runtime)
-	ENDIF(WIN32)
-  ENDIF(ZED_FOUND)
-
-  IF(OrbbecSDK_FOUND)
-	# Install needed "extensions" folder
-    IF(WIN32)
-        find_path(OrbbecSDK_BIN_DIR NAMES OrbbecSDK.dll)
-        IF(NOT OrbbecSDK_BIN_DIR)
-            MESSAGE(FATAL_ERROR "OrbbecSDK.dll not found! Verify your PATH.")
-        ENDIF(NOT OrbbecSDK_BIN_DIR)
-        MESSAGE(STATUS "OrbbecSDK_BIN_DIR=${OrbbecSDK_BIN_DIR}")
-        INSTALL(DIRECTORY "${OrbbecSDK_BIN_DIR}/extensions" 
-          DESTINATION ${thirdparty_dest_dir} 
-          COMPONENT runtime 
-          FILES_MATCHING
-          PATTERN "*.lib" EXCLUDE
-          PATTERN "*")
-    ELSEIF(APPLE)
-        # OrbbecSDK loads its extensions (frame processor, filters like
-        # FrameUnpacker) via dlopen relative to libOrbbecSDK. fixup_bundle puts
-        # libOrbbecSDK in Contents/Frameworks, so the extensions must sit next to
-        # it in Frameworks/extensions (they reference @rpath/libOrbbecSDK, which
-        # resolves via the app executable's @executable_path/../Frameworks rpath).
-        # Without this the camera is detected but frame processing fails.
-        get_filename_component(OrbbecSDK_LIB_DIR "${OrbbecSDK_DIR}/../.." ABSOLUTE)
-        INSTALL(DIRECTORY "${OrbbecSDK_LIB_DIR}/extensions"
-          DESTINATION Frameworks
-          COMPONENT runtime)
-        IF(EXISTS "${OrbbecSDK_LIB_DIR}/OrbbecSDKConfig.xml")
-          INSTALL(FILES "${OrbbecSDK_LIB_DIR}/OrbbecSDKConfig.xml"
-            DESTINATION Frameworks
-            COMPONENT runtime)
-        ENDIF()
-    ENDIF(WIN32)
-  ENDIF(OrbbecSDK_FOUND)
-  
  IF(Torch_FOUND)
-	# Install needed cudnn dlls
+	# 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
    IF(WIN32 AND CUDA_FOUND)
-	    find_path(cuDNN_BIN_DIR NAMES cudnn.dll cudnn64.dll cudnn64_9.dll)
-        IF(NOT cuDNN_BIN_DIR)
-            MESSAGE(FATAL_ERROR "cudnn dlls not found! Make sure the dlls are in a directory on your PATH.")
-        ENDIF(NOT cuDNN_BIN_DIR)
-		MESSAGE(STATUS "cuDNN_BIN_DIR = ${cuDNN_BIN_DIR}")
-		file(GLOB CUDNN_DLLS "${cuDNN_BIN_DIR}/cudnn*.dll")
-		IF(CUDNN_DLLS)
-			MESSAGE(STATUS "Found cuDNN DLLs: ${CUDNN_DLLS}")
-			INSTALL(FILES ${CUDNN_DLLS}
-					DESTINATION ${thirdparty_dest_dir} 
-					COMPONENT runtime)
+		find_file(CUDNN_OPS_DLL NAMES cudnn_ops_infer64_8.dll)
+		find_file(CUDNN_CNN_DLL NAMES cudnn_cnn_infer64_8.dll)
+		IF(CUDNN_OPS_DLL AND CUDNN_CNN_DLL)
+			MESSAGE(STATUS "Found ${CUDNN_OPS_DLL}")
+			MESSAGE(STATUS "Found ${CUDNN_CNN_DLL}")
+			INSTALL(FILES ${CUDNN_OPS_DLL} ${CUDNN_CNN_DLL}
+			  DESTINATION ${thirdparty_dest_dir} 
+			  COMPONENT runtime)
+		ELSE()
+			MESSAGE(AUTHOR_WARNING "Using Torch with CUDA, but cudnn_ops_infer64_8.dll and cudnn_cnn_infer64_8.dll are not found on the PATH, so it won't be added to package.")
 		ENDIF()
 	ENDIF(WIN32 AND CUDA_FOUND)
  ENDIF(Torch_FOUND)
-  
-  set(python_pyd_dir "")
-  IF(Python3_FOUND)
-	# bundle python3
-    IF(WIN32)
-		set(python_pyd_dir "bin/Lib/site-packages")
-		set(PYTHON_ZIP_NAME "python${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR}.zip")
-		get_filename_component(PYTHON_ROOT "${Python3_EXECUTABLE}" DIRECTORY)
-		file(TO_CMAKE_PATH "${Python3_STDLIB}" SANITIZED_STDLIB)

-		MESSAGE(STATUS "Python3_EXECUTABLE=${Python3_EXECUTABLE}")
-		MESSAGE(STATUS "Python3_STDLIB=${SANITIZED_STDLIB}")
-		
-		install(FILES "${Python3_EXECUTABLE}" DESTINATION bin COMPONENT runtime)
-		
-		# when using python-opencv, it expects python3.dll, not python312.dll
-		get_filename_component(VCPKG_TRIPLET_ROOT "${PYTHON_TOOLS_DIR}/../../" ABSOLUTE)
-		set(VCPKG_BIN_DIR "${VCPKG_TRIPLET_ROOT}/bin")
-		find_file(PYTHON3_STABLE_DLL 
-			NAMES python3.dll 
-			PATHS "${VCPKG_BIN_DIR}"
-			NO_DEFAULT_PATH
-		)
-		if(PYTHON3_STABLE_DLL)
-			message(STATUS "Found python3.dll at: ${PYTHON3_STABLE_DLL}")
-			install(FILES "${PYTHON3_STABLE_DLL}" DESTINATION bin COMPONENT runtime)
-		endif()
-
-		# install python Lib in python312.zip (without site-packages, which is installed separatly afterwards)
-		file(TO_CMAKE_PATH "${Python3_STDLIB}" SANITIZED_STDLIB)
-		file(GLOB LIB_CONTENTS RELATIVE "${SANITIZED_STDLIB}" "${SANITIZED_STDLIB}/*")
-		list(REMOVE_ITEM LIB_CONTENTS "site-packages")
-		install(CODE "
-			execute_process(
-				COMMAND \"${CMAKE_COMMAND}\" -E tar cf \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/bin/${PYTHON_ZIP_NAME}\" --format=zip -- ${LIB_CONTENTS}
-				WORKING_DIRECTORY \"${SANITIZED_STDLIB}\"
-			)
-		" COMPONENT runtime)
-		set(PYTHON_SITE_PACKAGES "${SANITIZED_STDLIB}/site-packages")
-		
-		install(DIRECTORY "${PYTHON_SITE_PACKAGES}/"
-				DESTINATION "${thirdparty_dest_dir}/Lib/site-packages"
-				COMPONENT runtime
-				PATTERN "*.exe" EXCLUDE
-				PATTERN "*.lib" EXCLUDE
-				PATTERN "*.hpp" EXCLUDE
-				PATTERN "*.h" EXCLUDE
-				PATTERN "*/torch/*" EXCLUDE
-		)
-		if(EXISTS "${PYTHON_SITE_PACKAGES}/torch")
-			install(DIRECTORY "${PYTHON_SITE_PACKAGES}/torch"
-					DESTINATION "${thirdparty_dest_dir}/Lib/site-packages/"
-					COMPONENT runtime
-					PATTERN "*.exe" EXCLUDE
-					PATTERN "*.lib" EXCLUDE
-					PATTERN "*.hpp" EXCLUDE
-					PATTERN "*.h" EXCLUDE
-					PATTERN "*.dll" EXCLUDE
-			)
-			file(GLOB_RECURSE PY_DLL_FILES "${PYTHON_SITE_PACKAGES}/torch/*.dll")
-			if(PY_DLL_FILES)
-				install(FILES ${PY_DLL_FILES} DESTINATION bin COMPONENT runtime)
-			endif()
-		endif()
-
-		# install python DDLs
-		file(GLOB_RECURSE PY_DLL_FILES \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${python_pyd_dir}/*.dll\")
-		install(DIRECTORY "${PYTHON_ROOT}/DLLs"
-				DESTINATION "${thirdparty_dest_dir}/"
-				COMPONENT runtime
-				FILES_MATCHING 
-				PATTERN "*.dll"
-				PATTERN "*.pyd"
-		)
-
-		# install our python scripts in share for convenience
-		install(DIRECTORY "${PROJECT_SOURCE_DIR}/corelib/src/python/"
-				DESTINATION share
-				COMPONENT runtime
-				FILES_MATCHING
-				PATTERN "*.py"
-		)
-	ENDIF(WIN32)
-  ENDIF(Python3_FOUND)
-  
-  IF(Qt6_FOUND AND APPLE)
-    # On macOS we do NOT use qt_deploy_runtime_dependencies (macdeployqt):
-    # macdeployqt cannot deploy VTK 9.6+, whose libraries reference each other
-    # via @rpath relative to "@loader_path/../lib". Instead we install the Qt plugins
-    # manually and let fixup_bundle() below deploy all libraries.
-    IF(TARGET Qt6::QCocoaIntegrationPlugin)
-      get_target_property(_qt_plugin_loc Qt6::QCocoaIntegrationPlugin LOCATION)
-      get_filename_component(_qt_plugins_dir "${_qt_plugin_loc}" DIRECTORY) # .../plugins/platforms
-      get_filename_component(_qt_plugins_dir "${_qt_plugins_dir}" DIRECTORY) # .../plugins
-      FOREACH(_qt_plugin_type platforms styles imageformats iconengines)
-        IF(EXISTS "${_qt_plugins_dir}/${_qt_plugin_type}")
-          # Homebrew Qt plugins are symlinks into the Cellar; resolve them to the
-          # real files so they aren't installed as dangling symlinks (which would
-          # break fixup_bundle and codesign).
-          FILE(GLOB _qt_plugin_files "${_qt_plugins_dir}/${_qt_plugin_type}/*${CMAKE_SHARED_LIBRARY_SUFFIX}")
-          SET(_qt_plugin_real "")
-          FOREACH(_qt_plugin_file ${_qt_plugin_files})
-            GET_FILENAME_COMPONENT(_qt_plugin_file "${_qt_plugin_file}" REALPATH)
-            LIST(APPEND _qt_plugin_real "${_qt_plugin_file}")
-          ENDFOREACH()
-          IF(_qt_plugin_real)
-            INSTALL(FILES ${_qt_plugin_real}
-                    DESTINATION ${plugin_dest_dir}/${_qt_plugin_type}
-                    COMPONENT runtime)
-          ENDIF()
-        ENDIF()
-      ENDFOREACH()
-    ELSE()
-      MESSAGE(WARNING "Qt6::QCocoaIntegrationPlugin target not found: Qt plugins may be missing from the bundle")
-    ENDIF()
-    # qt.conf so Qt finds the bundled plugins (path is relative to Contents/)
-    SET(QT_CONF_FILE [Paths]\nPlugins=${plugin_dest_dir})
-    INSTALL(CODE "
-      file(WRITE \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${qtconf_dest_dir}/qt.conf\" \"${QT_CONF_FILE}\")
-      " COMPONENT runtime)
-  ELSEIF(Qt6_FOUND)
+  IF(Qt6_FOUND)
 	# Reference: https://doc-snapshots.qt.io/qt6-6.4/qt-deploy-runtime-dependencies.html
 	# The following script must only be executed at install time
 	set(deploy_script "${CMAKE_CURRENT_BINARY_DIR}/deploy_app$<CONFIG>.cmake")
 	file(GENERATE OUTPUT ${deploy_script} CONTENT "
 	# Including the file pointed to by QT_DEPLOY_SUPPORT ensures the generated
 	# deployment script has access to qt_deploy_runtime_dependencies()
-	include(\"${QT_DEPLOY_SUPPORT}\")
+	include(\"${QT_DEPLOY_SUPPORT}\")
 	qt_deploy_runtime_dependencies(
 		EXECUTABLE \"${APPS}\"
 		PLUGINS_DIR ${plugin_dest_dir}
@@ -401,17 +215,14 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
      INSTALL(CODE "
        file(WRITE \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${qtconf_dest_dir}/qt.conf\" \"${QT_CONF_FILE}\")
        " COMPONENT runtime)
-  ENDIF()
+  ENDIF()

  # directories to look for dependencies
-  # CMAKE_LIBRARY_OUTPUT_DIRECTORY is where rtabmap's own libraries (e.g.
-  # librtabmap_core) are built; fixup_bundle needs it to resolve the app's
-  # @rpath references to them (macdeployqt used to handle this via rpath).
-  SET(DIRS "${QT_LIBRARY_DIRS}" "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}" "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/lib")
+  SET(DIRS "${QT_LIBRARY_DIRS}" "\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/lib")
  IF(APPLE)
    SET(DIRS ${DIRS} /usr/local /usr/local/lib /opt/homebrew /opt/homebrew/lib /opt/homebrew/lib/gcc/current)
-  ENDIF(APPLE)
-
+  ENDIF(APPLE)
+ 
  # Now the work of copying dependencies into the bundle/package
  # The quotes are escaped and variables to use at install time have their $ escaped
  # An alternative is the do a configure_file() on a script and use install(SCRIPT  ...).
@@ -419,65 +230,11 @@ IF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
  # over.
  # To find dependencies, cmake use "otool" on Apple and "dumpbin" on Windows (make sure you have one of them).
  install(CODE "
-    # Glob Qt Plugins
-    file(GLOB_RECURSE ALL_LIBS \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${plugin_dest_dir}/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
-
-    # OrbbecSDK loads its filter/frame-processor extensions via dlopen, and they
-    # link @rpath/libOrbbecSDK. Feed them to fixup_bundle so their reference is
-    # rewritten to the embedded libOrbbecSDK
-    file(GLOB ORBBEC_EXT_LIBS
-        \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/Frameworks/extensions/filters/*${CMAKE_SHARED_LIBRARY_SUFFIX}\"
-        \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/Frameworks/extensions/frameprocessor/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
-    if(ORBBEC_EXT_LIBS)
-        list(APPEND ALL_LIBS \${ORBBEC_EXT_LIBS})
-    endif()
-
-    if(NOT \"${python_pyd_dir}\" STREQUAL \"\")
-        file(GLOB_RECURSE PYD_FILES \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${python_pyd_dir}/*.pyd\")
-        if(PYD_FILES)
-            list(APPEND ALL_LIBS \${PYD_FILES})
-        endif()
-		if(WIN32)
-			file(GLOB_RECURSE DLL_FILES \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${python_pyd_dir}/torch/*.dll\")
-			if(DLL_FILES)
-				list(APPEND ALL_LIBS \${DLL_FILES})
-			endif()
-		endif()
-    endif()
-	
+   file(GLOB_RECURSE QTPLUGINS \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}/${plugin_dest_dir}/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
    set(BU_CHMOD_BUNDLE_ITEMS ON)
    include(\"BundleUtilities\")
-    # nvcuvid.dll (NVDEC) and nvEncodeAPI64.dll (NVENC), and the CUDA driver API
-    # nvcuda.dll, ship with the NVIDIA GPU driver (System32), not the CUDA toolkit,
-    # so they are absent on driver-less CI runners and must never be bundled (they
-    # are resolved at runtime from the end user's driver). Mark them 'system' so
-    # fixup_bundle skips them instead of failing to resolve them.
-    function(gp_resolved_file_type_override resolved_file type_var)
-      if(resolved_file MATCHES \"(nvcuvid|nvEncodeAPI64|nvcuda)\")
-        set(\${type_var} \"system\" PARENT_SCOPE)
-      endif()
-    endfunction()
-    fixup_bundle(\"${APPS}\" \"\${ALL_LIBS}\" \"${DIRS}\")
-  " COMPONENT runtime)
-
-  IF(APPLE)
-    # Re-sign ad-hoc AFTER fixup_bundle has finished all its install_name_tool
-    # edits.
-    install(CODE "
-      set(_contents \"\$ENV{DESTDIR}\${CMAKE_INSTALL_PREFIX}\")
-      get_filename_component(_app \"\${_contents}\" DIRECTORY)
-      file(GLOB_RECURSE _nested \"\${_contents}/*${CMAKE_SHARED_LIBRARY_SUFFIX}\")
-      foreach(_f \${_nested})
-        execute_process(COMMAND codesign --force --sign - --timestamp=none \"\${_f}\")
-      endforeach()
-      file(GLOB _frameworks \"\${_contents}/Frameworks/*.framework\")
-      foreach(_f \${_frameworks})
-        execute_process(COMMAND codesign --force --sign - --timestamp=none \"\${_f}\")
-      endforeach()
-      message(STATUS \"Ad-hoc re-signing bundle: \${_app}\")
-      execute_process(COMMAND codesign --force --sign - --timestamp=none \"\${_app}\")
-    " COMPONENT runtime)
-  ENDIF(APPLE)
+    fixup_bundle(\"${APPS}\" \"\${QTPLUGINS}\" \"${DIRS}\")
+  " COMPONENT runtime)

 ENDIF(BUILD_AS_BUNDLE AND (APPLE OR WIN32))
  
@@ -1,40 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE plist PUBLIC "-//Apple Computer//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
-<plist version="1.0">
-<dict>
-	<key>NSPrincipalClass</key>
-	<string>NSApplication</string>
-	<key>NSHighResolutionCapable</key>
-	<string>True</string>
-	<key>CFBundleDevelopmentRegion</key>
-	<string>English</string>
-	<key>CFBundleExecutable</key>
-	<string>${MACOSX_BUNDLE_EXECUTABLE_NAME}</string>
-	<key>CFBundleGetInfoString</key>
-	<string>${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>
-	<string>${MACOSX_BUNDLE_LONG_VERSION_STRING}</string>
-	<key>CFBundleName</key>
-	<string>${MACOSX_BUNDLE_BUNDLE_NAME}</string>
-	<key>CFBundlePackageType</key>
-	<string>APPL</string>
-	<key>CFBundleShortVersionString</key>
-	<string>${MACOSX_BUNDLE_SHORT_VERSION_STRING}</string>
-	<key>CFBundleSignature</key>
-	<string>????</string>
-	<key>CFBundleVersion</key>
-	<string>${MACOSX_BUNDLE_BUNDLE_VERSION}</string>
-	<key>CSResourcesFileMapped</key>
-	<true/>
-	<key>NSHumanReadableCopyright</key>
-	<string>${MACOSX_BUNDLE_COPYRIGHT}</string>
-	<key>NSCameraUsageDescription</key>
-	<string>RTAB-Map needs access to the camera to capture images from connected RGB-D/stereo cameras (e.g. Orbbec, RealSense).</string>
-</dict>
-</plist>
@@ -52,10 +52,6 @@ int main(int argc, char* argv[])
 	ULogger::setLevel(ULogger::kWarning);

 #ifdef WIN32
-	// STA (single-threaded apartment) is required for the native file dialogs / File Explorer
-	// (see commit d75cc04, "Fixed File Explorer hanging (Qt 5.12)"). Do NOT switch to MTA
-	// (CoInitializeEx COINIT_MULTITHREADED): it deadlocks the
-	// native file dialogs.
 	CoInitialize(nullptr);
 #endif

@@ -64,12 +60,6 @@ int main(int argc, char* argv[])
    QSurfaceFormat::setDefaultFormat(QVTKRenderWidget::defaultFormat());
 #endif

-	// Recommended by VTK when using QVTKOpenGLNativeWidget (a QOpenGLWidget): let all VTK
-	// render widgets share a single OpenGL context, which is needed for correct rendering
-	// when render widgets live in / move across multiple top-level windows. Must be set
-	// before QApplication is constructed.
-	QApplication::setAttribute(Qt::AA_ShareOpenGLContexts);
-
 	/* Create tasks */
 	QApplication * app = new QApplication(argc, argv);
 	app->setStyleSheet("QMessageBox { messagebox-text-interaction-flags: 5; }"); // selectable message box
@@ -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

@@ -1,418 +0,0 @@
-@echo off
-setlocal enabledelayedexpansion
-
-:: --- CONFIGURATION ---
-set "VCPKG_ROOT=%~dp0vcpkg"
-set "EXPORT_DIR=%~dp0vcpkg_binaries"
-:: All deps downloaded/built from source (git clones + the pinned CMake) live here.
-set "SRC_DIR=%~dp0vcpkg_deps_from_source"
-set "TRIPLET=x64-windows-release"
-set "SEVENZIP_EXE=C:\Program Files\7-Zip\7z.exe"
-
-set "VCPKG_JSON=%~dp0vcpkg.json"
-for /f "usebackq tokens=*" %%a in (`powershell -NoProfile -Command "(Get-Content '%VCPKG_JSON%' -Raw | ConvertFrom-Json).'builtin-baseline'"` ) do set "VCPKG_COMMIT=%%a"
-echo [+] Detected VCPKG baseline commit: %VCPKG_COMMIT%
-
-if "%VCPKG_COMMIT%"=="" (
-    echo [X] Error: Could not find 'builtin-baseline' in %VCPKG_JSON%
-    pause
-    exit /b 1
-)
-
-set VCPKG_COMMIT_SHORT=%VCPKG_COMMIT:~0,8%
-
-:: 1. Setup Local vcpkg
-if not exist "%VCPKG_ROOT%" (
-    echo [+] Local vcpkg not found. Cloning...
-    git clone https://github.com/microsoft/vcpkg.git "%VCPKG_ROOT%"
-)
-pushd "%VCPKG_ROOT%"
-git checkout %VCPKG_COMMIT%
-call .\bootstrap-vcpkg.bat
-popd
-
-:: 2. Install vcpkg dependencies
-echo [+] Installing dependencies via vcpkg manifest...
-"%VCPKG_ROOT%\vcpkg.exe" install ^
-    --triplet=%TRIPLET% ^
-    --host-triplet=%TRIPLET% ^
-	--clean-after-build ^
-    --x-feature=tools ^
-    --x-feature=k4w2 ^
-    --x-feature=octomap ^
-    --x-feature=openmp ^
-    --x-feature=realsense2 ^
-    --x-feature=openni2 ^
-    --x-feature=gtsam-deps ^
-    --x-feature=python ^
-    --x-feature=libpointmatcher-deps ^
-    --x-feature=libfreenect2-deps || exit /b !errorlevel!
-
-:: 3. Export
-echo [+] Exporting built binaries to raw folder...
-set "VS_LOCATOR=%ProgramFiles(x86)%\Microsoft Visual Studio\Installer\vswhere.exe"
-for /f "usebackq tokens=*" %%i in (`"%VS_LOCATOR%" -latest -property catalog_productLineVersion`) do set VS_YEAR=vs%%i
-set TARGET_NAME=vcpkg-export-%VCPKG_COMMIT_SHORT%-x64-%VS_YEAR%
-set TARGET_FULL_PATH=%EXPORT_DIR%\%TARGET_NAME%
-if exist "%TARGET_FULL_PATH%" rd /s /q "%TARGET_FULL_PATH%"
-"%VCPKG_ROOT%\vcpkg.exe" export --raw --output-dir="%EXPORT_DIR%" --output=%TARGET_NAME% --triplet=%TRIPLET%  || exit /b !errorlevel!
-set "FINAL_EXPORT_PATH=%TARGET_FULL_PATH%"
-
-echo [+] Add numpy...
-:: We install numpy<2 to be compatible with SuperPoint and SuperGlue scripts
-%FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe -m ensurepip --upgrade || exit /b %errorlevel%
-%FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe -m pip install --upgrade pip || exit /b !errorlevel!
-%FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe -m pip install "numpy<2" || exit /b !errorlevel!
-
-:: 4. Other dependencies not in vcpkg
-:: Everything cloned/downloaded below goes into %SRC_DIR% to keep the repo root clean.
-if not exist "%SRC_DIR%" mkdir "%SRC_DIR%"
-cd /d "%SRC_DIR%"
-
-:: Kinect for Windows SDK v2 (k4w2): rtabmap's FindKinectSDK2.cmake expects the
-:: Microsoft SDK layout (KINECTSDK20_DIR\inc and \Lib\x64), but vcpkg's kinectsdk2
-:: port installs vcpkg-style (include\ and lib\). Mirror the bundled headers/lib into
-:: the expected layout so it is found with KINECTSDK20_DIR pointing at the export.
-if "%KINECTSDK20_DIR%"=="" (
-    echo Error: KINECTSDK20_DIR environment variable is not set! Install Kinect for Windows SDK v2: https://www.microsoft.com/en-us/download/details.aspx?id=44561
-    pause
-    exit /b 1
-)
-echo [+] Arranging Kinect SDK v2 layout for FindKinectSDK2...
-set "K4W2_ROOT=%FINAL_EXPORT_PATH%\installed\%TRIPLET%"
-robocopy "%K4W2_ROOT%\include" "%K4W2_ROOT%\inc" Kinect*.h Nui*.h /XO >nul
-robocopy "%K4W2_ROOT%\lib" "%K4W2_ROOT%\Lib\x64" Kinect20*.lib /XO >nul
-robocopy "%KINECTSDK20_DIR%\bin" "%K4W2_ROOT%\bin" Kinect20.dll /XO >nul
-:: Robocopy exit codes under 8 mean successful copies/no changes; 8+ is a failure.
-if !errorlevel! GEQ 8 (
-    echo Error: Robocopy failed with exit code !errorlevel!
-    pause
-    exit /b !errorlevel!
-)
-
-:: orbbec SDK2
-echo [+] Building OrbbecSDK_v2...
-if not exist OrbbecSDK_v2 (
-    echo [+] Downloading and applying patch...
-    git clone https://github.com/orbbec/OrbbecSDK_v2.git
-    cd OrbbecSDK_v2
-    git checkout v2.8.7
-    :: Install the CMake package config under lib/cmake/<pkg> so find_package(OrbbecSDK) works
-    git apply "%~dp0patches\orbbecsdk_2.8.7.patch"
-    cd ..
-)
-cd OrbbecSDK_v2
-cmake -S . -B build -GNinja ^
-  -DVCPKG_MANIFEST_INSTALL=OFF ^
-  -DVCPKG_TARGET_TRIPLET=x64-windows-release ^
-  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed" ^
-  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake" ^
-  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
-  -DCMAKE_BUILD_TYPE=Release ^
-  -DOB_BUILD_DOCS=OFF ^
-  -DOB_BUILD_EXAMPLES=OFF ^
-  -DOB_BUILD_TOOLS=OFF ^
-  -DOB_INSTALL_EXAMPLES_SOURCE=OFF || exit /b !errorlevel!
-cmake --build build --config Release --target install || exit /b !errorlevel!
-cd ..
-
-if "%K4A_ROOT_DIR%"=="" (
-    echo Error: K4A_ROOT_DIR environment variable is not set! Install K4A: https://github.com/microsoft/Azure-Kinect-Sensor-SDK/blob/develop/docs/usage.md
-    pause
-    exit /b 1
-)
-echo Copying Kinect For Azure components...
-robocopy "%K4A_ROOT_DIR%\sdk" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\sdk" /E /XO
-:: Robocopy exit codes under 8 mean successful copies/no changes. 
-:: 8 or higher means there was a failure.
-if !errorlevel! GEQ 8 (
-    echo Error: Robocopy failed with exit code !errorlevel!
-    pause
-    exit /b !errorlevel!
-)
-
-:: libnabo
-echo [+] Building libnabo...
-if not exist libnabo (
-    echo [+] Downloading...
-    git clone https://github.com/ethz-asl/libnabo.git
-    cd libnabo
-    :: Jan 27, 2022
-    git checkout c925c47
-    git apply "%~dp0patches\libnabo_c925c47.patch"
-    cd ..
-)
-cd libnabo
-cmake -S . -B build -GNinja ^
-  -DVCPKG_MANIFEST_INSTALL=OFF  ^
-  -DVCPKG_TARGET_TRIPLET=x64-windows-release  ^
-  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed"  ^
-  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake" ^
-  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
-  -DCMAKE_BUILD_TYPE=Release ^
-  -DSHARED_LIBS=FALSE ^
-  -DLIBNABO_BUILD_DOXYGEN=OFF ^
-  -DLIBNABO_BUILD_EXAMPLES=OFF ^
-  -DLIBNABO_BUILD_PYTHON=OFF ^
-  -DLIBNABO_BUILD_TESTS=OFF || exit /b !errorlevel!
-cmake --build build --config Release --target install || exit /b !errorlevel!
-cd ..
-
-:: libpointmatcher
-echo [+] Building libpointmatcher...
-if not exist libpointmatcher (
-    echo [+] Downloading and applying patch...
-    git clone https://github.com/ethz-asl/libpointmatcher.git
-    cd libpointmatcher
-    :: Mar 17, 2023
-    git checkout 7dc58e5
-    git apply "%~dp0patches\pointmatcher_7dc58e5.patch"
-    cd ..
-)
-cd libpointmatcher
-cmake -S . -B build -GNinja ^
-  -DVCPKG_MANIFEST_INSTALL=OFF  ^
-  -DVCPKG_TARGET_TRIPLET=x64-windows-release  ^
-  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed"  ^
-  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake"  ^
-  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
-  -DCMAKE_BUILD_TYPE=Release ^
-  -DBUILD_TESTS=OFF  ^
-  -DBUILD_SHARED_LIBS=ON  ^
-  -DPOINTMATCHER_BUILD_EVALUATIONS=OFF ^
-  -DPOINTMATCHER_BUILD_EXAMPLES=OFF ^
-  -DCMAKE_CXX_FLAGS="-DBOOST_TIMER_ENABLE_DEPRECATED /EHsc -DBOOST_EXCEPTION_DISABLE" || exit /b !errorlevel!
-cmake --build build --config Release --target install || exit /b !errorlevel!
-cd ..
-
-:: We remove the files in the top-level CMake directory to force use of share/libpointmatcher/cmake
-if exist "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\CMake\" (
-    rd /s /q "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\CMake"
-)
-
-:: gtsam
-echo [+] Building gtsam...
-if not exist gtsam (
-    echo [+] Downloading and applying patch...
-    git clone https://github.com/borglab/gtsam.git
-    cd gtsam
-    :: June 18, 2025
-    git checkout 4.3a0-ros
-    git cherry-pick 18af4e6
-    git apply "%~dp0patches\gtsam_4_3a0-ros.patch"
-    cd ..
-)
-cd gtsam
-cmake -S . -B build -GNinja ^
-  -DVCPKG_MANIFEST_INSTALL=OFF  ^
-  -DVCPKG_TARGET_TRIPLET=x64-windows-release  ^
-  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed"  ^
-  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake"  ^
-  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
-  -DCMAKE_BUILD_TYPE=Release ^
-  -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF  ^
-  -DGTSAM_BUILD_TESTS=OFF  ^
-  -DGTSAM_BUILD_UNSTABLE=OFF  ^
-  -DGTSAM_USE_SYSTEM_EIGEN=ON ^
-  -DGTSAM_BUILD_WITH_PRECOMPILED_HEADERS=OFF ^
-  -DGTSAM_UNSTABLE_BUILD_PYTHON=OFF ^
-  -DGTSAM_WITH_EIGEN_MKL=OFF ^
-  -DGTSAM_WITH_EIGEN_MKL_OPENMP=OFF ^
-  -DCMAKE_CXX_FLAGS="-DBOOST_TIMER_ENABLE_DEPRECATED -DBOOST_BIND_GLOBAL_PLACEHOLDERS" || exit /b !errorlevel!
-cmake --build build --config Release --target install || exit /b !errorlevel!
-cd ..
-
-:: opengv
-echo [+] Building opengv...
-if not exist opengv (
-    echo [+] Downloading and applying patch...
-    git clone https://github.com/laurentkneip/opengv.git
-    cd opengv
-    :: Aug 6, 2020
-    git checkout 91f4b19c73450833a40e463ad3648aae80b3a7f3
-    git apply "%~dp0patches\opengv_91f4b19c.patch"
-    cd ..
-)
-cd opengv
-cmake -S . -B build -GNinja ^
-  -DVCPKG_MANIFEST_INSTALL=OFF  ^
-  -DVCPKG_TARGET_TRIPLET=x64-windows-release  ^
-  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed"  ^
-  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake"  ^
-  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
-  -DBUILD_TESTS=OFF  ^
-  -DBUILD_SHARED_LIBS=ON || exit /b !errorlevel!
-cmake --build build --config Release --target install || exit /b !errorlevel!
-cd ..
-
-:: libfreenect2
-echo [+] Building libfreenect2...
-if not exist libfreenect2 (
-    echo [+] Downloading and applying patch...
-    git clone https://github.com/OpenKinect/libfreenect2.git
-    cd libfreenect2
-    :: Aug 6, 2021
-    git checkout v0.2.1
-    :: Patch makes freenect2Config.cmake relocatable so the prebuilt bundle works
-    :: after being moved/unzipped, drops cudaDeviceProp::clockRate/computeMode
-    :: removed in CUDA 13 from the CUDA build, and renames a CL_ICDL_VERSION local
-    :: that collides with the OpenCL 3.0 macro.
-    git apply "%~dp0patches\libfreenect2_v0.2.1.patch"
-    cd ..
-)
-cd libfreenect2
-:: libfreenect2's FindLibUSB.cmake locates libusb via pkg-config. It declares an
-:: ancient cmake_minimum_required (2.8.12), which makes FindPkgConfig default
-:: PKG_CONFIG_USE_CMAKE_PREFIX_PATH=OFF, so it ignores the vcpkg CMAKE_PREFIX_PATH.
-:: Force it ON so the bundle's lib/pkgconfig (libusb-1.0.pc, libturbojpeg.pc) is
-:: searched, use the vcpkg-bundled pkgconf, and also set PKG_CONFIG_PATH as a belt.
-set "PKG_CONFIG_PATH=%FINAL_EXPORT_PATH%\installed\%TRIPLET%\lib\pkgconfig"
-cmake -S . -B build -GNinja ^
-  -DVCPKG_MANIFEST_INSTALL=OFF  ^
-  -DVCPKG_TARGET_TRIPLET=x64-windows-release  ^
-  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed"  ^
-  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake"  ^
-  -DPKG_CONFIG_EXECUTABLE="%FINAL_EXPORT_PATH%\installed\%TRIPLET%\tools\pkgconf\pkgconf.exe" ^
-  -DPKG_CONFIG_USE_CMAKE_PREFIX_PATH=ON ^
-  -DCMAKE_BUILD_TYPE=Release ^
-  -DENABLE_CUDA=OFF ^
-  -DENABLE_OPENCL=OFF ^
-  -DBUILD_EXAMPLES=OFF ^
-  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
-  -DBUILD_SHARED_LIBS=ON || exit /b !errorlevel!
-cmake --build build --config Release --target install || exit /b !errorlevel!
-cd ..
-
-:: depthai
-echo [+] Building depthai...
-if not exist depthai-core (
-    echo [+] Downloading...
-    git clone https://github.com/luxonis/depthai-core.git
-    cd depthai-core
-    :: depthai 2.32.0 (Hunter-based; v2 does NOT use vcpkg/CMake presets)
-    git checkout v2.32.0
-    git submodule update --init --recursive
-    cd ..
-)
-cd depthai-core
-:: v2 and its old Hunter sub-deps declare cmake_minimum_required < 3.5, which
-:: CMake 4.x rejects, and CMAKE_POLICY_VERSION_MINIMUM does not propagate into
-:: Hunter's sub-builds. Use a pinned CMake 3.x just for depthai (Hunter reuses the
-:: same cmake binary for its dependency sub-builds).
-set "CMAKE3_VER=3.31.12"
-set "CMAKE3_NAME=cmake-%CMAKE3_VER%-windows-x86_64"
-set "CMAKE3_DIR=%SRC_DIR%\%CMAKE3_NAME%"
-set "CMAKE3=%CMAKE3_DIR%\bin\cmake.exe"
-if not exist "%CMAKE3_DIR%" (
-    echo [+] Downloading CMake %CMAKE3_VER% ...
-    curl -L -o "%SRC_DIR%\%CMAKE3_NAME%.zip" "https://github.com/Kitware/CMake/releases/download/v%CMAKE3_VER%/%CMAKE3_NAME%.zip" || exit /b !errorlevel!
-    "%SEVENZIP_EXE%" x "%SRC_DIR%\%CMAKE3_NAME%.zip" -o"%SRC_DIR%" -y || exit /b !errorlevel!
-)
-:: v2 is fully Hunter-managed (no vcpkg toolchain). depthaiDependencies.cmake
-:: unconditionally does find_package(OpenCV 4 QUIET CONFIG) (not gated by
-:: DEPTHAI_OPENCV_SUPPORT); if it finds the bundle's OpenCV, OpenCVModules does
-:: find_dependency(TIFF) which collides with Hunter's config-less FindTIFF. We don't
-:: need depthai's OpenCV at all (CameraDepthAI converts ImgFrame->cv::Mat itself), so
-:: hard-disable the lookup. DEPTHAI_ENABLE_CURL=OFF avoids Hunter's old zlib/curl.
-"%CMAKE3%" -S . -B build -GNinja ^
-  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
-  -DCMAKE_BUILD_TYPE=Release ^
-  -DBUILD_SHARED_LIBS=ON ^
-  -DDEPTHAI_OPENCV_SUPPORT=OFF ^
-  -DCMAKE_DISABLE_FIND_PACKAGE_OpenCV=ON ^
-  -DDEPTHAI_ENABLE_CURL=OFF ^
-  -DDEPTHAI_BUILD_EXAMPLES=OFF ^
-  -DDEPTHAI_BUILD_TESTS=OFF || exit /b !errorlevel!
-"%CMAKE3%" --build build --config Release --target install || exit /b !errorlevel!
-cd ..
-
-:: CCCoreLib
-echo [+] Building CCCoreLib...
-if not exist CCCoreLib (
-    echo [+] Downloading...
-    git clone https://github.com/CloudCompare/CCCoreLib.git
-    cd CCCoreLib
-    :: June 20, 2026
-    git checkout 4095bea6552096cb528c3b8b5cb9505df2aa6002
-    git submodule update --init --recursive
-    :: nanoflann is an internal dep (only used in src/Kriging.cpp, no public header),
-    :: but CCCoreLib links it PUBLIC, leaking nanoflann::nanoflann into the exported
-    :: interface and breaking find_package(CCCoreLib). Link it PRIVATE instead.
-    git apply "%~dp0patches\cccorelib_4095bea.patch"
-    cd ..
-)
-cd CCCoreLib
-cmake -S . -B build -GNinja ^
-  -DVCPKG_MANIFEST_INSTALL=OFF  ^
-  -DVCPKG_TARGET_TRIPLET=x64-windows-release  ^
-  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed"  ^
-  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake"  ^
-  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
-  -DCMAKE_BUILD_TYPE=Release ^
-  -DCCCORELIB_SHARED=ON ^
-  -DCCCORELIB_USE_CGAL=OFF ^
-  -DCCCORELIB_USE_TBB=ON ^
-  -DCCCORELIB_USE_QT_CONCURRENT=OFF || exit /b !errorlevel!
-cmake --build build --config Release --target install || exit /b !errorlevel!
-cd ..
-
-:: 5. ZIP the folder
-echo [+] Creating final package with 7-Zip...
-:: Rip off pdb files
-cd /d "%FINAL_EXPORT_PATH%"
-del /s /q /f *.pdb >nul 2>&1
-
-cd ..
-
-set "FINAL_ZIP=%TARGET_NAME%.7z"
-
-:: compress contents without the root folder
-"%SEVENZIP_EXE%" u -t7z -mx9 "%FINAL_ZIP%" "%FINAL_EXPORT_PATH%\*" -up0q0
-
-if !errorlevel! EQU 0 (
-    echo [!] Success! Package created at %FINAL_ZIP%
-) else (
-    echo [X] 7-Zip failed with error code !errorlevel!
-)
-
-
-:: Example building rtabmap afterwards
-goto :EndComment
-
-:: The vcpkg export folder should not be in the rtabmap source directory
-:: (otherwise we get some cmake errors about that)
-set VCPKG_UNZIPPED_EXPORT_PATH=%USERPROFILE%\Downloads\vcpkg-export-########-x64-vs2022
-
-set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release\bin;%PATH%
-set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release\sdk\windows-desktop\amd64\release\bin;%PATH%
-set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release\tools\python3\Lib\site-packages\numpy.libs;%PATH%
-set K4A_ROOT_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release
-set KINECTSDK20_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release
-
-cmake -B build -GNinja ^
-  -DCMAKE_BUILD_TYPE=Release ^
-  -DBUILD_AS_BUNDLE=ON ^
-  -DWITH_PYTHON=ON ^
-  -DWITH_ZED=OFF ^
-  -DWITH_CERES=ON ^
-  -DWITH_ORBBEC_SDK=ON ^
-  -DWITH_FREENECT2=ON ^
-  -DWITH_K4W2=ON ^
-  -DWITH_K4A=ON ^
-  -DWITH_DEPTHAI=ON ^
-  -DWITH_REALSENSE2=ON ^
-  -DWITH_CCCORELIB=ON ^
-  -DWITH_PDAL=OFF ^
-  -DVCPKG_MANIFEST_INSTALL=OFF ^
-  -DVCPKG_TARGET_TRIPLET=x64-windows-release ^
-  -DVCPKG_INSTALLED_DIR="%VCPKG_UNZIPPED_EXPORT_PATH%/installed" ^
-  -DCMAKE_TOOLCHAIN_FILE=%VCPKG_UNZIPPED_EXPORT_PATH%/scripts/buildsystems/vcpkg.cmake ^
-  -DGTSAM_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release\CMake 
-
-cmake --build build --config Release --target package
-
-:: To install CPU pytorch inside rtabmap package afterwards.
-:: Note that python.exe is the one in the bin directory of the package, not the system one.
-python.exe -m pip install torch torchvision opencv-python-headless "numpy<2"
-
-:EndComment
@@ -1,338 +0,0 @@
-@echo off
-setlocal enabledelayedexpansion
-
-IF NOT DEFINED CUDA_PATH (
-    echo [ERROR] CUDA_PATH is not set.
-    exit /b 1
-)
-
-set PATH=%CUDA_PATH%\bin;%PATH%
-set PATH=%CUDA_PATH%\bin\x64;%PATH%
-set PATH=%CUDA_PATH%\extras\CUPTI\lib64;%PATH%
-
-:: CUDA Toolkit should be manually installed on the computer before running this script
-:: We assume also that cuDNN is merged into CUDA installed directory.
-where nvcc >nul 2>&1
-if !errorlevel! neq 0 (
-    echo [ERROR] nvcc was not found in your PATH.
-    pause
-    exit /b
-)
-for /f "tokens=5" %%a in ('nvcc --version ^| findstr "release"') do (
-    set "RAW_VER=%%a"
-    :: This removes the trailing comma
-    set "CUDA_VER=!RAW_VER:,=!"
-	set "CUDA_VER_SHORT=!CUDA_VER:.=!"
-)
-if "!CUDA_VER!"=="" (
-    echo [ERROR] Could not parse CUDA version.
-    pause
-    exit /b
-)
-echo Installed CUDA Toolkit: %CUDA_VER%
-
-:: --- CONFIGURATION ---
-set "VCPKG_ROOT=%~dp0vcpkg"
-set "EXPORT_DIR=%~dp0vcpkg_binaries"
-:: All deps downloaded/built from source (pytorch, torchvision, opencv, libfreenect2, ...) live here.
-set "SRC_DIR=%~dp0vcpkg_deps_from_source"
-set "TRIPLET=x64-windows-release"
-set "SEVENZIP_EXE=C:\Program Files\7-Zip\7z.exe"
-
-set "VCPKG_JSON=%~dp0vcpkg.json"
-for /f "usebackq tokens=*" %%a in (`powershell -NoProfile -Command "(Get-Content '%VCPKG_JSON%' -Raw | ConvertFrom-Json).'builtin-baseline'"` ) do set "VCPKG_COMMIT=%%a"
-
-if "%VCPKG_COMMIT%"=="" (
-    echo [X] Error: Could not find 'builtin-baseline' in %VCPKG_JSON%
-    pause
-    exit /b 1
-)
-
-set VCPKG_COMMIT_SHORT=%VCPKG_COMMIT:~0,8%
-set "VS_LOCATOR=%ProgramFiles(x86)%\Microsoft Visual Studio\Installer\vswhere.exe"
-for /f "usebackq tokens=*" %%i in (`"%VS_LOCATOR%" -latest -property catalog_productLineVersion`) do set VS_YEAR=vs%%i
-set ORG_TARGET_NAME=vcpkg-export-%VCPKG_COMMIT_SHORT%-x64-%VS_YEAR%
-set TARGET_NAME=%ORG_TARGET_NAME%-cuda%CUDA_VER_SHORT%
-set VCPKG_EXPORT_PATH=%EXPORT_DIR%\%ORG_TARGET_NAME%
-set FINAL_EXPORT_PATH=%EXPORT_DIR%\%TARGET_NAME%
-
-if not exist "%FINAL_EXPORT_PATH%" (
-    if not exist "%VCPKG_EXPORT_PATH%" (
-        call bundle_windows_deps.bat || exit /b !errorlevel!
-	)
-	echo [+] Copying %VCPKG_EXPORT_PATH% to %FINAL_EXPORT_PATH%
-	xcopy "%VCPKG_EXPORT_PATH%" "%FINAL_EXPORT_PATH%\" /E /I /H /Y /Q || exit /b !errorlevel!
-	echo [+] Remove opencv built by vcpkg
-	rmdir /s /q "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\include\opencv4" || exit /b !errorlevel!
-	rmdir /s /q "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\share\opencv4" || exit /b !errorlevel!
-	rmdir /s /q "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\share\opencv" || exit /b !errorlevel!
-	del "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\bin\opencv*" || exit /b !errorlevel!
-	del "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\lib\opencv*" || exit /b !errorlevel!
-	:: bundle cudnn runtime libraries
-	xcopy "%CUDA_PATH%\bin\x64\cudnn*.dll" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\bin\" /Y
-)
-
-:: ZED: copy the main library + the zed-config.cmake so find_package(ZED) resolves
-:: it from the export (the config derives paths from ZED_SDK_ROOT_DIR/CMAKE_PREFIX_PATH).
-if "%ZED_SDK_ROOT_DIR%"=="" (
-    echo Error: ZED_SDK_ROOT_DIR environment variable is not set!
-    pause
-    exit /b 1
-)
-echo Copying ZED main library only...
-:: Only the core runtime goes into the bundle; the neural-depth/TensorRT DLLs are
-:: shipped separately (see the zed-neural-extra archive below).
-robocopy "%ZED_SDK_ROOT_DIR%\bin" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\bin" sl_zed64.dll zlibwapi.dll /XO
-robocopy "%ZED_SDK_ROOT_DIR%\lib" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\lib" /E /XO
-robocopy "%ZED_SDK_ROOT_DIR%\include" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\include" /E /XO
-:: Install ZED's CMake config at the export prefix root so find_package(ZED 2) (config
-:: mode, via the vcpkg toolchain CMAKE_PREFIX_PATH) finds it.
-robocopy "%ZED_SDK_ROOT_DIR%" "%FINAL_EXPORT_PATH%\installed\%TRIPLET%" zed-config.cmake zed-config-version.cmake /XO
-:: Robocopy exit codes under 8 mean successful copies/no changes.
-:: 8 or higher means there was a failure.
-if !errorlevel! GEQ 8 (
-    echo Error: Robocopy failed with exit code !errorlevel!
-    pause
-    exit /b !errorlevel!
-)
-:: Archive the remaining ZED runtime DLLs (neural-depth / TensorRT extras) as a
-:: separate optional download, kept out of the main bundle to keep it small. Built
-:: only once: skipped if the archive already exists. Staged with robocopy /XF
-:: (excludes by name; avoids 7z's "!" exclude switch that delayed expansion mangles).
-set "ZED_EXTRA_7Z=%EXPORT_DIR%\%TARGET_NAME%-zed-neural-extra.7z"
-set "ZED_EXTRA_DIR=%SRC_DIR%\zed-neural-extra"
-if not exist "%ZED_EXTRA_7Z%" (
-    echo [+] Creating ZED neural extra archive...
-    if exist "%ZED_EXTRA_DIR%" rd /s /q "%ZED_EXTRA_DIR%"
-    robocopy "%ZED_SDK_ROOT_DIR%\bin" "%ZED_EXTRA_DIR%" *.dll /XF sl_zed64.dll zlibwapi.dll >nul
-    "%SEVENZIP_EXE%" a -t7z -mx9 "%ZED_EXTRA_7Z%" "%ZED_EXTRA_DIR%\*" || exit /b !errorlevel!
-)
-
-:: pytorch deps
-%FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe -m pip install numpy packaging "setuptools<82" pyyaml typing_extensions
-
-git config --global core.longpaths true
-
-:: All deps cloned/built below go into %SRC_DIR% (incl. libfreenect2 built by
-:: bundle_windows_deps.bat) to keep the repo root clean.
-if not exist "%SRC_DIR%" mkdir "%SRC_DIR%"
-cd /d "%SRC_DIR%"
-
-:: pytorch, build with local cuda libraries to avoid duplicating them when we install rtabmap
-echo [+] Building pytorch with cuda support...
-if not exist pytorch (
-    echo [+] Downloading pytorch...
-    git clone https://github.com/pytorch/pytorch || exit /b !errorlevel!
-    cd pytorch
-	:: Jan 21, 2026
-    git checkout v2.10.0 
-	git submodule update --init --recursive || exit /b !errorlevel!
-    cd ..
-)
-
-set "PYTHONHOME=%FINAL_EXPORT_PATH%\installed\%TRIPLET%\tools\python3"
-set "Python_ROOT_DIR=%FINAL_EXPORT_PATH%\installed\%TRIPLET%"
-set CMAKE_GENERATOR=Ninja
-set BUILD_TEST=0
-set ATEN_NO_TEST=1
-set INSTALL_TEST=OFF
-set "LIB=%FINAL_EXPORT_PATH%\installed\%TRIPLET%\lib;%LIB%"
-set "%FINAL_EXPORT_PATH%\installed\%TRIPLET%\include;INCLUDE=%INCLUDE%"
-
-:: check if torch is installed
-%PYTHONHOME%/python.exe -m pip show torch >nul 2>&1
-if !errorlevel! neq 0 (
-    cd pytorch
-    %PYTHONHOME%/python.exe setup.py install || exit /b !errorlevel!
-    cd ..
-)
-if exist "%PYTHONHOME%\Lib\site-packages\torch\test" rd /s /q %PYTHONHOME%\Lib\site-packages\torch\test"
-del "%PYTHONHOME%\Lib\site-packages\torch\bin\test_*" || exit /b !errorlevel!
-
-echo [+] Building torchvision...
-if not exist torchvision (
-    echo [+] Downloading torchvision...
-    git clone https://github.com/pytorch/vision.git torchvision || exit /b !errorlevel!
-    cd torchvision
-	:: Jan 6, 2026
-    git checkout v0.25.0
-	git submodule update --init --recursive || exit /b !errorlevel!
-    cd ..
-)
-cd torchvision
-set PATH=%FINAL_EXPORT_PATH%\installed\%TRIPLET%\bin;%PATH%
-set DISTUTILS_USE_SDK=1
-set TORCHVISION_INCLUDE=%FINAL_EXPORT_PATH%\installed\%TRIPLET%\include
-set TORCHVISION_LIBRARY=%FINAL_EXPORT_PATH%\installed\%TRIPLET%\lib
-%FINAL_EXPORT_PATH%/installed/%TRIPLET%/tools/python3/python.exe -m pip install . -v --no-build-isolation || exit /b !errorlevel!
-cd ..
-
-
-:: opencv_cuda
-echo [+] Building opencv with cuda support...
-if not exist opencv (
-    echo [+] Downloading opencv...
-    git clone https://github.com/opencv/opencv.git || exit /b !errorlevel!
-    cd opencv
-    :: 4.13.0 minimum required to be compatible with cuda 13
-	:: Dec 31, 2025
-    git checkout 4.13.0
-    cd ..
-)
-if not exist opencv_contrib (
-    echo [+] Downloading opencv_contrib...
-	git clone https://github.com/opencv/opencv_contrib.git || exit /b !errorlevel!
-    cd opencv_contrib
-    :: 4.13.0 minimum required to be compatible with cuda 13
-	:: Dec 31, 2025
-    git checkout 4.13.0
-    cd ..
-)
-cd opencv
-cmake -S . -B build -GNinja ^
-  -DVCPKG_MANIFEST_INSTALL=OFF  ^
-  -DVCPKG_TARGET_TRIPLET=%TRIPLET%  ^
-  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed"  ^
-  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake" ^
-  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
-  -DCMAKE_BUILD_TYPE=Release ^
-  -DOPENCV_BIN_INSTALL_PATH="bin" ^
-  -DOPENCV_LIB_INSTALL_PATH="lib" ^
-  -DOPENCV_CONFIG_INSTALL_PATH="share/opencv" ^
-  -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib/modules ^
-  -DBUILD_SHARED_LIBS=ON ^
-  -DBUILD_TESTS=OFF ^
-  -DBUILD_PERF_TESTS=OFF ^
-  -DOPENCV_ENABLE_NONFREE=ON ^
-  -DBUILD_opencv_apps=OFF ^
-  -DBUILD_opencv_cudacodec=OFF ^
-  -DBUILD_opencv_python3=OFF ^
-  -DBUILD_opencv_python_bindings_generator=OFF ^
-  -DBUILD_opencv_python_tests=OFF ^
-  -DBUILD_opencv_java_bindings_generator=OFF ^
-  -DWITH_CUDA=ON ^
-  -DWITH_VTK=OFF ^
-  -DWITH_TBB=ON || exit /b !errorlevel!
-cmake --build build --config Release --target install || exit /b !errorlevel!
-cd ..
-
-
-:: freenect2 with cuda support
-:: libfreenect2's CUDA processors include <helper_math.h>, which modern CUDA toolkits
-:: no longer ship (it moved to the NVIDIA/cuda-samples repo). Fetch it and point
-:: NVCUDASAMPLES_ROOT at it; libfreenect2 adds %NVCUDASAMPLES_ROOT%\common\inc to nvcc.
-set "CUDA_SAMPLES_DIR=%SRC_DIR%\cuda-samples"
-if not exist "%CUDA_SAMPLES_DIR%\common\inc\helper_math.h" (
-    mkdir "%CUDA_SAMPLES_DIR%\common\inc"
-    curl -L -o "%CUDA_SAMPLES_DIR%\common\inc\helper_math.h" "https://raw.githubusercontent.com/NVIDIA/cuda-samples/v12.5/Common/helper_math.h" || exit /b !errorlevel!
-)
-set "NVCUDASAMPLES_ROOT=%CUDA_SAMPLES_DIR%"
-cd libfreenect2
-cmake -S . -B build_cuda -GNinja ^
-  -DVCPKG_MANIFEST_INSTALL=OFF  ^
-  -DVCPKG_TARGET_TRIPLET=x64-windows-release  ^
-  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed"  ^
-  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake"  ^
-  -DPKG_CONFIG_EXECUTABLE="%FINAL_EXPORT_PATH%\installed\%TRIPLET%\tools\pkgconf\pkgconf.exe" ^
-  -DPKG_CONFIG_USE_CMAKE_PREFIX_PATH=ON ^
-  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
-  -DCMAKE_BUILD_TYPE=Release ^
-  -DENABLE_CUDA=ON ^
-  -DENABLE_OPENCL=ON ^
-  -DENABLE_OPENGL=ON ^
-  -DBUILD_EXAMPLES=OFF ^
-  -DBUILD_SHARED_LIBS=ON || exit /b !errorlevel!
-cmake --build build_cuda --config Release --target install || exit /b !errorlevel!
-cd ..
-
-:: CudaSift (CUDA SIFT/SURF GPU features, matlabbe fork; needs CUDA)
-echo [+] Building CudaSift...
-if not exist CudaSift (
-    echo [+] Downloading...
-    git clone https://github.com/matlabbe/CudaSift.git
-    cd CudaSift
-    git checkout f764e14ae59ee78ff5b282d38790301d80faadc3
-    cd ..
-)
-cd CudaSift
-cmake -S . -B build -GNinja ^
-  -DVCPKG_MANIFEST_INSTALL=OFF ^
-  -DVCPKG_TARGET_TRIPLET=%TRIPLET% ^
-  -DVCPKG_INSTALLED_DIR="%FINAL_EXPORT_PATH%\installed" ^
-  -DCMAKE_TOOLCHAIN_FILE="%FINAL_EXPORT_PATH%\scripts\buildsystems\vcpkg.cmake" ^
-  -DCMAKE_INSTALL_PREFIX="%FINAL_EXPORT_PATH%\installed\%TRIPLET%" ^
-  -DCMAKE_BUILD_TYPE=Release ^
-  -DVERBOSE=OFF ^
-  -DBUILD_SHARED_LIBS=ON || exit /b !errorlevel!
-cmake --build build --config Release --target install || exit /b !errorlevel!
-cd ..
-
-:: 5. ZIP the folder
-echo [+] Creating final package with 7-Zip...
-:: Rip off pdb files
-cd /d "%FINAL_EXPORT_PATH%"
-del /s /q /f *.pdb >nul 2>&1
-cd ..
-
-set "FINAL_ZIP=%TARGET_NAME%.7z"
-
-:: compress contents without the root folder
-"%SEVENZIP_EXE%" u -t7z -mx9 "%FINAL_ZIP%" "%FINAL_EXPORT_PATH%\*" -up0q0 || exit /b !errorlevel!
-
-if !errorlevel! EQU 0 (
-    echo [!] Success! Package created at %FINAL_ZIP%
-) else (
-    echo [X] 7-Zip failed with error code !errorlevel!
-)
-
-:: Example building rtabmap with opencv cuda and libtorch afterwards
-goto :EndComment
-
-:: The vcpkg export folder should not be in the rtabmap source directory
-:: (otherwise we get some cmake errors about that)
-set VCPKG_UNZIPPED_EXPORT_PATH=%USERPROFILE%\Downloads\vcpkg-export-########-x64-vs2022
-
-set TRIPLET=x64-windows-release
-set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%\bin;%PATH%
-set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%\tools\python3;%PATH%
-set PATH=%CUDA_PATH%\bin;%PATH%
-set PATH=%CUDA_PATH%\bin\x64;%PATH%
-set PATH=%CUDA_PATH%\extras\CUPTI\lib64;%PATH%
-set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%\tools\python3\Lib\site-packages\torch\lib;%PATH%
-set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%\tools\python3\Lib\site-packages\numpy.libs;%PATH%
-set PATH=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\x64-windows-release\sdk\windows-desktop\amd64\release\bin;%PATH%
-set K4A_ROOT_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%
-set KINECTSDK20_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%
-set ZED_SDK_ROOT_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%
-
-cmake -B build_cuda -GNinja ^
-  -DCMAKE_BUILD_TYPE=Release ^
-  -DBUILD_AS_BUNDLE=ON ^
-  -DWITH_PYTHON=ON ^
-  -DWITH_TORCH=ON ^
-  -DWITH_ZED=ON ^
-  -DWITH_CUDASIFT=ON ^
-  -DWITH_CERES=ON ^
-  -DWITH_ORBBEC_SDK=ON ^
-  -DWITH_FREENECT2=ON ^
-  -DWITH_K4W2=ON ^
-  -DWITH_K4A=ON ^
-  -DWITH_DEPTHAI=ON ^
-  -DWITH_REALSENSE2=ON ^
-  -DWITH_CCCORELIB=ON ^
-  -DWITH_PDAL=OFF ^
-  -DVCPKG_MANIFEST_INSTALL=OFF ^
-  -DVCPKG_TARGET_TRIPLET=%TRIPLET% ^
-  -DVCPKG_INSTALLED_DIR="%VCPKG_UNZIPPED_EXPORT_PATH%/installed" ^
-  -DCMAKE_TOOLCHAIN_FILE=%VCPKG_UNZIPPED_EXPORT_PATH%/scripts/buildsystems/vcpkg.cmake ^
-  -DGTSAM_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%\CMake ^
-  -DTorch_DIR=%VCPKG_UNZIPPED_EXPORT_PATH%\installed\%TRIPLET%\tools\python3\Lib\site-packages\torch\share\cmake\Torch
-
-cmake --build build_cuda --config Release --target package
-
-:: Generate superpoint weights (from share directory of the installed package)
-curl -L -O "https://raw.githubusercontent.com/magicleap/SuperPointPretrainedNetwork/master/demo_superpoint.py"
-curl -L -O "https://github.com/magicleap/SuperPointPretrainedNetwork/raw/refs/heads/master/superpoint_v1.pth"
-..\bin\python.exe rtabmap_trace_superpoint.py
-
-:EndComment
@@ -1,105 +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_VERSION       - The version of cuVSLAM found (e.g., "14.0.0").
-#  CUVSLAM_INCLUDE_DIRS  - The cuVSLAM include directory.
-#  CUVSLAM_LIBRARIES     - The cuVSLAM library to link against.
-
-find_package(CUDA REQUIRED)
-find_package(Eigen3 REQUIRED)
-
-find_path(CUVSLAM_INCLUDE_DIRS 
-    NAMES cuvslam.h
-    PATHS
-        /usr/include
-        /usr/local/include
-        /opt/cuvslam/include
-        /opt/ros/humble/share/isaac_ros_nitros/cuvslam/include
-        $ENV{CUVSLAM_ROOT}/include
-        $ENV{CUVSLAM_ROOT_DIR}/include
-)
-
-find_library(CUVSLAM_LIBRARY 
-    NAMES cuvslam
-    PATHS
-        /usr/lib
-        /usr/local/lib
-        /opt/cuvslam/lib
-        /opt/ros/humble/share/isaac_ros_nitros/cuvslam/lib
-        $ENV{CUVSLAM_ROOT}/lib
-        $ENV{CUVSLAM_ROOT_DIR}/lib
-)
-
-if(CUVSLAM_INCLUDE_DIRS AND CUVSLAM_LIBRARY)
-    # Extract version from cuvslam.h header
-    file(STRINGS "${CUVSLAM_INCLUDE_DIRS}/cuvslam.h" CUVSLAM_VERSION_MAJOR_LINE 
-         REGEX "^#define CUVSLAM_API_VERSION_MAJOR")
-    file(STRINGS "${CUVSLAM_INCLUDE_DIRS}/cuvslam.h" CUVSLAM_VERSION_MINOR_LINE 
-         REGEX "^#define CUVSLAM_API_VERSION_MINOR")
-    
-    if(CUVSLAM_VERSION_MAJOR_LINE AND CUVSLAM_VERSION_MINOR_LINE)
-        string(REGEX MATCH "[0-9]+" CUVSLAM_VERSION_MAJOR "${CUVSLAM_VERSION_MAJOR_LINE}")
-        string(REGEX MATCH "[0-9]+" CUVSLAM_VERSION_MINOR "${CUVSLAM_VERSION_MINOR_LINE}")
-        set(CUVSLAM_VERSION "${CUVSLAM_VERSION_MAJOR}.${CUVSLAM_VERSION_MINOR}.0")
-    endif()
-    
-    set(CUVSLAM_LIBRARIES 
-        ${CUVSLAM_LIBRARY} 
-        ${CUDA_LIBRARIES}
-        # Eigen3 is header-only, so we don't need to link to it
-    )
-    set(CUVSLAM_INCLUDE_DIRS 
-        ${CUVSLAM_INCLUDE_DIRS} 
-        ${CUDA_INCLUDE_DIRS} 
-        ${EIGEN3_INCLUDE_DIR}
-    )
-endif()
-
-# Version compatibility check - cuVSLAM only guarantees API compatibility within the same major version
-set(CUVSLAM_VERSION_MISMATCH_REASON "")
-if(CuVSLAM_FIND_VERSION AND CUVSLAM_VERSION)
-    string(REGEX MATCH "^[0-9]+" REQUESTED_MAJOR_VERSION "${CuVSLAM_FIND_VERSION}")
-    if(NOT CUVSLAM_VERSION_MAJOR EQUAL REQUESTED_MAJOR_VERSION)
-        set(CUVSLAM_VERSION_MISMATCH_REASON "Major version mismatch: found ${CUVSLAM_VERSION_MAJOR}.x but requested ${REQUESTED_MAJOR_VERSION}.x.\ncuVSLAM only guarantees API compatibility within the same major version.\nPlease install cuVSLAM ${REQUESTED_MAJOR_VERSION}.x or update CMakeLists.txt to request version ${CUVSLAM_VERSION_MAJOR}.0.0")
-        
-        if(CuVSLAM_FIND_REQUIRED)
-            message(FATAL_ERROR 
-                "cuVSLAM major version mismatch: found version ${CUVSLAM_VERSION} but version ${CuVSLAM_FIND_VERSION} is required.\n"
-                "cuVSLAM only guarantees API compatibility within the same major version.\n"
-                "Found major version ${CUVSLAM_VERSION_MAJOR} is not compatible with requested major version ${REQUESTED_MAJOR_VERSION}.\n"
-                "Please install cuVSLAM ${REQUESTED_MAJOR_VERSION}.x or update CMakeLists.txt to request version ${CUVSLAM_VERSION_MAJOR}.x."
-            )
-        else()
-            # Clear the found variables to indicate incompatibility
-            unset(CUVSLAM_LIBRARIES)
-            unset(CUVSLAM_INCLUDE_DIRS)
-        endif()
-    endif()
-endif()
-
-# Handle the QUIET and REQUIRED arguments
-include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(CuVSLAM
-    FOUND_VAR CUVSLAM_FOUND
-    REQUIRED_VARS CUVSLAM_LIBRARIES CUVSLAM_INCLUDE_DIRS
-    VERSION_VAR CUVSLAM_VERSION
-    REASON_FAILURE_MESSAGE "${CUVSLAM_VERSION_MISMATCH_REASON}"
-    HANDLE_COMPONENTS
-)
-
-if(CUVSLAM_FOUND)
-    # Create imported target for modern CMake usage
-    if(NOT TARGET cuvslam::cuvslam)
-        add_library(cuvslam::cuvslam UNKNOWN IMPORTED)
-        set_target_properties(cuvslam::cuvslam PROPERTIES
-            IMPORTED_LOCATION "${CUVSLAM_LIBRARY}"
-            INTERFACE_INCLUDE_DIRECTORIES "${CUVSLAM_INCLUDE_DIRS}"
-            INTERFACE_LINK_LIBRARIES "${CUVSLAM_LIBRARIES};Eigen3::Eigen"
-        )
-    endif()
-endif()
-
-mark_as_advanced(CUVSLAM_INCLUDE_DIRS CUVSLAM_LIBRARY)
@@ -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)
@@ -40,13 +40,7 @@ if(NOT Eigen3_FIND_VERSION)
 endif()

 macro(_eigen3_check_version)
-  # Since Eigen 5.0.0 the version macros moved from Eigen/src/Core/util/Macros.h
-  # to a dedicated Eigen/Version header, so check the new location first.
-  if(EXISTS "${EIGEN3_INCLUDE_DIR}/Eigen/Version")
-    file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/Version" _eigen3_version_header)
-  else()
-    file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
-  endif()
+  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)

  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
@@ -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
@@ -101,16 +97,16 @@ IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_CONFIG_FIL
 	${G2O_TYPES_SBA}
        ${G2O_STUFF_LIBRARY})
  
-  IF(CSPARSE_FOUND AND G2O_SOLVER_CSPARSE AND G2O_SOLVER_CSPARSE_EXTENSION)
+  IF(CSPARSE_FOUND)
     SET(G2O_INCLUDE_DIRS 
        ${G2O_INCLUDE_DIRS} 
        ${CSPARSE_INCLUDE_DIR})
     SET(G2O_LIBRARIES
        ${G2O_LIBRARIES} 
-        ${G2O_SOLVER_CSPARSE} 
-        ${G2O_SOLVER_CSPARSE_EXTENSION}
-        ${CSPARSE_LIBRARY})
-  ENDIF(CSPARSE_FOUND AND G2O_SOLVER_CSPARSE AND G2O_SOLVER_CSPARSE_EXTENSION)
+	${G2O_SOLVER_CSPARSE} 
+	${G2O_SOLVER_CSPARSE_EXTENSION}
+	${CSPARSE_LIBRARY})
+  ENDIF(CSPARSE_FOUND)

  IF(G2O_SOLVER_CHOLMOD)
    SET(G2O_INCLUDE_DIRS 
@@ -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")
@@ -11,7 +11,6 @@
 find_path(ORB_SLAM_INCLUDE_DIR NAMES System.h PATHS $ENV{ORB_SLAM_ROOT_DIR}/include)
 find_library(ORB_SLAM2_LIBRARY NAMES ORB_SLAM2 PATHS $ENV{ORB_SLAM_ROOT_DIR}/lib)
 find_library(ORB_SLAM3_LIBRARY NAMES ORB_SLAM3 PATHS $ENV{ORB_SLAM_ROOT_DIR}/lib)
-find_path(DBoW2_INCLUDE_DIR NAMES DBoW2/BowVector.h PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/DBoW2 NO_DEFAULT_PATH)
 find_path(g2o_INCLUDE_DIR NAMES g2o/core/sparse_optimizer.h PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/g2o NO_DEFAULT_PATH)
 find_path(sophus_INCLUDE_DIR NAMES sophus/se3.hpp PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/Sophus NO_DEFAULT_PATH)
 find_library(g2o_LIBRARY NAMES g2o PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/g2o/lib NO_DEFAULT_PATH)
@@ -23,9 +22,9 @@ IF(ORB_SLAM2_LIBRARY)
 ELSEIF(ORB_SLAM3_LIBRARY)
   SET(ORB_SLAM_VERSION 3)
   SET(ORB_SLAM_LIBRARY ${ORB_SLAM3_LIBRARY})
-   IF(g2o_INCLUDE_DIR AND sophus_INCLUDE_DIR AND DBoW2_INCLUDE_DIR) # ORB_SLAM3 v1
-      SET(g2o_INCLUDE_DIR ${g2o_INCLUDE_DIR} ${sophus_INCLUDE_DIR} ${DBoW2_INCLUDE_DIR} $ENV{ORB_SLAM_ROOT_DIR})
-   ENDIF(g2o_INCLUDE_DIR AND sophus_INCLUDE_DIR AND DBoW2_INCLUDE_DIR)
+   IF(g2o_INCLUDE_DIR AND sophus_INCLUDE_DIR) # ORB_SLAM3 v1
+      SET(g2o_INCLUDE_DIR ${g2o_INCLUDE_DIR} ${sophus_INCLUDE_DIR})
+   ENDIF(g2o_INCLUDE_DIR AND sophus_INCLUDE_DIR)
 ENDIF()

 IF (ORB_SLAM_INCLUDE_DIR AND ORB_SLAM_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_DIR AND g2o_LIBRARY)
@@ -1,44 +0,0 @@
-# Find OpenVINS
-# 
-#   We search for a vins installation in ROS/ROS2 first, then fallback on 
-#   ros-free library in common install paths
-
-FIND_PACKAGE(ov_msckf QUIET)
-IF(ov_msckf_FOUND)
-   # On ROS2, the indirect includes and libraries
-   # are not forwarded by ov_msckf target, append them manually
-   FIND_PACKAGE(ov_core)
-   FIND_PACKAGE(ov_init)
-   IF(ov_msckf_FOUND AND ov_core_FOUND AND ov_init_FOUND)
-      SET(OpenVINS_FOUND TRUE)
-      SET(OpenVINS_INCLUDE_DIRS
-         ${ov_msckf_INCLUDE_DIRS}
-         ${ov_core_INCLUDE_DIRS}
-         ${ov_init_INCLUDE_DIRS})
-      SET(OpenVINS_LIBRARIES
-         ${ov_msckf_LIBRARIES}
-         ${ov_core_LIBRARIES}
-         ${ov_init_LIBRARIES})
-   ENDIF()
-ELSE()
-   find_path(OpenVINS_INCLUDE_DIR NAMES core/VioManager.h PATH_SUFFIXES open_vins)
-   find_library(OpenVINS_LIBRARY NAMES ov_msckf_lib)
-   IF (OpenVINS_INCLUDE_DIR AND OpenVINS_LIBRARY)
-      SET(OpenVINS_FOUND TRUE)
-      SET(OpenVINS_INCLUDE_DIRS ${OpenVINS_INCLUDE_DIR})
-      SET(OpenVINS_LIBRARIES ${OpenVINS_LIBRARY})
-   ENDIF()
-ENDIF()
-
-IF (OpenVINS_FOUND)
-   # show which OpenVINS was found only if not quiet
-   IF (NOT OpenVINS_FIND_QUIETLY)
-      MESSAGE(STATUS "Found OpenVINS: ${OpenVINS_LIBRARIES} ${OpenVINS_INCLUDE_DIRS}")
-   ENDIF (NOT OpenVINS_FIND_QUIETLY)
-ELSE (OpenVINS_FOUND)
-   # fatal error if OpenVINS is required but not found
-   IF (OpenVINS_FIND_REQUIRED)
-      MESSAGE(FATAL_ERROR "Could not find OpenVINS")
-   ENDIF (OpenVINS_FIND_REQUIRED)
-ENDIF (OpenVINS_FOUND)
-
@@ -10,6 +10,8 @@
 	<string>${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>
@@ -38,7 +38,7 @@ class IMUFilter;

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

 	bool initFromFile(const std::string & calibrationPath);
@@ -73,7 +73,6 @@ private:
 private:
 	IMUFilter * imuFilter_;
 	bool publishInterIMU_;
-	bool imuBaseFrameConversion_;
 };


@@ -126,10 +126,8 @@ public:
 	double verticalFOV() const;   // in degrees
 	bool isFisheye() const {return D_.cols == 6;}

-	// Set initRectificationMaps=false to skip building the (potentially large)
-	// rectification maps when rectification won't be used (saves time and memory).
-	bool load(const std::string & filePath, bool initRectificationMaps = true);
-	bool load(const std::string & directory, const std::string & cameraName, bool initRectificationMaps = true);
+	bool load(const std::string & filePath);
+	bool load(const std::string & directory, const std::string & cameraName);
 	bool save(const std::string & directory) const;
 	std::vector<unsigned char> serialize() const;
 	unsigned int deserialize(const std::vector<unsigned char>& data);
@@ -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>
@@ -129,12 +129,11 @@ public:
 			std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,
 #endif
 			cv::Mat * textures = 0) const;
-	void saveFlannIndex(const std::vector<unsigned char> & indexData) const;

 public:
 	// Mutex-protected methods of abstract versions below

-	bool openConnection(const std::string & url, bool overwritten = false, bool readOnly = false);
+	bool openConnection(const std::string & url, bool overwritten = false);
 	void closeConnection(bool save = true, const std::string & outputUrl = "");
 	bool isConnected() const;
 	unsigned long getMemoryUsed() const; // In bytes
@@ -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;
@@ -193,7 +191,7 @@ public:
 protected:
 	DBDriver(const ParametersMap & parameters = ParametersMap());

-	virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false, bool readOnly = false) = 0;
+	virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false) = 0;
 	virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "") = 0;
 	virtual bool isConnectedQuery() const = 0;
 	virtual unsigned long getMemoryUsedQuery() const = 0; // In bytes
@@ -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;
@@ -51,7 +51,7 @@ public:
 	void setTempStore(int tempStore);

 protected:
-	virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false, bool readOnly = false);
+	virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false);
 	virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "");
 	virtual bool isConnectedQuery() const;
 	virtual unsigned long getMemoryUsedQuery() const; // In bytes
@@ -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;

@@ -59,8 +59,6 @@ public:
 			 int startMapId = 0,
 			 int stopMapId = -1,
 			 bool priorsIgnored = false,
-			 bool imuIgnored = false,
-			 bool intermediateNodesAreNormalNodes = false,
 			 const std::vector<Transform> & cameraLocalTransformOverrides = std::vector<Transform>());
 	DBReader(const std::list<std::string> & databasePaths,
 			 float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
@@ -76,8 +74,6 @@ public:
 			 int startMapId = 0,
 			 int stopMapId = -1,
 			 bool priorsIgnored = false,
-			 bool imuIgnored = false,
-			 bool intermediateNodesAreNormalNodes = false,
 			 const std::vector<Transform> & cameraLocalTransformOverrides = std::vector<Transform>());
 	virtual ~DBReader();

@@ -108,11 +104,9 @@ private:
 	int _stopId;
 	std::vector<unsigned int> _cameraIndices;
 	bool _intermediateNodesIgnored;
-	bool _intermediateNodesAreNormalNodes;
 	bool _landmarksIgnored;
 	bool _featuresIgnored;
 	bool _priorsIgnored;
-	bool _imuIgnored;
 	int _startMapId;
 	int _stopMapId;
 	std::vector<Transform> _cameraLocalTransformOverrides;
@@ -104,7 +104,6 @@ namespace rtabmap {

 class ORBextractor;
 class SPDetector;
-class SPDetectorRpautrat;

 class Stereo;
 #if CV_MAJOR_VERSION < 3
@@ -130,8 +129,7 @@ public:
 		kFeatureSurfFreak=12, //new 0.20.4
 		kFeatureGfttDaisy=13, //new 0.20.6
 		kFeatureSurfDaisy=14,  //new 0.20.6
-		kFeaturePyDetector=15, //new 0.20.8
-		kFeatureSuperPointRpautrat=16}; // new 0.23.3
+		kFeaturePyDetector=15}; //new 0.20.8

 	static std::string typeName(Type type)
 	{
@@ -166,8 +164,6 @@ public:
 			return "GFTT+Daisy";
 		case kFeatureSurfDaisy:
 			return "SURF+Daisy";
-		case kFeatureSuperPointRpautrat:
-			return "SUPERPOINT-RPAUTRAT";
 		default:
 			return "Unknown";
 		}
@@ -309,8 +305,7 @@ private:
 	bool preciseUpscale_;
 	bool rootSIFT_;
 	bool gpu_;
-	float gaussianThreshold_;
-	float maxGaussianThreshold_;
+	float guaussianThreshold_;
 	bool upscale_;

 	cv::Ptr<CV_SIFT> sift_;
@@ -631,31 +626,6 @@ private:
 	bool cuda_;
 };

-//SuperPointRpautrat
-class RTABMAP_CORE_EXPORT SuperPointRpautrat : public Feature2D
-{
-public:
-	SuperPointRpautrat(const ParametersMap & parameters = ParametersMap());
-	virtual ~SuperPointRpautrat();
-
-	virtual void parseParameters(const ParametersMap & parameters);
-	virtual Feature2D::Type getType() const { return kFeatureSuperPointRpautrat; }
-
-private:
-	virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
-	virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
-
-	cv::Ptr<SPDetectorRpautrat> superPoint_;
-
-	std::string superpointWeightsPath_;
-	std::string superpointModelPath_;
-	std::string outputDir_;
-	float threshold_;
-	bool nms_;
-	int minDistance_;
-	bool cuda_;
-};
-
 //GFTT_DAISY
 class RTABMAP_CORE_EXPORT GFTT_DAISY : public GFTT
 {
@@ -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
@@ -118,18 +118,15 @@ Transform RTABMAP_CORE_EXPORT calcRMSE(
 		float & rotational_max,
 		bool align2D = false);

-struct MaxGraphErrors
-{
-	float linear=-1.0f;         // absolute error (m) of the link with maximum linear error
-	float angular=-1.0f;        // absolute error (rad)  of the link with maximum angular error
-	float linearRatio=-1.0f;    // Ratio = absolute error (m) / linear std (m), of the link with maximum linear error
-	float angularRatio=-1.0f;   // Ratio = absolute error (rad) / angular std (rad), of the link with maximum angular error
-	Link linearLink;  // link with maximum linear error
-	Link angularLink; // link with maximum angular error
-};
-MaxGraphErrors RTABMAP_CORE_EXPORT computeMaxGraphErrors(
+void RTABMAP_CORE_EXPORT computeMaxGraphErrors(
 		const std::map<int, Transform> & poses,
 		const std::multimap<int, Link> & links,
+		float & maxLinearErrorRatio,
+		float & maxAngularErrorRatio,
+		float & maxLinearError,
+		float & maxAngularError,
+		const Link ** maxLinearErrorLink = 0,
+		const Link ** maxAngularErrorLink = 0,
 		bool for3DoF = false);

 std::vector<double> RTABMAP_CORE_EXPORT getMaxOdomInf(const std::multimap<int, Link> & links);
@@ -280,8 +277,7 @@ std::list<std::pair<int, Transform> > RTABMAP_CORE_EXPORT computePath(
 		bool lookInDatabase = true,
 		bool updateNewCosts = false,
 		float linearVelocity = 0.0f,   // m/sec
-		float angularVelocity = 0.0f,  // rad/sec
-		bool ignoreDirectLinks = false); 
+		float angularVelocity = 0.0f); // rad/sec

 /**
 * Find the nearest node of the target pose
@@ -340,7 +336,9 @@ RTABMAP_DEPRECATED std::map<int, Transform> RTABMAP_CORE_EXPORT getPosesInRadius
 RTABMAP_DEPRECATED std::map<int, Transform> RTABMAP_CORE_EXPORT getPosesInRadius(const Transform & targetPose, const std::map<int, Transform> & nodes, float radius, float angle = 0.0f);

 float RTABMAP_CORE_EXPORT computePathLength(
-		const std::vector<std::pair<int, Transform> > & path);
+		const std::vector<std::pair<int, Transform> > & path,
+		unsigned int fromIndex = 0,
+		unsigned int toIndex = 0);

 // assuming they are all linked in map order
 float RTABMAP_CORE_EXPORT computePathLength(
@@ -48,8 +48,7 @@ public:
 		kXYZNormal=8,
 		kXYZINormal=9,
 		kXYZRGBNormal=10,
-		kXYZIT=11,
-		kXYZIRT=12};
+		kXYZIT=11};

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

 	float & field(unsigned int pointIndex, unsigned int channelOffset);

@@ -57,12 +57,6 @@ private:
 };

 class RTABMAP_CORE_EXPORT MarkerDetector {
-
-public:
-  enum Strategy {
-    kStrategyOpencv,
-    kStrategyApriltag
-  };
    
 public:
 	MarkerDetector(const ParametersMap & parameters = ParametersMap());
@@ -90,19 +84,15 @@ public:
 		    cv::Mat * imageWithDetections = 0);

 private:
-  Strategy strategy_;
-  float markerLength_;
-  std::map<int, float> markerLengths_;
+#ifdef HAVE_OPENCV_ARUCO
+	cv::Ptr<cv::aruco::DetectorParameters> detectorParams_;
+	float markerLength_;
 	float maxDepthError_;
 	float maxRange_;
 	float minRange_;
 	int dictionaryId_;
-#ifdef HAVE_OPENCV_ARUCO
-	cv::Ptr<cv::aruco::DetectorParameters> detectorParams_;
 	cv::Ptr<cv::aruco::Dictionary> dictionary_;
 #endif
-  void * apriltagLibDetector_;
-  void * apriltagLibFamily_;
 };

 } /* namespace rtabmap */
@@ -140,12 +140,10 @@ public:
 			float radius,
 			const std::map<int, Transform> & optimizedPoses,
 			int maxGraphDepth) const;
-	void convertToIntermediate(int locationId);
 	void deleteLocation(int locationId, std::list<int> * deletedWords = 0);
 	void saveLocationData(int locationId);
 	void removeLink(int idA, int idB);
-	void removeRawData(int id, bool image = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
-	int reduceNode(int id, float maxDistance = 0.0f, bool keepLinkedInDb = false, int direction = 0);
+	void removeRawData(int id, bool image = true, bool scan = true, bool userData = true);

 	//getters
 	const std::map<int, double> & getWorkingMem() const {return _workingMem;}
@@ -163,7 +161,7 @@ public:
 	float getSimilarityThreshold() const {return _similarityThreshold;}
 	std::map<int, int> getWeights() const;
 	int getLastSignatureId() const;
-	const Signature * getLastWorkingSignature(bool ignoreIntermediateNodes) const;
+	const Signature * getLastWorkingSignature() const;
 	std::map<int, Link> getNodesObservingLandmark(int landmarkId, bool lookInDatabase) const;
 	int getSignatureIdByLabel(const std::string & label, bool lookInDatabase = true) const;
 	bool labelSignature(int id, const std::string & label);
@@ -213,7 +211,6 @@ public:
 	std::set<int> getAllSignatureIds(bool ignoreChildren = true) const;
 	bool memoryChanged() const {return _memoryChanged;}
 	bool isIncremental() const {return _incrementalMemory;}
-	bool isReadOnly() const {return !_incrementalMemory && _localizationReadOnly;}
 	bool isLocalizationDataSaved() const {return _localizationDataSaved;}
 	const Signature * getSignature(int id) const;
 	bool isInSTM(int signatureId) const {return _stMem.find(signatureId) != _stMem.end();}
@@ -267,7 +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);
@@ -279,7 +275,6 @@ private:
 	void initCountId();
 	void rehearsal(Signature * signature, Statistics * stats = 0);
 	bool rehearsalMerge(int oldId, int newId);
-	bool canBeReduced(const Link & link, float maxDistance, int direction);

 	const std::map<int, Signature*> & getSignatures() const {return _signatures;}

@@ -304,16 +299,13 @@ private:
 	float _similarityThreshold;
 	bool _binDataKept;
 	bool _rawDescriptorsKept;
-	bool _loadVisualLocalFeaturesOnInit;
 	bool _saveDepth16Format;
 	bool _notLinkedNodesKeptInDb;
 	bool _saveIntermediateNodeData;
 	std::string _rgbCompressionFormat;
 	std::string _depthCompressionFormat;
 	bool _incrementalMemory;
-	bool _localizationReadOnly;
 	bool _localizationDataSaved;
-	bool _flannIndexSaved;
 	bool _reduceGraph;
 	int _maxStMemSize;
 	float _recentWmRatio;
@@ -361,7 +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;
@@ -53,12 +53,10 @@ public:
 		kTypeOkvis = 6,
 		kTypeLOAM = 7,
 		kTypeMSCKF = 8,
-		kTypeVINSFusion = 9,
+		kTypeVINS = 9,
 		kTypeOpenVINS = 10,
 		kTypeFLOAM = 11,
-		kTypeOpen3D = 12,
-		kTypeCuVSLAM = 13,
-		kTypeLIOSAM = 14
+		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>
@@ -56,21 +55,20 @@ 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;
+	double _lastImuStamp;
+	double _imuEstimatedDelay;
 };

 } // namespace rtabmap
@@ -149,16 +149,14 @@ public:
 			const std::map<int, Signature> & signatures,
 			std::map<int, cv::Point3f> & points3DMap,
 			std::map<int, std::map<int, FeatureBA> > & wordReferences, // <ID words, IDs frames + keypoint/depth/descriptor>
-			bool rematchFeatures = false,
-			const ParametersMap & registrationParameters = ParametersMap());
+			bool rematchFeatures = false);

 	std::map<int, Transform> optimizeBA(
 			int rootId,
 			const std::map<int, Transform> & poses,
 			const std::multimap<int, Link> & links,
 			const std::map<int, Signature> & signatures,
-			bool rematchFeatures = false,
-			const ParametersMap & registrationParameters = ParametersMap());
+			bool rematchFeatures = false);

 	Transform optimizeBA(
 			const Link & link,
@@ -174,8 +172,7 @@ public:
 			std::map<int, cv::Point3f> & points3DMap,
 			std::map<int, std::map<int, FeatureBA > > & wordReferences, // <ID words, IDs frames + keypoint/depth/descriptor>
 			bool rematchFeatures = false,
-			bool useLinkTransformAsGuess = false,
-			ParametersMap registrationParameters = ParametersMap());
+			bool useLinkTransformAsGuess = false);

 protected:
 	Optimizer(
@@ -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).");
@@ -213,18 +212,17 @@ 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, LocalizationReadOnly,        bool, false,    uFormat("In localization mode, open the database in read-only mode (ignored if %s=true). Currrenty incompatible with memory management (%s and %s cannot be used) and if there are disjoint sessions in working memory. Last localization pose won't be saved back in the database at the end of the session, so the robot will always restart to original last localization pose, unless %s is used or an external initial pose is provided on initialization.", kMemIncrementalMemory().c_str(), kRtabmapLoopThr().c_str(), kRtabmapMemoryThr().c_str(), kRGBDStartAtOrigin().c_str()).c_str());
-    RTABMAP_PARAM(Mem, LocalizationDataSaved,       bool, false,    uFormat("Save localization data during localization session (when %s=false). When enabled, the database will then also grow in localization mode. This mode would be used only for debugging purpose.", kMemIncrementalMemory().c_str()).c_str());
-    RTABMAP_PARAM(Mem, ReduceGraph,                 bool, false,    uFormat("Reduce graph. Merge nodes when loop closures are added (ignoring those with user data). Note that this approach assumes that 100%% of the loop closures accepted are good, so it is highly recommended to enable \"%s\" at the same time.", kRGBDOptimizeMaxError().c_str()));
+    RTABMAP_PARAM(Mem, 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,    uFormat("On merge, update to new id. When false, no copy. Keep this disable if %s=true.", kRtabmapCreateIntermediateNodes().c_str()));
+    RTABMAP_PARAM(Mem, RehearsalIdUpdatedToNewOne,  bool, false,    "On merge, update to new id. When false, no copy.");
    RTABMAP_PARAM(Mem, RehearsalWeightIgnoredWhileMoving, bool, false, "When the robot is moving, weights are not updated on rehearsal.");
    RTABMAP_PARAM(Mem, GenerateIds,                 bool, true,     "True=Generate location IDs, False=use input image IDs.");
    RTABMAP_PARAM(Mem, BadSignaturesIgnored,        bool, false,    "Bad signatures are ignored.");
    RTABMAP_PARAM(Mem, InitWMWithAllNodes,          bool, false,    "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
    RTABMAP_PARAM(Mem, DepthAsMask,                 bool, true,     "Use depth image as mask when extracting features for vocabulary.");
-    RTABMAP_PARAM(Mem, DepthMaskFloorThr,           float, 0.0,     uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kMemDepthAsMask().c_str()));
+    RTABMAP_PARAM(Mem, DepthMaskFloorThr,           float, 0.0,     uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled, negative means remove all objects above the floor threshold instead. Ignored if %s is false.", kMemDepthAsMask().c_str()));
    RTABMAP_PARAM(Mem, StereoFromMotion,            bool, false,    uFormat("Triangulate features without depth using stereo from motion (odometry). It would be ignored if %s is true and the feature detector used supports masking.", kMemDepthAsMask().c_str()));
    RTABMAP_PARAM(Mem, ImagePreDecimation,          unsigned int, 1, uFormat("Decimation of the RGB image before visual feature detection. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If %s is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.",kMemDepthAsMask().c_str()));
    RTABMAP_PARAM(Mem, ImagePostDecimation,         unsigned int, 1, uFormat("Decimation of the RGB image before saving it to database. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. Decimation is done from the original image. If set to same value than %s, data already decimated is saved (no need to re-decimate the image).", kMemImagePreDecimation().c_str()));
@@ -249,21 +247,19 @@ class RTABMAP_CORE_EXPORT Parameters
    RTABMAP_PARAM(Kp, MinDepth,                 float, 0,     "Filter extracted keypoints by depth.");
    RTABMAP_PARAM(Kp, MaxFeatures,              int, 500,     "Maximum features extracted from the images (0 means not bounded, <0 means no extraction).");
    RTABMAP_PARAM(Kp, SSC,                      bool, false,  "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
-    RTABMAP_PARAM(Kp, BadSignRatio,             float, 0.5,   uFormat("Bad signature ratio. If %s=0, the ratio is computed from the average number of words per signature (less than Ratio x AverageWordsPerImage = bad).", kKpMaxFeatures().c_str()));
+    RTABMAP_PARAM(Kp, BadSignRatio,             float, 0.5,   "Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).");
    RTABMAP_PARAM(Kp, NndrRatio,                float, 0.8,   "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
 #if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
    // OpenCV>2 without xFeatures2D module doesn't have BRIEF
-    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 8,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
+    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 8,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector");
 #else
-    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 6,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
+    RTABMAP_PARAM(Kp, DetectorStrategy,         int, 6,       "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector");
 #endif
    RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed,      bool, true,   "Use of the td-idf strategy to compute the likelihood.");
    RTABMAP_PARAM(Kp, Parallelized,             bool, true,   "If the dictionary update and signature creation were parallelized.");
    RTABMAP_PARAM_STR(Kp, RoiRatios,       "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
    RTABMAP_PARAM_STR(Kp, DictionaryPath,       "",           "Path of the pre-computed dictionary");
    RTABMAP_PARAM(Kp, NewWordsComparedTogether, bool, true,   "When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature).");
-    RTABMAP_PARAM(Kp, FlannIndexSaved,          bool, false,  uFormat("Save FLANN index during localization session (when %s=false). The FLANN index will be saved to database after the first time localization mode is used, then on next sessions, the index is reloaded from the database instead of being rebuilt again. This can save significant loading time when the visual word dictionary is big (>1M words). Note that if the dictionary is modified (parameters or data), the index will be rebuilt and saved again on the next session. Ignored on initialization if %s is enabled.", kMemIncrementalMemory().c_str(), kMemInitWMWithAllNodes().c_str()).c_str());
-    RTABMAP_PARAM(Kp, SerializeWithChecksum,    bool, true,   "On serialization of the FLANN index, compute checksum of the data used by the FLANN index. This adds a slight overhead on serialization/deserialization to make sure that the dictionary data correspond to same data used when the index was built.");
    RTABMAP_PARAM(Kp, SubPixWinSize,            int, 3,       "See cv::cornerSubPix().");
    RTABMAP_PARAM(Kp, SubPixIterations,         int, 0,       "See cv::cornerSubPix(). 0 disables sub pixel refining.");
    RTABMAP_PARAM(Kp, SubPixEps,                double, 0.02, "See cv::cornerSubPix().");
@@ -294,8 +290,7 @@ class RTABMAP_CORE_EXPORT Parameters
    RTABMAP_PARAM(SIFT, PreciseUpscale,    bool, false,  "Whether to enable precise upscaling in the scale pyramid (OpenCV >= 4.8).");
    RTABMAP_PARAM(SIFT, RootSIFT,          bool, false,  "Apply RootSIFT normalization of the descriptors.");
    RTABMAP_PARAM(SIFT, Gpu,               bool, false,  "CudaSift: Use GPU version of SIFT. This option is enabled only if RTAB-Map is built with CudaSift dependency and GPUs are detected.");
-    RTABMAP_PARAM(SIFT, GaussianThreshold, float, 2.0,   "CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features with low response/hessian are produced by the detector.");
-    RTABMAP_PARAM(SIFT, MaxGaussianThreshold, float, 0.0,   uFormat("CudaSift: Maximum threshold on difference of Gaussians for feature pruning (ignored if smaller or equal than %s). The lower the threshold, the less features with high response/hessian are produced by the detector.", kSIFTGaussianThreshold().c_str()));
+    RTABMAP_PARAM(SIFT, GaussianThreshold, float, 2.0,   "CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features are produced by the detector.");
    RTABMAP_PARAM(SIFT, Upscale,           bool, false,  "CudaSift: Whether to enable upscaling.");

    RTABMAP_PARAM(BRIEF, Bytes,            int, 32,      "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");
@@ -348,13 +343,6 @@ class RTABMAP_CORE_EXPORT Parameters
    RTABMAP_PARAM(SuperPoint, NMSRadius,     int,  4,      uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointNMS().c_str()));
    RTABMAP_PARAM(SuperPoint, Cuda,          bool, true,   "Use Cuda device for Torch, otherwise CPU device is used by default.");

-    RTABMAP_PARAM_STR(SuperPointRpautrat, WeightsPath, "",           "[Required] SuperPoint weights file (*.pth).");
-    RTABMAP_PARAM_STR(SuperPointRpautrat, ModelPath, "",           "[Required] SuperPoint python model file (superpoint_pytorch.py).");
-    RTABMAP_PARAM(SuperPointRpautrat, Threshold,     float, 0.005, "Detector response threshold to accept keypoint.");
-    RTABMAP_PARAM(SuperPointRpautrat, NMS,           bool,  true,  "If true, non-maximum suppression is applied to detected keypoints.");
-    RTABMAP_PARAM(SuperPointRpautrat, NMSRadius,     int,  4,      uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointRpautratNMS().c_str()));
-    RTABMAP_PARAM(SuperPointRpautrat, Cuda,          bool, true,   "Use Cuda device for Torch, otherwise CPU device is used by default.");
-
    RTABMAP_PARAM_STR(PyDetector, Path,       "",           "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied.");
 	RTABMAP_PARAM(PyDetector, Cuda,           bool, true,   "Use cuda.");

@@ -371,15 +359,14 @@ class RTABMAP_CORE_EXPORT Parameters

    // RGB-D SLAM
    RTABMAP_PARAM(RGBD, Enabled,                  bool, true,  "Activate metric SLAM. If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information.");
-    RTABMAP_PARAM(RGBD, LinearUpdate,             float, 0.1,  uFormat("Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()));
-    RTABMAP_PARAM(RGBD, AngularUpdate,            float, 0.1,  uFormat("Minimum angular displacement (rad) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()));
+    RTABMAP_PARAM(RGBD, LinearUpdate,             float, 0.1,  "Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated.");
+    RTABMAP_PARAM(RGBD, AngularUpdate,            float, 0.1,  "Minimum angular displacement (rad) to update the map. Rehearsal is done prior to this, so weights are still updated.");
    RTABMAP_PARAM(RGBD, LinearSpeedUpdate,        float, 0.0,  "Maximum linear speed (m/s) to update the map (0 means not limit).");
    RTABMAP_PARAM(RGBD, AngularSpeedUpdate,       float, 0.0,  "Maximum angular speed (rad/s) to update the map (0 means not limit).");
    RTABMAP_PARAM(RGBD, AggressiveLoopThr,        float, 0.05, uFormat("Loop closure threshold used (overriding %s) when a new mapping session is not yet linked to a map of the highest loop closure hypothesis. In localization mode, this threshold is used when there are no loop closure constraints with any map in the cache (%s). In all cases, the goal is to aggressively loop on a previous map in the database. Only used when %s is enabled. Set 1 to disable.", kRtabmapLoopThr().c_str(), kRGBDMaxOdomCacheSize().c_str(), kRGBDEnabled().c_str()));
    RTABMAP_PARAM(RGBD, NewMapOdomChangeDistance, float, 0,    "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled).");
    RTABMAP_PARAM(RGBD, OptimizeFromGraphEnd,     bool, false, "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).");
-    RTABMAP_PARAM(RGBD, OptimizeMaxError,         float, 3.0,   uFormat("Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. If used with \"%s\", the disabled loop closure links will be removed.", kOptimizerRobust().c_str()));
-    RTABMAP_PARAM(RGBD, OptimizeMaxErrorRepairRadius, float, 0.0,   uFormat("If two consecutive loop closures are rejected by %s on the same old loop closure link, we will remove that old link, and other old links under that radius if necessary, until optimization is accepted. When optimization is accepted, the old loop closure links are removed from the graph. This feature is useful to reject bad loop closures that were accepted previously. Set to 0 to disable this feature.", kRGBDOptimizeMaxError().c_str()));
+    RTABMAP_PARAM(RGBD, 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()));
@@ -403,7 +390,6 @@ class RTABMAP_CORE_EXPORT Parameters
    RTABMAP_PARAM(RGBD, MaxOdomCacheSize,             int,  10,      uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false). This is used to get smoother localizations and to verify localization transforms (when %s!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str()));
    RTABMAP_PARAM(RGBD, LocalizationSmoothing,        bool, true,    uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).",  kRGBDMaxOdomCacheSize().c_str()));
    RTABMAP_PARAM(RGBD, LocalizationPriorError,       double, 0.001, uFormat("The corresponding variance (error x error) set to priors of the map's poses during localization (when %s>0).",  kRGBDMaxOdomCacheSize().c_str()));
-    RTABMAP_PARAM(RGBD, LocalizationSecondTryWithoutProximityLinks,  bool, true, uFormat("When localization is rejected by graph optimization validation, try a second time without proximity links if landmark or loop closure links are also present in odometry cache (see %s). If it succeeds, the proximity links are removed. This assumes that global loop closure and landmark links are more accurate than proximity links.", kRGBDMaxOdomCacheSize().c_str()));

    // Local/Proximity loop closure detection
    RTABMAP_PARAM(RGBD, ProximityByTime,              bool, false, "Detection over all locations in STM.");
@@ -441,7 +427,7 @@ 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)
@@ -466,8 +452,8 @@ 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_SLAM 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion 10=OpenVINS 11=FLOAM 12=Open3D 13=cuVSLAM 14=LIO-SAM");
-    RTABMAP_PARAM(Odom, ResetCountdown,         int, 0,       "Automatically reset odometry after X consecutive images where odometry cannot be computed (a value of 0 disables auto-reset). When a reset occurs, odometry resumes from the last successfully computed pose with large covariance to trigger a new map. If external odometry is used, it will also be reset based on the motion estimated relative to the last computed pose but no large covariance will be received, so that a new map won't be triggered.");
+    RTABMAP_PARAM(Odom, 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).");
@@ -561,7 +547,7 @@ class RTABMAP_CORE_EXPORT Parameters
    RTABMAP_PARAM(OdomViso2, BucketWidth,               double, 50,  "Width of bucket.");
    RTABMAP_PARAM(OdomViso2, BucketHeight,              double, 50,  "Height of bucket.");

-    // Odometry ORB_SLAM
+    // Odometry ORB_SLAM2
    RTABMAP_PARAM_STR(OdomORBSLAM, VocPath,             "",       "Path to ORB vocabulary (*.txt).");
    RTABMAP_PARAM(OdomORBSLAM, Bf,              double, 0.076,    "Fake IR projector baseline (m) used only when stereo is not used.");
    RTABMAP_PARAM(OdomORBSLAM, ThDepth,         double, 40.0,     "Close/Far threshold. Baseline times.");
@@ -616,94 +602,75 @@ 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_STR(OdomOpenVINS, ConfigPath,            "",   "Path of OpenVINS config file (*.yaml). Same format used than OpenVINS library. Note that any parameter from that config file will overwrite the same parameter in OdomOpenVINS group.");
-    RTABMAP_PARAM(OdomOpenVINS, UseStereo,                 bool,   true,   "If we have more than 1 camera, if we should try to track stereo constraints between pairs.");
-    RTABMAP_PARAM(OdomOpenVINS, UseKLT,                    bool,   true,   "If true we will use KLT, otherwise use a ORB descriptor + robust matching.");
-    RTABMAP_PARAM(OdomOpenVINS, NumPts,                    int,    200,    "Number of points (per camera) we will extract and try to track.");
-    RTABMAP_PARAM(OdomOpenVINS, MinPxDist,                 int,    15,     "Eistance between features (features near each other provide less information).");
-    RTABMAP_PARAM(OdomOpenVINS, FiTriangulate1d,           bool,   false,  "If we should perform 1d triangulation instead of 3d.");
-    RTABMAP_PARAM(OdomOpenVINS, FiRefineFeatures,          bool,   true,   "If we should perform Levenberg-Marquardt refinement.");
-    RTABMAP_PARAM(OdomOpenVINS, FiMaxRuns,                 int,    5,      "Max runs for Levenberg-Marquardt.");
-    RTABMAP_PARAM(OdomOpenVINS, FiMaxBaseline,             double, 40,     "Max baseline ratio to accept triangulated features.");
-    RTABMAP_PARAM(OdomOpenVINS, FiMaxCondNumber,           double, 10000,  "Max condition number of linear triangulation matrix accept triangulated features.");
+    RTABMAP_PARAM(OdomOpenVINS, UseStereo,                 bool,   true,   "If we have more than 1 camera, if we should try to track stereo constraints between pairs");
+    RTABMAP_PARAM(OdomOpenVINS, UseKLT,                    bool,   true,   "If true we will use KLT, otherwise use a ORB descriptor + robust matching");
+    RTABMAP_PARAM(OdomOpenVINS, NumPts,                    int,    200,    "Number of points (per camera) we will extract and try to track");
+    RTABMAP_PARAM(OdomOpenVINS, MinPxDist,                 int,    15,     "Eistance between features (features near each other provide less information)");
+    RTABMAP_PARAM(OdomOpenVINS, FiTriangulate1d,           bool,   false,  "If we should perform 1d triangulation instead of 3d");
+    RTABMAP_PARAM(OdomOpenVINS, FiRefineFeatures,          bool,   true,   "If we should perform Levenberg-Marquardt refinement");
+    RTABMAP_PARAM(OdomOpenVINS, FiMaxRuns,                 int,    5,      "Max runs for Levenberg-Marquardt");
+    RTABMAP_PARAM(OdomOpenVINS, FiMaxBaseline,             double, 40,     "Max baseline ratio to accept triangulated features");
+    RTABMAP_PARAM(OdomOpenVINS, FiMaxCondNumber,           double, 10000,  "Max condition number of linear triangulation matrix accept triangulated features");

-    RTABMAP_PARAM(OdomOpenVINS, UseFEJ,                    bool,   true,   "If first-estimate Jacobians should be used (enable for good consistency).");
-    RTABMAP_PARAM(OdomOpenVINS, Integration,               int,    1,      "0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used).");
-    RTABMAP_PARAM(OdomOpenVINS, CalibCamExtrinsics,        bool,   false,  "Bool to determine whether or not to calibrate imu-to-camera pose.");
-    RTABMAP_PARAM(OdomOpenVINS, CalibCamIntrinsics,        bool,   false,  "Bool to determine whether or not to calibrate camera intrinsics.");
-    RTABMAP_PARAM(OdomOpenVINS, CalibCamTimeoffset,        bool,   false,  "Bool to determine whether or not to calibrate camera to IMU time offset.");
-    RTABMAP_PARAM(OdomOpenVINS, CalibIMUIntrinsics,        bool,   false,  "Bool to determine whether or not to calibrate the IMU intrinsics.");
-    RTABMAP_PARAM(OdomOpenVINS, CalibIMUGSensitivity,      bool,   false,  "Bool to determine whether or not to calibrate the Gravity sensitivity.");
-    RTABMAP_PARAM(OdomOpenVINS, MaxClones,                 int,    11,     "Max clone size of sliding window.");
-    RTABMAP_PARAM(OdomOpenVINS, MaxSLAM,                   int,    50,     "Max number of estimated SLAM features.");
-    RTABMAP_PARAM(OdomOpenVINS, MaxSLAMInUpdate,           int,    25,     "Max number of SLAM features we allow to be included in a single EKF update..");
-    RTABMAP_PARAM(OdomOpenVINS, MaxMSCKFInUpdate,          int,    50,     "Max number of MSCKF features we will use at a given image timestep..");
-    RTABMAP_PARAM(OdomOpenVINS, FeatRepMSCKF,              int,    0,      "What representation our features are in (msckf features).");
-    RTABMAP_PARAM(OdomOpenVINS, FeatRepSLAM,               int,    4,      "What representation our features are in (slam features).");
-    RTABMAP_PARAM(OdomOpenVINS, DtSLAMDelay,               double, 0.0,    "Delay, in seconds, that we should wait from init before we start estimating SLAM features.");
-    RTABMAP_PARAM(OdomOpenVINS, GravityMag,                double, 9.81,   "Gravity magnitude in the global frame (i.e. should be 9.81 typically).");
-    RTABMAP_PARAM_STR(OdomOpenVINS, LeftMaskPath,                  "",     "Mask for left image.");
-    RTABMAP_PARAM_STR(OdomOpenVINS, RightMaskPath,                 "",     "Mask for right image.");
+    RTABMAP_PARAM(OdomOpenVINS, UseFEJ,                    bool,   true,   "If first-estimate Jacobians should be used (enable for good consistency)");
+    RTABMAP_PARAM(OdomOpenVINS, Integration,               int,    1,      "0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used)");
+    RTABMAP_PARAM(OdomOpenVINS, CalibCamExtrinsics,        bool,   false,  "Bool to determine whether or not to calibrate imu-to-camera pose");
+    RTABMAP_PARAM(OdomOpenVINS, CalibCamIntrinsics,        bool,   false,  "Bool to determine whether or not to calibrate camera intrinsics");
+    RTABMAP_PARAM(OdomOpenVINS, CalibCamTimeoffset,        bool,   false,  "Bool to determine whether or not to calibrate camera to IMU time offset");
+    RTABMAP_PARAM(OdomOpenVINS, CalibIMUIntrinsics,        bool,   false,  "Bool to determine whether or not to calibrate the IMU intrinsics");
+    RTABMAP_PARAM(OdomOpenVINS, CalibIMUGSensitivity,      bool,   false,  "Bool to determine whether or not to calibrate the Gravity sensitivity");
+    RTABMAP_PARAM(OdomOpenVINS, MaxClones,                 int,    11,     "Max clone size of sliding window");
+    RTABMAP_PARAM(OdomOpenVINS, MaxSLAM,                   int,    50,     "Max number of estimated SLAM features");
+    RTABMAP_PARAM(OdomOpenVINS, MaxSLAMInUpdate,           int,    25,     "Max number of SLAM features we allow to be included in a single EKF update.");
+    RTABMAP_PARAM(OdomOpenVINS, MaxMSCKFInUpdate,          int,    50,     "Max number of MSCKF features we will use at a given image timestep.");
+    RTABMAP_PARAM(OdomOpenVINS, FeatRepMSCKF,              int,    0,      "What representation our features are in (msckf features)");
+    RTABMAP_PARAM(OdomOpenVINS, FeatRepSLAM,               int,    4,      "What representation our features are in (slam features)");
+    RTABMAP_PARAM(OdomOpenVINS, DtSLAMDelay,               double, 0.0,    "Delay, in seconds, that we should wait from init before we start estimating SLAM features");
+    RTABMAP_PARAM(OdomOpenVINS, GravityMag,                double, 9.81,   "Gravity magnitude in the global frame (i.e. should be 9.81 typically)");
+    RTABMAP_PARAM_STR(OdomOpenVINS, LeftMaskPath,                  "",     "Mask for left image");
+    RTABMAP_PARAM_STR(OdomOpenVINS, RightMaskPath,                 "",     "Mask for right image");

-    RTABMAP_PARAM(OdomOpenVINS, InitWindowTime,            double, 2.0,    "Amount of time we will initialize over (seconds).");
-    RTABMAP_PARAM(OdomOpenVINS, InitIMUThresh,             double, 1.0,    "Variance threshold on our acceleration to be classified as moving.");
-    RTABMAP_PARAM(OdomOpenVINS, InitMaxDisparity,          double, 10.0,   "Max disparity to consider the platform stationary (dependent on resolution).");
-    RTABMAP_PARAM(OdomOpenVINS, InitMaxFeatures,           int,    50,     "How many features to track during initialization (saves on computation).");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynUse,                bool,   false,  "If dynamic initialization should be used.");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynMLEOptCalib,        bool,   false,  "If we should optimize calibration during intialization (not recommended).");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxIter,         int,    50,     "How many iterations the MLE refinement should use (zero to skip the MLE).");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxTime,         double, 0.05,   "How many seconds the MLE should be completed in.");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxThreads,      int,    6,      "How many threads the MLE should use.");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynNumPose,            int,    6,      "Number of poses to use within our window time (evenly spaced).");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynMinDeg,             double, 10.0,   "Orientation change needed to try to init.");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynInflationOri,       double, 10.0,   "What to inflate the recovered q_GtoI covariance by.");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynInflationVel,       double, 100.0,  "What to inflate the recovered v_IinG covariance by.");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBg,        double, 10.0,   "What to inflate the recovered bias_g covariance by.");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBa,        double, 100.0,  "What to inflate the recovered bias_a covariance by.");
-    RTABMAP_PARAM(OdomOpenVINS, InitDynMinRecCond,         double, 1e-15,  "Reciprocal condition number thresh for info inversion.");
+    RTABMAP_PARAM(OdomOpenVINS, InitWindowTime,            double, 2.0,    "Amount of time we will initialize over (seconds)");
+    RTABMAP_PARAM(OdomOpenVINS, InitIMUThresh,             double, 1.0,    "Variance threshold on our acceleration to be classified as moving");
+    RTABMAP_PARAM(OdomOpenVINS, InitMaxDisparity,          double, 10.0,   "Max disparity to consider the platform stationary (dependent on resolution)");
+    RTABMAP_PARAM(OdomOpenVINS, InitMaxFeatures,           int,    50,     "How many features to track during initialization (saves on computation)");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynUse,                bool,   false,  "If dynamic initialization should be used");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynMLEOptCalib,        bool,   false,  "If we should optimize calibration during intialization (not recommended)");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxIter,         int,    50,     "How many iterations the MLE refinement should use (zero to skip the MLE)");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxTime,         double, 0.05,   "How many seconds the MLE should be completed in");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxThreads,      int,    6,      "How many threads the MLE should use");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynNumPose,            int,    6,      "Number of poses to use within our window time (evenly spaced)");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynMinDeg,             double, 10.0,   "Orientation change needed to try to init");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynInflationOri,       double, 10.0,   "What to inflate the recovered q_GtoI covariance by");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynInflationVel,       double, 100.0,  "What to inflate the recovered v_IinG covariance by");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBg,        double, 10.0,   "What to inflate the recovered bias_g covariance by");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBa,        double, 100.0,  "What to inflate the recovered bias_a covariance by");
+    RTABMAP_PARAM(OdomOpenVINS, InitDynMinRecCond,         double, 1e-15,  "Reciprocal condition number thresh for info inversion");

-    RTABMAP_PARAM(OdomOpenVINS, TryZUPT,                   bool,   true,   "If we should try to use zero velocity update.");
-    RTABMAP_PARAM(OdomOpenVINS, ZUPTChi2Multiplier,        double, 0.0,    "Chi2 multiplier for zero velocity.");
-    RTABMAP_PARAM(OdomOpenVINS, ZUPTMaxVelodicy,           double, 0.1,    "Max velocity we will consider to try to do a zupt (i.e. if above this, don't do zupt).");
-    RTABMAP_PARAM(OdomOpenVINS, ZUPTNoiseMultiplier,       double, 10.0,   "Multiplier of our zupt measurement IMU noise matrix (default should be 1.0).");
-    RTABMAP_PARAM(OdomOpenVINS, ZUPTMaxDisparity,          double, 0.5,    "Max disparity we will consider to try to do a zupt (i.e. if above this, don't do zupt).");
-    RTABMAP_PARAM(OdomOpenVINS, ZUPTOnlyAtBeginning,       bool,   false,  "If we should only use the zupt at the very beginning static initialization phase.");
+    RTABMAP_PARAM(OdomOpenVINS, TryZUPT,                   bool,   true,   "If we should try to use zero velocity update");
+    RTABMAP_PARAM(OdomOpenVINS, ZUPTChi2Multiplier,        double, 0.0,    "Chi2 multiplier for zero velocity");
+    RTABMAP_PARAM(OdomOpenVINS, ZUPTMaxVelodicy,           double, 0.1,    "Max velocity we will consider to try to do a zupt (i.e. if above this, don't do zupt)");
+    RTABMAP_PARAM(OdomOpenVINS, ZUPTNoiseMultiplier,       double, 10.0,   "Multiplier of our zupt measurement IMU noise matrix (default should be 1.0)");
+    RTABMAP_PARAM(OdomOpenVINS, ZUPTMaxDisparity,          double, 0.5,    "Max disparity we will consider to try to do a zupt (i.e. if above this, don't do zupt)");
+    RTABMAP_PARAM(OdomOpenVINS, ZUPTOnlyAtBeginning,       bool,   false,  "If we should only use the zupt at the very beginning static initialization phase");

-    RTABMAP_PARAM(OdomOpenVINS, AccelerometerNoiseDensity, double, 0.01,   "[m/s^2/sqrt(Hz)] (accel \"white noise\").");
-    RTABMAP_PARAM(OdomOpenVINS, AccelerometerRandomWalk,   double, 0.001,  "[m/s^3/sqrt(Hz)] (accel bias diffusion).");
-    RTABMAP_PARAM(OdomOpenVINS, GyroscopeNoiseDensity,     double, 0.001,  "[rad/s/sqrt(Hz)] (gyro \"white noise\").");
-    RTABMAP_PARAM(OdomOpenVINS, GyroscopeRandomWalk,       double, 0.0001, "[rad/s^2/sqrt(Hz)] (gyro bias diffusion).");
-    RTABMAP_PARAM(OdomOpenVINS, UpMSCKFSigmaPx,            double, 1.0,    "Pixel noise for MSCKF features.");
-    RTABMAP_PARAM(OdomOpenVINS, UpMSCKFChi2Multiplier,     double, 1.0,    "Chi2 multiplier for MSCKF features.");
-    RTABMAP_PARAM(OdomOpenVINS, UpSLAMSigmaPx,             double, 1.0,    "Pixel noise for SLAM features.");
-    RTABMAP_PARAM(OdomOpenVINS, UpSLAMChi2Multiplier,      double, 1.0,    "Chi2 multiplier for SLAM features.");
+    RTABMAP_PARAM(OdomOpenVINS, AccelerometerNoiseDensity, double, 0.01,   "[m/s^2/sqrt(Hz)] (accel \"white noise\")");
+    RTABMAP_PARAM(OdomOpenVINS, AccelerometerRandomWalk,   double, 0.001,  "[m/s^3/sqrt(Hz)] (accel bias diffusion)");
+    RTABMAP_PARAM(OdomOpenVINS, GyroscopeNoiseDensity,     double, 0.001,  "[rad/s/sqrt(Hz)] (gyro \"white noise\")");
+    RTABMAP_PARAM(OdomOpenVINS, GyroscopeRandomWalk,       double, 0.0001, "[rad/s^2/sqrt(Hz)] (gyro bias diffusion)");
+    RTABMAP_PARAM(OdomOpenVINS, UpMSCKFSigmaPx,            double, 1.0,    "Pixel noise for MSCKF features");
+    RTABMAP_PARAM(OdomOpenVINS, UpMSCKFChi2Multiplier,     double, 1.0,    "Chi2 multiplier for MSCKF features");
+    RTABMAP_PARAM(OdomOpenVINS, UpSLAMSigmaPx,             double, 1.0,    "Pixel noise for SLAM features");
+    RTABMAP_PARAM(OdomOpenVINS, UpSLAMChi2Multiplier,      double, 1.0,    "Chi2 multiplier for SLAM features");

    // Odometry Open3D
    RTABMAP_PARAM(OdomOpen3D, MaxDepth,         float, 3.0,  "Maximum depth.");
    RTABMAP_PARAM(OdomOpen3D, Method,           int, 0,  "Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid.");

-    // Odometry cuVSLAM
-    RTABMAP_PARAM(OdomCuVSLAM, MulticamMode,        int, 0,  "cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision.");
-
-    // Odometry LIO-SAM
-    RTABMAP_PARAM_STR(OdomLIOSAM, ConfigPath,  "", "Path to LIO-SAM params.yaml config file. When set, sensor/IMU/feature parameters are loaded from the file and the individual parameters below are ignored.");
-    RTABMAP_PARAM(OdomLIOSAM, Sensor,       int,   0,     "LiDAR sensor: 0=Velodyne, 1=Ouster, 2=Livox");
-    RTABMAP_PARAM(OdomLIOSAM, NScan,        int,   16,    "Number of LiDAR channels (16, 32, 64, 128).");
-    RTABMAP_PARAM(OdomLIOSAM, HorizonScan,  int,   1800,  "Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048).");
-    RTABMAP_PARAM(OdomLIOSAM, ImuAccNoise,  float, 0.01,  "IMU accelerometer white noise.");
-    RTABMAP_PARAM(OdomLIOSAM, ImuGyrNoise,  float, 0.001, "IMU gyroscope white noise.");
-    RTABMAP_PARAM(OdomLIOSAM, ImuAccBiasN,  float, 0.0002,"IMU accelerometer bias noise.");
-    RTABMAP_PARAM(OdomLIOSAM, ImuGyrBiasN,  float, 0.00003,"IMU gyroscope bias noise.");
-    RTABMAP_PARAM(OdomLIOSAM, ImuGravity,   float, 9.80511,"Gravity magnitude.");
-    RTABMAP_PARAM(OdomLIOSAM, EdgeThreshold,float, 1.0,   "Edge feature curvature threshold.");
-    RTABMAP_PARAM(OdomLIOSAM, SurfThreshold,float, 0.1,   "Surface feature curvature threshold.");
-    RTABMAP_PARAM(OdomLIOSAM, LinVar,       float, 0.01,  "Linear output variance.");
-    RTABMAP_PARAM(OdomLIOSAM, AngVar,       float, 0.01,  "Angular output variance.");
-
    // Common registration parameters
    RTABMAP_PARAM(Reg, RepeatOnce,               bool, true,    "Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration (like on loop closure). It can be useful if the registration approach used can use a guess to get better matches.");
    RTABMAP_PARAM(Reg, Strategy,                 int, 0,        "0=Vis, 1=Icp, 2=VisIcp");
@@ -733,16 +700,16 @@ class RTABMAP_CORE_EXPORT Parameters
    RTABMAP_PARAM(Vis, Iterations,               int,    300,   "Maximum iterations to compute the transform.");
 #if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
    // OpenCV>2 without xFeatures2D module doesn't have BRIEF
-    RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
+    RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector");
 #else
-    RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
+    RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector");
 #endif
    RTABMAP_PARAM(Vis, MaxFeatures,               int,   1000,  "0 no limits.");
    RTABMAP_PARAM(Vis, SSC,                       bool,  false, "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
    RTABMAP_PARAM(Vis, MaxDepth,                  float, 0,     "Max depth of the features (0 means no limit).");
    RTABMAP_PARAM(Vis, MinDepth,                  float, 0,     "Min depth of the features (0 means no limit).");
    RTABMAP_PARAM(Vis, DepthAsMask,               bool,  true,  "Use depth image as mask when extracting features.");
-    RTABMAP_PARAM(Vis, DepthMaskFloorThr,         float, 0.0,    uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kVisDepthAsMask().c_str()));
+    RTABMAP_PARAM(Vis, DepthMaskFloorThr,         float, 0.0,    uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled, negative means remove all objects above the floor threshold instead. Ignored if %s is false.", kVisDepthAsMask().c_str()));
    RTABMAP_PARAM_STR(Vis, RoiRatios,        "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
    RTABMAP_PARAM(Vis, SubPixWinSize,             int,   3,     "See cv::cornerSubPix().");
    RTABMAP_PARAM(Vis, SubPixIterations,          int,   0,     "See cv::cornerSubPix(). 0 disables sub pixel refining.");
@@ -758,11 +725,8 @@ class RTABMAP_CORE_EXPORT Parameters
    RTABMAP_PARAM(Vis, CorFlowIterations,         int,   30,    uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
    RTABMAP_PARAM(Vis, CorFlowEps,                float, 0.01,  uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
    RTABMAP_PARAM(Vis, CorFlowMaxLevel,           int,   3,     uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
-    RTABMAP_PARAM(Vis, CorFlowUseMinEigenVals,    bool,  true,  uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach. Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kVisCorType().c_str()));
-    RTABMAP_PARAM(Vis, CorFlowMinEigThreshold,    float, 1e-4,  uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kVisCorFlowUseMinEigenVals().c_str()));
-    RTABMAP_PARAM(Vis, CorFlowErrorThreshold,     float, 20,    uFormat("[%s=false] Filter out features with error greater than this threshold.", kVisCorFlowUseMinEigenVals().c_str()));
-    RTABMAP_PARAM(Vis, CorFlowGpu,                bool,  false, uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kVisCorType().c_str(), kVisCorFlowUseMinEigenVals().c_str()));
-    #if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
+    RTABMAP_PARAM(Vis, CorFlowGpu,                bool,  false, uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA).", kVisCorType().c_str()));
+#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
    RTABMAP_PARAM(Vis, BundleAdjustment,          int,   1,     "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
 #else
    RTABMAP_PARAM(Vis, BundleAdjustment,          int,   0,     "Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba, 3=Ceres.");
@@ -839,10 +803,7 @@ class RTABMAP_CORE_EXPORT Parameters
    RTABMAP_PARAM(Stereo, OpticalFlow,           bool, true,    "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used.");
    RTABMAP_PARAM(Stereo, SSD,                   bool, true,    uFormat("[%s=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.", kStereoOpticalFlow().c_str()));
    RTABMAP_PARAM(Stereo, Eps,                   double, 0.01,  uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()));
-    RTABMAP_PARAM(Stereo, UseMinEigenVals,       bool, true,    uFormat("[%s=true] Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kStereoOpticalFlow().c_str()));
-    RTABMAP_PARAM(Stereo, MinEigThreshold,       double, 1e-4,  uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kStereoUseMinEigenVals().c_str()));
-    RTABMAP_PARAM(Stereo, ErrorThreshold,        double, 50,    uFormat("[%s=false] Filter out features with error greater than this threshold.", kStereoUseMinEigenVals().c_str()));
-    RTABMAP_PARAM(Stereo, Gpu,                   bool, false,   uFormat("[%s=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kStereoOpticalFlow().c_str(), kStereoUseMinEigenVals().c_str()));
+    RTABMAP_PARAM(Stereo, Gpu,                   bool, false,   uFormat("[%s=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA).", kStereoOpticalFlow().c_str()));

    RTABMAP_PARAM(Stereo, DenseStrategy,         int, 0,  "0=cv::StereoBM, 1=cv::StereoSGBM");

@@ -918,29 +879,19 @@ class RTABMAP_CORE_EXPORT Parameters
    RTABMAP_PARAM(GridGlobal, ProbClampingMax,      float,  0.971,   "Probability clamping maximum (value between 0 and 1).");
    RTABMAP_PARAM(GridGlobal, FloodFillDepth,       unsigned int, 0, "Flood fill filter (0=disabled), used to remove empty cells outside the map. The flood fill is done at the specified depth (between 1 and 16) of the OctoMap.");

-    RTABMAP_PARAM(Marker, Strategy,               int,   0,     "Marker detection implementation: 0=OpenCV, 1=AprilTag");
-    RTABMAP_PARAM(Marker, Dictionary,             int,   0,     "Dictionary to use: DICT_ARUCO_4X4_50=0, DICT_ARUCO_4X4_100=1, DICT_ARUCO_4X4_250=2, DICT_ARUCO_4X4_1000=3, DICT_ARUCO_5X5_50=4, DICT_ARUCO_5X5_100=5, DICT_ARUCO_5X5_250=6, DICT_ARUCO_5X5_1000=7, DICT_ARUCO_6X6_50=8, DICT_ARUCO_6X6_100=9, DICT_ARUCO_6X6_250=10, DICT_ARUCO_6X6_1000=11, DICT_ARUCO_7X7_50=12, DICT_ARUCO_7X7_100=13, DICT_ARUCO_7X7_250=14, DICT_ARUCO_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16, DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36H12=21");
-    RTABMAP_PARAM(Marker, Length,                 float, 0,     "The length (m) of the markers' side. Value <=0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization). If 0, the length is estimated only on the first marker detected, then re-used for all next detections (i.e., this assumes that markers have all the same length). With <0, the length is estimated once for each unique marker, then re-used for next detections with the same marker ID.");
-    RTABMAP_PARAM_STR(Marker, Lengths,            "",           uFormat("List of markers to detect. Format is the marker's ID followed by its length (in meters), multiple markers are separated by a vertical line (\"id1 length|id2 length\"). We can also define a range of markers with \"id1:id2 length\" (id2 included). If empty, all markers of the chosen dictionary can be detected and their length is set/estimated based on %s. For example, to detect markers 12 and 14 with lengths of 8 and 15 cm respectively, and all markers between 30 and 40 with a length of 10 cm, set \"12 0.08|14 0.15|30:40 0.1\".", kMarkerLength().c_str()).c_str());
+    RTABMAP_PARAM(Marker, Dictionary,             int,   0,     "Dictionary to use: DICT_ARUCO_4X4_50=0, DICT_ARUCO_4X4_100=1, DICT_ARUCO_4X4_250=2, DICT_ARUCO_4X4_1000=3, DICT_ARUCO_5X5_50=4, DICT_ARUCO_5X5_100=5, DICT_ARUCO_5X5_250=6, DICT_ARUCO_5X5_1000=7, DICT_ARUCO_6X6_50=8, DICT_ARUCO_6X6_100=9, DICT_ARUCO_6X6_250=10, DICT_ARUCO_6X6_1000=11, DICT_ARUCO_7X7_50=12, DICT_ARUCO_7X7_100=13, DICT_ARUCO_7X7_250=14, DICT_ARUCO_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16, DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20");
+    RTABMAP_PARAM(Marker, Length,                 float, 0,     "The length (m) of the markers' side. 0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization).");
    RTABMAP_PARAM(Marker, MaxDepthError,          float, 0.01,  uFormat("Maximum depth error between all corners of a marker when estimating the marker length (when %s is 0). The smaller it is, the more perpendicular the camera should be toward the marker to initialize the length.", kMarkerLength().c_str()));
    RTABMAP_PARAM(Marker, VarianceLinear,         float, 0.001, uFormat("Linear variance to set on marker detections. If %s is enabled and %s=2 (GTSAM): it is the variance of the range factor, with 9999 to disable range factor and to do only bearing.", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str()));
    RTABMAP_PARAM(Marker, VarianceAngular,        float, 0.01,  uFormat("Angular variance to set on marker detections. If %s is enabled, it is ignored with %s=1 (g2o) and it corresponds to bearing variance with %s=2 (GTSAM).", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str(), kOptimizerStrategy().c_str()));
    RTABMAP_PARAM(Marker, VarianceOrientationIgnored, bool, false, uFormat("When this setting is false, the landmark's orientation is optimized during graph optimization. When this setting is true, only the position of the landmark is optimized. This can be useful when the landmark's orientation estimation is not reliable. Note that for %s=1 (g2o), only %s needs be set if we ignore orientation. For %s=2 (GTSAM), instead of optimizing the landmark's position directly, a bearing/range factor is used, with %s as the variance of the range factor (with 9999 to optimize the position with only a bearing factor) and %s as the variance of the bearing factor (pitch/yaw).", kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kMarkerVarianceAngular().c_str()));
+    RTABMAP_PARAM(Marker, CornerRefinementMethod, int,   0,     "Corner refinement method (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true.");
    RTABMAP_PARAM(Marker, MaxRange,               float, 0.0,   "Maximum range in which markers will be detected. <=0 for unlimited range.");
    RTABMAP_PARAM(Marker, MinRange,               float, 0.0,   "Miniminum range in which markers will be detected. <=0 for unlimited range.");
-    RTABMAP_PARAM_STR(Marker, Priors,             "",           "World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by vertical line (\"id1 x y z roll pitch yaw|id2 x y z roll pitch yaw\"). Example:  \"1 0 0 1 0 0 0|2 1 0 1 0 0 1.57\" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation).");
+    RTABMAP_PARAM_STR(Marker, Priors,             "",           "World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), markers are separated by vertical line (\"id1 x y z roll pitch yaw|id2 x y z roll pitch yaw\"). Example:  \"1 0 0 1 0 0 0|2 1 0 1 0 0 1.57\" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation).");
    RTABMAP_PARAM(Marker, PriorsVarianceLinear,   float, 0.001, "Linear variance to set on marker priors.");
    RTABMAP_PARAM(Marker, PriorsVarianceAngular,  float, 0.001, "Angular variance to set on marker priors.");

-    RTABMAP_PARAM(MarkerAprilTag, NThreads,         int,     1,     "How many threads should be used?");
-    RTABMAP_PARAM(MarkerAprilTag, QuadDecimate,     float,   1.0,   "Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution.");
-    RTABMAP_PARAM(MarkerAprilTag, QuadSigma,        float,   0.0,   "What Gaussian blur should be applied to the segmented image (used for quad detection?)  Parameter is the standard deviation in pixels.  Very noisy images benefit from non-zero values (e.g. 0.8).");
-    RTABMAP_PARAM(MarkerAprilTag, RefineEdges,      bool,    true,   uFormat("When true, the edges of the each quad are adjusted to \"snap to\" strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on (true). Very computationally inexpensive. Option is ignored if %s = 1.", kMarkerAprilTagQuadDecimate().c_str()));
-    RTABMAP_PARAM(MarkerAprilTag, DecodeSharpening, double,  0.25,  "How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions.");
-    RTABMAP_PARAM(MarkerAprilTag, Debug,            bool,    false, uFormat("When true, write a variety of debugging images to the working directory where the app started (not %s) at various stages through the detection process. (Somewhat slow).", kRtabmapWorkingDirectory().c_str()));
-
-    RTABMAP_PARAM(MarkerOpenCV, CornerRefinementMethod, int,   0,     "Corner refinement method for OpenCV strategy (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true.");
-
    RTABMAP_PARAM(ImuFilter, MadgwickGain,                  double, 0.1,  "Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal, belongs in [0, 1].");
    RTABMAP_PARAM(ImuFilter, MadgwickZeta,                  double, 0.0,  "Gyro drift gain (approx. rad/s), belongs in [-1, 1].");

@@ -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();

 }

@@ -41,7 +41,6 @@ public:
 		inliersMeanDistance(0.0f),
 		inliersDistribution(0.0f),
 		matches(0),
-		variance(0.0f),
 		icpInliersRatio(0),
 		icpTranslation(0.0f),
 		icpRotation(0.0f),
@@ -65,7 +64,6 @@ public:
 		output.inliersDistribution = inliersDistribution;
 		output.matches = matches;
 		output.matchesPerCam = matchesPerCam;
-		output.variance = variance;
 		output.icpInliersRatio = icpInliersRatio;
 		output.icpTranslation = icpTranslation;
 		output.icpRotation = icpRotation;
@@ -87,7 +85,6 @@ public:
 	float inliersDistribution;
 	std::vector<int> inliersIDs;
 	int matches;
-	float variance;
 	std::vector<int> matchesIDs;
 	std::vector<int> projectedIDs; // "From" IDs
 	std::vector<int> inliersPerCam;
@@ -91,9 +91,6 @@ private:
 	float _flowEps;
 	int _flowMaxLevel;
 	bool _flowGpu;
-	bool _flowUseMinEigenVals;
-	float _flowMinEigThreshold;
-	float _flowErrorThreshold;
 	float _nndr;
 	int _nnType;
 	bool _gmsWithRotation;
@@ -35,7 +35,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/Statistics.h"
 #include "rtabmap/core/Link.h"
 #include "rtabmap/core/ProgressState.h"
-#include "rtabmap/core/Graph.h"

 #include <opencv2/core/core.hpp>
 #include <list>
@@ -210,8 +209,7 @@ public:
 			bool intraSession = true,
 			bool interSession = true,
 			const ProgressState * state = 0,
-			float clusterRadiusMin = 0.0f,
-			int toFromMapId = -1);
+			float clusterRadiusMin = 0.0f);
 	bool globalBundleAdjustment(
 			int optimizerType = 1 /*g2o*/,
 			bool rematchFeatures = true,
@@ -265,13 +263,6 @@ private:
 			std::multimap<int, Link> * constraints = 0,
 			double * error = 0,
 			int * iterationsDone = 0) const;
-	std::list<std::pair<int, int> > repairGraph(
-		graph::MaxGraphErrors & maxGraphErrors,
-		std::map<int, Transform> & poses,
-		std::multimap<int, Link> & constraints,
-		double & optimizationError,
-		int & optimizationIterations,
-		cv::Mat & optimizationCovariance);
 	void updateGoalIndex();
 	bool computePath(int targetNode, std::map<int, Transform> nodes, const std::multimap<int, rtabmap::Link> & constraints);

@@ -328,7 +319,6 @@ private:
 	std::string _databasePath;
 	bool _optimizeFromGraphEnd;
 	float _optimizationMaxError;
-	float _optimizationMaxErrorRepairRadius;
 	bool _startNewMapOnLoopClosure;
 	bool _startNewMapOnGoodSignature;
 	float _goalReachedRadius; // meters
@@ -343,7 +333,6 @@ private:
 	int _maxOdomCacheSize;
 	bool _localizationSmoothing;
 	double _localizationPriorInf;
-	bool _localizationSecondTryWithoutProximityLinks;
 	bool _createGlobalScanMap;
 	float _markerPriorsLinearVariance;
 	float _markerPriorsAngularVariance;
@@ -388,7 +377,6 @@ private:
 	std::map<int, Transform> _odomCachePoses;       // used in localization mode to reject loop closures
 	std::multimap<int, Link> _odomCacheConstraints; // used in localization mode to reject loop closures
 	std::map<int, Transform> _markerPriors;
-	std::pair<int, int> _lastRejectedLoopClosureIds;

 	std::set<int> _nodesToRepublish;

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

 	Rtabmap * _rtabmap;
@@ -78,16 +78,6 @@ public:
 			double stamp = 0.0,
 			const cv::Mat & userData = cv::Mat());

-	// RGB-D constructor + depth confidence
-	SensorData(
-		const cv::Mat & rgb,
-		const cv::Mat & depth,
-		const cv::Mat & depth_confidence,
-		const CameraModel & cameraModel,
-		int id = 0,
-		double stamp = 0.0,
-		const cv::Mat & userData = cv::Mat());
-
 	// RGB-D constructor + laser scan
 	SensorData(
 			const LaserScan & laserScan,
@@ -97,17 +87,6 @@ public:
 			int id = 0,
 			double stamp = 0.0,
 			const cv::Mat & userData = cv::Mat());
-	
-	// RGB-D constructor + confidence + laser scan
-	SensorData(
-			const LaserScan & laserScan,
-			const cv::Mat & rgb,
-			const cv::Mat & depth,
-			const cv::Mat & depthConfidence,
-			const CameraModel & cameraModel,
-			int id = 0,
-			double stamp = 0.0,
-			const cv::Mat & userData = cv::Mat());

 	// Multi-cameras RGB-D constructor
 	SensorData(
@@ -117,16 +96,6 @@ public:
 			int id = 0,
 			double stamp = 0.0,
 			const cv::Mat & userData = cv::Mat());
-	
-	// Multi-cameras RGB-D constructor + depth confidence
-	SensorData(
-			const cv::Mat & rgb,
-			const cv::Mat & depth,
-			const cv::Mat & depthConfidence,
-			const std::vector<CameraModel> & cameraModels,
-			int id = 0,
-			double stamp = 0.0,
-			const cv::Mat & userData = cv::Mat());

 	// Multi-cameras RGB-D constructor + laser scan
 	SensorData(
@@ -138,17 +107,6 @@ public:
 			double stamp = 0.0,
 			const cv::Mat & userData = cv::Mat());

-	// Multi-cameras RGB-D constructor + depth confidence + laser scan
-	SensorData(
-			const LaserScan & laserScan,
-			const cv::Mat & rgb,
-			const cv::Mat & depth,
-			const cv::Mat & depthConfidence,
-			const std::vector<CameraModel> & cameraModels,
-			int id = 0,
-			double stamp = 0.0,
-			const cv::Mat & userData = cv::Mat());
-
 	// Stereo constructor
 	SensorData(
 			const cv::Mat & left,
@@ -202,8 +160,6 @@ public:
 			_imageCompressed.empty() &&
 			_depthOrRightRaw.empty() &&
 			_depthOrRightCompressed.empty() &&
-			_depthConfidenceRaw.empty() &&
-			_depthConfidenceCompressed.empty() &&
 			_laserScanRaw.isEmpty() &&
 			_laserScanCompressed.isEmpty() &&
 			_cameraModels.empty() &&
@@ -212,12 +168,6 @@ public:
 			_userDataCompressed.empty() &&
 			_keypoints.size() == 0 &&
 			_descriptors.empty() &&
-			_groundCellsRaw.empty() &&
-			_groundCellsCompressed.empty() &&
-			_obstacleCellsRaw.empty() &&
-			_obstacleCellsCompressed.empty() &&
-			_emptyCellsRaw.empty() &&
-			_emptyCellsCompressed.empty() &&
 			imu_.empty());
 	}

@@ -228,12 +178,10 @@ public:

 	const cv::Mat & imageCompressed() const {return _imageCompressed;}
 	const cv::Mat & depthOrRightCompressed() const {return _depthOrRightCompressed;}
-	const cv::Mat & depthConfidenceCompressed() const {return _depthConfidenceCompressed;}
 	const LaserScan & laserScanCompressed() const {return _laserScanCompressed;}

 	const cv::Mat & imageRaw() const {return _imageRaw;}
 	const cv::Mat & depthOrRightRaw() const {return _depthOrRightRaw;}
-	const cv::Mat & depthConfidenceRaw() const {return _depthConfidenceRaw;}
 	const LaserScan & laserScanRaw() const {return _laserScanRaw;}

 	/**
@@ -242,9 +190,7 @@ public:
 	 * @param clearPreviousData, clear previous raw and compressed images before setting the new ones.
 	 */
 	void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const CameraModel & model, bool clearPreviousData = true);
-	void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const cv::Mat & depth_confidence, const CameraModel & model, bool clearPreviousData = true);
 	void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const std::vector<CameraModel> & models, bool clearPreviousData = true);
-	void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const cv::Mat & depth_confidence, const std::vector<CameraModel> & models, bool clearPreviousData = true);
 	void setStereoImage(const cv::Mat & left, const cv::Mat & right, const StereoCameraModel & stereoCameraModel, bool clearPreviousData = true);
 	void setStereoImage(const cv::Mat & left, const cv::Mat & right, const std::vector<StereoCameraModel> & stereoCameraModels, bool clearPreviousData = true);

@@ -281,8 +227,7 @@ public:
 			cv::Mat * userDataRaw = 0,
 			cv::Mat * groundCellsRaw = 0,
 			cv::Mat * obstacleCellsRaw = 0,
-			cv::Mat * emptyCellsRaw = 0,
-			cv::Mat * depthConfidenceRaw = 0);
+			cv::Mat * emptyCellsRaw = 0);
 	void uncompressDataConst(
 			cv::Mat * imageRaw,
 			cv::Mat * depthOrRightRaw,
@@ -290,8 +235,7 @@ public:
 			cv::Mat * userDataRaw = 0,
 			cv::Mat * groundCellsRaw = 0,
 			cv::Mat * obstacleCellsRaw = 0,
-			cv::Mat * emptyCellsRaw = 0,
-			cv::Mat * depthConfidenceRaw = 0) const;
+			cv::Mat * emptyCellsRaw = 0) const;

 	const std::vector<CameraModel> & cameraModels() const {return _cameraModels;}
 	const std::vector<StereoCameraModel> & stereoCameraModels() const {return _stereoCameraModels;}
@@ -315,6 +259,8 @@ public:
 			const cv::Mat & empty,
 			float cellSize,
 			const cv::Point3f & viewPoint);
+	// remove raw occupancy grids
+	void clearOccupancyGridRaw() {_groundCellsRaw = cv::Mat(); _obstacleCellsRaw = cv::Mat();}
 	const cv::Mat & gridGroundCellsRaw() const {return _groundCellsRaw;}
 	const cv::Mat & gridGroundCellsCompressed() const {return _groundCellsCompressed;}
 	const cv::Mat & gridObstacleCellsRaw() const {return _obstacleCellsRaw;}
@@ -344,7 +290,7 @@ public:
 	void setGPS(const GPS & gps) {gps_ = gps;}
 	const GPS & gps() const {return gps_;}

-	void setIMU(const IMU & imu);
+	void setIMU(const IMU & imu) {imu_ = imu; }
 	const IMU & imu() const {return imu_;}

 	void setEnvSensors(const EnvSensors & sensors) {_envSensors = sensors;}
@@ -359,12 +305,12 @@ public:
 	 * Clear compressed rgb/depth (left/right) images, compressed laser scan and compressed user data.
 	 * Raw data are kept is set.
 	 */
-	void clearCompressedData(bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
+	void clearCompressedData(bool images = true, bool scan = true, bool userData = true);
 	/**
 	 * Clear raw rgb/depth (left/right) images, raw laser scan and raw user data.
 	 * Compressed data are kept is set.
 	 */
-	void clearRawData(bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
+	void clearRawData(bool images = true, bool scan = true, bool userData = true);

 	bool isPointVisibleFromCameras(const cv::Point3f & pt) const; // assuming point is in robot frame

@@ -381,12 +327,10 @@ private:

 	cv::Mat _imageCompressed;          // compressed image
 	cv::Mat _depthOrRightCompressed;   // compressed image
-	cv::Mat _depthConfidenceCompressed;   // compressed data
 	LaserScan _laserScanCompressed;      // compressed data

 	cv::Mat _imageRaw;          // CV_8UC1 or CV_8UC3
 	cv::Mat _depthOrRightRaw;   // depth CV_16UC1 or CV_32FC1, right image CV_8UC1 or CV_8UC3
-	cv::Mat _depthConfidenceRaw;   // CV_8UC1
 	LaserScan _laserScanRaw;

 	std::vector<CameraModel> _cameraModels;
@@ -67,7 +67,6 @@ class RTABMAP_CORE_EXPORT Statistics
 	RTABMAP_STATS(Loop, Visual_inliers,);
 	RTABMAP_STATS(Loop, Visual_inliers_ratio,);
 	RTABMAP_STATS(Loop, Visual_matches,);
-	RTABMAP_STATS(Loop, Visual_variance,);
 	RTABMAP_STATS(Loop, Distance_since_last_loc, m);
 	RTABMAP_STATS(Loop, Last_id,);
 	RTABMAP_STATS(Loop, Optimization_max_error, m);
@@ -76,20 +75,12 @@ class RTABMAP_CORE_EXPORT Statistics
 	RTABMAP_STATS(Loop, Optimization_max_ang_error_ratio, );
 	RTABMAP_STATS(Loop, Optimization_error, );
 	RTABMAP_STATS(Loop, Optimization_iterations, );
-	RTABMAP_STATS(Loop, Optimization_max_error_from_id, );
-	RTABMAP_STATS(Loop, Optimization_max_error_to_id, );
-	RTABMAP_STATS(Loop, Optimization_max_ang_error_from_id, );
-	RTABMAP_STATS(Loop, Optimization_max_ang_error_to_id, );
-	RTABMAP_STATS(Loop, Optimization_max_error_removed_from_id, );
-	RTABMAP_STATS(Loop, Optimization_max_error_removed_to_id, );
-	RTABMAP_STATS(Loop, Optimization_max_error_removed_count, );
 	RTABMAP_STATS(Loop, Linear_variance,);
 	RTABMAP_STATS(Loop, Angular_variance,);
 	RTABMAP_STATS(Loop, Landmark_detected,);
 	RTABMAP_STATS(Loop, Landmark_detected_node_ref,);
 	RTABMAP_STATS(Loop, Visual_inliers_mean_dist,m);
 	RTABMAP_STATS(Loop, Visual_inliers_distribution,);
-	RTABMAP_STATS(Loop, Proximity_links_cleared,);
 	//Odom correction
 	RTABMAP_STATS(Loop, Odom_correction_norm, m);
 	RTABMAP_STATS(Loop, Odom_correction_angle, deg);
@@ -96,23 +96,16 @@ public:
 #endif

 	float epsilon() const {return epsilon_;}
-	bool usingMinEigenVals() const {return useMinEigenVals_;}
-	float minEigThreshold() const {return minEigThreshold_;}
-	float errorThreshold() const {return errorThreshold_;}
 	virtual bool isGpuEnabled() const;

 private:
 	void updateStatus(
 		const std::vector<cv::Point2f> & leftCorners,
 		const std::vector<cv::Point2f> & rightCorners,
-		std::vector<unsigned char> & status,
-		std::vector<float> err = {}) const;
+		std::vector<unsigned char> & status) const;

 private:
 	float epsilon_;
-	bool useMinEigenVals_;
-	float minEigThreshold_;
-	float errorThreshold_;
 	bool gpu_;
 };

@@ -94,9 +94,7 @@ public:
 	// backward compatibility
 	void setImageSize(const cv::Size & size) {left_.setImageSize(size); right_.setImageSize(size);}

-	// Set initRectificationMaps=false to skip building the (potentially large) left/right
-	// rectification maps when rectification won't be used (saves time and memory).
-	bool load(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform = true, bool initRectificationMaps = true);
+	bool load(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform = true);
 	bool save(const std::string & directory, bool ignoreStereoTransform = true) const;
 	bool saveStereoTransform(const std::string & directory) const;
 	std::vector<unsigned char> serialize() const;
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
matlabbe	9560f094c1	merged master to noetic	2025-04-27 15:28:58 -07:00
matlabbe	a9c56cd53f	Merge branch 'master' of github.com:introlab/rtabmap into noetic-devel	2025-02-12 19:51:57 -08:00
matlabbe	fb87a9ffe9	merged master	2024-11-30 19:48:15 -08:00
matlabbe	3aaf696991	CI: only build noetic in noetic-devel branch	2024-11-30 18:33:35 -08:00