OccupancyGrid: updated parameters check

Depth calibration: using appropriate bin_width and bin_height for all cameras

.gitignore

@@ -0,0 +1,9 @@
+/lib
+.DS_Store
+.settings/language.settings.xml
+.idea/
+cmake-build-debug/
+app/android/.classpath
+app/android/.project
+app/android/AndroidManifest.xml
+app/android/res/raw/

.travis.yml

@@ -0,0 +1,32 @@
+sudo: true
+dist: trusty
+language: cpp
+group: deprecated-2017Q3
+
+compiler:
+  - gcc
+  - clang
+
+addons:
+  apt:
+    packages:
+      - cmake
+      - libopencv-dev
+      - libqt4-dev
+      - libsqlite3-dev
+
+install:
+    - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
+    - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+    - sudo apt-get update
+    - sudo apt-get -y install libpcl-1.7-all libfreenect-dev ros-indigo-libg2o ros-indigo-octomap libopenni2-dev
+
+script: 
+    - source /opt/ros/indigo/setup.bash
+    - mkdir -p build && cd build
+    - cmake .. 
+    - make
+
+notifications:
+  email:
+    - matlabbe@gmail.com

CMakeLists.txt

@@ -1,13 +1,18 @@
 # Top-Level CmakeLists.txt
-IF(APPLE OR WIN32)
-  # BundleUtilities.cmake from 2.8.3 required on Mac and ?Windows?
-  cmake_minimum_required(VERSION 2.8.3)
-ELSE()
-  cmake_minimum_required(VERSION 2.8.0)
-ENDIF()
+# For GNUInstallDirs
+cmake_minimum_required(VERSION 2.8.5)
 PROJECT( RTABMap )
 SET(PROJECT_PREFIX rtabmap)
 
+# Catkin doesn't support multiarch library path, 
+# fix to "lib" if not set by user.
+OPTION(MULTI_ARCH "Activate multi-arch lib directory (debian)" OFF)
+IF(NOT MULTI_ARCH AND NOT DEFINED CMAKE_INSTALL_LIBDIR)
+   set(CMAKE_INSTALL_LIBDIR "lib")
+ENDIF(NOT MULTI_ARCH AND NOT DEFINED CMAKE_INSTALL_LIBDIR)
+
+INCLUDE(GNUInstallDirs)
+
 ####### local cmake modules #######
 SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 
@@ -15,8 +20,8 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 # VERSION
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
-SET(RTABMAP_MINOR_VERSION 7)
-SET(RTABMAP_PATCH_VERSION 3)
+SET(RTABMAP_MINOR_VERSION 13)
+SET(RTABMAP_PATCH_VERSION 2)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
   
@@ -36,16 +41,25 @@ IF(${CMAKE_GENERATOR} MATCHES ".*Makefiles")
     ENDIF("${CMAKE_BUILD_TYPE}" STREQUAL "")
 ENDIF(${CMAKE_GENERATOR} MATCHES ".*Makefiles")
 
+IF(NOT ANDROID)
     SET(CMAKE_DEBUG_POSTFIX "d")
+ENDIF(NOT ANDROID)
 
 IF(WIN32 AND NOT MINGW)
     ADD_DEFINITIONS("-DNOMINMAX")
-    ADD_DEFINITIONS("-wd4100 -wd4127 -wd4191 -wd4242 -wd4244 -wd4251 -wd4305 -wd4365 -wd4512 -wd4514 -wd4548 -wd4571 -wd4619 -wd4625 -wd4626 -wd4628 -wd4668 -wd4710 -wd4711 -wd4738 -wd4820 -wd4946 -wd4986")
+    ADD_DEFINITIONS("-wd4100 -wd4127 -wd4150 -wd4191 -wd4242 -wd4244 -wd4251 -wd4305 -wd4365 -wd4512 -wd4514 -wd4548 -wd4571 -wd4619 -wd4625 -wd4626 -wd4628 -wd4668 -wd4710 -wd4711 -wd4738 -wd4820 -wd4946 -wd4986")
 ELSE ()
     ADD_DEFINITIONS( "-Wall" )
     ADD_DEFINITIONS("-Wno-unknown-pragmas")
 ENDIF()
 
+if(POLICY CMP0020)
+    cmake_policy(SET CMP0020 OLD)
+endif()
+if(POLICY CMP0043)
+    cmake_policy(SET CMP0043 OLD)
+endif()
+
 IF(MINGW)
     # Hide the --enable-auto-import warning
     SET(CMAKE_EXE_LINKER_FLAGS "-Wl,--enable-auto-import")
@@ -82,75 +96,326 @@ IF(APPLE)
 ENDIF()
 
 ####### Build libraries as shared or static #######
-# It is a bit messed up on Windows between STATIC and SHARED, if we don't want
-# to add UtiLite_DEFINITIONS in FindUtiLite.cmake... to know from 3rd party application if it needs to
-# link dynamically [UTILITE_EXP __declspec( dllimport )] or statically (UTILITE_EXP "nothing").
 OPTION( BUILD_SHARED_LIBS "Set to OFF to build static libraries" ON )
 
-####### SET RPATH #########
-# When RPATH is activated (supported on most UNIX systems), 
-# the user doesn't need to change LD_LIBRARY_PATH
-
-# use, i.e. don't skip the full RPATH for the build tree
-SET(CMAKE_SKIP_BUILD_RPATH  FALSE)
-
-# when building, don't use the install RPATH already
-# (but later on when installing)
-SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE) 
-
-# the RPATH to be used when installing
-SET(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib/${PROJECT_PREFIX}-${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}")
-
-# add the automatically determined parts of the RPATH
-# which point to directories outside the build tree to the install RPATH
-SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 ####### OUTPUT DIR #######
 SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
 SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
 SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
 
+# Avoid Visual Studio bin/Release and bin/Debug sub directories
+SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
+SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
+SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY_DEBUG "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
+SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY_RELEASE "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
+SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")
+SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")
+
 ####### INSTALL DIR #######
-# Offer the user the choice of overriding the installation directories
-set(INSTALL_LIB_DIR lib/${PROJECT_PREFIX}-${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION} CACHE PATH "Installation directory for libraries")
-set(INSTALL_BIN_DIR bin CACHE PATH "Installation directory for executables")
 set(INSTALL_INCLUDE_DIR include/${PROJECT_PREFIX}-${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION} CACHE PATH
   "Installation directory for header files")
 if(WIN32 AND NOT CYGWIN)
   set(DEF_INSTALL_CMAKE_DIR CMake)
 else()
-  set(DEF_INSTALL_CMAKE_DIR lib/${PROJECT_PREFIX}-${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION})
+  set(DEF_INSTALL_CMAKE_DIR ${CMAKE_INSTALL_LIBDIR}/${PROJECT_PREFIX}-${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION})
 endif()
 set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR} CACHE PATH
   "Installation directory for CMake files")
   
 ####### BUILD OPTIONS #######
+
+# ANDROID_PREBUILD (early exit if true)
+OPTION( ANDROID_PREBUILD "Set to ON to build rtabmap resource build tool (required for android build)" OFF )
+IF(ANDROID_PREBUILD)
+   MESSAGE("Option ANDROID_PREBUILD is set, only rtabmap resource tool will be built. You can use android toolchain after that.")
+   ADD_SUBDIRECTORY( utilite )
+   return()
+ENDIF(ANDROID_PREBUILD)
+
 IF(APPLE)
     OPTION(BUILD_AS_BUNDLE "Set to ON to build as bundle (DragNDrop)" OFF)
 ENDIF(APPLE)
+OPTION(BUILD_APP "Build main application" ON)
+OPTION(BUILD_TOOLS "Build tools" ON)
+OPTION(BUILD_EXAMPLES "Build examples" ON)
 
 ####### DEPENDENCIES #######
-FIND_PACKAGE(OpenCV REQUIRED)
-IF(OPENCV_NONFREE_FOUND)
-  SET(NONFREE 1)
+IF(ANDROID)
+option(WITH_QT            "Include Qt support"                   OFF)
 ELSE()
-  SET(NONFREE 0)
+option(WITH_QT            "Include Qt support"                   ON)
 ENDIF()
-FIND_PACKAGE(PCL 1.7 REQUIRED)
-FIND_PACKAGE(VTK REQUIRED)
-IF("${VTK_MAJOR_VERSION}" EQUAL 5)
-	FIND_PACKAGE(QVTK REQUIRED) # only for VTK 5
-ENDIF("${VTK_MAJOR_VERSION}" EQUAL 5)
-FIND_PACKAGE(ZLIB REQUIRED)
-FIND_PACKAGE(Freenect)
-FIND_PACKAGE(OpenNI2)
+option(WITH_FREENECT      "Include Freenect support"             ON)
+option(WITH_FREENECT2     "Include Freenect2 support"            ON)
+option(WITH_OPENNI2       "Include OpenNI2 support"              ON)
+option(WITH_DC1394        "Include dc1394 support"               ON)
+option(WITH_G2O           "Include g2o support"                  ON)
+option(WITH_GTSAM         "Include GTSAM support"                ON)
+option(WITH_TORO          "Include TORO support"                 ON)
+option(WITH_VERTIGO       "Include Vertigo support"              ON)
+option(WITH_CVSBA         "Include cvsba support"                ON)
+option(WITH_FLYCAPTURE2   "Include FlyCapture2/Triclops support" ON)
+option(WITH_ZED           "Include ZED sdk support"              ON)
+option(WITH_REALSENSE     "Include RealSense support"            ON)
+option(WITH_REALSENSE_SLAM "Include RealSenseSlam support"       ON)
+option(WITH_OCTOMAP       "Include Octomap support"              ON)
+option(WITH_CPUTSDF       "Include CPUTSDF support"              ON)
+option(WITH_FOVIS         "Include FOVIS support"                ON)
+option(WITH_VISO2         "Include VISO2 support"                ON)
+option(WITH_DVO           "Include DVO support"                  ON)
+option(WITH_ORB_SLAM2     "Include ORB_SLAM2 support"            ON)
+option(PCL_OMP            "With PCL OMP implementations"         ON)
+
+FIND_PACKAGE(OpenCV REQUIRED QUIET)
+FIND_PACKAGE(PCL 1.7 REQUIRED QUIET)
+FIND_PACKAGE(ZLIB REQUIRED QUIET)
+
+if(NOT "${PCL_LIBRARIES}" STREQUAL "")
+   # fix libproj.so not found on Xenial
+   list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")
+   # fix libmpi.so not found on Zesty
+   list(REMOVE_ITEM PCL_LIBRARIES "/usr/lib/libmpi.so")
+endif()
+
+# OpenMP ("-fopenmp" should be added for flann included in PCL)
+# the gcc-4.2.1 coming with MacOS X is not compatible with the OpenMP pragmas we use, so disabling OpenMP for it
+if((NOT APPLE) OR (NOT CMAKE_COMPILER_IS_GNUCXX) OR (GCC_VERSION VERSION_GREATER 4.2.1) OR (CMAKE_CXX_COMPILER_ID STREQUAL "Clang"))
+  find_package(OpenMP)
+endif()
+if(OPENMP_FOUND)
+  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
+  message (STATUS "Found OpenMP")
+  if(PCL_OMP)
+    add_definitions(-DPCL_OMP)
+  endif(PCL_OMP)
+else(OPENMP_FOUND)
+  message (STATUS "Not found OpenMP")
+endif()
+
+IF(OpenCV_FOUND)
+   MESSAGE(STATUS "Found OpenCV: ${OpenCV_INCLUDE_DIRS}")
+ENDIF(OpenCV_FOUND)
+IF(PCL_FOUND)
+   MESSAGE(STATUS "Found PCL: ${PCL_INCLUDE_DIRS}")
+ENDIF(PCL_FOUND)
+IF(ZLIB_FOUND)
+   MESSAGE(STATUS "Found ZLIB: ${ZLIB_INCLUDE_DIRS}")
+ENDIF(ZLIB_FOUND)
+
+SET(ADD_VTK_GUI_SUPPORT_QT_TO_CONF FALSE)
+IF(WITH_QT)
+    FIND_PACKAGE(VTK)
+    IF(NOT VTK_FOUND)
+        MESSAGE(FATAL_ERROR "VTK is required when using Qt. Set -DWITH_QT=OFF if you don't want gui tools.")
+    ENDIF(NOT VTK_FOUND)
 
     # If Qt is here, the GUI will be built
-FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtSvg) 
+    # look for Qt5 (if vtk>5 is installed) before Qt4
+    IF("${VTK_MAJOR_VERSION}" GREATER 5)
+        FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui QUIET)
+        IF(Qt5_FOUND)
+             FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui OPTIONAL_COMPONENTS Svg)
+        ENDIF(Qt5_FOUND)
+    ENDIF("${VTK_MAJOR_VERSION}" GREATER 5)
+
+    IF(NOT Qt5_FOUND)
+        FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
+    ENDIF(NOT Qt5_FOUND)
+        
+    IF(QT4_FOUND OR Qt5_FOUND)
+        IF("${VTK_MAJOR_VERSION}" EQUAL 5)
+            FIND_PACKAGE(QVTK REQUIRED) # only for VTK 5
+        ELSE()
+            list(FIND PCL_LIBRARIES vtkGUISupportQt value)
+            IF(value EQUAL -1)
+                SET(PCL_LIBRARIES "${PCL_LIBRARIES};vtkGUISupportQt")
+                SET(ADD_VTK_GUI_SUPPORT_QT_TO_CONF TRUE)
+            ENDIF(value EQUAL -1)
+        ENDIF()
+    ENDIF(QT4_FOUND OR Qt5_FOUND)
+ENDIF(WITH_QT)
+
+IF(WITH_FREENECT)
+    FIND_PACKAGE(Freenect QUIET)
+    IF(Freenect_FOUND)
+       MESSAGE(STATUS "Found Freenect: ${Freenect_INCLUDE_DIRS}")
+    ENDIF(Freenect_FOUND)
+ENDIF(WITH_FREENECT)
+
+IF(WITH_FREENECT2)
+    FIND_PACKAGE(freenect2 QUIET)
+    IF(freenect2_FOUND)
+       IF(NOT freenect2_INCLUDE_DIRS)
+          SET(freenect2_INCLUDE_DIRS ${freenect2_INCLUDE_DIR})
+       ENDIF(NOT freenect2_INCLUDE_DIRS)
+       MESSAGE(STATUS "Found freenect2: ${freenect2_INCLUDE_DIRS}")
+       # Explicitly link to OpenCL (in case of CUDA installed)
+       FIND_PACKAGE(OpenCL QUIET)
+       IF(OpenCL_FOUND)
+          SET(freenect2_LIBRARIES
+            ${OpenCL_LIBRARIES}
+            ${freenect2_LIBRARIES}
+          )
+       ENDIF(OpenCL_FOUND)
+    ENDIF(freenect2_FOUND)
+ENDIF(WITH_FREENECT2)
+
+# IF PCL depends on OpenNI2 (already found), ignore WITH_OPENNI2
+IF(WITH_OPENNI2 OR OpenNI2_FOUND)
+    FIND_PACKAGE(OpenNI2 QUIET)
+    IF(OpenNI2_FOUND)
+       MESSAGE(STATUS "Found OpenNI2: ${OpenNI2_INCLUDE_DIRS}")
+    ENDIF(OpenNI2_FOUND)
+ENDIF(WITH_OPENNI2 OR OpenNI2_FOUND)
+
+IF(WITH_DC1394)
+    FIND_PACKAGE(DC1394 QUIET)
+    IF(DC1394_FOUND)
+       MESSAGE(STATUS "Found DC1394: ${DC1394_INCLUDE_DIRS}")
+    ENDIF(DC1394_FOUND)
+ENDIF(WITH_DC1394)
+
+IF(WITH_G2O)
+    FIND_PACKAGE(G2O QUIET)
+    IF(G2O_FOUND)
+       MESSAGE(STATUS "Found g2o: ${G2O_INCLUDE_DIRS}")
+    ENDIF(G2O_FOUND)
+ENDIF(WITH_G2O)
+
+IF(WITH_GTSAM)
+    FIND_PACKAGE(GTSAM QUIET)
+ENDIF(WITH_GTSAM)
+
+IF(WITH_FLYCAPTURE2)
+    FIND_PACKAGE(FlyCapture2 QUIET)
+    IF(FlyCapture2_FOUND)
+       MESSAGE(STATUS "Found FlyCapture2: ${FlyCapture2_INCLUDE_DIRS}")
+    ENDIF(FlyCapture2_FOUND)
+ENDIF(WITH_FLYCAPTURE2)
+
+IF(WITH_CVSBA)
+    FIND_PACKAGE(cvsba QUIET)
+    IF(cvsba_FOUND)
+       MESSAGE(STATUS "Found cvsba: ${cvsba_INCLUDE_DIRS}")
+    ENDIF(cvsba_FOUND)
+ENDIF(WITH_CVSBA)
+
+IF(WITH_ZED)
+    IF(WIN32) # Windows
+        SET(ZED_INCLUDE_DIRS $ENV{ZED_INCLUDE_DIRS})
+        if (CMAKE_CL_64) # 64 bits
+            SET(ZED_LIBRARIES $ENV{ZED_LIBRARIES_64})
+        else(CMAKE_CL_64) # 32 bits
+            message("32bits compilation is no more available with CUDA7.0")
+        endif(CMAKE_CL_64)
+        SET(ZED_LIBRARY_DIR $ENV{ZED_LIBRARY_DIR})
+        IF(ZED_LIBRARIES AND ZED_INCLUDE_DIRS)
+            SET(ZED_FOUND TRUE)
+            LINK_DIRECTORIES( ${LINK_DIRECTORIES} ${ZED_LIBRARY_DIR})
+        ENDIF(ZED_LIBRARIES AND ZED_INCLUDE_DIRS)
+    ELSE() # Linux
+        find_package(ZED 1 QUIET)
+    ENDIF(WIN32)
+    
+    IF(ZED_FOUND)
+       MESSAGE(STATUS "Found ZED sdk: ${ZED_INCLUDE_DIRS}")
+       ## look for CUDA
+       find_package(CUDA)
+       IF(CUDA_FOUND)
+        MESSAGE(STATUS "Found CUDA: ${CUDA_INCLUDE_DIRS}")
+       ELSE()
+        MESSAGE(FATAL_ERROR "CUDA is required to build with Zed sdk! Set -DWITH_ZED=OFF if you don't have CUDA.")
+       ENDIF()
+    ENDIF(ZED_FOUND)
+ENDIF(WITH_ZED)
+
+IF(WITH_REALSENSE)
+    IF(WITH_REALSENSE_SLAM)
+       FIND_PACKAGE(RealSense QUIET COMPONENTS slam)
+    ELSE()
+       FIND_PACKAGE(RealSense QUIET)
+    ENDIF()
+    IF(RealSense_FOUND)
+       MESSAGE(STATUS "Found RealSense: ${RealSense_INCLUDE_DIRS}")
+    ENDIF(RealSense_FOUND)
+    IF(RealSenseSlam_FOUND)
+       MESSAGE(STATUS "Found RealSenseSlam: ${RealSense_INCLUDE_DIRS}")
+    ENDIF(RealSenseSlam_FOUND)
+ENDIF(WITH_REALSENSE)
+
+IF(WITH_OCTOMAP)
+    FIND_PACKAGE(OCTOMAP QUIET)
+    IF(OCTOMAP_FOUND)
+       MESSAGE(STATUS "Found octomap: ${OCTOMAP_INCLUDE_DIRS}")
+    ENDIF(OCTOMAP_FOUND)
+ENDIF(WITH_OCTOMAP)
+
+IF(WITH_CPUTSDF)
+    FIND_PACKAGE(CPUTSDF QUIET)
+    IF(CPUTSDF_FOUND)
+       MESSAGE(STATUS "Found CPUTSDF: ${CPUTSDF_INCLUDE_DIRS}")
+    ENDIF(CPUTSDF_FOUND)
+ENDIF(WITH_CPUTSDF)
+
+IF(WITH_FOVIS)
+    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 QUIET)
+    IF(libviso2_FOUND)
+       MESSAGE(STATUS "Found libviso2: ${libviso2_INCLUDE_DIRS}")
+    ENDIF(libviso2_FOUND)
+ENDIF(WITH_VISO2)
+
+IF(WITH_DVO)
+    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_ORB_SLAM2 AND NOT G2O_FOUND)
+    FIND_PACKAGE(ORB_SLAM2 QUIET)
+    IF(ORB_SLAM2_FOUND)
+       MESSAGE(STATUS "Found ORB_SLAM2: ${ORB_SLAM2_INCLUDE_DIRS}")
+       FIND_PACKAGE(Pangolin QUIET)
+       IF(NOT Pangolin_FOUND)
+          SET(ORB_SLAM2_FOUND FALSE)
+          MESSAGE(STATUS "Found ORB_SLAM2 but not Pangolin, disabling ORB_SLAM2.")
+       ELSE()
+          MESSAGE(STATUS "Found Pangolin: ${Pangolin_INCLUDE_DIRS}")
+          SET(ORB_SLAM2_INCLUDE_DIRS ${ORB_SLAM2_INCLUDE_DIRS} ${Pangolin_INCLUDE_DIRS})
+          SET(ORB_SLAM2_LIBRARIES ${ORB_SLAM2_LIBRARIES} ${Pangolin_LIBRARIES})
+          MESSAGE(WARNING "Don't forget to build ORB_SLAM2 (and included g2o) without \"-march=native\" to avoid crash when ORB_SLAM2 starts.")
+       ENDIF()
+    ENDIF(ORB_SLAM2_FOUND)
+ENDIF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
+
+IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND OR ORB_SLAM2_FOUND)
+   #Newest versions require std11
+   IF(NOT MSVC)
+     include(CheckCXXCompilerFlag)
+      CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+      CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+      IF(COMPILER_SUPPORTS_CXX11)
+        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+      ELSEIF(COMPILER_SUPPORTS_CXX0X)
+        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+      ELSE()
+        message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler if you want to use g2o or gtsam (set \"-DWITH_G2O=OFF -DWITH_GTSAM=OFF\" to build without g2o and gtsam).")
+      ENDIF()
+   ENDIF()
+ENDIF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND OR ORB_SLAM2_FOUND)
 
 ####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
 IF(APPLE AND BUILD_AS_BUNDLE)
-  IF(QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND)
+  IF(Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
        
     # Required when packaging, and set CMAKE_INSTALL_PREFIX to "/".
     SET(CMAKE_INSTALL_PREFIX "/")
@@ -177,20 +442,136 @@ ENDIF(APPLE AND BUILD_AS_BUNDLE)
 
 
 ####### SOURCES (Projects) #######
+
+# CONF_DEPENDENCIES contains only dependencies not required by the headers
+SET(CONF_DEPENDENCIES 
+    ${ZLIB_LIBRARIES}
+)
+IF(NOT (OPENCV_NONFREE_FOUND OR OPENCV_XFEATURES2D_FOUND))
+   SET(NONFREE "//")
+ENDIF(NOT (OPENCV_NONFREE_FOUND OR OPENCV_XFEATURES2D_FOUND))
+IF(NOT G2O_FOUND)
+   SET(G2O "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${G2O_LIBRARIES})
+ENDIF()
+IF(NOT GTSAM_FOUND)
+   SET(GTSAM "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${GTSAM_LIBRARIES})
+ENDIF()
+IF(NOT WITH_TORO)
+   SET(TORO "//")
+ENDIF(NOT WITH_TORO)
+IF(NOT WITH_VERTIGO)
+   SET(VERTIGO "//")
+ENDIF(NOT WITH_VERTIGO)
+IF(NOT cvsba_FOUND)
+   SET(CVSBA "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${cvsba_LIBRARIES})
+ENDIF()
+IF(NOT Freenect_FOUND)
+   SET(FREENECT "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${Freenect_LIBRARIES})
+ENDIF()
+IF(NOT freenect2_FOUND)
+   SET(FREENECT2 "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${freenect2_LIBRARIES})
+ENDIF()
+IF(NOT OpenNI2_FOUND)
+   SET(OPENNI2 "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${OpenNI2_LIBRARIES})
+ENDIF()
+IF(NOT DC1394_FOUND)
+   SET(DC1394 "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${DC1394_LIBRARIES})
+ENDIF()
+IF(NOT FlyCapture2_FOUND)
+   SET(FLYCAPTURE2 "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${FlyCapture2_LIBRARIES})
+ENDIF()
+IF(NOT ZED_FOUND)
+   SET(ZED "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${ZED_LIBRARIES} ${CUDA_LIBRARIES}) 
+ENDIF()
+IF(NOT RealSense_FOUND)
+   SET(REALSENSE "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${RealSense_LIBRARIES}) 
+ENDIF()
+IF(NOT RealSenseSlam_FOUND)
+   SET(REALSENSESLAM "//")
+ENDIF(NOT RealSenseSlam_FOUND)
+IF(NOT OCTOMAP_FOUND)
+   SET(OCTOMAP "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${OCTOMAP_LIBRARIES}) 
+ENDIF()
+IF(NOT CPUTSDF_FOUND)
+   SET(CPUTSDF "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${CPUTSDF_LIBRARIES}) 
+ENDIF()
+IF(NOT libfovis_FOUND)
+   SET(FOVIS "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${libfovis_LIBRARIES}) 
+ENDIF()
+IF(NOT libviso2_FOUND)
+   SET(VISO2 "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${libviso2_LIBRARIES}) 
+ENDIF()
+IF(NOT dvo_core_FOUND)
+   SET(DVO "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${dvo_core_LIBRARIES}) 
+ENDIF()
+IF(NOT ORB_SLAM2_FOUND)
+   SET(ORB_SLAM2 "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${ORB_SLAM2_LIBRARIES}) 
+ENDIF()
+IF(ADD_VTK_GUI_SUPPORT_QT_TO_CONF)
+   SET(CONF_VTK_QT true)
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} vtkGUISupportQt)
+ELSE()
+   SET(CONF_VTK_QT false)
+ENDIF()
+IF(NOT (OpenCV_FOUND AND OpenCV_VERSION_MAJOR EQUAL 3))
+   SET(OPENCV3 "//")
+ENDIF(NOT (OpenCV_FOUND AND OpenCV_VERSION_MAJOR EQUAL 3))
 CONFIGURE_FILE(Version.h.in ${PROJECT_SOURCE_DIR}/corelib/include/${PROJECT_PREFIX}/core/Version.h)
 
 ADD_SUBDIRECTORY( utilite )
 ADD_SUBDIRECTORY( corelib )
 
-IF(QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND)
-   ADD_SUBDIRECTORY( guilib )
+IF(ANDROID)
+   IF(BUILD_APP)
       ADD_SUBDIRECTORY( app )
-ELSE()
-   MESSAGE(STATUS "[WARNING] Qt4 not found, the GUI lib and the stand-alone application will not be compiled...")
+   ENDIF(BUILD_APP)
+ELSEIF(Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
+   ADD_SUBDIRECTORY( guilib )
+   IF(BUILD_APP)
+      ADD_SUBDIRECTORY( app )
+   ENDIF(BUILD_APP)
+ELSEIF(WITH_QT)
+   MESSAGE(WARNING "Qt not found, the GUI lib and the stand-alone application will not be compiled...")
 ENDIF()
 
+IF(BUILD_TOOLS)
    ADD_SUBDIRECTORY( tools )
+ENDIF(BUILD_TOOLS)
+IF(BUILD_EXAMPLES)
    ADD_SUBDIRECTORY( examples )
+ENDIF(BUILD_EXAMPLES)
 
 #######################
 # Uninstall target, for "make uninstall"
@@ -208,13 +589,23 @@ ADD_CUSTOM_TARGET(uninstall
 ####
 # Create the RTABMapConfig.cmake and RTABMapConfigVersion files
 file(RELATIVE_PATH REL_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/${INSTALL_INCLUDE_DIR}")
-file(RELATIVE_PATH REL_LIB_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/${INSTALL_LIB_DIR}")
+file(RELATIVE_PATH REL_LIB_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}")
    
 # ... for the build tree
 set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/corelib/include" 
                       "${PROJECT_SOURCE_DIR}/guilib/include" 
                       "${PROJECT_SOURCE_DIR}/utilite/include")
-set(CONF_LIB_DIR "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")
+set(CONF_LIB_DIR "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY} ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
+IF(QT4_FOUND OR Qt5_FOUND)
+   set(CONF_WITH_GUI ON)
+   IF(QT4_FOUND)
+      set(CONF_QT_VERSION 4)
+   ELSE()
+      set(CONF_QT_VERSION 5)
+   ENDIF()
+ELSE()
+   set(CONF_WITH_GUI OFF)
+ENDIF()
 configure_file(RTABMapConfig.cmake.in
   "${PROJECT_BINARY_DIR}/RTABMapConfig.cmake" @ONLY)
   
@@ -236,7 +627,7 @@ install(FILES
 ####
 
 ### Install package.xml for catkin
-install(FILES package.xml DESTINATION "share/${PROJECT_PREFIX}")
+install(FILES package.xml DESTINATION "${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_PREFIX}")
 
 #######################
 # CPACK (Packaging)
@@ -278,10 +669,11 @@ IF(WIN32)
   ENDIF()
   SET(CPACK_GENERATOR "ZIP;NSIS")
   SET(CPACK_SOURCE_GENERATOR "ZIP")
-  SET(CPACK_NSIS_PACKAGE_NAME "${PROJECT_NAME} ${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}")
+  SET(CPACK_NSIS_PACKAGE_NAME "${PROJECT_NAME}")
   SET(ICON_PATH "${PROJECT_SOURCE_DIR}/app/src/${PROJECT_NAME}.ico")
   SET(CPACK_NSIS_MUI_ICON ${ICON_PATH})
   SET(CPACK_NSIS_MUI_UNIICON ${ICON_PATH})
+  SET(CPACK_PACKAGE_INSTALL_DIRECTORY "${PROJECT_NAME}")
   #SET(CPACK_PACKAGE_ICON ${ICON_PATH})
   #SET(CPACK_NSIS_INSTALLED_ICON_NAME ${ICON_PATH})
   #SET(CPACK_NSIS_HELP_LINK "http:\\\\\\\\www.${PROJECT_PREFIX}.googlecode.com")
@@ -319,8 +711,13 @@ INCLUDE(CPack)
 
 MESSAGE(STATUS "--------------------------------------------")
 MESSAGE(STATUS "Info :")
+MESSAGE(STATUS "  Version : ${RTABMAP_VERSION}")
 MESSAGE(STATUS "  CMAKE_INSTALL_PREFIX = ${CMAKE_INSTALL_PREFIX}")
 MESSAGE(STATUS "  CMAKE_BUILD_TYPE =     ${CMAKE_BUILD_TYPE}")
+MESSAGE(STATUS "  CMAKE_INSTALL_LIBDIR = ${CMAKE_INSTALL_LIBDIR}")
+MESSAGE(STATUS "  BUILD_APP =            ${BUILD_APP}")
+MESSAGE(STATUS "  BUILD_TOOLS =          ${BUILD_TOOLS}")
+MESSAGE(STATUS "  BUILD_EXAMPLES =       ${BUILD_EXAMPLES}")
 IF(NOT WIN32)
     # see comment above for the BUILD_SHARED_LIBS option on Windows
     MESSAGE(STATUS "  BUILD_SHARED_LIBS =    ${BUILD_SHARED_LIBS}")
@@ -328,23 +725,198 @@ ENDIF(NOT WIN32)
 IF(APPLE)
 MESSAGE(STATUS "  BUILD_AS_BUNDLE =      ${BUILD_AS_BUNDLE}")
 ENDIF(APPLE)
+MESSAGE(STATUS "  CMAKE_CXX_FLAGS = ${CMAKE_CXX_FLAGS}")
 
+IF(OpenCV_FOUND)
+  IF(OpenCV_VERSION_MAJOR EQUAL 2)
     IF(OPENCV_NONFREE_FOUND)
-MESSAGE(STATUS "  With OpenCV nonfree module (SIFT/SURF) = YES")
+      MESSAGE(STATUS "  With OpenCV 2 nonfree module (SIFT/SURF) = YES (License: Non commercial)")
     ELSE()
-MESSAGE(STATUS "  With OpenCV nonfree module (SIFT/SURF) = NO (not found)")
+      MESSAGE(STATUS "  With OpenCV 2 nonfree module (SIFT/SURF) = NO (not found, License: BSD)")
     ENDIF()
+  ELSE()
+    IF(OPENCV_XFEATURES2D_FOUND)
+      MESSAGE(STATUS "  With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial)")
+    ELSE()
+      MESSAGE(STATUS "  With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = NO (not found, License: BSD)")
+    ENDIF()
+  ENDIF()
+ENDIF(OpenCV_FOUND)
 
 IF(Freenect_FOUND)
-MESSAGE(STATUS "  With Freenect = YES")
+MESSAGE(STATUS "  With Freenect             = YES (License: Apache v2 and/or GPLv2)")
+ELSEIF(NOT WITH_FREENECT)
+MESSAGE(STATUS "  With Freenect             = NO (WITH_FREENECT=OFF)")
 ELSE()
 MESSAGE(STATUS "  With Freenect             = NO (libfreenect not found)")
 ENDIF()
 
 IF(OpenNI2_FOUND)
-MESSAGE(STATUS "  With OpenNI2  = YES")
+MESSAGE(STATUS "  With OpenNI2              = YES (License: Apache v2)")
+ELSEIF(NOT WITH_OPENNI2)
+MESSAGE(STATUS "  With OpenNI2              = NO (WITH_OPENNI2=OFF)")
 ELSE()
 MESSAGE(STATUS "  With OpenNI2              = NO (OpenNI2 not found)")
 ENDIF()
 
+IF(freenect2_FOUND)
+MESSAGE(STATUS "  With Freenect2            = YES (License: Apache v2 and/or GPLv2)")
+ELSEIF(NOT WITH_FREENECT2)
+MESSAGE(STATUS "  With Freenect2            = NO (WITH_FREENECT2=OFF)")
+ELSE()
+MESSAGE(STATUS "  With Freenect2            = NO (libfreenect2 not found)")
+ENDIF()
+
+IF(DC1394_FOUND)
+MESSAGE(STATUS "  With dc1394               = YES (License: LGPL)")
+ELSEIF(NOT WITH_DC1394)
+MESSAGE(STATUS "  With dc1394               = NO (WITH_DC1394=OFF)")
+ELSE()
+MESSAGE(STATUS "  With dc1394               = NO (dc1394 not found)")
+ENDIF()
+
+IF(FlyCapture2_FOUND)
+MESSAGE(STATUS "  With FlyCapture2/Triclops = YES")
+ELSEIF(NOT WITH_FLYCAPTURE2)
+MESSAGE(STATUS "  With FlyCapture2/Triclops = NO (WITH_FLYCAPTURE2=OFF)")
+ELSE()
+MESSAGE(STATUS "  With FlyCapture2/Triclops = NO (Point Grey SDK not found)")
+ENDIF()
+
+IF(WITH_TORO)
+MESSAGE(STATUS "  With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])")
+ELSE()
+MESSAGE(STATUS "  With TORO                 = NO (WITH_TORO=OFF)")
+ENDIF()
+
+IF(G2O_FOUND)
+MESSAGE(STATUS "  With g2o                  = YES (License: BSD)")
+ELSEIF(NOT WITH_G2O)
+MESSAGE(STATUS "  With g2o                  = NO (WITH_G2O=OFF)")
+ELSE()
+MESSAGE(STATUS "  With g2o                  = NO (g2o not found)")
+ENDIF()
+
+IF(GTSAM_FOUND)
+MESSAGE(STATUS "  With GTSAM                = YES (License: BSD)")
+ELSEIF(NOT WITH_GTSAM)
+MESSAGE(STATUS "  With GTSAM                = NO (WITH_GTSAM=OFF)")
+ELSE()
+MESSAGE(STATUS "  With GTSAM                = NO (GTSAM not found)")
+ENDIF()
+
+IF(G2O_FOUND OR GTSAM_FOUND)
+IF(WITH_VERTIGO)
+MESSAGE(STATUS "  With VERTIGO              = YES (License: GPLv3)")
+ELSE()
+MESSAGE(STATUS "  With VERTIGO              = NO (WITH_VERTIGO=OFF)")
+ENDIF()
+ELSE()
+MESSAGE(STATUS "  With VERTIGO              = NO (GTSAM or g2o required)")
+ENDIF()
+
+IF(cvsba_FOUND)
+MESSAGE(STATUS "  With cvsba                = YES (License: GPLv2)")
+ELSEIF(NOT WITH_CVSBA)
+MESSAGE(STATUS "  With cvsba                = NO (WITH_CVSBA=OFF)")
+ELSE()
+MESSAGE(STATUS "  With cvsba                = NO (cvsba not found)")
+ENDIF()
+
+IF(ZED_FOUND)
+IF(CUDA_FOUND)
+MESSAGE(STATUS "  With ZED                  = YES (With CUDA)")
+ELSE()
+MESSAGE(STATUS "  With ZED                  = YES (Without CUDA)")
+ENDIF()
+ELSEIF(NOT WITH_ZED)
+MESSAGE(STATUS "  With ZED                  = NO (WITH_ZED=OFF)")
+ELSE()
+MESSAGE(STATUS "  With ZED                  = NO (ZED sdk not found)")
+ENDIF()
+
+IF(RealSense_FOUND)
+MESSAGE(STATUS "  With RealSense            = YES (License: Apache-2)")
+IF(RealSenseSlam_FOUND)
+MESSAGE(STATUS "  With RealSenseSlam        = YES")
+ELSEIF(NOT WITH_REALSENSE)
+MESSAGE(STATUS "  With RealSenseSlam        = NO (librealsense_slam not found)")
+ELSE()
+MESSAGE(STATUS "  With RealSenseSlam        = NO (WITH_REALSENSE_SLAM=OFF)")
+ENDIF()
+ELSEIF(NOT WITH_REALSENSE)
+MESSAGE(STATUS "  With RealSense            = NO (WITH_REALSENSE=OFF)")
+ELSE()
+MESSAGE(STATUS "  With RealSense            = NO (librealsense not found)")
+ENDIF()
+
+IF(OCTOMAP_FOUND)
+MESSAGE(STATUS "  With OCTOMAP              = YES (License: BSD)")
+ELSEIF(NOT WITH_OCTOMAP)
+MESSAGE(STATUS "  With OCTOMAP              = NO (WITH_OCTOMAP=OFF)")
+ELSE()
+MESSAGE(STATUS "  With OCTOMAP              = NO (octomap not found)")
+ENDIF()
+
+IF(CPUTSDF_FOUND)
+MESSAGE(STATUS "  With CPUTSDF              = YES (License: BSD)")
+ELSEIF(NOT WITH_CPUTSDF)
+MESSAGE(STATUS "  With CPUTSDF              = NO (WITH_CPUTSDF=OFF)")
+ELSE()
+MESSAGE(STATUS "  With CPUTSDF              = NO (CPUTSDF not found)")
+ENDIF()
+
+IF(libfovis_FOUND)
+MESSAGE(STATUS "  With libfovis             = YES (License: GPLv2)")
+ELSEIF(NOT WITH_FOVIS)
+MESSAGE(STATUS "  With libfovis             = NO (WITH_FOVIS=OFF)")
+ELSE()
+MESSAGE(STATUS "  With libfovis             = NO (libfovis not found)")
+ENDIF()
+
+IF(libviso2_FOUND)
+MESSAGE(STATUS "  With libviso2             = YES (License: GPLv3)")
+ELSEIF(NOT WITH_VISO2)
+MESSAGE(STATUS "  With libviso2             = NO (WITH_VISO2=OFF)")
+ELSE()
+MESSAGE(STATUS "  With libviso2             = NO (libviso2 not found)")
+ENDIF()
+
+IF(dvo_core_FOUND)
+MESSAGE(STATUS "  With dvo_core             = YES (License: GPLv3)")
+ELSEIF(NOT WITH_DVO)
+MESSAGE(STATUS "  With dvo_core             = NO (WITH_DVO=OFF)")
+ELSE()
+MESSAGE(STATUS "  With dvo_core             = NO (dvo_core not found)")
+ENDIF()
+
+IF(ORB_SLAM2_FOUND)
+MESSAGE(STATUS "  With ORB_SLAM2            = YES (License: GPLv3)")
+ELSEIF(NOT WITH_ORB_SLAM2)
+MESSAGE(STATUS "  With ORB_SLAM2            = NO (WITH_ORB_SLAM2=OFF)")
+ELSEIF(G2O_FOUND)
+MESSAGE(STATUS "  With ORB_SLAM2            = NO (WITH_G2O should be OFF as ORB_SLAM2 uses its own g2o version)")
+ELSE()
+MESSAGE(STATUS "  With ORB_SLAM2            = NO (ORB_SLAM2 not found, make sure environment variable ORB_SLAM2_ROOT_DIR is set)")
+ENDIF()
+
+IF(QT4_FOUND)
+MESSAGE(STATUS "  With Qt4                  = YES (License: Open Source or Commercial)")
+ELSEIF(Qt5_FOUND)
+MESSAGE(STATUS "  With Qt5                  = YES (License: Open Source or Commercial)")
+ELSEIF(NOT WITH_QT)
+MESSAGE(STATUS "  With Qt                   = NO (WITH_QT=OFF)")
+ELSE()
+MESSAGE(STATUS "  With Qt                   = NO (Qt not found)")
+ENDIF()
+
 MESSAGE(STATUS "--------------------------------------------")
+
+IF(NOT GTSAM_FOUND AND NOT G2O_FOUND AND NOT WITH_TORO)
+MESSAGE(SEND_ERROR "No graph optimizer found! You should have at least one of these options:
+       g2o (https://github.com/RainerKuemmerle/g2o)
+       GTSAM (https://collab.cc.gatech.edu/borg/gtsam)
+       set -DWITH_TORO=ON")
+ENDIF(NOT GTSAM_FOUND AND NOT G2O_FOUND AND NOT WITH_TORO)
+
+# vim: set et ft=cmake fenc=utf-8 ff=unix sts=0 sw=2 ts=2 :

LICENSE

@@ -1,4 +1,4 @@
-Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Matlab/ParticleFilter/pf_filter.m

@@ -0,0 +1,24 @@
+
+function filtered = pf_filter(x, nParticles, noise, lambda)
+
+particles = ones(nParticles,1)*x(1) ;
+weights = ones(nParticles,1);
+filtered=zeros(1,length(x));
+for i = 1:length(x);
+    for j = 1:nParticles 
+        rn = sqrt(-2.0*log(rand))*cos(2*pi*rand); % randn c++
+        noisyP = particles(j) + noise*rn ;
+        dist = abs(noisyP - x(i));
+        tmp = exp(-lambda*dist);
+        if isfinite(tmp) && tmp > 0
+            particles(j) = noisyP;
+            weights(j) = tmp;
+        end
+    end
+    if sum(weights(:)) > 0
+         weights = weights ./sum(weights(:));
+    end
+
+    filtered(i) = weights'*particles;
+    particles = pf_resample(particles, weights);
+end

Matlab/ParticleFilter/pf_resample.m

@@ -0,0 +1,23 @@
+
+function newParticles=pf_resample(particles,weights)
+pcum = zeros(length(weights),1);
+sum = 0;
+for i=1:length(weights)
+    pcum(i) = weights(i) + sum;
+    sum = sum + weights(i);
+end
+pcum = pcum./pcum(end);
+newParticles = 0.*particles;
+
+%
+for i = 1:length(newParticles)
+    indexx = 1;
+    randnum = rand;
+    for j = 1:length(pcum)
+        if(randnum < pcum(j))
+            indexx = j;
+            break;
+        end
+    end
+    newParticles(i) = particles(indexx);
+end

Matlab/ParticleFilter/test_kinect.m

@@ -0,0 +1,67 @@
+
+%close all
+
+% signals
+index = [1 2 4 5 6 8 10 12 13 14 15 17 18 20 21 23 24 25 26 28 29 31 32 33 35 36 38 39 41 42 43 45 46 48 49 50 51 52 53 55 56 58 59 60 62 63 65 66 68 70 72 73 74 75 77 78 80 81 83 84 86 88 90 91 92 94 95 96 98 100 101 103 105 106 108 109 111 113 114 116 117 118 120 122 123 125 126 128 129 131 132 134 135 137 138 139 141 142 144 145 146 148 149 150 152 153 154 156 157 159 161 162 164 165 167 168 169 171 172 174 176 177 178 180 181 182 184 186 187 188 189 191 193 195 196 198 199 201 202 203 205 206 207 208 210 212 213 216 217 218 220 221 223 224 225 227 228 229 230 232 233 234 236 237 239 240 241 243 244 246 247 249 250 251 253 254 256 257 259 260 262 263 264 265 266 268 269 270 273 274 276 277 280 281 283 284 286 288 289 291 293 294 296 297 299 301 302 303 304 305 307 308 310 311 313 314 316 317 318 320 322 323 325 326 328 329 330 331 333 335 338 339 340 342 343 345 347 348 350 352 354 355 357 359 361 363 365 368 369 370 372 375 378 380 383 386 389 390 392 394 396 398 401 404 407 410 413 415 418 421 423 425 428 431 434 437 440 443 446 449 452 455 459 462 464 467 469 472 475 478 481 484 487 490 493 496 499 501 503 506 509 512 514 517 520 521 523 526 529 531 534 536 538 540];
+
+stddev = [0 0.00183007 0.00192045 0.00161173 0.00109756 0.0016129 0.00187094 0.00164845 0.00172004 0.00178055 0.00146903 0.00153716 0.00153812 0.00185564 0.00165944 0.00178402 0.00177258 0.0110605 0.0186308 0.00726018 0.0096298 0.00578044 0.0173129 0.010495 0.00641252 0.0140946 0.00828691 0.00646527 0.0134895 0.00693482 0.00649181 0.0181309 0.0131438 0.00996371 0.00707931 0.0103485 0.0061651 0.00802035 0.0132984 0.00562768 0.00741177 0.0116417 0.00769641 0.00804565 0.05021 0.00682934 0.0129143 0.0225555 0.0127159 0.01415 0.0380939 0.0259584 0.0158027 0.0211238 0.0110875 0.0276258 0.0280592 0.0166966 0.0130543 0.0215521 0.0142676 0.0153512 0.0316784 0.0118649 0.0123691 0.0205413 0.0135362 0.0216125 0.0212237 0.00991641 0.0184909 0.0261524 0.0119713 0.0201614 0.0124039 0.0147738 0.0264302 0.0159957 0.0253929 0.0102058 0.0243234 0.0377172 0.0165959 0.0337177 0.0311854 0.0129289 0.0306891 0.0156638 0.0129385 0.0346115 0.0108297 0.0267145 0.0143579 0.0151814 0.0120711 0.0234515 0.010673 0.0141592 0.0133022 0.0140912 0.0109111 0.00720432 0.00984503 0.00544388 0.0150391 0.0120823 0.00699634 0.00620808 0.00564909 0.00469504 0.00484 0.0103237 0.00416761 0.00430465 0.00704729 0.004031 0.00422873 0.00754686 0.00478419 0.00442305 0.00741142 0.00629216 0.00676839 0.0068492 0.00492891 0.00640475 0.00507572 0.010178 0.0131225 0.00749722 0.00502731 0.00653215 0.00653063 0.00557653 0.00488872 0.00889771 0.0062636 0.00854236 0.00660393 0.00829196 0.00756908 0.00466529 0.00435093 0.00407168 0.00518314 0.00739503 0.0108294 0.00535951 0.00556133 0.00516625 0.0107237 0.00540061 0.0066455 0.00579536 0.00673659 0.00604048 0.00707398 0.0170932 0.00686887 0.0070607 0.00701904 0.0063693 0.00857325 0.00773534 0.0148109 0.0138909 0.013436 0.00893684 0.0087548 0.0108629 0.023048 0.011821 0.0163904 0.00790121 0.0069128 0.0110736 0.0111562 0.00968563 0.00775927 0.00795869 0.0080748 0.00909579 0.011114 0.00957061 0.0114517 0.011365 0.0113641 0.012989 0.0115229 0.012728 0.0104824 0.012118 0.0156755 0.0312968 0.0221914 0.0130828 0.0245588 0.00755494 0.00518046 0.00578518 0.0165867 0.0193008 0.0113112 0.0081156 0.00917008 0.00480015 0.0041285 0.0042448 0.00499233 0.00531906 0.00434526 0.00711454 0.00767021 0.00522772 0.00435821 0.00478461 0.00454364 0.00498411 0.00459049 0.00635743 0.00710944 0.00546137 0.00624892 0.0101038 0.00895114 0.00736796 0.00727758 0.00951425 0.0115899 0.00858932 0.0374993 0.0078321 0.00838064 0.0191884 0.0116717 0.0297484 0.0114346 0.0109484 0.02485 0.0117224 0.0167142 0.0107344 0.0188225 0.0123141 0.0273968 0.014611 0.0341862 0.0134783 0.0271164 0.0268258 0.0128071 0.0106398 0.0125586 0.0319245 0.0107098 0.0147609 0.0120215 0.0106572 0.0162843 0.0153122 0.010042 0.011171 0.0121647 0.0102679 0.00730296 0.0124738 0.0115997 0.0179616 0.0140927 0.0130449 0.0104011 0.0146438 0.0114065 0.0157396 0.0135855 0.0128285 0.00754485 0.0305995 0.0181798 0.0192597 0.048465 0.0189101 0.0121396 0.00705945 0.0104833 0.00804011 0.0114006 0.00754285 0.00809562 0.00543453 0.00707061 0.0126759 0.0128725 0.0104646 0.021338 0.00769287 0.00642344 0.00572439 0.00467889 0.00776383 0.00501854 0.0044633 0.00535785 0.00198798 0.00168449 0.00151264 0.00165532 0.0014229 0.0012654 0.00145315 0.00129016 0.00136739 0.00136014 0.00162558];
+
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+
+roll = [0 -0.00697247 0.011439 -0.0037672 0.00391318 0.00124693 0.0030287 -0.00448122 -0.00347616 -0.0100247 0.00208189 0.0100625 -0.00181607 -0.011119 -0.00362276 -0.0116096 -0.00818997 -0.0343405 -0.706642 0.595677 0.203868 0.390061 1.04302 -0.154686 -0.177945 -0.212443 -0.9854 0.113863 0.279816 -0.546618 -0.436199 -2.37908 -2.08871 0.0553227 -0.510254 0.180382 -0.958035 -1.40451 -2.38267 -1.12667 -1.75796 -1.13053 -2.63525 -2.60907 -3.58601 -2.52121 -1.79654 -2.25613 -1.33478 -0.732903 -0.9298 -1.47892 -0.380567 -2.02699 -2.13208 -2.24147 -2.18517 -2.52275 -1.79502 -1.37363 -1.88748 -1.03175 -1.65507 -1.38477 -0.399072 -0.40913 -1.59339 -1.60899 -0.863818 -0.991065 -1.57005 -1.64782 -1.7006 -2.22423 -0.83406 -1.46165 -0.843498 -0.850411 -1.12993 -1.07788 -1.37277 -2.00294 -1.33077 -1.40567 -1.8182 -1.64814 -1.8247 -1.90814 -1.44697 -1.8769 -1.93877 -1.46014 -0.793834 -0.629669 -0.301444 -1.32545 -1.30499 -1.20415 -1.4845 -1.58845 -1.34412 -1.74224 -2.00197 -1.53316 -1.68767 -2.06981 -1.59841 -1.49462 -1.48013 -1.15663 -1.35156 -1.39071 -1.25367 -1.49356 -1.44043 -1.13617 -1.15862 -1.05363 -0.743625 -1.10127 -1.00328 -0.573638 -0.618629 -1.68267 -1.02222 -1.2801 -0.653413 -0.506172 -1.2871 -0.495107 -0.361678 -0.493461 -0.762048 -1.4813 -0.441775 -0.531445 -0.551943 -1.37474 -1.5587 -1.70981 0.208783 0.0606307 -0.265095 -0.676214 -1.16917 -1.69928 -1.38808 -0.686836 -0.478791 -0.543355 -0.951801 -1.10595 -1.32134 -1.09503 -1.2005 -1.41269 -2.37385 -1.00221 -1.36333 -0.722503 -0.800073 -0.199508 -1.32356 -1.11201 -0.803518 -0.372442 -0.699338 -0.716352 -0.178544 -0.627999 -1.17488 -1.45338 -1.70703 -1.46451 -1.83811 -1.37418 -1.36829 -1.56187 -1.8804 -2.02195 -1.23298 -1.32484 -1.36442 -1.19876 -1.05828 -0.79918 -1.14581 -1.26577 -1.6265 -1.91479 -1.76773 -1.67093 0.0926437 0.0319117 -0.333926 -1.41818 -1.17289 -1.52312 -1.84482 -1.38148 -1.46084 -3.27883 -0.549232 -1.75344 -1.06523 -0.537597 -0.630611 -0.969317 -1.32225 -1.92723 -1.27726 -1.5211 -1.12751 -0.428813 -0.807155 -0.574223 -0.952206 -1.10544 -1.34586 -1.65117 -1.62982 -1.53227 -1.05804 0.0488398 -0.953483 -1.00224 -0.657381 -0.868573 -1.65495 -1.79803 -1.18743 -0.0486594 -1.21401 -1.72776 -1.49407 -1.17884 -1.25465 -1.73811 -0.952386 -0.668799 -0.78184 -1.38569 -0.832198 -1.10262 -0.931131 -0.717825 -1.14293 -1.34193 -1.47225 -1.24035 -0.255386 -0.51049 0.249707 -0.578932 -0.112682 -0.649949 0.0897079 -0.161068 -0.540194 -0.162269 -0.422191 -0.454308 0.575092 0.000792985 0.591403 -0.220016 -0.0570524 -0.460092 -0.851059 -0.544888 0.265254 -0.165818 0.95184 0.00759833 -0.523103 -0.0706023 1.23796 0.403462 -0.0332513 1.4473 3.71438 1.40783 2.70682 1.59649 0.845672 0.921996 0.840801 1.86878 2.44023 2.72089 1.05189 1.47246 1.07162 0.470408 -0.573698 -0.780683 -0.517149 0.180919 -0.136984 -0.328051 -0.739093 0.0983447 0.021223 -0.0187313 0.00106841 -0.00111421 0.00227972 -0.00775409 -0.0021896 0.00944541 0.00373123 -0.0038741 0.0147257 -0.00457401];
+pitch = [0 -0.00229179 0.000499854 -0.00071162 0.003954 -0.00227537 0.000171042 -0.00431982 0.00310028 0.000464334 0.00325114 0.00218017 -0.000226423 -0.00666426 0.0040347 -0.00572827 -0.00252566 0.409739 -0.106965 0.422755 0.6149 1.00093 0.85863 -0.440056 -0.732248 -0.618373 0.675355 -0.377637 0.42139 0.455565 -0.306133 -0.0858105 0.380259 -0.817764 -0.464705 -0.382899 -0.608065 -0.081234 1.74275 -0.573262 0.260839 0.622831 0.783492 0.259257 -0.153289 0.124555 -0.161443 -0.327383 0.752554 0.665943 -0.633409 1.04821 2.11617 0.263793 0.429431 0.126911 0.784859 0.749246 -1.7759 -0.326125 -0.40169 0.583243 0.757008 0.654661 0.669717 0.969141 1.39932 2.11495 1.05803 0.175636 -0.126807 0.124209 1.24958 1.48403 0.71194 0.779027 0.970415 0.41065 0.897172 1.12004 1.26689 1.20792 0.821871 0.860311 0.837231 0.867408 0.530834 0.882044 1.03845 1.19206 0.918048 0.832736 0.611604 0.683121 0.636224 0.744393 1.03378 1.01271 1.49852 1.15168 0.943035 1.20495 0.865091 0.951612 1.21074 1.52488 1.21162 0.850206 0.572902 0.630126 0.684501 0.455256 0.623057 0.505167 0.449704 0.582241 0.374617 0.260643 -0.0204377 0.0256043 -0.26454 -0.319661 -0.0751296 0.32799 0.196522 0.0518103 0.382681 0.3405 0.347285 0.39426 0.388134 -0.339197 0.704119 0.272995 0.281863 -0.424403 0.346723 1.45742 0.276316 0.688671 0.321258 0.0583006 0.140622 0.94608 0.726127 0.757012 1.47441 1.67256 1.41073 0.889791 1.05242 1.17434 1.42673 1.1505 0.668725 0.474379 -0.85654 0.404712 0.177909 0.735431 0.507653 1.32758 0.992634 0.730767 1.74019 1.00772 0.948151 0.836323 0.941635 0.119619 0.158425 0.895213 0.644582 0.152967 0.799178 0.785468 1.37186 0.67333 0.512899 0.746732 -0.109947 0.563172 0.222358 -0.353246 -0.539362 -1.02317 -1.23095 -0.34159 1.01101 1.54783 1.71109 1.26118 1.7363 0.387466 0.254116 -0.090165 -0.0951025 -0.03808 0.947861 0.364725 0.237979 0.0200293 -0.0453891 0.31848 0.916517 0.691965 0.577344 0.63224 0.072274 0.687555 0.754695 0.727415 0.412926 0.368177 0.320089 0.298686 0.352057 0.0202537 -0.0360367 0.714147 0.151168 -0.131895 0.790423 0.397934 0.207399 0.210421 0.553233 0.136282 0.361315 0.694285 1.19553 0.346202 0.820755 0.913812 0.96262 0.531157 0.252745 0.317119 0.575038 0.752224 0.505492 0.900339 0.0876113 0.77845 0.673826 0.298813 -0.220698 0.140829 0.224464 0.169208 0.597158 -0.0845539 0.82377 -0.85227 0.197967 0.231534 -0.0349389 -0.136615 0.444754 -0.198224 -0.530315 -0.873437 -0.293603 0.0188371 0.415711 -0.536511 0.251122 -0.0210569 0.354703 -0.301084 0.359748 -0.204457 -0.340254 -1.98404 -0.14539 -0.278535 -1.04035 -0.646792 -0.353741 0.198721 -0.698947 -0.253543 -0.479373 -0.998304 0.329982 -0.0150488 -0.232996 0.11367 -0.263232 -0.656289 -0.316895 0.235207 0.276941 0.805215 -0.739925 -0.018484 -0.268712 0.115287 -0.0447731 -0.00582324 -0.0905591 0.0474295 0.0073314 -0.00392141 -0.000782993 0.00241239 -0.00109896 0.00113237 -0.00180142 0.0030126 0.00394887 0.0014572 0.000337865 7.99176e-05];
+yaw = [0 -0.000161686 0.0032161 0.00257986 -0.0148895 -0.00775527 -0.0066706 0.00822511 2.74797e-05 -0.00120073 -0.0232415 0.0100288 0.00670114 0.0100244 0.00112335 0.0232722 -0.00544454 -0.430297 0.197413 0.318077 1.19285 0.824785 0.522653 -0.166473 0.697412 -0.127265 1.36169 0.831942 0.756734 -0.247735 -0.508298 -0.983596 0.353067 0.215551 0.432429 0.216151 0.0397583 0.627661 1.3034 0.171752 -0.0724861 1.29244 0.495153 -1.94984 1.68422 -0.493211 0.499761 0.585196 1.1265 1.43676 0.991768 0.831315 0.977594 0.840594 -0.354331 0.778799 0.66594 0.564547 1.24686 1.49184 1.34736 -0.208165 0.506705 0.283346 0.599432 0.850818 0.869317 0.913312 0.614873 0.79196 -0.0188216 -0.247626 -0.239266 0.309909 -0.0584155 -0.0377374 -0.028739 -0.746392 0.0755308 0.181368 0.118504 -1.02735 -0.13515 -0.331222 -0.567641 0.329769 -0.296064 -0.974358 -0.140646 0.244365 0.25554 -0.163399 0.0851915 0.258937 0.0142945 -0.625995 0.113146 -0.307074 -0.440209 0.164854 -0.187281 -0.107339 -0.605807 0.194123 -0.0617479 -0.0317805 0.0771855 -0.0184895 -0.708873 -0.27359 -0.497444 -0.420419 -0.496697 -0.503741 -0.788029 -0.586933 -0.692232 -1.20842 0.278887 -0.346126 0.0570406 -0.124973 0.309732 -0.524967 -0.139757 0.115098 0.0836262 -0.443537 1.08471 0.17619 -0.271993 -0.219413 -0.777199 -0.302626 -0.368529 0.765426 0.194521 0.714603 -0.390747 -0.144703 0.85836 0.996679 0.524187 0.34606 0.381368 -0.418374 0.51134 0.0741821 0.453409 0.575322 -0.204904 -0.129898 -0.550175 -0.449117 -0.364079 -0.551881 -0.539426 -0.195489 -0.376189 0.0524624 0.0870607 0.373965 -0.592063 0.120945 0.805568 0.30351 -0.387133 -0.64074 -0.0218592 -0.0372922 -0.151495 0.136863 -0.766291 -0.90385 -1.13801 -0.865704 -0.0904608 -1.47664 -1.27541 -0.735828 -0.354242 -0.384258 -0.638418 -1.00881 -0.614472 -0.486547 -0.274801 0.132622 0.715475 1.61421 0.940596 0.709336 1.19849 -0.00257673 -0.180559 -1.08725 -0.636779 -0.649876 -0.409159 -0.192793 -1.02339 -0.510792 0.224068 0.597195 1.54105 0.535605 0.723087 0.730369 -0.371158 0.275971 0.144074 0.302977 0.285828 -0.883684 -0.360669 0.0180366 -0.292566 0.188446 -0.140343 -0.407566 -0.662773 -0.6005 -1.12309 -0.648977 -0.477609 0.0492447 -0.322557 -0.273662 0.253909 0.100575 -1.09786 0.154206 1.03418 0.572754 0.12635 -0.0903762 0.0308006 0.131756 0.0105281 -0.491536 -0.141761 -0.94862 0.414641 0.271906 0.604514 0.427947 -0.0365438 0.277222 0.0283782 0.657427 0.724527 -0.295281 0.22394 -0.858543 0.172253 -0.0814776 0.0564259 0.118736 -0.283271 0.592259 0.62106 0.258227 0.0823895 0.133218 -0.114389 0.159368 0.41058 0.408956 -0.23241 0.0399566 -0.378538 -0.470384 0.14432 -1.03465 -0.46647 -0.387396 -0.81182 -1.71838 -0.2637 -0.897728 -1.75969 1.10463 -1.08475 -1.08329 -0.132061 0.0132544 -0.238716 -0.390951 -1.36424 -2.35338 -1.49625 -0.684186 0.293722 -0.105389 -1.0492 -0.316408 -0.792347 0.0951415 0.176206 0.325846 -0.0698992 -0.100712 0.0210328 -0.00260751 0.0101087 0.00475391 0.00586795 -0.00439265 -0.000228314 -0.00558726 -0.00652761 0.00306191 -0.00700772 0.0135158];
+
+roll = roll   * pi / 180; % to radian
+pitch = pitch * pi / 180; % to radian
+yaw = yaw     * pi / 180; % to radian
+
+
+%parameters
+n = 400;
+noiseT = 0.002;
+lambdaT = 100;
+noiseR = 0.002;
+lambdaR = 100;
+
+%filter
+x_filtered = pf_filter(x, n, noiseT, lambdaT);
+y_filtered = pf_filter(y, n, noiseT, lambdaT);
+z_filtered = pf_filter(z, n, noiseT, lambdaT);
+roll_filtered = pf_filter(roll, n, noiseR, lambdaR);
+pitch_filtered = pf_filter(pitch, n, noiseR, lambdaR);
+yaw_filtered = pf_filter(yaw, n, noiseR, lambdaR);
+
+%show
+figure
+subplot(4,1,1)
+plot(index,x,'b', index,x_filtered,'r');
+legend('x', 'x filtered');
+subplot(4,1,2)
+plot(index,y,'b', index,y_filtered,'r');
+legend('y', 'y filtered');
+subplot(4,1,3)
+plot(index,z,'b', index,z_filtered,'r');
+legend('z', 'z filtered');
+subplot(4,1,4)
+plot(index,stddev,'b');
+legend('stddev');
+
+%show
+figure
+subplot(4,1,1)
+plot(index,roll,'b', index,roll_filtered,'r');
+legend('roll', 'roll filtered');
+subplot(4,1,2)
+plot(index,pitch,'b', index,pitch_filtered,'r');
+legend('pitch', 'pitch filtered');
+subplot(4,1,3)
+plot(index,yaw,'b', index,yaw_filtered,'r');
+legend('yaw', 'yaw filtered')
+subplot(4,1,4)
+plot(index,stddev,'b');
+legend('stddev');
+
+

Matlab/ParticleFilter/test_kinect.m~

@@ -0,0 +1,50 @@
+
+
+% signals
+x = [0 -7.17718e-06 0.000149943 -0.000276212 0.000118147 0.000132833 -7.68572e-05 -0.000388181 6.57036e-05 0.000244131 -0.000265382 0.000674275 -6.0332e-05 0.000352076 0.00041996 -0.000758339 0.00210934 0.000399089 -0.000409156 0.0047982 0.0039244 0.00435027 0.00485974 0.00346061 0.0018604 -0.000905861 0.00250076 0.00214402 0.000318011 -0.00352464 0.00774855 0.00641464 0.00011028 0.00181151 -0.00313881 -0.00159122 0.000872649 -0.00925038 -0.0109046 -0.0279911 -0.00284128 -0.00634648 -0.00987577 -0.00809708 0.00135329 0.00141078 -0.00508487 -0.00524154 -0.0157128 -0.0154952 -0.00648952 -0.011292 -0.00702953 -0.0134704 -0.0102974 -0.0237573 -0.0113637 -0.0136848 -0.0134357 -0.0167649 -0.00662601 -0.00718927 -0.0167545 -0.0117351 -0.00313139 -0.0128256 -0.00886583 -0.00601757 -0.00631785 -0.0136913 -0.0130796 -0.00640869 -0.000587583 -0.00776267 -8.30889e-05 -0.00764275 -0.0047673 -0.00250125 0.00450075 -0.00641263 -0.000849128 0.00847131 0.00656557 0.0119401 0.0175035 0.0104212 0.00938523 0.00605232 0.00872052 0.01063 0.00795197 0.00730991 0.00414711 0.00778383 0.0057314 0.00532299 0.00678048 0.00635234 0.00429028 0.00268266 0.00285921 -0.00125447 -0.00343326 -0.00295475 0.00206432 0.00212367 0.00511998 0.00407538 0.00399027 0.00342568 0.00493171 0.00332177 0.00336831 0.00544102 0.00988577 0.00802416 0.00964469 0.0067216 0.00695488 0.0103022 0.0071584 0.00841331 0.00945374 0.00898707 0.00970355 0.00735274 0.00824642 0.00641495 0.00757965 0.00610715 0.00713819 0.00928026 0.012055 0.0105106 0.0118662 0.0122392 0.0104792 0.00808734 0.00854826 0.00684047 0.0085988 0.00592375 0.0052588 0.00384319 0.00372607 0.00494432 0.00475228 0.00364202 0.00258315 0.00617284 0.00378108 0.00530612 0.00723338 0.00106525 -0.000163257 0.00137579 0.00218695 -0.0012542 0.00378215 0.002096 0.00185335 0.00194138 0.00380033 0.0037328 0.00214076 -0.000261605 0.00554895 0.00190693 0.00482333 0.00412196 0.00433248 0.0032922 0.00149733 -0.00198263 -0.00465655 -0.00101215 -0.00452882 -0.00389808 0.00365704 0.00196409 -0.00150266 0.00132278 7.86781e-06 -0.000436306 -0.000997692 -0.00151774 -0.00290582 -0.000986993 -0.00202984 -0.00306979 -0.000241861 -0.0023663 -0.000143617 -0.000616923 0.00071498 -0.00136444 0.000806952 0.00092167 0.00274599 0.000827327 0.00379314 0.00362612 0.0028308 0.00371683 0.00211945 0.000794172 0.00338793 0.00358349 0.00317407 0.00381386 0.00329965 0.0061408 0.00434172 0.000996351 0.00116277 0.00479227 0.00521219 0.00549781 0.00172538 -0.000565588 0.00500929 0.00481606 0.0127962 0.00188589 0.00616825 0.00509858 0.00305247 0.00618845 0.000248432 0.00634307 0.00892508 0.0057171 0.00271344 0.00343686 0.0140943 0.00703895 0.00574613 0.0124045 0.00739682 0.00651699 0.020498 -0.0110877 0.00433773 0.0106311 0.00961483 0.0140001 0.00312042 0.0108534 0.00135618 0.00830334 0.0153873 0.0108157 0.0169969 -0.00464851 0.00816596 0.0118423 0.00561047 0.00855923 0.00718778 0.0125443 0.00616348 0.00718147 0.00534147 0.00167203 -0.00419921 -0.00742251 -0.00552565 -0.00556844 -0.0102499 -0.0138872 -0.0103608 -0.00935405 -0.00743747 -0.00296772 -0.00247735 0.00845826 0.00505942 0.00908333 0.013812 0.00857067 0.0182686 0.00592947 0.0126474 0.00578821 0.0194814 0.00121719 0.0182926 0.0109192 0.0115457 0.014065 0.00213802 -0.0102426 0.00826228 0.00567901 0.0131235 0.0350397 0.0167757 0.0172057 0.0183465 0.0198563 0.0193069 0.01778 0.0103664 0.00986159 0.00473499 0.00137529 0.00420779 0.00812897 0.000113249 0.00592332 0.00339369 0.0012721 0.010083 0.00799991 0.00702102 0.00649881 0.0030404 0.00210004 -0.00165895 0.00292256 -0.00186083 0.00441258 0.00263329 -0.002474 4.10676e-05 0.000647455 -0.00121567 -0.000948012 0.000322014 0.000219762 -0.00038138 0.000393793 0.000276357 -0.000241026 -0.00152412 0.000302628 -0.000860468 -0.000610992 0.000937909 0.00117072 -0.000948384 -0.000560746 0.000261694 0.000298828 5.32866e-05 -0.000208184 -0.000209108 -0.000162363 -0.000302538 -0.000584394 0.000218138 -0.000334874 0.000398353 -0.000544533 0.0006098];
+y = 1;
+z = 1;
+
+roll = 1;
+pitch = 1;
+yaw = [0 0.0138625 -0.0205169 0.0508271 -0.03702 0.0216298 -0.0071385 0.0486512 -0.0353205 0.0356788 0.0621803 -0.0675504 -0.0610086 0.0191248 -0.0686484 0.078647 -0.215955 0.222853 0.535986 -0.157076 0.239414 0.648483 -0.00482519 -0.0347738 -0.857926 -0.185939 -0.0811504 -0.333544 -0.922141 -1.57654 -0.104422 -0.212015 -1.09698 -1.808 -1.44291 -1.66115 -1.19908 -2.86579 -2.17578 -2.45784 -0.599695 -1.24934 -1.20622 0.219747 -0.348318 -1.18928 -0.53417 -1.82522 -2.2156 -2.53528 -2.64981 -1.21297 -1.67351 -1.94906 -1.13474 -1.1618 -0.51443 -0.27769 -1.8986 -1.57831 -1.25621 -0.86068 -1.6979 -1.55513 -1.92766 -2.04434 -0.852749 -0.95132 -1.20863 -0.748142 -1.04782 -1.19536 -1.37872 -1.89795 -1.37617 -1.31626 -1.93325 -1.511 -1.98064 -2.62878 -1.99733 -1.65566 -1.88769 -1.49137 -1.24202 -1.08672 -0.297613 -1.55247 -1.24222 -1.3313 -1.62514 -1.51867 -1.40812 -1.58506 -1.80194 -1.57594 -1.90908 -1.70978 -2.04307 -1.28751 -1.33265 -0.819239 -1.36529 -1.11071 -1.51813 -1.44329 -1.19389 -1.21335 -1.15439 -1.07836 -0.652882 -0.716911 -0.64296 -1.20633 -1.55259 -0.952261 -1.16282 -0.571938 -0.966765 -1.18008 -0.336663 -0.682695 -0.839598 -0.590307 -1.31757 -0.372847 -0.334298 -0.542365 -1.82461 -1.38264 -1.54329 -0.474113 0.131601 -0.165138 -0.712546 -1.3513 -1.48896 -1.70229 -1.11744 -1.26407 -0.898101 -0.475791 -0.505334 -0.911445 -1.05962 -1.34112 -1.11278 -1.09297 -2.30311 -1.36669 -1.50016 -0.731569 -0.974022 -1.34955 -0.962003 -0.724183 -0.492458 -1.18278 -0.0750827 -0.101046 -1.20587 -1.46872 -1.70565 -1.60328 -1.83232 -2.88432 -1.32855 -1.45884 -1.94864 -1.21744 -1.36144 -1.46579 -1.19324 -0.777264 -1.14617 -1.4781 -1.74714 -2.0015 -1.77974 -1.7534 -0.743309 -0.598297 -0.35454 -0.539937 -0.557158 -1.05504 -0.858589 -0.894771 -1.53595 -1.7775 -1.42647 -1.7212 -2.99655 -0.463739 -1.71624 -1.23245 -0.813187 -0.416194 -0.669693 -1.22522 -1.88152 -1.80743 -1.10323 -0.916615 -0.794212 -0.918734 -0.706259 -0.961836 -0.99244 -1.34899 -1.69983 -1.23063 -0.883386 -1.08027 -0.882478 -1.09176 -0.65819 -0.790655 -0.866973 -1.47657 -1.50859 -1.29712 -0.764263 0.0414162 -1.15544 -0.753635 -1.30834 -0.898253 -1.30238 -1.43098 -0.56996 0.115919 -1.03715 -1.0479 -1.21217 -1.05506 -1.07723 -1.2435 -0.484735 -0.48917 -1.23569 -1.49113 -1.37683 -1.7992 -0.595289 -0.729136 -0.59366 -2.04639 -0.0944586 0.335957 -0.773459 0.644048 -0.417065 -0.951768 -0.705456 0.0222041 -0.144679 -0.64648 -0.064453 0.627685 -0.529511 -0.529965 0.21694 0.53353 0.133591 0.0725028 0.349745 0.0435301 -0.00884339 -0.0296694 0.0036566 0.217436 -0.526511 -0.512979 -1.32967 -0.491154 0.224525 0.609691 -0.30598 1.04681 1.11591 -0.342271 0.181812 1.00252 -0.569827 -0.174485 0.621023 1.15114 0.85475 1.17868 0.418458 0.132773 0.09667 0.105433 3.05352 3.43917 1.56984 1.66762 1.91426 2.8391 2.61215 2.92371 1.4164 1.0191 0.490665 0.341318 1.48112 0.901748 0.991522 1.52663 1.06743 1.60625 2.42876 2.18304 1.5142 1.05712 1.21268 1.40639 -0.539377 1.00853 -0.254121 0.662136 0.29893 -0.0109695 0.387949 -0.573484 -0.838396 -0.198825 0.040522 -0.29886 -0.368194 0.130778 -0.474338 -0.762008 0.0665195 0.155289 0.0655191 -0.0332738 0.0774652 -0.000751732 0.0230952 0.0195789 -0.000320425 -0.00322251 -0.026999 0.000401567 0.0640858 -0.0439683 0.0527193 0.00422349 -0.0218244 0.0171353 -0.0126251 -0.0419359 0.03175];
+roll = roll   * pi / 180; % to radian
+pitch = pitch * pi / 180; % to radian
+yaw = yaw     * pi / 180; % to radian
+
+
+%parameters
+n = 400;
+noiseT = 0.005;
+lambdaT = 100;
+noiseR = 0.005;
+lambdaR = 150;
+
+%filter
+x_filtered = pf_filter(x, n, noiseT, lambdaT);
+y_filtered = pf_filter(x, n, noiseT, lambdaT);
+z_filtered = pf_filter(x, n, noiseT, lambdaT);
+roll_filtered = pf_filter(roll, n, noiseR, lambdaR);
+pitch_filtered = pf_filter(pitch, n, noiseR, lambdaR);
+yaw_filtered = pf_filter(yaw, n, noiseR, lambdaR);
+
+%show
+index = 1:length(x);
+
+figure
+plot(index,x,'b', index,x_filtered,'r');
+hold on;
+plot(index,y,'c', index,y_filtered,'m');
+plot(index,z,'g', index,z_filtered,'y');
+legend('x', 'x filtered', 'y', 'y filtered', 'z', 'z filtered')
+
+%show
+figure
+plot(index,roll,'b', index,roll_filtered,'r');
+hold on;
+plot(index,pitch,'c', index,pitch_filtered,'m');
+plot(index,yaw,'g', index,yaw_filtered,'y');
+legend('roll', 'roll filtered', 'pitch', 'pitch filtered', 'yaw', 'yaw filtered')
+legend('yaw', 'yaw filtered')
+
+

Matlab/ParticleFilter/test_odometry.m

@@ -0,0 +1,28 @@
+
+
+clc
+clear all
+close all
+
+% position (x)
+x=[0 0.0958093 0.102248 0.121139 0.14751 0.168275 0.180045 0.189047 0.203946 0.213641 0.22573 0.243683 0.245992 0.254727 0.260212 0.246672 0.259118 0.273364 0.295793 0.317168 0.319033 0.330263 0.291336 0.342969 0.373641 0.406199 0.451661 0.49569 0.52575 0.558851 0.595505 0.617386 0.635253 0.663907 0.695187 0.721908 0.748228 0.775707 0.798103 0.817422 0.81696 0.834573 0.859951 0.866837 0.861447 0.859494 0.863317 0.86665 0.856142 0.861513 0.869291 0.86055 0.858222 0.850158 0.86469 0.853298 0.849211 0.85666 0.846806 0.834052 0.818975 0.816591 0.818847 0.812942 0.804087 0.802885 0.799035 0.793771 0.782671 0.783806 0.753611 0.735965 0.718761 0.70112 0.68173 0.637936 0.59822 0.570844 0.546408 0.503599 0.481603 0.481476 0.468762 0.468941 0.464934 0.457286 0.468546 0.449624 0.423916 0.398509 0.448139 0.463816 0.524683 0.543314 0.585886 0.629963 0.642661 0.689202 0.733252 0.720786 0.747091 0.769375 0.796756 0.804347 0.805587 0.792853 0.785854 0.791591 0.775623 0.772854 0.774293 0.775352 0.778641 0.773735 0.763698 0.770237 0.764968 0.782758 0.790375 0.794311 0.801609 0.807287 0.817432 0.834678 0.854601 0.860135 0.857215 0.876742 0.880283 0.885587 0.895356 0.901144 0.891045 0.904938 0.88169 0.875238 0.873543 0.879889 0.858548 0.848491 0.845521 0.832916 0.82651 0.817256 0.81536 0.807806 0.80487 0.789718 0.788688 0.790668 0.786018 0.783837 0.776029 0.766569 0.76899 0.772462 0.753362 0.75065 0.760805 0.771717 0.752581 0.777233 0.771257 0.784665 0.789536 0.783277 0.768278 0.775663 0.782527 0.801327 0.773798 0.783786 0.782585 0.777043 0.765654 0.757504 0.75159 0.745206 0.745253 0.694793 0.657977 0.627305 0.587667 0.558428 0.507883 0.429494 0.354626 0.276308 0.221929 0.216919 0.222186 0.2257 0.21829 0.21727 0.220388 0.234087 0.271358 0.365188 0.397868 0.464485 0.436238 0.473228 0.516054 0.581783 0.66704 0.702402 0.772848 0.836386 0.870549 0.883748 0.890929 0.9015 0.933377 0.993732 1.01464 1.01678 1.01107 1.00868 1.01584 1.0091 1.01149 1.00289 0.992969 1.00104 0.999807 1.00424 1.00244 1.00696 0.999669 0.989008 0.995648 0.977475 0.976959 0.986356 0.969375 0.973117 0.970714 0.96257 0.956754 0.954274 0.92185 0.935669 0.933797 0.918595 0.86588 0.831554 0.800549 0.77171 0.756608 0.738918 0.707971 0.681183 0.654234 0.644363 0.619473 0.607539 0.589974 0.569724 0.538563 0.524551 0.521722 0.497904 0.486697 0.453492 0.43853 0.449554 0.472133 0.481396 0.487145 0.49219 0.520493 0.56075 0.603805 0.616122 0.687576 0.726017 0.756402 0.862825 0.926746 0.974142 0.960781 0.925374 0.932887 0.938424 0.948403 0.924803 0.914451 0.920006 0.874211 0.873257 0.888927 0.905825 0.908478 0.932547 0.975009 1.03873 1.0638 1.06204 1.07596 1.07522 1.06945 1.05537 1.07162 1.03632 1.03053 1.02946 1.01674 1.0092 0.98566 0.979956 0.946627 0.933132 0.904111 0.826381 0.789019 0.738187 0.717317 0.656708 0.490356 0.434063 0.3134 0.213561 0.18305 0.174464 0.13647 0.127878 0.0663346 0.018491 -0.00133265 0.000999137 -0.00121855 0.000119434 0.000319056 3.22909e-05 -0.000269401 -0.000233193 0.00030071 -0.000469815 -5.96254e-05 0.000130806 9.13643e-05 2.98268e-05 4.07632e-05 7.35067e-05 0.0153078 0.0186766 0.0295282 0.0543363 0.0719927 0.086474 0.126864 0.161484 0.19345 0.300308 0.404477 0.422215 0.514335 0.513278 0.625498 0.93727 0.993653 1.03992 1.08643 1.1112 1.23404 1.22048 1.19735 1.20285 1.17902 1.17133 1.16618 1.13694 1.12139 1.10714 1.09385 1.08936 1.08 1.04605 1.03821 1.03905 1.02285 0.989178 0.935135 0.865405 0.723314 0.641447 0.602483 0.522911 0.491991 0.462587 0.500009 0.543585 0.668132 0.752387 0.782115 0.783924 0.772362 0.763335 0.683723 0.644116 0.627112 0.614968 0.57313 0.523073 0.435806 0.335873 0.269904 0.25352 0.260491 0.24324 0.325414 0.359984 0.411085 0.348953 0.272724 0.0950071 -0.00396737];
+%filter
+x_filtered = pf_filter(x, 400, 0.07, 15);
+%show
+figure
+index = 1:length(x);
+plot(index,x,'b', index,x_filtered,'r');
+legend('x', 'x filtered')
+
+% rotation (yaw)
+yaw=[0 0.367344 0.423404 0.640698 0.914954 1.12181 1.25882 1.36415 1.53533 1.68386 1.7685 1.984 1.98521 2.16754 2.31386 2.71056 2.92328 3.16512 3.30591 3.3121 3.39057 3.4986 3.38722 3.27962 2.94052 2.71029 2.14679 1.77782 1.1752 0.750571 0.374997 0.252442 0.0770365 -0.0714351 -0.0788259 -0.0948595 -0.0976391 -0.102182 -0.0721881 -0.0533192 -0.0312146 0.0153472 0.00734632 0.0203816 0.0274327 0.0244179 0.01258 -0.00401542 -0.0257598 -0.0261856 -0.030745 0.00809133 -0.0201015 -0.0173277 0.0202852 0.0392073 0.0418929 0.102132 0.114319 0.0860487 0.0639182 0.0709067 0.0550139 0.0589345 0.059498 0.0386182 0.0237123 0.0133304 0.0453462 -0.00725487 -0.0839458 -0.148932 -0.241809 -0.337385 -0.408145 -0.668709 -1.03016 -1.23355 -1.41645 -1.8998 -2.29763 -2.56527 -2.92972 -3.28132 -3.29212 -3.18606 -3.06397 -3.11467 -3.21917 -3.28397 -3.31198 -3.25927 -2.7551 -2.5298 -1.79784 -1.23766 -1.06653 -0.8034 -0.850659 -0.844026 -0.723554 -0.553498 -0.479462 -0.31188 -0.265967 -0.21797 -0.156605 -0.123484 -0.131099 -0.10232 -0.0613497 -0.109752 -0.125175 -0.129335 -0.0552938 -0.0475251 -0.0330476 -0.0433853 -0.000880761 0.115343 0.170772 0.131315 0.141837 0.0999629 0.121093 0.10641 0.0607733 -0.0309408 -0.109561 -0.066559 -0.0824674 -0.0320398 -0.0439917 -0.0623439 -0.0695493 -0.0444161 -0.0065631 0.057401 0.0976348 0.139955 0.19723 0.229909 0.191066 0.220196 0.264731 0.360177 0.346012 0.34643 0.351766 0.316502 0.367959 0.361346 0.403335 0.473158 0.519924 0.61397 0.64618 0.700117 0.700964 0.66132 0.5243 0.429438 0.456057 0.476463 0.407447 0.330845 0.331997 0.299632 0.234435 0.336388 0.294559 0.293602 0.27388 0.288828 0.275381 0.296273 0.263594 0.225263 0.186247 0.206763 0.172048 0.151194 0.154786 0.148777 0.132994 0.35366 0.471686 0.949712 1.25971 1.26477 1.3436 1.51096 1.752 1.74347 2.02086 2.12265 2.47172 3.06266 3.02326 3.0401 2.83478 2.6832 2.43665 1.51546 0.690584 0.442643 0.168241 0.0486004 0.0388517 0.063886 0.0594586 0.0671994 0.0716274 -0.00795655 0.00190975 0.0219664 0.0227349 0.0180559 0.026195 0.0434311 0.0426099 0.0737965 0.0520878 0.00251581 -0.057547 -0.0536053 -0.0872076 -0.0905081 -0.0275865 0.0106225 0.00939888 0.0564355 0.0535977 0.0664939 0.0494566 0.0104787 -0.0241714 -0.026226 -0.0377078 -0.0367821 -0.0307445 -0.00809363 -0.00967068 0.0169084 0.0220944 0.0305258 0.0240909 0.0441721 0.0568962 0.0938898 0.181372 0.425365 0.828993 0.970071 1.29186 1.49596 1.72977 1.9131 2.33526 2.67046 2.65711 2.77644 2.87891 2.92561 2.84321 2.86918 2.53234 2.38821 1.90655 1.70474 0.774424 0.242343 0.101759 0.0606305 -0.0168209 -0.0321093 0.0145107 0.0541553 0.0516316 0.0220795 -0.00039793 -0.0337128 -0.0595012 -0.0539847 -0.0388872 -0.635682 -1.3613 -1.84956 -1.77388 -1.23053 -1.08225 -1.05091 -1.00551 -0.779717 -0.0594095 0.0348849 0.0411509 -0.0188255 -0.0742438 -0.0677669 -0.0538894 -0.105211 -0.146425 -0.172514 -0.127626 -0.0157509 0.066493 0.055035 0.165349 0.141456 -0.0243789 -0.0492561 -0.108507 -0.436607 -0.421971 -0.397179 -0.342693 -0.298114 -0.136957 -0.0635116 -0.00672385 0.145058 0.134837 0.140056 0.299669 0.37401 0.256271 0.103959 0.00974883 -0.0162673 0.0043005 -0.00114822 0.011008 0.00846304 0.0198297 0.0207307 0.0143213 -0.000866516 0.00788459 0.0133711 -0.00467761 -0.000142124 -0.000778014 0.00123566 0.171455 0.267658 0.34448 0.719087 0.900269 0.958507 1.051 1.20626 1.3786 2.5974 3.06579 3.01829 3.05114 3.09404 2.95468 0.52717 0.138967 0.0976445 0.248206 0.247692 -0.0151054 -0.0351626 -0.0324181 -0.0302425 0.00564108 0.0495676 0.151858 0.0565908 -0.0921944 -0.0842249 0.0416879 0.0400479 0.0786246 -0.048536 -0.0493043 -0.0457081 -0.03454 -0.0353161 0.00897072 0.182576 0.686738 0.942024 1.22062 2.96135 2.9593 2.90432 1.59589 0.838234 0.57694 0.164348 0.107916 0.0222738 0.00653589 -0.0789186 -0.0262052 0.0161459 0.0682029 0.10532 0.00317246 -0.0800566 -0.0553356 -0.0542734 -0.0175716 0.344492 0.239568 0.117746 -0.269454 -0.184009 -0.436715 0.097191 -0.532786 -0.30076 -0.00929552];
+yaw = yaw * pi / 180; % to radian
+%filter
+yaw_filtered = pf_filter(yaw, 400, 0.005, 150);
+%show
+figure
+index = 1:length(yaw);
+plot(index,yaw,'b', index,yaw_filtered,'r');
+legend('yaw', 'yaw filtered')
+
+

Matlab/ParticleFilter/test_pf_filter.m

@@ -0,0 +1,47 @@
+
+
+clc
+%close all
+
+particles = 300;
+noiseXYZ = 0.02;
+lambdaXYZ = 1;
+noiseRPY = 0.005;
+lambdaRPY = 250;
+noise = [noiseXYZ noiseXYZ noiseXYZ noiseRPY noiseRPY noiseRPY];
+lambda = [lambdaXYZ lambdaXYZ lambdaXYZ lambdaRPY lambdaRPY lambdaRPY];
+axeNames = ['x' 'y' 'z' 'R' 'P' 'Y'];
+
+% P = [13 x t] (id, incremental odom, incremental ground truth)
+T = P(2:7,:);
+G = P(8:end,:);
+
+T(4:end,:) = T(4:end,:)*pi/180;
+G(4:end,:) = G(4:end,:)*pi/180;
+
+
+x_filtered = zeros(6, size(T, 2));
+for i=1:6
+    x=T(i,:);
+    x=x';
+    x_filtered(i,:) = pf_filter([x(2:end); 0], particles, noise(i), lambda(i));
+   
+end
+
+figure
+for i=1:6
+    subplot(2,3,i)
+    x=T(i,:);
+    x_gt = G(i,:);
+    plot(1:length(x),cumsum(x),'b', 1:length(x),cumsum(x_filtered(i,:)),'r', 1:length(x),cumsum(x_gt),'g');
+    legend(axeNames(i), [axeNames(i) ' filtered'], [axeNames(i) ' gt'])
+end
+
+figure
+for i=1:6
+    subplot(2,3,i)
+    x=T(i,:);
+    x_gt = G(i,:);
+    plot(1:length(x),x,'b', 1:length(x),x_filtered(i,:),'r', 1:length(x),x_gt,'g');
+    legend(axeNames(i), [axeNames(i) ' filtered'], [axeNames(i) ' gt'])
+end

Matlab/ShowLogs/getPrecisionRecall.m

@@ -16,6 +16,9 @@ if exist(GT_file, 'file')
     display('--- getPrecisionRecall ---');
     display(['Loading GroundTruth ''' GT_file ''' ...']);
     GroundTruth = imread(GT_file);
+    if max(max(GroundTruth)) == 1
+        GroundTruth=GroundTruth*255;
+    end
 else
     error(['The ground truth ''' GT_file '''doesn''t exist.'])
 end
@@ -58,6 +61,9 @@ if ~isempty(GroundTruth)
     lc = sortrows(lc, -1);
 
     GT_total_positives = sum(sum(GroundTruth == 255, 2) > 0)
+    if GT_total_positives == 0
+        error(['The ground truth ''' GT_file '''doesn''t have any white pixels!?'])
+    end
     
     %figure
     %plot(sum(GroundTruth > 0, 2)>0)
@@ -91,7 +97,11 @@ if ~isempty(GroundTruth)
         PR(i,4) = sum(lc(i,4) & lc(1:i,5) & ~lc(1:i,7) & lc(1:i,2)) / GT_total_positives;
         
         %Precision = Good loop closures / total loop closure detected
+        if sum(~lc(1:i, 7) & lc(1:i,2) & lc(i,4)) > 0
             PR(i,3) = sum(lc(i,4) & lc(1:i,5) & ~lc(1:i,7) & lc(1:i,2)) / sum(~lc(1:i, 7) & lc(1:i,2) & lc(i,4));
+        else
+            PR(i,3) = 0;
+        end
         
         if lc(i,4) && ~lc(i,5) && ~lc(i,7) && id && lc(i,1) >= LoopThr
             display(['False positive accepted! id=' num2str(lc(i,6)) ' with old=' num2str(id) ' (p=' num2str(lc(i,1)) ')'] )

Matlab/ShowLogs/importfile.m

@@ -8,6 +8,10 @@ function [Data] = importfile(fileToRead1)
 % Import the file
 rawData1 = importdata(fileToRead1);
 
+if isstruct(rawData1) 
+    rawData1=rawData1.data; 
+end 
+
 % For some simple files (such as a CSV or JPEG files), IMPORTDATA might
 % return a simple array.  If so, generate a structure so that the output
 % matches that from the Import Wizard.

Matlab/ShowLogs/showlogs.m

@@ -97,17 +97,23 @@ end
 % xlabel('Location indexes')
 
 figure
-plot((sum(LogF(:,2:7),2)+LogF(:,17))*1000);
+plot(LogF(:,1), 'g'); % to verify that we have all timings below
 hold on
-ylabel('Time (ms)')
-xlabel('Location indexes')
-meanTime = mean(LogF(:,1))*1000
-plot([1 length(LogF(:,1))], [700 700], 'r')
+if size(LogF, 2) == 21
+    plot((sum(LogF(:,2:7),2)+LogF(:,17)+LogF(:,21)));
+else
+    plot((sum(LogF(:,2:7),2)+LogF(:,17)+sum(LogF(:,21:26),2)));
+end
+ylabel('Time (s)')
+xlabel('Node indexes')
+meanTimeMS = mean(LogF(:,1))*1000
+plot([1 length(LogF(:,1))], [0.7 0.7], 'r')
+plot([1 length(LogF(:,1))], [1 1], 'k')
 %plot([1 length(LogF(:,1))], [350 350], 'r')
 %legend('Processing time', 'Time limit')%, 'Acquisition rate (1 Hz)')
-title('Processing time')
+%title('Processing time')
 
-maxTime = max(sum(LogF(:,2:7),2)+LogF(:,17))
+maxTimeMS = max(sum(LogF(:,2:7),2)+LogF(:,17))*1000
 maxDict = max(LogI(:, 6))
 maxWM = max(LogI(:,7))
 %%
@@ -183,6 +189,34 @@ ylabel('MB')
 xlabel('Location indexes')
 % -------------------------
 
+if size(LogI, 2) >= 18
+    LTMsize = zeros(1,length(LogI(:,16)));
+    for i=1:length(LogI(:,16))
+        LTMsize(i) = sum(LogI(1:i,16) == 0);
+    end
+    LTM = LTMsize(end)
+
+    figure
+    % subplot(211)
+    H2 = plot(LTMsize, 'r'); % global graph
+     hold on
+    H1 = plot(LogI(:,7)); % WM
+    H3 = plot(LogI(:,17), 'g'); % Local graph
+    % H2 = plot(1:length(LogI(:,7)), ones(length(LogI(:,7)),1).*mean(LogI(:,7)), 'r--')
+    %title('Graph size')
+    legend('Global graph', 'WM', 'Local graph')
+    ylabel('Nodes')
+    xlabel('Node indexes')
+    %set(H1,'color',[0.3 0.3 0.3])
+    %set(H2,'color',[0 0 0])
+    %set(H3,'color',[0 0 0])
+    % subplot(212)
+    % plot(LogI(:,6));
+    meanWM = mean(LogI(:,7))
+    meanDict = mean(LogI(:,6))
+    % ylabel('Dictionary size')
+    % xlabel('Location indexes')
+else
     figure
     % subplot(211)
     H1 = plot(LogI(:,7));
@@ -199,6 +233,7 @@ xlabel('Location indexes')
     meanDict = mean(LogI(:,6))
     % ylabel('Dictionary size')
     % xlabel('Location indexes')
+end
 
 meanWordsPerSign = mean(LogI(:,5))
 %% -------------------------

README.md

@@ -1,4 +1,4 @@
-rtabmap
+rtabmap [![Build Status](https://travis-ci.org/introlab/rtabmap.svg?branch=master)](https://travis-ci.org/introlab/rtabmap)
 =======
 
 RTAB-Map library and standalone application.
@@ -6,5 +6,3 @@ RTAB-Map library and standalone application.
 For more information, visit the [RTAB-Map's home page](http://introlab.github.io/rtabmap) or the [RTAB-Map's wiki](https://github.com/introlab/rtabmap/wiki).
 
 To use RTAB-Map under ROS, visit the [rtabmap](http://wiki.ros.org/rtabmap) page on the ROS wiki.
-
-

RTABMapConfig.cmake.in

@@ -1,13 +1,96 @@
 # - Config file for the RTABMap package
+# Components:
+#  core    (required)
+#  gui     (optional)
+#  utilite (required)
 # It defines the following variables
 #  RTABMap_INCLUDE_DIRS - include directories for RTABMap
 #  RTABMap_LIBRARIES    - libraries to link against
+#  RTABMap_CORE         - core library
+#  RTABMap_UTILITE      - utilite library
+#  RTABMap_GUI          - gui library (set if RTABMap is built with Qt)
 
 # Compute paths
 get_filename_component(RTABMap_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
 set(RTABMap_INCLUDE_DIRS "@CONF_INCLUDE_DIRS@")
 
-find_library(RTABMAP_CORE NAMES rtabmap_core rtabmap_cored NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
-find_library(RTABMAP_GUI NAMES rtabmap_gui rtabmap_guid NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
-find_library(RTABMAP_UTILITE NAMES rtabmap_utilite rtabmap_utilited NO_DEFAULT_PATH HINTS "@CONF_LIB_DIR@")
-set(RTABMap_LIBRARIES ${RTABMAP_CORE} ${RTABMAP_GUI} ${RTABMAP_UTILITE})
+#core lib
+find_library(RTABMap_CORE_RELEASE NAMES rtabmap_core NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
+find_library(RTABMap_CORE_DEBUG NAMES rtabmap_cored NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
+
+IF(RTABMap_CORE_DEBUG AND RTABMap_CORE_RELEASE)
+   SET(RTABMap_CORE
+      debug ${RTABMap_CORE_DEBUG}
+      optimized ${RTABMap_CORE_RELEASE}
+   )
+ELSEIF(RTABMap_CORE_DEBUG)
+   SET(RTABMap_CORE ${RTABMap_CORE_DEBUG})
+ELSE()
+   SET(RTABMap_CORE ${RTABMap_CORE_RELEASE})
+ENDIF()
+
+#utilite lib
+find_library(RTABMap_UTILITE_RELEASE NAMES rtabmap_utilite NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
+find_library(RTABMap_UTILITE_DEBUG NAMES rtabmap_utilited NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
+
+IF(RTABMap_UTILITE_DEBUG AND RTABMap_UTILITE_RELEASE)
+   SET(RTABMap_UTILITE
+      debug ${RTABMap_UTILITE_DEBUG}
+      optimized ${RTABMap_UTILITE_RELEASE}
+   )
+ELSEIF(RTABMap_UTILITE_DEBUG)
+   SET(RTABMap_UTILITE ${RTABMap_UTILITE_DEBUG})
+ELSE()
+   SET(RTABMap_UTILITE ${RTABMap_UTILITE_RELEASE})
+ENDIF()
+
+set(RTABMap_LIBRARIES ${RTABMap_CORE} ${RTABMap_UTILITE})
+
+list(LENGTH RTABMap_FIND_COMPONENTS RTABMap_FIND_COMPONENTS_LENGTH)
+set(WITH_GUI ON)
+if(${RTABMap_FIND_COMPONENTS_LENGTH} GREATER 0)
+   list (FIND RTABMap_FIND_COMPONENTS "gui" _index)
+   if (${_index} EQUAL -1)
+      set(WITH_GUI OFF)
+   endif()
+endif(${RTABMap_FIND_COMPONENTS_LENGTH} GREATER 0)
+
+
+#gui lib (OFF if RTAB-Map is not built with Qt)
+if(@CONF_WITH_GUI@ AND ${WITH_GUI})
+   find_library(RTABMap_GUI_RELEASE NAMES rtabmap_gui NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
+   find_library(RTABMap_GUI_DEBUG NAMES rtabmap_guid NO_DEFAULT_PATH HINTS @CONF_LIB_DIR@)
+   
+   IF(RTABMap_GUI_DEBUG AND RTABMap_GUI_RELEASE)
+      SET(RTABMap_GUI
+         debug ${RTABMap_GUI_DEBUG}
+         optimized ${RTABMap_GUI_RELEASE}
+      )
+   ELSEIF(RTABMap_GUI_RELEASE)
+      SET(RTABMap_GUI ${RTABMap_GUI_RELEASE})
+   ELSEIF(RTABMap_GUI_DEBUG)
+      SET(RTABMap_GUI ${RTABMap_GUI_DEBUG})
+   ENDIF()
+   
+   set(RTABMap_LIBRARIES ${RTABMap_LIBRARIES} ${RTABMap_GUI})
+elseif(${WITH_GUI})
+   MESSAGE(ERROR "Asked for \"gui\" module but RTABMap hasn't been built with gui support.")
+endif()
+
+# Dependencies
+if(@CONF_VTK_QT@ AND ${WITH_GUI})
+   find_package(VTK COMPONENTS vtkGUISupportQt NO_MODULE) # to define vtkGUISupportQt target
+endif(@CONF_VTK_QT@ AND ${WITH_GUI})
+SET(RTABMap_LIBRARIES ${RTABMap_LIBRARIES} "@CONF_DEPENDENCIES@")
+
+#backward compatibilities
+set(RTABMAP_CORE ${RTABMap_CORE})
+set(RTABMAP_UTILITE ${RTABMap_UTILITE})
+if(RTABMap_GUI)
+   set(RTABMAP_GUI ${RTABMap_GUI})
+   set(RTABMAP_QT_VERSION @CONF_QT_VERSION@)
+endif(RTABMap_GUI)
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(RTABMap DEFAULT_MSG RTABMap_LIBRARIES RTABMap_INCLUDE_DIRS)
+mark_as_advanced(RTABMap_LIBRARIES RTABMap_INCLUDE_DIRS RTABMap_LIBRARY_DIRS)

Version.h.in

@@ -37,7 +37,27 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #define RTABMAP_VERSION_COMPARE(major, minor, patch)  (major>=@PROJECT_VERSION_MAJOR@ || (major==@PROJECT_VERSION_MAJOR@ && minor>=@PROJECT_VERSION_MINOR@) || (major==@PROJECT_VERSION_MAJOR@ && minor==@PROJECT_VERSION_MINOR@ && patch >=@PROJECT_VERSION_PATCH@))
 
-#define RTABMAP_NONFREE @NONFREE@
+@NONFREE@#define RTABMAP_NONFREE
+@TORO@#define RTABMAP_TORO
+@G2O@#define RTABMAP_G2O
+@GTSAM@#define RTABMAP_GTSAM
+@VERTIGO@#define RTABMAP_VERTIGO
+@OPENCV3@#define RTABMAP_OPENCV3
+@OPENNI2@#define RTABMAP_OPENNI2
+@FREENECT@#define RTABMAP_FREENECT
+@FREENECT2@#define RTABMAP_FREENECT2
+@CVSBA@#define RTABMAP_CVSBA
+@DC1394@#define RTABMAP_DC1394
+@FLYCAPTURE2@#define RTABMAP_FLYCAPTURE2
+@ZED@#define RTABMAP_ZED
+@REALSENSE@#define RTABMAP_REALSENSE
+@REALSENSESLAM@#define RTABMAP_REALSENSE_SLAM
+@OCTOMAP@#define RTABMAP_OCTOMAP
+@CPUTSDF@#define RTABMAP_CPUTSDF
+@FOVIS@#define RTABMAP_FOVIS
+@VISO2@#define RTABMAP_VISO2
+@DVO@#define RTABMAP_DVO
+@ORB_SLAM2@#define RTABMAP_ORB_SLAM2
 
 #endif /* VERSION_H_ */
 

app/CMakeLists.txt

@@ -1 +1,6 @@
+
+IF(ANDROID)
+   ADD_SUBDIRECTORY( android )
+ELSE()
    ADD_SUBDIRECTORY( src )
+ENDIF()

app/android/.gitignore

@@ -0,0 +1 @@
+/bin/

app/android/.settings/org.eclipse.jdt.core.prefs

@@ -0,0 +1,11 @@
+eclipse.preferences.version=1
+org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.6
+org.eclipse.jdt.core.compiler.codegen.unusedLocal=preserve
+org.eclipse.jdt.core.compiler.compliance=1.6
+org.eclipse.jdt.core.compiler.debug.lineNumber=generate
+org.eclipse.jdt.core.compiler.debug.localVariable=generate
+org.eclipse.jdt.core.compiler.debug.sourceFile=generate
+org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
+org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
+org.eclipse.jdt.core.compiler.source=1.6

app/android/AndroidManifest.xml.in

@@ -0,0 +1,50 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- BEGIN_INCLUDE(manifest) -->
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+        package="com.introlab.rtabmap"
+        android:versionCode="55"
+        android:versionName="@RTABMAP_VERSION@">
+
+    <uses-permission android:name="android.permission.CAMERA" />
+    <uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE" />
+    <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
+    <uses-permission android:name="android.permission.READ_FRAME_BUFFER" />
+    <uses-permission android:name="android.permission.ACCESS_SURFACE_FLINGER" />
+    <uses-permission android:name="android.permission.INTERNET" />
+    <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
+    <uses-feature android:glEsVersion="0x00020000" />
+
+    <!-- This is the platform API where NativeActivity was introduced. -->
+    <uses-sdk android:minSdkVersion="19" />
+
+    <!-- This .apk has no Java code itself, so set hasCode to false. -->
+    <application 
+        android:label="@string/app_name" 
+        android:icon="@drawable/ic_launcher"
+        android:debuggable="@ANDROID_DEBUGGABLE@">
+        
+        <uses-library android:name="com.projecttango.libtango_device2" android:required="true" />
+
+        <!-- Our activity is the built-in NativeActivity framework class.
+             This will take care of integrating with our NDK code. -->
+        <activity android:name="RTABMapActivity"
+                android:label="@string/app_name"
+                android:launchMode="singleTask"
+		android:screenOrientation="fullSensor"
+		android:configChanges="orientation|screenSize|keyboardHidden"
+		android:theme="@style/ThemeApp">
+            <!-- Tell NativeActivity the name of our .so -->
+            <meta-data android:name="android.app.lib_name"
+                    android:value="NativeRTABMap" />
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN" />
+                <category android:name="android.intent.category.LAUNCHER" />
+            </intent-filter>
+        </activity>
+
+        <activity android:name="SettingsActivity" android:label="@string/settings" android:screenOrientation="fullSensor"/>
+        <activity android:name="SketchfabActivity" android:label="@string/sketchfab" android:screenOrientation="fullSensor"/>
+    </application>
+
+</manifest>
+<!-- END_INCLUDE(manifest) -->

app/android/CMakeLists.txt

@@ -0,0 +1,105 @@
+
+option(DISABLE_LOG        "Disable Android logging (should be true in release)"    ON)
+IF(DISABLE_LOG)
+  ADD_DEFINITIONS(-DDISABLE_LOG)
+ENDIF(DISABLE_LOG)
+
+MESSAGE(STATUS "DISABLE_LOG = ${DISABLE_LOG}")
+
+IF(DISABLE_LOG)
+   SET(ANDROID_DEBUGGABLE false)
+ELSE()
+   SET(ANDROID_DEBUGGABLE true)
+ENDIF()
+
+add_subdirectory(jni)
+
+
+######
+# Packaging
+######
+
+# find android
+find_host_program(ANDROID_EXECUTABLE
+  NAMES android
+  DOC   "The android command-line tool")
+if(NOT ANDROID_EXECUTABLE)
+  message(FATAL_ERROR "Can not find android command line tool: android")
+endif()
+
+configure_file(
+  "${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml.in"
+  "${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml")
+  
+configure_file(
+  "${CMAKE_CURRENT_SOURCE_DIR}/AndroidManifest.xml"
+  "${CMAKE_CURRENT_BINARY_DIR}/AndroidManifest.xml"
+  COPYONLY)
+  
+configure_file(
+  "${CMAKE_CURRENT_SOURCE_DIR}/info.txt.in"
+  "${CMAKE_CURRENT_SOURCE_DIR}/res/raw/info.txt")
+  
+
+configure_file(
+  "${CMAKE_CURRENT_SOURCE_DIR}/ant.properties.in"
+  "${CMAKE_CURRENT_BINARY_DIR}/ant.properties"
+  @ONLY)
+  
+configure_file(
+  "${CMAKE_CURRENT_SOURCE_DIR}/custom_rules.xml"
+  "${CMAKE_CURRENT_BINARY_DIR}/custom_rules.xml"
+  COPYONLY)
+
+add_custom_target(NativeRTABMap-ant-configure ALL
+  COMMAND "${ANDROID_EXECUTABLE}"
+          update project
+          --name RTABMap
+          --path "${CMAKE_CURRENT_SOURCE_DIR}"
+          --target "android-${ANDROID_NATIVE_API_LEVEL}"
+  COMMAND "${CMAKE_COMMAND}" -E copy_if_different
+          "${CMAKE_CURRENT_SOURCE_DIR}/build.xml"
+          "${CMAKE_CURRENT_BINARY_DIR}/build.xml"
+  COMMAND "${CMAKE_COMMAND}" -E copy_if_different
+          "${CMAKE_CURRENT_SOURCE_DIR}/local.properties"
+          "${CMAKE_CURRENT_BINARY_DIR}/local.properties"
+  COMMAND "${CMAKE_COMMAND}" -E copy_if_different
+          "${CMAKE_CURRENT_SOURCE_DIR}/project.properties"
+          "${CMAKE_CURRENT_BINARY_DIR}/project.properties"
+  COMMAND "${CMAKE_COMMAND}" -E copy_if_different
+          "${CMAKE_CURRENT_SOURCE_DIR}/proguard-project.txt"
+          "${CMAKE_CURRENT_BINARY_DIR}/proguard-project.txt"
+  COMMAND "${CMAKE_COMMAND}" -E remove
+          "${CMAKE_CURRENT_SOURCE_DIR}/build.xml"
+          "${CMAKE_CURRENT_SOURCE_DIR}/local.properties"
+          "${CMAKE_CURRENT_SOURCE_DIR}/project.properties"
+          "${CMAKE_CURRENT_SOURCE_DIR}/proguard-project.txt"
+  WORKING_DIRECTORY
+          "${CMAKE_CURRENT_BINARY_DIR}")
+
+add_dependencies(NativeRTABMap-ant-configure NativeRTABMap)
+
+#find ant
+find_host_program(ANT_EXECUTABLE
+  NAMES ant
+  DOC   "The ant build tool")
+if(NOT ANT_EXECUTABLE)
+  message(FATAL_ERROR "Can not find ant build tool: ant")
+endif()
+
+add_custom_target(NativeRTABMap-apk-release ALL
+  COMMAND ${ANT_EXECUTABLE}
+          -file "${CMAKE_CURRENT_BINARY_DIR}/build.xml"
+          release)
+add_dependencies(NativeRTABMap-apk-release
+  NativeRTABMap-ant-configure
+  NativeRTABMap)
+
+add_custom_target(NativeRTABMap-apk-debug ALL
+  COMMAND ${ANT_EXECUTABLE}
+          -file "${CMAKE_CURRENT_BINARY_DIR}/build.xml"
+          debug)
+add_dependencies(NativeRTABMap-apk-debug
+#  NativeRTABMap-apk-release
+  NativeRTABMap-ant-configure
+  NativeRTABMap)

app/android/ant.properties.in

@@ -0,0 +1,13 @@
+builddir=@CMAKE_CURRENT_BINARY_DIR@
+srcdir=@CMAKE_CURRENT_SOURCE_DIR@
+android.abi=@ANDROID_ABI@
+
+source.dir=${srcdir}/src
+gen.dir=${builddir}/gen
+out.dir=${builddir}/bin
+asset.dir=${builddir}/assets
+resource.absolute.dir=${srcdir}/res
+
+jar.libs.dir=${builddir}/libs
+external.libs.dir=${builddir}/libs
+native.libs.dir=${builddir}/libs

app/android/custom_rules.xml

@@ -0,0 +1,13 @@
+<project>
+    <target name="-pre-build">
+		<copy todir="${jar.libs.dir}">
+			<fileset dir="${srcdir}/libs" includes="**/*.jar" excludes="**/*sources.jar, **/*javadoc.jar" />
+		</copy>
+		<copy todir="${native.libs.dir}/${android.abi}">
+			<fileset dir="${srcdir}/jni/third-party/lib" includes="*.so"/>
+		</copy>
+                <copy todir="${native.libs.dir}">
+                        <fileset dir="${srcdir}/jni/third-party/lib" includes="${android.abi}/*.so"/>
+                </copy>
+	</target>
+</project>

app/android/info.txt.in

@@ -0,0 +1,7 @@
+<h3>Real-Time Appearance-Based Mapping</h3>
+Version @RTABMAP_VERSION@<br>
+Author: Mathieu Labb&eacute;<br>
+Copyright 2016-2017<br>
+IntRoLab - Universit&eacute; de Sherbrooke<br>
+<b>http://introlab.github.io/rtabmap</b><br><br>
+

app/android/jni/CMakeLists.txt

@@ -0,0 +1,60 @@
+
+find_package(Tango REQUIRED)
+
+SET(INCLUDE_DIRS
+    ${CMAKE_CURRENT_SOURCE_DIR}
+    ${CMAKE_CURRENT_SOURCE_DIR}/tango-gl/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/third-party/include
+	${PROJECT_SOURCE_DIR}/corelib/include
+	${PROJECT_SOURCE_DIR}/utilite/include
+    ${OpenCV_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+    ${Tango_INCLUDE_DIRS}
+    "${ANDROID_NDK}/platforms/android-${ANDROID_NATIVE_API_LEVEL}/arch-${ANDROID_ARCH_NAME}/usr/include"
+)
+
+SET(LIBRARIES
+	${OpenCV_LIBRARIES} 
+	${PCL_LIBRARIES}
+	${Tango_LIBRARIES}
+)
+
+add_definitions(${PCL_DEFINITIONS})
+
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+set(sources
+  jni_interface.cpp
+  CameraTango.cpp
+  RTABMapApp.cpp
+  scene.cpp
+  point_cloud_drawable.cpp
+  graph_drawable.cpp
+  tango-gl/axis.cpp 
+  tango-gl/camera.cpp 
+  tango-gl/conversions.cpp 
+  tango-gl/drawable_object.cpp 
+  tango-gl/frustum.cpp 
+  tango-gl/gesture_camera.cpp 
+  tango-gl/grid.cpp 
+  tango-gl/line.cpp 
+  tango-gl/shaders.cpp 
+  tango-gl/trace.cpp 
+  tango-gl/transform.cpp 
+  tango-gl/util.cpp
+)
+
+add_library(NativeRTABMap SHARED ${sources})        
+target_link_libraries(NativeRTABMap ${LIBRARIES}
+  android
+  log
+  GLESv2
+  rtabmap_core
+  rtabmap_utilite
+)
+
+# see ant.properties.in
+set_target_properties(NativeRTABMap PROPERTIES
+         LIBRARY_OUTPUT_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}"
+         LIBRARY_OUTPUT_DIRECTORY_DEBUG "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}"
+         LIBRARY_OUTPUT_DIRECTORY_RELEASE "${CMAKE_CURRENT_BINARY_DIR}/../libs/${ANDROID_NDK_ABI_NAME}")

app/android/jni/CameraTango.cpp

@@ -0,0 +1,901 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "CameraTango.h"
+#include "util.h"
+#include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/core/util3d_transforms.h"
+#include "rtabmap/core/OdometryEvent.h"
+#include "rtabmap/core/util2d.h"
+#include <tango_client_api.h>
+#include <tango_support_api.h>
+
+namespace rtabmap {
+
+#define nullptr 0
+const int kVersionStringLength = 128;
+const int holeSize = 5;
+const float maxDepthError = 0.10;
+const int scanDownsampling = 1;
+
+// Callbacks
+void onPointCloudAvailableRouter(void* context, const TangoPointCloud* point_cloud)
+{
+	CameraTango* app = static_cast<CameraTango*>(context);
+	if(point_cloud->num_points>0)
+	{
+		app->cloudReceived(cv::Mat(1, point_cloud->num_points, CV_32FC4, point_cloud->points[0]), point_cloud->timestamp);
+	}
+}
+
+void onFrameAvailableRouter(void* context, TangoCameraId id, const TangoImageBuffer* color)
+{
+	CameraTango* app = static_cast<CameraTango*>(context);
+	cv::Mat tangoImage;
+	if(color->format == TANGO_HAL_PIXEL_FORMAT_RGBA_8888)
+	{
+		tangoImage = cv::Mat(color->height, color->width, CV_8UC4, color->data);
+	}
+	else if(color->format == TANGO_HAL_PIXEL_FORMAT_YV12)
+	{
+		tangoImage = cv::Mat(color->height+color->height/2, color->width, CV_8UC1, color->data);
+	}
+	else if(color->format == TANGO_HAL_PIXEL_FORMAT_YCrCb_420_SP)
+	{
+		tangoImage = cv::Mat(color->height+color->height/2, color->width, CV_8UC1, color->data);
+	}
+	else if(color->format == 35)
+	{
+		tangoImage = cv::Mat(color->height+color->height/2, color->width, CV_8UC1, color->data);
+	}
+	else
+	{
+		LOGE("Not supported color format : %d.", color->format);
+	}
+
+	if(!tangoImage.empty())
+	{
+		app->rgbReceived(tangoImage, (unsigned int)color->format, color->timestamp);
+	}
+}
+
+void onPoseAvailableRouter(void* context, const TangoPoseData* pose)
+{
+	if(pose->status_code == TANGO_POSE_VALID)
+	{
+		CameraTango* app = static_cast<CameraTango*>(context);
+		app->poseReceived(app->tangoPoseToTransform(pose));
+	}
+}
+
+void onTangoEventAvailableRouter(void* context, const TangoEvent* event)
+{
+	CameraTango* app = static_cast<CameraTango*>(context);
+	app->tangoEventReceived(event->type, event->event_key, event->event_value);
+}
+
+//////////////////////////////
+// CameraTango
+//////////////////////////////
+const float CameraTango::bilateralFilteringSigmaS = 2.0f;
+const float CameraTango::bilateralFilteringSigmaR = 0.075f;
+
+CameraTango::CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing) :
+		Camera(0),
+		tango_config_(0),
+		previousStamp_(0.0),
+		stampEpochOffset_(0.0),
+		colorCamera_(colorCamera),
+		decimation_(decimation),
+		rawScanPublished_(publishRawScan),
+		smoothing_(smoothing),
+		cloudStamp_(0),
+		tangoColorType_(0),
+		tangoColorStamp_(0),
+		colorCameraToDisplayRotation_(ROTATION_0)
+{
+	UASSERT(decimation >= 1);
+}
+
+CameraTango::~CameraTango() {
+	// Disconnect Tango service
+	close();
+}
+
+// Compute fisheye distorted coordinates from undistorted coordinates.
+// The distortion model used by the Tango fisheye camera is called FOV and is
+// described in 'Straight lines have to be straight' by Frederic Devernay and
+// Olivier Faugeras. See https://hal.inria.fr/inria-00267247/document.
+// Tango ROS Streamer: https://github.com/Intermodalics/tango_ros/blob/master/tango_ros_common/tango_ros_native/src/tango_ros_node.cpp
+void applyFovModel(
+    double xu, double yu, double w, double w_inverse, double two_tan_w_div_two,
+    double* xd, double* yd) {
+  double ru = sqrt(xu * xu + yu * yu);
+  constexpr double epsilon = 1e-7;
+  if (w < epsilon || ru < epsilon) {
+    *xd = xu;
+    *yd = yu ;
+  } else {
+    double rd_div_ru = std::atan(ru * two_tan_w_div_two) * w_inverse / ru;
+    *xd = xu * rd_div_ru;
+    *yd = yu * rd_div_ru;
+  }
+}
+// Compute the warp maps to undistort the Tango fisheye image using the FOV
+// model. See OpenCV documentation for more information on warp maps:
+// http://docs.opencv.org/2.4/modules/imgproc/doc/geometric_transformations.html
+// Tango ROS Streamer: https://github.com/Intermodalics/tango_ros/blob/master/tango_ros_common/tango_ros_native/src/tango_ros_node.cpp
+// @param fisheyeModel the fisheye camera intrinsics.
+// @param mapX the output map for the x direction.
+// @param mapY the output map for the y direction.
+void initFisheyeRectificationMap(
+    const CameraModel& fisheyeModel,
+    cv::Mat & mapX, cv::Mat & mapY) {
+  const double & fx = fisheyeModel.K().at<double>(0,0);
+  const double & fy = fisheyeModel.K().at<double>(1,1);
+  const double & cx = fisheyeModel.K().at<double>(0,2);
+  const double & cy = fisheyeModel.K().at<double>(1,2);
+  const double & w = fisheyeModel.D().at<double>(0,0);
+  mapX.create(fisheyeModel.imageSize(), CV_32FC1);
+  mapY.create(fisheyeModel.imageSize(), CV_32FC1);
+  LOGD("initFisheyeRectificationMap: fx=%f fy=%f, cx=%f, cy=%f, w=%f", fx, fy, cx, cy, w);
+  // Pre-computed variables for more efficiency.
+  const double fy_inverse = 1.0 / fy;
+  const double fx_inverse = 1.0 / fx;
+  const double w_inverse = 1 / w;
+  const double two_tan_w_div_two = 2.0 * std::tan(w * 0.5);
+  // Compute warp maps in x and y directions.
+  // OpenCV expects maps from dest to src, i.e. from undistorted to distorted
+  // pixel coordinates.
+  for(int iu = 0; iu < fisheyeModel.imageHeight(); ++iu) {
+    for (int ju = 0; ju < fisheyeModel.imageWidth(); ++ju) {
+      double xu = (ju - cx) * fx_inverse;
+      double yu = (iu - cy) * fy_inverse;
+      double xd, yd;
+      applyFovModel(xu, yu, w, w_inverse, two_tan_w_div_two, &xd, &yd);
+      double jd = cx + xd * fx;
+      double id = cy + yd * fy;
+      mapX.at<float>(iu, ju) = jd;
+      mapY.at<float>(iu, ju) = id;
+    }
+  }
+}
+
+bool CameraTango::init(const std::string & calibrationFolder, const std::string & cameraName)
+{
+	close();
+
+	TangoSupport_initialize(TangoService_getPoseAtTime, TangoService_getCameraIntrinsics);
+
+	// Connect to Tango
+	LOGI("NativeRTABMap: Setup tango config");
+	tango_config_ = TangoService_getConfig(TANGO_CONFIG_DEFAULT);
+	if (tango_config_ == nullptr)
+	{
+		LOGE("NativeRTABMap: Failed to get default config form");
+		return false;
+	}
+
+	// Set auto-recovery for motion tracking as requested by the user.
+	bool is_atuo_recovery = true;
+	int ret = TangoConfig_setBool(tango_config_, "config_enable_auto_recovery", is_atuo_recovery);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: config_enable_auto_recovery() failed with error code: %d", ret);
+		return false;
+	}
+
+	if(colorCamera_)
+	{
+		// Enable color.
+		ret = TangoConfig_setBool(tango_config_, "config_enable_color_camera", true);
+		if (ret != TANGO_SUCCESS)
+		{
+			LOGE("NativeRTABMap: config_enable_color_camera() failed with error code: %d", ret);
+			return false;
+		}
+	}
+
+	// Enable depth.
+	ret = TangoConfig_setBool(tango_config_, "config_enable_depth", true);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: config_enable_depth() failed with error code: %d", ret);
+		return false;
+	}
+
+	// Need to specify the depth_mode as XYZC.
+	ret = TangoConfig_setInt32(tango_config_, "config_depth_mode", TANGO_POINTCLOUD_XYZC);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("Failed to set 'depth_mode' configuration flag with error code: %d", ret);
+		return false;
+	}
+
+	// Note that it's super important for AR applications that we enable low
+	// latency imu integration so that we have pose information available as
+	// quickly as possible. Without setting this flag, you'll often receive
+	// invalid poses when calling GetPoseAtTime for an image.
+	ret = TangoConfig_setBool(tango_config_, "config_enable_low_latency_imu_integration", true);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: Failed to enable low latency imu integration.");
+		return false;
+	}
+
+	// Drift correction allows motion tracking to recover after it loses tracking.
+	//
+	// The drift corrected pose is is available through the frame pair with
+	// base frame AREA_DESCRIPTION and target frame DEVICE.
+	/*ret = TangoConfig_setBool(tango_config_, "config_enable_drift_correction", true);
+	if (ret != TANGO_SUCCESS) {
+		LOGE(
+			"NativeRTABMap: enabling config_enable_drift_correction "
+			"failed with error code: %d",
+			ret);
+		return false;
+	}*/
+
+	// Get TangoCore version string from service.
+	char tango_core_version[kVersionStringLength];
+	ret = TangoConfig_getString(tango_config_, "tango_service_library_version", tango_core_version, kVersionStringLength);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: get tango core version failed with error code: %d", ret);
+		return false;
+	}
+	LOGI("NativeRTABMap: Tango version : %s", tango_core_version);
+
+
+	// Callbacks
+	LOGI("NativeRTABMap: Setup callbacks");
+	// Attach the OnXYZijAvailable callback.
+	// The callback will be called after the service is connected.
+	ret = TangoService_connectOnPointCloudAvailable(onPointCloudAvailableRouter);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: Failed to connect to point cloud callback with error code: %d", ret);
+		return false;
+	}
+
+	ret = TangoService_connectOnFrameAvailable(colorCamera_?TANGO_CAMERA_COLOR:TANGO_CAMERA_FISHEYE, this, onFrameAvailableRouter);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: Failed to connect to color callback with error code: %d", ret);
+		return false;
+	}
+
+	// Attach the onPoseAvailable callback.
+	// The callback will be called after the service is connected.
+	TangoCoordinateFramePair pair;
+	//pair.base = TANGO_COORDINATE_FRAME_AREA_DESCRIPTION; // drift correction is enabled
+	pair.base = TANGO_COORDINATE_FRAME_START_OF_SERVICE;
+	pair.target = TANGO_COORDINATE_FRAME_DEVICE;
+	ret = TangoService_connectOnPoseAvailable(1, &pair, onPoseAvailableRouter);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: Failed to connect to pose callback with error code: %d", ret);
+		return false;
+	}
+
+	// Attach the onEventAvailable callback.
+	// The callback will be called after the service is connected.
+	ret = TangoService_connectOnTangoEvent(onTangoEventAvailableRouter);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("PointCloudApp: Failed to connect to event callback with error code: %d", ret);
+		return false;
+	}
+
+	// Now connect service so the callbacks above will be called
+	LOGI("NativeRTABMap: Connect to tango service");
+	ret = TangoService_connect(this, tango_config_);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: Failed to connect to the Tango service with error code: %d", ret);
+		return false;
+	}
+
+	// update extrinsics
+	LOGI("NativeRTABMap: Update extrinsics");
+	TangoPoseData pose_data;
+	TangoCoordinateFramePair frame_pair;
+
+	// TangoService_getPoseAtTime function is used for query device extrinsics
+	// as well. We use timestamp 0.0 and the target frame pair to get the
+	// extrinsics from the sensors.
+	//
+	// Get color camera with respect to device transformation matrix.
+	frame_pair.base = TANGO_COORDINATE_FRAME_DEVICE;
+	frame_pair.target = colorCamera_?TANGO_COORDINATE_FRAME_CAMERA_COLOR:TANGO_COORDINATE_FRAME_CAMERA_FISHEYE;
+	ret = TangoService_getPoseAtTime(0.0, frame_pair, &pose_data);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: Failed to get transform between the color camera frame and device frames");
+		return false;
+	}
+	deviceTColorCamera_ = rtabmap::Transform(
+			pose_data.translation[0],
+			pose_data.translation[1],
+			pose_data.translation[2],
+			pose_data.orientation[0],
+			pose_data.orientation[1],
+			pose_data.orientation[2],
+			pose_data.orientation[3]);
+
+	// camera intrinsic
+	TangoCameraIntrinsics color_camera_intrinsics;
+	ret = TangoService_getCameraIntrinsics(colorCamera_?TANGO_CAMERA_COLOR:TANGO_CAMERA_FISHEYE, &color_camera_intrinsics);
+	if (ret != TANGO_SUCCESS)
+	{
+		LOGE("NativeRTABMap: Failed to get the intrinsics for the color camera with error code: %d.", ret);
+		return false;
+	}
+
+	LOGD("Calibration: fx=%f fy=%f cx=%f cy=%f width=%d height=%d",
+			color_camera_intrinsics.fx,
+			color_camera_intrinsics.fy,
+			color_camera_intrinsics.cx,
+			color_camera_intrinsics.cy,
+			color_camera_intrinsics.width,
+			color_camera_intrinsics.height);
+
+	cv::Mat K = cv::Mat::eye(3, 3, CV_64FC1);
+	K.at<double>(0,0) = color_camera_intrinsics.fx;
+	K.at<double>(1,1) = color_camera_intrinsics.fy;
+	K.at<double>(0,2) = color_camera_intrinsics.cx;
+	K.at<double>(1,2) = color_camera_intrinsics.cy;
+	cv::Mat D = cv::Mat::zeros(1, 5, CV_64FC1);
+	LOGD("Calibration type = %d", color_camera_intrinsics.calibration_type);
+	if(color_camera_intrinsics.calibration_type == TANGO_CALIBRATION_POLYNOMIAL_5_PARAMETERS ||
+			color_camera_intrinsics.calibration_type == TANGO_CALIBRATION_EQUIDISTANT)
+	{
+		D.at<double>(0,0) = color_camera_intrinsics.distortion[0];
+		D.at<double>(0,1) = color_camera_intrinsics.distortion[1];
+		D.at<double>(0,2) = color_camera_intrinsics.distortion[2];
+		D.at<double>(0,3) = color_camera_intrinsics.distortion[3];
+		D.at<double>(0,4) = color_camera_intrinsics.distortion[4];
+	}
+	else if(color_camera_intrinsics.calibration_type == TANGO_CALIBRATION_POLYNOMIAL_3_PARAMETERS)
+	{
+		D.at<double>(0,0) = color_camera_intrinsics.distortion[0];
+		D.at<double>(0,1) = color_camera_intrinsics.distortion[1];
+		D.at<double>(0,2) = 0.;
+		D.at<double>(0,3) = 0.;
+		D.at<double>(0,4) = color_camera_intrinsics.distortion[2];
+	}
+	else if(color_camera_intrinsics.calibration_type == TANGO_CALIBRATION_POLYNOMIAL_2_PARAMETERS)
+	{
+		D.at<double>(0,0) = color_camera_intrinsics.distortion[0];
+		D.at<double>(0,1) = color_camera_intrinsics.distortion[1];
+		D.at<double>(0,2) = 0.;
+		D.at<double>(0,3) = 0.;
+		D.at<double>(0,4) = 0.;
+	}
+
+	cv::Mat R = cv::Mat::eye(3, 3, CV_64FC1);
+	cv::Mat P;
+
+	LOGD("Distortion params: %f, %f, %f, %f, %f", D.at<double>(0,0), D.at<double>(0,1), D.at<double>(0,2), D.at<double>(0,3), D.at<double>(0,4));
+	model_ = CameraModel(colorCamera_?"color":"fisheye",
+			cv::Size(color_camera_intrinsics.width, color_camera_intrinsics.height),
+			K, D, R, P,
+			tango_device_T_rtabmap_device.inverse()*deviceTColorCamera_); // device to camera optical rotation in rtabmap frame
+
+	if(!colorCamera_)
+	{
+		initFisheyeRectificationMap(model_, fisheyeRectifyMapX_, fisheyeRectifyMapY_);
+	}
+
+	LOGI("deviceTColorCameraTango  =%s", deviceTColorCamera_.prettyPrint().c_str());
+	LOGI("deviceTColorCameraRtabmap=%s", (tango_device_T_rtabmap_device.inverse()*deviceTColorCamera_).prettyPrint().c_str());
+
+	cameraStartedTime_.restart();
+
+	return true;
+}
+
+void CameraTango::close()
+{
+	if(tango_config_)
+	{
+		TangoConfig_free(tango_config_);
+		tango_config_ = nullptr;
+		TangoService_disconnect();
+	}
+	previousPose_.setNull();
+	previousStamp_ = 0.0;
+	fisheyeRectifyMapX_ = cv::Mat();
+	fisheyeRectifyMapY_ = cv::Mat();
+}
+
+void CameraTango::cloudReceived(const cv::Mat & cloud, double timestamp)
+{
+	if(this->isRunning() && !cloud.empty())
+	{
+		//LOGD("Depth received! %fs (%d points)", timestamp, cloud.cols);
+
+		UASSERT(cloud.type() == CV_32FC4);
+		boost::mutex::scoped_lock  lock(dataMutex_);
+
+		// From post: http://stackoverflow.com/questions/29236110/timing-issues-with-tango-image-frames
+		// "In the current version of Project Tango Tablet RGB IR camera
+		//  is used for both depth and color images and it can only do one
+		//  or the other for each frame. So in the stream we get 4 RGB frames
+		//  followed by 1 Depth frame resulting in the pattern you observed. This
+		//  is more of a hardware limitation."
+		//
+		//  So, synchronize with the last RGB frame before the Depth is acquired
+		if(!tangoColor_.empty())
+		{
+			double dt = fabs(timestamp - tangoColorStamp_);
+
+			//LOGD("Depth: %f vs %f = %f", tangoColorStamp_, timestamp, dt);
+
+			if(dt >= 0.0 && dt < 0.5)
+			{
+				bool notify = cloud_.empty();
+				cloud_ = cloud.clone();
+				cloudStamp_ = timestamp;
+				if(notify)
+				{
+					//LOGD("Cloud: Release semaphore");
+					dataReady_.release();
+				}
+			}
+		}
+	}
+}
+
+void CameraTango::rgbReceived(const cv::Mat & tangoImage, int type, double timestamp)
+{
+	if(this->isRunning() && !tangoImage.empty())
+	{
+		//LOGD("RGB received! %fs", timestamp);
+
+		boost::mutex::scoped_lock  lock(dataMutex_);
+
+		tangoColor_ = tangoImage.clone();
+		tangoColorStamp_ = timestamp;
+		tangoColorType_ = type;
+	}
+}
+
+static rtabmap::Transform opticalRotation(
+								1.0f,  0.0f,  0.0f, 0.0f,
+							    0.0f, -1.0f,  0.0f, 0.0f,
+								0.0f,  0.0f, -1.0f, 0.0f);
+void CameraTango::poseReceived(const Transform & pose)
+{
+	if(!pose.isNull() && pose.getNormSquared() < 100000)
+	{
+		// send pose of the camera (without optical rotation), not the device
+		this->post(new PoseEvent(pose*deviceTColorCamera_*opticalRotation));
+	}
+}
+
+void CameraTango::tangoEventReceived(int type, const char * key, const char * value)
+{
+	this->post(new CameraTangoEvent(type, key, value));
+}
+
+bool CameraTango::isCalibrated() const
+{
+	return model_.isValidForProjection();
+}
+
+std::string CameraTango::getSerial() const
+{
+	return "Tango";
+}
+
+rtabmap::Transform CameraTango::tangoPoseToTransform(const TangoPoseData * tangoPose) const
+{
+	UASSERT(tangoPose);
+	rtabmap::Transform pose;
+
+	pose = rtabmap::Transform(
+			tangoPose->translation[0],
+			tangoPose->translation[1],
+			tangoPose->translation[2],
+			tangoPose->orientation[0],
+			tangoPose->orientation[1],
+			tangoPose->orientation[2],
+			tangoPose->orientation[3]);
+
+	return pose;
+}
+
+rtabmap::Transform CameraTango::getPoseAtTimestamp(double timestamp)
+{
+	rtabmap::Transform pose;
+
+	TangoPoseData pose_start_service_T_device;
+	TangoCoordinateFramePair frame_pair;
+	frame_pair.base = TANGO_COORDINATE_FRAME_START_OF_SERVICE;
+	frame_pair.target = TANGO_COORDINATE_FRAME_DEVICE;
+	TangoErrorType status = TangoService_getPoseAtTime(timestamp, frame_pair, &pose_start_service_T_device);
+	if (status != TANGO_SUCCESS)
+	{
+		LOGE(
+			"PoseData: Failed to get transform between the Start of service and "
+			"device frames at timestamp %lf",
+			timestamp);
+	}
+	if (pose_start_service_T_device.status_code != TANGO_POSE_VALID)
+	{
+		LOGW(
+			"PoseData: Failed to get transform between the Start of service and "
+			"device frames at timestamp %lf",
+			timestamp);
+	}
+	else
+	{
+
+		pose = tangoPoseToTransform(&pose_start_service_T_device);
+	}
+
+	return pose;
+}
+
+SensorData CameraTango::captureImage(CameraInfo * info)
+{
+	//LOGI("Capturing image...");
+
+	SensorData data;
+	if(!dataReady_.acquire(1, 2000))
+	{
+		if(this->isRunning())
+		{
+			LOGE("Not received any frames since 2 seconds, try to restart the camera again.");
+			this->post(new CameraTangoEvent(0, "CameraTango", "No frames received since 2 seconds."));
+
+			boost::mutex::scoped_lock  lock(dataMutex_);
+			if(!cloud_.empty() && !tangoColor_.empty())
+			{
+				UERROR("cloud and image were set!?");
+			}
+		}
+		cloud_ = cv::Mat();
+		cloudStamp_ = 0.0;
+		tangoColor_ = cv::Mat();
+		tangoColorStamp_ = 0.0;
+		tangoColorType_ = 0;
+	}
+	else
+	{
+		cv::Mat cloud;
+		cv::Mat tangoImage;
+		cv::Mat rgb;
+		double cloudStamp = 0.0;
+		double rgbStamp = 0.0;
+		int tangoColorType = 0;
+
+		{
+			boost::mutex::scoped_lock  lock(dataMutex_);
+			cloud = cloud_;
+			cloudStamp = cloudStamp_;
+			cloud_ = cv::Mat();
+			cloudStamp_ = 0.0;
+			tangoImage = tangoColor_;
+			rgbStamp = tangoColorStamp_;
+			tangoColorType = tangoColorType_;
+			tangoColor_ = cv::Mat();
+			tangoColorStamp_ = 0.0;
+			tangoColorType_ = 0;
+		}
+
+		LOGD("tangoColorType=%d", tangoColorType);
+		if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_RGBA_8888)
+		{
+			cv::cvtColor(tangoImage, rgb, CV_RGBA2BGR);
+		}
+		else if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_YV12)
+		{
+			cv::cvtColor(tangoImage, rgb, CV_YUV2BGR_YV12);
+		}
+		else if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_YCrCb_420_SP)
+		{
+			cv::cvtColor(tangoImage, rgb, CV_YUV2BGR_NV21);
+		}
+		else if(tangoColorType == 35)
+		{
+			cv::cvtColor(tangoImage, rgb, cv::COLOR_YUV420sp2GRAY);
+		}
+		else
+		{
+			LOGE("Not supported color format : %d.", tangoColorType);
+			return data;
+		}
+
+		//for(int i=0; i<rgb.cols; ++i)
+		//{
+		//	UERROR("%d,%d,%d", (int)rgb.at<cv::Vec3b>(i)[0], (int)rgb.at<cv::Vec3b>(i)[1], (int)rgb.at<cv::Vec3b>(i)[2]);
+		//}
+
+		CameraModel model = model_;
+
+		if(colorCamera_)
+		{
+			if(decimation_ > 1)
+			{
+				rgb = util2d::decimate(rgb, decimation_);
+				model = model.scaled(1.0/double(decimation_));
+			}
+		}
+		else
+		{
+			//UTimer t;
+			cv::Mat rgbRect;
+			cv::remap(rgb, rgbRect, fisheyeRectifyMapX_, fisheyeRectifyMapY_, cv::INTER_LINEAR, cv::BORDER_CONSTANT, 0);
+			rgb = rgbRect;
+			//LOGD("Rectification time=%fs", t.ticks());
+		}
+
+		// Querying the depth image's frame transformation based on the depth image's
+		// timestamp.
+		cv::Mat depth;
+
+		// Calculate the relative pose from color camera frame at timestamp
+		// color_timestamp t1 and depth
+		// camera frame at depth_timestamp t0.
+		Transform colorToDepth;
+		TangoPoseData pose_color_image_t1_T_depth_image_t0;
+		if (TangoSupport_calculateRelativePose(
+				rgbStamp, colorCamera_?TANGO_COORDINATE_FRAME_CAMERA_COLOR:TANGO_COORDINATE_FRAME_CAMERA_FISHEYE, cloudStamp,
+			  TANGO_COORDINATE_FRAME_CAMERA_DEPTH,
+			  &pose_color_image_t1_T_depth_image_t0) == TANGO_SUCCESS)
+		{
+			colorToDepth = tangoPoseToTransform(&pose_color_image_t1_T_depth_image_t0);
+		}
+		else
+		{
+			LOGE(
+				"SynchronizationApplication: Could not find a valid relative pose at "
+				"time for color and "
+				" depth cameras.");
+		}
+
+		if(colorToDepth.getNormSquared() > 100000)
+		{
+			LOGE("Very large color to depth error detected (%s)! Ignoring this frame!", colorToDepth.prettyPrint().c_str());
+			colorToDepth.setNull();
+		}
+		cv::Mat scan;
+		if(!colorToDepth.isNull())
+		{
+			// The Color Camera frame at timestamp t0 with respect to Depth
+			// Camera frame at timestamp t1.
+			//LOGD("colorToDepth=%s", colorToDepth.prettyPrint().c_str());
+			LOGD("rgb=%dx%d cloud size=%d", rgb.cols, rgb.rows, (int)cloud.total());
+
+			int pixelsSet = 0;
+			int depthSizeDec = colorCamera_?8:1;
+			depth = cv::Mat::zeros(model_.imageHeight()/depthSizeDec, model_.imageWidth()/depthSizeDec, CV_16UC1); // mm
+			CameraModel depthModel = model_.scaled(1.0f/float(depthSizeDec));
+			std::vector<cv::Point3f> scanData(rawScanPublished_?cloud.total():0);
+			int oi=0;
+			for(unsigned int i=0; i<cloud.total(); ++i)
+			{
+				float * p = cloud.ptr<float>(0,i);
+				cv::Point3f pt = util3d::transformPoint(cv::Point3f(p[0], p[1], p[2]), colorToDepth);
+
+				if(pt.z > 0.0f && i%scanDownsampling == 0 && rawScanPublished_)
+				{
+					scanData.at(oi++) = pt;
+				}
+
+				int pixel_x_l, pixel_y_l, pixel_x_h, pixel_y_h;
+				// get the coordinate on image plane.
+				pixel_x_l = static_cast<int>((depthModel.fx()) * (pt.x / pt.z) + depthModel.cx());
+				pixel_y_l = static_cast<int>((depthModel.fy()) * (pt.y / pt.z) + depthModel.cy());
+				pixel_x_h = static_cast<int>((depthModel.fx()) * (pt.x / pt.z) + depthModel.cx() + 0.5f);
+				pixel_y_h = static_cast<int>((depthModel.fy()) * (pt.y / pt.z) + depthModel.cy() + 0.5f);
+				unsigned short depth_value(pt.z * 1000.0f);
+
+				bool pixelSet = false;
+				if(pixel_x_l>=0 && pixel_x_l<depth.cols &&
+				   pixel_y_l>0 && pixel_y_l<depth.rows && // ignore first line
+				   depth_value)
+				{
+					unsigned short & depthPixel = depth.at<unsigned short>(pixel_y_l, pixel_x_l);
+					if(depthPixel == 0 || depthPixel > depth_value)
+					{
+						depthPixel = depth_value;
+						pixelSet = true;
+					}
+				}
+				if(pixel_x_h>=0 && pixel_x_h<depth.cols &&
+				   pixel_y_h>0 && pixel_y_h<depth.rows && // ignore first line
+				   depth_value)
+				{
+					unsigned short & depthPixel = depth.at<unsigned short>(pixel_y_h, pixel_x_h);
+					if(depthPixel == 0 || depthPixel > depth_value)
+					{
+						depthPixel = depth_value;
+						pixelSet = true;
+					}
+				}
+				if(pixelSet)
+				{
+					pixelsSet += 1;
+				}
+			}
+
+			if(oi)
+			{
+				scan = cv::Mat(1, oi, CV_32FC3, scanData.data()).clone();
+			}
+			//LOGD("pixels depth set= %d", pixelsSet);
+		}
+		else
+		{
+			LOGE("color to depth pose is null?!? (rgb stamp=%f) (depth stamp=%f)", rgbStamp, cloudStamp);
+		}
+
+		if(!rgb.empty() && !depth.empty())
+		{
+			depth = rtabmap::util2d::fillDepthHoles(depth, holeSize, maxDepthError);
+
+			Transform poseDevice = getPoseAtTimestamp(rgbStamp);
+
+			//LOGD("Local    = %s", model.localTransform().prettyPrint().c_str());
+			//LOGD("tango    = %s", poseDevice.prettyPrint().c_str());
+			//LOGD("opengl(t)= %s", (opengl_world_T_tango_world * poseDevice).prettyPrint().c_str());
+
+			//Rotate in RTAB-Map's coordinate
+			Transform odom = rtabmap_world_T_tango_world * poseDevice * tango_device_T_rtabmap_device;
+
+			//LOGD("rtabmap  = %s", odom.prettyPrint().c_str());
+			//LOGD("opengl(r)= %s", (opengl_world_T_rtabmap_world * odom * rtabmap_device_T_opengl_device).prettyPrint().c_str());
+
+			Transform scanLocalTransform = model.localTransform();
+
+			// Rotate image depending on the camera orientation
+			if(colorCameraToDisplayRotation_ == ROTATION_90)
+			{
+				cv::Mat rgbt(rgb.cols, rgb.rows, rgb.type());
+				cv::flip(rgb,rgb,1);
+				cv::transpose(rgb,rgbt);
+				rgb = rgbt;
+				cv::Mat deptht(depth.cols, depth.rows, depth.type());
+				cv::flip(depth,depth,1);
+				cv::transpose(depth,deptht);
+				depth = deptht;
+				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(0,0,0,0,0,1.57079632679489661923132169163975144));
+				model.setImageSize(sizet);
+			}
+			else if(colorCameraToDisplayRotation_ == ROTATION_180)
+			{
+				cv::flip(rgb,rgb,1);
+				cv::flip(rgb,rgb,0);
+				cv::flip(depth,depth,1);
+				cv::flip(depth,depth,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(0,0,0,0,0,1.57079632679489661923132169163975144*2.0));
+				model.setImageSize(sizet);
+			}
+			else if(colorCameraToDisplayRotation_ == ROTATION_270)
+			{
+				cv::Mat rgbt(rgb.cols, rgb.rows, rgb.type());
+				cv::transpose(rgb,rgbt);
+				cv::flip(rgbt,rgbt,1);
+				rgb = rgbt;
+				cv::Mat deptht(depth.cols, depth.rows, depth.type());
+				cv::transpose(depth,deptht);
+				cv::flip(deptht,deptht,1);
+				depth = deptht;
+				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(0,0,0,0,0,-1.57079632679489661923132169163975144));
+				model.setImageSize(sizet);
+			}
+
+			if(smoothing_)
+			{
+				//UTimer t;
+				depth = rtabmap::util2d::fastBilateralFiltering(depth, bilateralFilteringSigmaS, bilateralFilteringSigmaR);
+				data.setDepthOrRightRaw(depth);
+				//LOGD("Bilateral filtering, time=%fs", t.ticks());
+			}
+
+			if(rawScanPublished_)
+			{
+				data = SensorData(scan, LaserScanInfo(cloud.total()/scanDownsampling, 0, scanLocalTransform), rgb, depth, model, this->getNextSeqID(), rgbStamp);
+			}
+			else
+			{
+				data = SensorData(rgb, depth, model, this->getNextSeqID(), rgbStamp);
+			}
+			data.setGroundTruth(odom);
+		}
+		else
+		{
+			LOGE("Could not get depth and rgb images!?!");
+		}
+	}
+	return data;
+
+}
+
+void CameraTango::mainLoopBegin()
+{
+	double t = cameraStartedTime_.elapsed();
+	if(t < 5.0)
+	{
+		uSleep((5.0-t)*1000); // just to make sure that the camera is started
+	}
+}
+
+void CameraTango::mainLoop()
+{
+	if(tango_config_)
+	{
+		SensorData data = this->captureImage();
+
+		if(!data.groundTruth().isNull())
+		{
+			rtabmap::Transform pose = data.groundTruth();
+			data.setGroundTruth(Transform());
+			// convert stamp to epoch
+			bool firstFrame = previousPose_.isNull();
+			if(firstFrame)
+			{
+				stampEpochOffset_ = UTimer::now()-data.stamp();
+			}
+			data.setStamp(stampEpochOffset_ + data.stamp());
+			OdometryInfo info;
+			if(!firstFrame)
+			{
+				info.interval = data.stamp()-previousStamp_;
+				info.transform = previousPose_.inverse() * pose;
+			}
+			info.covariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.000001);
+			LOGI("Publish odometry message (variance=%f)", firstFrame?9999:0.000001);
+			this->post(new OdometryEvent(data, pose, info));
+			previousPose_ = pose;
+			previousStamp_ = data.stamp();
+		}
+		else if(!this->isKilled())
+		{
+			LOGW("Odometry lost");
+			this->post(new OdometryEvent());
+		}
+	}
+	else
+	{
+		UERROR("Camera not initialized, cannot start thread.");
+		this->kill();
+	}
+}
+
+} /* namespace rtabmap */

app/android/jni/CameraTango.h

@@ -0,0 +1,132 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef CAMERATANGO_H_
+#define CAMERATANGO_H_
+
+#include <rtabmap/core/Camera.h>
+#include <rtabmap/utilite/UMutex.h>
+#include <rtabmap/utilite/USemaphore.h>
+#include <rtabmap/utilite/UEventsSender.h>
+#include <rtabmap/utilite/UThread.h>
+#include <rtabmap/utilite/UEvent.h>
+#include <rtabmap/utilite/UTimer.h>
+#include <boost/thread/mutex.hpp>
+#include <tango_support_api.h>
+
+class TangoPoseData;
+
+namespace rtabmap {
+
+class PoseEvent: public UEvent
+{
+public:
+	PoseEvent(const Transform & pose) : pose_(pose) {}
+	virtual std::string getClassName() const {return "PoseEvent";}
+	const Transform & pose() const {return pose_;}
+
+private:
+	Transform pose_;
+};
+
+class CameraTangoEvent: public UEvent
+{
+public:
+	CameraTangoEvent(int type, const std::string & key, const std::string & value) : type_(type), key_(key), value_(value) {}
+	virtual std::string getClassName() const {return "CameraTangoEvent";}
+	int type() const {return type_;}
+	const std::string & key() const {return key_;}
+	const std::string & value() const {return value_;}
+
+private:
+	int type_;
+	std::string key_;
+	std::string value_;
+
+};
+
+class CameraTango : public Camera, public UThread, public UEventsSender {
+public:
+	static const float bilateralFilteringSigmaS;
+	static const float bilateralFilteringSigmaR;
+
+public:
+	CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing);
+	virtual ~CameraTango();
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	void close(); // close Tango connection
+	virtual bool isCalibrated() const;
+	virtual std::string getSerial() const;
+	const CameraModel & getCameraModel() const {return model_;}
+	rtabmap::Transform tangoPoseToTransform(const TangoPoseData * tangoPose) const;
+	void setColorCamera(bool enabled) {if(!this->isRunning()) colorCamera_ = enabled;}
+	void setDecimation(int value) {decimation_ = value;}
+	void setSmoothing(bool enabled) {smoothing_ = enabled;}
+	void setRawScanPublished(bool enabled) {rawScanPublished_ = enabled;}
+	void setScreenRotation(TangoSupportRotation colorCameraToDisplayRotation) {colorCameraToDisplayRotation_ = colorCameraToDisplayRotation;}
+
+	void cloudReceived(const cv::Mat & cloud, double timestamp);
+	void rgbReceived(const cv::Mat & tangoImage, int type, double timestamp);
+	void poseReceived(const Transform & pose);
+	void tangoEventReceived(int type, const char * key, const char * value);
+
+protected:
+	virtual SensorData captureImage(CameraInfo * info = 0);
+
+private:
+	rtabmap::Transform getPoseAtTimestamp(double timestamp);
+
+	virtual void mainLoopBegin();
+	virtual void mainLoop();
+
+private:
+	void * tango_config_;
+	Transform previousPose_;
+	double previousStamp_;
+	UTimer cameraStartedTime_;
+	double stampEpochOffset_;
+	bool colorCamera_;
+	int decimation_;
+	bool rawScanPublished_;
+	bool smoothing_;
+	cv::Mat cloud_;
+	double cloudStamp_;
+	cv::Mat tangoColor_;
+	int tangoColorType_;
+	double tangoColorStamp_;
+	boost::mutex dataMutex_;
+	USemaphore dataReady_;
+	CameraModel model_;
+	Transform deviceTColorCamera_;
+	TangoSupportRotation colorCameraToDisplayRotation_;
+	cv::Mat fisheyeRectifyMapX_;
+	cv::Mat fisheyeRectifyMapY_;
+};
+
+} /* namespace rtabmap */
+#endif /* CAMERATANGO_H_ */

app/android/jni/ProgressionStatus.h

@@ -0,0 +1,124 @@
+/*
+ * ProgressionStatus.h
+ *
+ *  Created on: Feb 28, 2017
+ *      Author: mathieu
+ */
+
+#ifndef APP_ANDROID_JNI_PROGRESSIONSTATUS_H_
+#define APP_ANDROID_JNI_PROGRESSIONSTATUS_H_
+
+#include <rtabmap/core/ProgressState.h>
+#include <rtabmap/utilite/ULogger.h>
+#include <rtabmap/utilite/UEventsManager.h>
+#include <jni.h>
+
+namespace rtabmap {
+
+class ProgressEvent : public UEvent
+{
+public:
+	ProgressEvent(int count = 1) : count_(count){}
+	virtual std::string getClassName() const {return "ProgressEvent";}
+
+	int count_;
+};
+
+class ProgressionStatus: public ProgressState, public UEventsHandler
+{
+public:
+	ProgressionStatus() : count_(0), max_(100), jvm_(0), rtabmap_(0)
+	{
+		registerToEventsManager();
+	}
+
+	void setJavaObjects(JavaVM * jvm, jobject rtabmap)
+	{
+		jvm_ = jvm;
+		rtabmap_ = rtabmap;
+	}
+
+	void reset(int max)
+	{
+		count_=-1;
+		max_ = max;
+		setCanceled(false);
+
+		increment();
+	}
+
+	void setMax(int max)
+	{
+		max_ = max;
+	}
+	int getMax() const {return max_;}
+
+	void increment(int count = 1) const
+	{
+		UEventsManager::post(new ProgressEvent(count));
+	}
+
+	void finish()
+	{
+
+	}
+
+	virtual bool callback(const std::string & msg) const
+	{
+		if(!isCanceled())
+		{
+			increment();
+		}
+
+		return ProgressState::callback(msg);
+	}
+	virtual ~ProgressionStatus(){}
+
+protected:
+	virtual bool handleEvent(UEvent * event)
+	{
+		if(event->getClassName().compare("ProgressEvent") == 0)
+		{
+			count_ += ((ProgressEvent*)event)->count_;
+			// Call JAVA callback
+			bool success = false;
+			if(jvm_ && rtabmap_)
+			{
+				JNIEnv *env = 0;
+				jint rs = jvm_->AttachCurrentThread(&env, NULL);
+				if(rs == JNI_OK && env)
+				{
+					jclass clazz = env->GetObjectClass(rtabmap_);
+					if(clazz)
+					{
+						jmethodID methodID = env->GetMethodID(clazz, "updateProgressionCallback", "(II)V" );
+						if(methodID)
+						{
+							env->CallVoidMethod(rtabmap_, methodID,
+									count_,
+									max_);
+							success = true;
+						}
+					}
+				}
+				jvm_->DetachCurrentThread();
+			}
+			if(!success)
+			{
+				UERROR("Failed to call rtabmap::updateProgressionCallback");
+			}
+		}
+		return false;
+	}
+
+private:
+	int count_;
+	int max_;
+	JavaVM *jvm_;
+	jobject rtabmap_;
+};
+
+}
+
+
+#endif /* APP_ANDROID_JNI_PROGRESSIONSTATUS_H_ */

app/android/jni/RTABMapApp.h

@@ -0,0 +1,265 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef RTABMAP_APP_H_
+#define RTABMAP_APP_H_
+
+#include <jni.h>
+#include <memory>
+
+#include <tango_client_api.h>  // NOLINT
+#include <tango-gl/util.h>
+
+#include "scene.h"
+#include "CameraTango.h"
+#include "util.h"
+#include "ProgressionStatus.h"
+
+#include <rtabmap/core/RtabmapThread.h>
+#include <rtabmap/utilite/UEventsHandler.h>
+#include <boost/thread/mutex.hpp>
+#include <pcl/pcl_base.h>
+#include <pcl/TextureMesh.h>
+
+// RTABMapApp handles the application lifecycle and resources.
+class RTABMapApp : public UEventsHandler {
+ public:
+  // Constructor and deconstructor.
+  RTABMapApp();
+  ~RTABMapApp();
+
+  void onCreate(JNIEnv* env, jobject caller_activity);
+
+  void setScreenRotation(int displayRotation, int cameraRotation);
+
+  int openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, const std::string & databaseSource=std::string());
+
+  bool onTangoServiceConnected(JNIEnv* env, jobject iBinder);
+
+  // Explicitly reset motion tracking and restart the pipeline.
+  // Note that this will cause motion tracking to re-initialize.
+  void TangoResetMotionTracking();
+
+  // Tango Service point cloud callback function for depth data. Called when new
+  // new point cloud data is available from the Tango Service.
+  //
+  // @param pose: The current point cloud returned by the service,
+  //              caller allocated.
+  void onPointCloudAvailable(const TangoXYZij* xyz_ij);
+
+  // Tango service pose callback function for pose data. Called when new
+  // information about device pose is available from the Tango Service.
+  //
+  // @param pose: The current pose returned by the service, caller allocated.
+  void onPoseAvailable(const TangoPoseData* pose);
+
+  // Tango service event callback function for event data. Called when new events
+  // are available from the Tango Service.
+  //
+  // @param event: Tango event, caller allocated.
+  void onTangoEventAvailable(const TangoEvent* event);
+
+  // Allocate OpenGL resources for rendering, mainly for initializing the Scene.
+  void InitializeGLContent();
+
+  // Setup the view port width and height.
+  void SetViewPort(int width, int height);
+
+  // Main render loop.
+  int Render();
+
+  // Release all non-OpenGL allocated resources.
+  void onPause();
+
+  // Set render camera's viewing angle, first person, third person or top down.
+  //
+  // @param: camera_type, camera type includes first person, third person and
+  //         top down
+  void SetCameraType(tango_gl::GestureCamera::CameraType camera_type);
+
+  // Touch event passed from android activity. This function only supports two
+  // touches.
+  //
+  // @param: touch_count, total count for touches.
+  // @param: event, touch event of current touch.
+  // @param: x0, normalized touch location for touch 0 on x axis.
+  // @param: y0, normalized touch location for touch 0 on y axis.
+  // @param: x1, normalized touch location for touch 1 on x axis.
+  // @param: y1, normalized touch location for touch 1 on y axis.
+  void OnTouchEvent(int touch_count, tango_gl::GestureCamera::TouchEvent event,
+                    float x0, float y0, float x1, float y1);
+
+  void setPausedMapping(bool paused);
+  void setOnlineBlending(bool enabled);
+  void setMapCloudShown(bool shown);
+  void setOdomCloudShown(bool shown);
+  void setMeshRendering(bool enabled, bool withTexture);
+  void setPointSize(float value);
+  void setFOV(float angle);
+  void setOrthoCropFactor(float value);
+  void setGridRotation(float value);
+  void setLighting(bool enabled);
+  void setBackfaceCulling(bool enabled);
+  void setWireframe(bool enabled);
+  void setLocalizationMode(bool enabled);
+  void setTrajectoryMode(bool enabled);
+  void setGraphOptimization(bool enabled);
+  void setNodesFiltering(bool enabled);
+  void setGraphVisible(bool visible);
+  void setGridVisible(bool visible);
+  void setRawScanSaved(bool enabled);
+  void setCameraColor(bool enabled);
+  void setFullResolution(bool enabled);
+  void setSmoothing(bool enabled);
+  void setAppendMode(bool enabled);
+  void setDataRecorderMode(bool enabled);
+  void setMaxCloudDepth(float value);
+  void setMinCloudDepth(float value);
+  void setCloudDensityLevel(int value);
+  void setMeshAngleTolerance(float value);
+  void setMeshTriangleSize(int value);
+  void setClusterRatio(float value);
+  void setMaxGainRadius(float value);
+  void setRenderingTextureDecimation(int value);
+  void setBackgroundColor(float gray);
+  int setMappingParameter(const std::string & key, const std::string & value);
+
+  void resetMapping();
+  void save(const std::string & databasePath);
+  void cancelProcessing();
+  bool exportMesh(
+		  float cloudVoxelSize,
+		  bool regenerateCloud,
+		  bool meshing,
+		  int textureSize,
+		  int textureCount,
+		  int normalK,
+		  bool optimized,
+		  float optimizedVoxelSize,
+		  int optimizedDepth,
+		  int optimizedMaxPolygons,
+		  float optimizedColorRadius,
+		  bool optimizedCleanWhitePolygons,
+		  int optimizedMinClusterSize,
+		  float optimizedMaxTextureDistance,
+		  int optimizedMinTextureClusterSize,
+		  bool blockRendering);
+  bool postExportation(bool visualize);
+  bool writeExportedMesh(const std::string & directory, const std::string & name);
+  int postProcessing(int approach);
+
+ protected:
+  virtual bool handleEvent(UEvent * event);
+
+ private:
+  rtabmap::ParametersMap getRtabmapParameters();
+  bool smoothMesh(int id, Mesh & mesh);
+  void gainCompensation(bool full = false);
+  std::vector<pcl::Vertices> filterOrganizedPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
+  std::vector<pcl::Vertices> filterPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
+
+ private:
+  rtabmap::CameraTango * camera_;
+  rtabmap::RtabmapThread * rtabmapThread_;
+  rtabmap::Rtabmap * rtabmap_;
+  LogHandler * logHandler_;
+
+  bool odomCloudShown_;
+  bool graphOptimization_;
+  bool nodesFiltering_;
+  bool localizationMode_;
+  bool trajectoryMode_;
+  bool rawScanSaved_;
+  bool smoothing_;
+  bool cameraColor_;
+  bool fullResolution_;
+  bool appendMode_;
+  float maxCloudDepth_;
+  float minCloudDepth_;
+  int cloudDensityLevel_;
+  int meshTrianglePix_;
+  float meshAngleToleranceDeg_;
+  float clusterRatio_;
+  float maxGainRadius_;
+  int renderingTextureDecimation_;
+  float backgroundColor_;
+
+  rtabmap::ParametersMap mappingParameters_;
+
+  bool paused_;
+  bool dataRecorderMode_;
+  bool clearSceneOnNextRender_;
+  bool openingDatabase_;
+  bool exporting_;
+  bool postProcessing_;
+  bool filterPolygonsOnNextRender_;
+  int gainCompensationOnNextRender_;
+  bool bilateralFilteringOnNextRender_;
+  bool takeScreenshotOnNextRender_;
+  bool cameraJustInitialized_;
+  int meshDecimation_;
+  int totalPoints_;
+  int totalPolygons_;
+  int lastDrawnCloudsCount_;
+  float renderingTime_;
+  double lastPostRenderEventTime_;
+  long processMemoryUsedBytes;
+  long processGPUMemoryUsedBytes;
+  std::map<std::string, float> bufferedStatsData_;
+
+  bool visualizingMesh_;
+  bool exportedMeshUpdated_;
+  pcl::TextureMesh::Ptr optMesh_;
+  cv::Mat optTexture_;
+
+  // main_scene_ includes all drawable object for visualizing Tango device's
+  // movement and point cloud.
+  Scene main_scene_;
+
+	std::list<rtabmap::RtabmapEvent*> rtabmapEvents_;
+	std::list<rtabmap::OdometryEvent> odomEvents_;
+	std::list<rtabmap::Transform> poseEvents_;
+
+	rtabmap::Transform mapToOdom_;
+
+	boost::mutex rtabmapMutex_;
+	boost::mutex meshesMutex_;
+	boost::mutex odomMutex_;
+	boost::mutex poseMutex_;
+	boost::mutex renderingMutex_;
+
+	USemaphore screenshotReady_;
+
+	std::map<int, Mesh> createdMeshes_;
+	std::map<int, rtabmap::Transform> rawPoses_;
+
+	std::pair<rtabmap::RtabmapEventInit::Status, std::string> status_;
+
+	rtabmap::ProgressionStatus progressionStatus_;
+};
+
+#endif  // TANGO_POINT_CLOUD_POINT_CLOUD_APP_H_

app/android/jni/bounding_box_drawable.h

@@ -0,0 +1,131 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+ * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef BOUNDING_BOX_DRAWABLE_H_
+#define BOUNDING_BOX_DRAWABLE_H_
+
+#include "tango-gl/line.h"
+
+class BoundingBoxDrawable : public tango_gl::Line
+{
+public:
+	BoundingBoxDrawable() :
+		Line(3.0f, GL_LINES)
+	{
+		vec_vertices_.resize(24);
+	}
+
+	void updateVertices(const pcl::PointXYZ & min, const pcl::PointXYZ & max)
+	{
+		int index = 0;
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = min.z;
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = min.z;
+
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = min.z;
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = min.z;
+
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = min.z;
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = max.z;
+
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = max.z;
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = max.z;
+
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = max.z;
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = max.z;
+
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = max.z;
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = min.z;
+
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = min.z;
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = max.z;
+
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = min.z;
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = min.z;
+
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = min.z;
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = min.z;
+
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = min.z;
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = max.z;
+
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = max.z;
+		vec_vertices_[index].x = max.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = max.z;
+
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = min.y;
+		vec_vertices_[index++].z = max.z;
+		vec_vertices_[index].x = min.x;
+		vec_vertices_[index].y = max.y;
+		vec_vertices_[index++].z = max.z;
+	}
+
+};
+#endif  // TANGO_GL_LINE_H_

app/android/jni/graph_drawable.cpp

@@ -0,0 +1,160 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include <sstream>
+
+#include "graph_drawable.h"
+#include "rtabmap/utilite/ULogger.h"
+#include "util.h"
+
+#include <GLES2/gl2.h>
+
+GraphDrawable::GraphDrawable(
+		GLuint shaderProgram,
+		const std::map<int, rtabmap::Transform> & poses,
+		const std::multimap<int, rtabmap::Link> & links) :
+		vertex_buffers_(0),
+		pose_(1.0f),
+		visible_(true),
+		lineWidth_(3.0f),
+		shader_program_(shaderProgram)
+{
+	UASSERT(!poses.empty());
+
+	glGenBuffers(1, &vertex_buffers_);
+
+	if(vertex_buffers_)
+	{
+		LOGI("Creating vertex buffer %d", vertex_buffers_);
+		std::vector<float> vertices = std::vector<float>(poses.size()*3);
+		int i=0;
+		std::map<int, int> idsToIndices;
+		for(std::map<int, rtabmap::Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
+		{
+			vertices[i*3] = iter->second.x();
+			vertices[i*3+1] = iter->second.y();
+			vertices[i*3+2] = iter->second.z();
+			idsToIndices.insert(std::make_pair(iter->first, i));
+			++i;
+		}
+
+		glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_);
+		glBufferData(GL_ARRAY_BUFFER, sizeof(GLfloat) * (int)vertices.size(), (const void *)vertices.data(), GL_STATIC_DRAW);
+		glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+		GLint error = glGetError();
+		if(error != GL_NO_ERROR)
+		{
+			LOGI("OpenGL: Could not allocate point cloud (0x%x)\n", error);
+			vertex_buffers_ = 0;
+		}
+		else if(links.size())
+		{
+			neighborIndices_.resize(links.size() * 2);
+			loopClosureIndices_.resize(links.size() * 2);
+			int oiNeighbors = 0;
+			int oiLoopClosures = 0;
+			for(std::multimap<int, rtabmap::Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
+			{
+				std::map<int, int>::const_iterator jterFrom = idsToIndices.find(iter->second.from());
+				std::map<int, int>::const_iterator jterTo = idsToIndices.find(iter->second.to());
+				if(jterFrom != idsToIndices.end() && jterTo != idsToIndices.end())
+				{
+					if(iter->second.type() == rtabmap::Link::kNeighbor)
+					{
+						neighborIndices_[oiNeighbors++] = (unsigned short)jterFrom->second;
+						neighborIndices_[oiNeighbors++] = (unsigned short)jterTo->second;
+					}
+					else
+					{
+						loopClosureIndices_[oiLoopClosures++] = (unsigned short)jterFrom->second;
+						loopClosureIndices_[oiLoopClosures++] = (unsigned short)jterTo->second;
+					}
+				}
+			}
+			neighborIndices_.resize(oiNeighbors);
+			loopClosureIndices_.resize(oiLoopClosures);
+		}
+	}
+}
+
+GraphDrawable::~GraphDrawable()
+{
+	LOGI("Freeing cloud buffer %d", vertex_buffers_);
+	if (vertex_buffers_)
+	{
+		glDeleteBuffers(1, &vertex_buffers_);
+		tango_gl::util::CheckGlError("GraphDrawable::~GraphDrawable()");
+		vertex_buffers_ = 0;
+	}
+}
+
+void GraphDrawable::setPose(const rtabmap::Transform & pose)
+{
+	UASSERT(!pose.isNull());
+
+	pose_ = glmFromTransform(pose);
+}
+
+void GraphDrawable::Render(const glm::mat4 & projectionMatrix, const glm::mat4 & viewMatrix) {
+
+	if(vertex_buffers_ && (neighborIndices_.size() || loopClosureIndices_.size()) && visible_)
+	{
+		glUseProgram(shader_program_);
+		glLineWidth(lineWidth_);
+
+		GLuint mvp_handle_ = glGetUniformLocation(shader_program_, "mvp");
+		glm::mat4 mvp_mat = projectionMatrix * viewMatrix * pose_;
+		glUniformMatrix4fv(mvp_handle_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+
+		GLuint color_handle = glGetUniformLocation(shader_program_, "color");
+
+		GLint attribute_vertex = glGetAttribLocation(shader_program_, "vertex");
+
+		glEnableVertexAttribArray(attribute_vertex);
+		glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_);
+		glVertexAttribPointer(attribute_vertex, 3, GL_FLOAT, GL_FALSE, 3*sizeof(GLfloat), 0);
+
+		if(neighborIndices_.size())
+		{
+			glUniform3f(color_handle, 1.0f, 0.0f, 0.0f); // blue for neighbors
+			glDrawElements(GL_LINES, neighborIndices_.size(), GL_UNSIGNED_SHORT, neighborIndices_.data());
+		}
+		if(loopClosureIndices_.size())
+		{
+			glUniform3f(color_handle, 0.0f, 0.0f, 1.0f); // red for loop closures
+			glDrawElements(GL_LINES, loopClosureIndices_.size(), GL_UNSIGNED_SHORT, loopClosureIndices_.data());
+		}
+
+		glDisableVertexAttribArray(0);
+		glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+		glUseProgram(0);
+		tango_gl::util::CheckGlError("GraphDrawable::Render()");
+	}
+}
+

app/android/jni/graph_drawable.h

@@ -0,0 +1,67 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef GRAPH_DRAWABLE_H_
+#define GRAPH_DRAWABLE_H_
+
+#include <jni.h>
+
+#include <tango-gl/util.h>
+#include <vector>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <rtabmap/core/Transform.h>
+#include <rtabmap/core/Link.h>
+#include <pcl/Vertices.h>
+#include "util.h"
+
+class GraphDrawable {
+ public:
+	GraphDrawable(
+		  GLuint shaderProgram,
+		  const std::map<int, rtabmap::Transform> & poses,
+		  const std::multimap<int, rtabmap::Link> & links);
+  virtual ~GraphDrawable();
+
+  void setPose(const rtabmap::Transform & mapToOdom);
+  void setVisible(bool visible) {visible_=visible;}
+
+  void Render(const glm::mat4 & projectionMatrix, const glm::mat4 & viewMatrix);
+
+ private:
+  // Vertex buffer of the point cloud geometry.
+  GLuint vertex_buffers_;
+  std::vector<GLushort> neighborIndices_;
+  std::vector<GLushort> loopClosureIndices_;
+  glm::mat4 pose_;
+  bool visible_;
+  float lineWidth_;
+
+  GLuint shader_program_;
+};
+
+#endif  // GRAPH_DRAWABLE_H_

app/android/jni/jni_interface.cpp

@@ -0,0 +1,434 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#define GLM_FORCE_RADIANS
+
+#include <jni.h>
+#include <RTABMapApp.h>
+#include <scene.h>
+
+static RTABMapApp app;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void GetJStringContent(JNIEnv *AEnv, jstring AStr, std::string &ARes) {
+  if (!AStr) {
+    ARes.clear();
+    return;
+  }
+
+  const char *s = AEnv->GetStringUTFChars(AStr,NULL);
+  ARes=s;
+  AEnv->ReleaseStringUTFChars(AStr,s);
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_onCreate(
+    JNIEnv* env, jobject, jobject activity)
+{
+	return app.onCreate(env, activity);
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setScreenRotation(
+    JNIEnv* env, jobject, int displayRotation, int cameraRotation)
+{
+	return app.setScreenRotation(displayRotation, cameraRotation);
+}
+
+JNIEXPORT int JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_openDatabase(
+    JNIEnv* env, jobject, jstring databasePath, bool databaseInMemory, bool optimize)
+{
+	std::string databasePathC;
+	GetJStringContent(env,databasePath,databasePathC);
+	return app.openDatabase(databasePathC, databaseInMemory, optimize);
+}
+
+JNIEXPORT int JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_openDatabase2(
+    JNIEnv* env, jobject, jstring databaseSource, jstring databasePath, bool databaseInMemory, bool optimize)
+{
+	std::string databasePathC;
+	GetJStringContent(env,databasePath,databasePathC);
+	std::string databaseSourceC;
+	GetJStringContent(env,databaseSource,databaseSourceC);
+	return app.openDatabase(databasePathC, databaseInMemory, optimize, databaseSourceC);
+}
+
+JNIEXPORT bool JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_onTangoServiceConnected(
+		JNIEnv* env, jobject, jobject iBinder) {
+  return app.onTangoServiceConnected(env, iBinder);
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_initGlContent(
+    JNIEnv*, jobject) {
+  app.InitializeGLContent();
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setupGraphic(
+    JNIEnv*, jobject, jint width, jint height) {
+  app.SetViewPort(width, height);
+}
+
+JNIEXPORT int JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_render(
+    JNIEnv*, jobject) {
+  return app.Render();
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_onPause(
+    JNIEnv*, jobject) {
+  app.onPause();
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setCamera(
+    JNIEnv*, jobject, int camera_index) {
+  using namespace tango_gl;
+  GestureCamera::CameraType cam_type =
+      static_cast<GestureCamera::CameraType>(camera_index);
+  app.SetCameraType(cam_type);
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_onTouchEvent(
+    JNIEnv*, jobject, int touch_count, int event, float x0, float y0, float x1,
+    float y1) {
+  using namespace tango_gl;
+  GestureCamera::TouchEvent touch_event =
+      static_cast<GestureCamera::TouchEvent>(event);
+  app.OnTouchEvent(touch_count, touch_event, x0, y0, x1, y1);
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setPausedMapping(
+		JNIEnv*, jobject, bool paused)
+{
+	return app.setPausedMapping(paused);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setOnlineBlending(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setOnlineBlending(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMapCloudShown(
+		JNIEnv*, jobject, bool shown)
+{
+	return app.setMapCloudShown(shown);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setOdomCloudShown(
+		JNIEnv*, jobject, bool shown)
+{
+	return app.setOdomCloudShown(shown);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMeshRendering(
+		JNIEnv*, jobject, bool enabled, bool withTexture)
+{
+	return app.setMeshRendering(enabled, withTexture);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setPointSize(
+		JNIEnv*, jobject, float value)
+{
+	return app.setPointSize(value);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setFOV(
+		JNIEnv*, jobject, float fov)
+{
+	return app.setFOV(fov);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setOrthoCropFactor(
+		JNIEnv*, jobject, float value)
+{
+	return app.setOrthoCropFactor(value);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setGridRotation(
+		JNIEnv*, jobject, float value)
+{
+	return app.setGridRotation(value);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setLighting(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setLighting(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setBackfaceCulling(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setBackfaceCulling(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setWireframe(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setWireframe(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setLocalizationMode(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setLocalizationMode(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setTrajectoryMode(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setTrajectoryMode(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setGraphOptimization(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setGraphOptimization(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setNodesFiltering(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setNodesFiltering(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setGraphVisible(
+		JNIEnv*, jobject, bool visible)
+{
+	return app.setGraphVisible(visible);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setGridVisible(
+		JNIEnv*, jobject, bool visible)
+{
+	return app.setGridVisible(visible);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setRawScanSaved(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setRawScanSaved(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setFullResolution(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setFullResolution(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setSmoothing(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setSmoothing(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setCameraColor(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setCameraColor(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setAppendMode(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setAppendMode(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setDataRecorderMode(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setDataRecorderMode(enabled);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMaxCloudDepth(
+		JNIEnv*, jobject, float value)
+{
+	return app.setMaxCloudDepth(value);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMinCloudDepth(
+		JNIEnv*, jobject, float value)
+{
+	return app.setMinCloudDepth(value);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setCloudDensityLevel(
+		JNIEnv*, jobject, int value)
+{
+	return app.setCloudDensityLevel(value);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMeshAngleTolerance(
+		JNIEnv*, jobject, float value)
+{
+	return app.setMeshAngleTolerance(value);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMeshTriangleSize(
+		JNIEnv*, jobject, int value)
+{
+	return app.setMeshTriangleSize(value);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setClusterRatio(
+		JNIEnv*, jobject, float value)
+{
+	return app.setClusterRatio(value);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMaxGainRadius(
+		JNIEnv*, jobject, float value)
+{
+	return app.setMaxGainRadius(value);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setRenderingTextureDecimation(
+		JNIEnv*, jobject, int value)
+{
+	return app.setRenderingTextureDecimation(value);
+}
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setBackgroundColor(
+		JNIEnv*, jobject, float value)
+{
+	return app.setBackgroundColor(value);
+}
+JNIEXPORT jint JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setMappingParameter(
+    JNIEnv* env, jobject, jstring key, jstring value)
+{
+	std::string keyC, valueC;
+	GetJStringContent(env,key,keyC);
+	GetJStringContent(env,value,valueC);
+	return app.setMappingParameter(keyC, valueC);
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_resetMapping(
+		JNIEnv*, jobject)
+{
+	return app.resetMapping();
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_save(
+		JNIEnv* env, jobject, jstring databasePath)
+{
+	std::string databasePathC;
+	GetJStringContent(env,databasePath,databasePathC);
+	return app.save(databasePathC);
+}
+
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_cancelProcessing(
+		JNIEnv* env, jobject)
+{
+	return app.cancelProcessing();
+}
+
+JNIEXPORT bool JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
+		JNIEnv* env, jobject,
+		float cloudVoxelSize,
+		bool regenerateCloud,
+		bool meshing,
+		int textureSize,
+		int textureCount,
+		int normalK,
+		bool optimized,
+		float optimizedVoxelSize,
+		int optimizedDepth,
+		int optimizedMaxPolygons,
+		float optimizedColorRadius,
+		bool optimizedCleanWhitePolygons,
+		int optimizedMinClusterSize,
+		float optimizedMaxTextureDistance,
+		int optimizedMinTextureClusterSize,
+		bool blockRendering)
+{
+	return app.exportMesh(
+			cloudVoxelSize,
+			regenerateCloud,
+			meshing,
+			textureSize,
+			textureCount,
+			normalK,
+			optimized,
+			optimizedVoxelSize,
+			optimizedDepth,
+			optimizedMaxPolygons,
+			optimizedColorRadius,
+			optimizedCleanWhitePolygons,
+			optimizedMinClusterSize,
+			optimizedMaxTextureDistance,
+			optimizedMinTextureClusterSize,
+			blockRendering);
+}
+
+JNIEXPORT bool JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_postExportation(
+		JNIEnv* env, jobject, bool visualize)
+{
+	return app.postExportation(visualize);
+}
+
+JNIEXPORT bool JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_writeExportedMesh(
+		JNIEnv* env, jobject, jstring directory, jstring name)
+{
+	std::string directoryC;
+	GetJStringContent(env,directory,directoryC);
+	std::string nameC;
+	GetJStringContent(env,name,nameC);
+	return app.writeExportedMesh(directoryC, nameC);
+}
+
+
+JNIEXPORT int JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_postProcessing(
+		JNIEnv* env, jobject, int approach)
+{
+	return app.postProcessing(approach);
+}
+
+
+
+#ifdef __cplusplus
+}
+#endif

app/android/jni/point_cloud_drawable.h

@@ -0,0 +1,142 @@
+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_
+#define TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_
+
+#include <jni.h>
+
+#include <tango-gl/util.h>
+#include <vector>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <rtabmap/core/Transform.h>
+#include <pcl/Vertices.h>
+#include "util.h"
+
+// PointCloudDrawable is responsible for the point cloud rendering.
+class PointCloudDrawable {
+public:
+	static void createShaderPrograms();
+	static void releaseShaderPrograms();
+
+private:
+	static std::vector<GLuint> shaderPrograms_;
+
+ public:
+  PointCloudDrawable(
+  		  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
+		  const pcl::IndicesPtr & indices,
+		  float gainR = 1.0f,
+		  float gainG = 1.0f,
+		  float gainB = 1.0f);
+  PointCloudDrawable(
+    	  const Mesh & mesh,
+		  bool createWireframe = false);
+  virtual ~PointCloudDrawable();
+
+  void updatePolygons(const std::vector<pcl::Vertices> & polygons, const std::vector<pcl::Vertices> & polygonsLowRes = std::vector<pcl::Vertices>(), bool createWireframe = false);
+  void updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud, const pcl::IndicesPtr & indices);
+  void updateMesh(const Mesh & mesh, bool createWireframe = false);
+  void setPose(const rtabmap::Transform & pose);
+  void setVisible(bool visible) {visible_=visible;}
+  void setGains(float gainR, float gainG, float gainB) {gainR_ = gainR; gainG_ = gainG; gainB_ = gainB;}
+  rtabmap::Transform getPose() const {return pose_;}
+  const glm::mat4 & getPoseGl() const {return poseGl_;}
+  bool isVisible() const {return visible_;}
+  bool hasMesh() const {return polygons_.size()!=0;}
+  bool hasTexture() const {return textures_ != 0;}
+  float getMinHeight() const {return minHeight_;}
+  const pcl::PointXYZ & aabbMinModel() const {return aabbMinModel_;}
+  const pcl::PointXYZ & aabbMaxModel() const {return aabbMaxModel_;}
+  const pcl::PointXYZ & aabbMinWorld() const {return aabbMinWorld_;}
+  const pcl::PointXYZ & aabbMaxWorld() const {return aabbMaxWorld_;}
+
+  // Update current point cloud data.
+  //
+  // @param projection_mat: projection matrix from current render camera.
+  // @param view_mat: view matrix from current render camera.
+  // @param model_mat: model matrix for this point cloud frame.
+  // @param vertices: all vertices in this point cloud frame.
+  void Render(
+		  const glm::mat4 & projectionMatrix,
+		  const glm::mat4 & viewMatrix,
+		  bool meshRendering = true,
+		  float pointSize = 3.0f,
+		  bool textureRendering = false,
+		  bool lighting = true,
+		  float distanceToCamSqr = 0.0f,
+		  const GLuint & depthTexture = 0,
+		  int screenWidth = 0,     // nonnull if depthTexture>0
+		  int screenHeight = 0,    // nonnull if depthTexture>0
+		  float nearClipPlane = 0, // nonnull if depthTexture>0
+		  float farClipPlane = 0,  // nonnull if depthTexture>0
+		  bool packDepthToColorChannel = false,
+		  bool wireFrame = false) const;
+
+ private:
+  template<class PointT>
+  void updateAABBMinMax(const PointT & pt, pcl::PointXYZ & min, pcl::PointXYZ & max)
+  {
+	  if(pt.x<min.x) min.x = pt.x;
+	  if(pt.y<min.y) min.y = pt.y;
+	  if(pt.z<min.z) min.z = pt.z;
+	  if(pt.x>max.x) max.x = pt.x;
+	  if(pt.y>max.y) max.y = pt.y;
+	  if(pt.z>max.z) max.z = pt.z;
+  }
+  void updateAABBWorld(const rtabmap::Transform & pose);
+
+ private:
+  // Vertex buffer of the point cloud geometry.
+  GLuint vertex_buffers_;
+  GLuint textures_;
+  std::vector<GLuint> polygons_;
+  std::vector<GLuint> polygonsLowRes_;
+  std::vector<GLuint> polygonLines_;
+  std::vector<GLuint> polygonLinesLowRes_;
+  std::vector<GLuint> verticesLowRes_;
+  std::vector<GLuint> verticesLowLowRes_;
+  int nPoints_;
+  rtabmap::Transform pose_;
+  glm::mat4 poseGl_;
+  bool visible_;
+  bool hasNormals_;
+  std::vector<unsigned int> organizedToDenseIndices_;
+  float minHeight_; // odom frame
+
+  float gainR_;
+  float gainG_;
+  float gainB_;
+
+  pcl::PointXYZ aabbMinModel_;
+  pcl::PointXYZ aabbMaxModel_;
+  pcl::PointXYZ aabbMinWorld_;
+  pcl::PointXYZ aabbMaxWorld_;
+};
+
+#endif  // TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_

app/android/jni/scene.cpp

@@ -0,0 +1,816 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <tango-gl/conversions.h>
+#include <tango-gl/gesture_camera.h>
+#include <tango-gl/util.h>
+
+#include <rtabmap/utilite/ULogger.h>
+#include <rtabmap/utilite/UStl.h>
+#include <rtabmap/utilite/UTimer.h>
+#include <rtabmap/core/util3d_filtering.h>
+#include <rtabmap/core/util3d_transforms.h>
+#include <rtabmap/core/util3d_surface.h>
+#include <pcl/common/transforms.h>
+#include <pcl/common/common.h>
+
+#include <glm/gtx/transform.hpp>
+
+#include "scene.h"
+#include "util.h"
+
+// We want to represent the device properly with respect to the ground so we'll
+// add an offset in z to our origin. We'll set this offset to 1.3 meters based
+// on the average height of a human standing with a Tango device. This allows us
+// to place a grid roughly on the ground for most users.
+const glm::vec3 kHeightOffset = glm::vec3(0.0f, -1.3f, 0.0f);
+
+// Color of the motion tracking trajectory.
+const tango_gl::Color kTraceColor(0.66f, 0.66f, 0.66f);
+
+// Color of the ground grid.
+const tango_gl::Color kGridColor(0.85f, 0.85f, 0.85f);
+
+// Frustum scale.
+const glm::vec3 kFrustumScale = glm::vec3(0.4f, 0.3f, 0.5f);
+
+const std::string kGraphVertexShader =
+    "precision mediump float;\n"
+    "precision mediump int;\n"
+    "attribute vec3 vertex;\n"
+    "uniform vec3 color;\n"
+    "uniform mat4 mvp;\n"
+    "varying vec3 v_color;\n"
+    "void main() {\n"
+    "  gl_Position = mvp*vec4(vertex.x, vertex.y, vertex.z, 1.0);\n"
+    "  v_color = color;\n"
+    "}\n";
+const std::string kGraphFragmentShader =
+    "precision mediump float;\n"
+    "precision mediump int;\n"
+    "varying vec3 v_color;\n"
+    "void main() {\n"
+    "  gl_FragColor = vec4(v_color.z, v_color.y, v_color.x, 1.0);\n"
+    "}\n";
+
+
+
+Scene::Scene() :
+		gesture_camera_(0),
+		axis_(0),
+		frustum_(0),
+		grid_(0),
+		box_(0),
+		trace_(0),
+		graph_(0),
+		graphVisible_(true),
+		gridVisible_(true),
+		traceVisible_(true),
+		color_camera_to_display_rotation_(ROTATION_0),
+		currentPose_(0),
+		graph_shader_program_(0),
+		blending_(true),
+		mapRendering_(true),
+		meshRendering_(true),
+		meshRenderingTexture_(true),
+		pointSize_(5.0f),
+		boundingBoxRendering_(false),
+		lighting_(false),
+		backfaceCulling_(true),
+		wireFrame_(false),
+		r_(0.0f),
+		g_(0.0f),
+		b_(0.0f),
+		fboId_(0),
+		depthTexture_(0),
+		screenWidth_(0),
+		screenHeight_(0),
+		doubleTapOn_(false)
+{
+	gesture_camera_ = new tango_gl::GestureCamera();
+	gesture_camera_->SetCameraType(
+	      tango_gl::GestureCamera::kFirstPerson);
+}
+
+Scene::~Scene() {
+	DeleteResources();
+	delete gesture_camera_;
+}
+
+//Should only be called in OpenGL thread!
+void Scene::InitGLContent()
+{
+	if(axis_ != 0)
+	{
+		DeleteResources();
+	}
+
+	UASSERT(axis_ == 0);
+
+
+	axis_ = new tango_gl::Axis();
+	frustum_ = new tango_gl::Frustum();
+	trace_ = new tango_gl::Trace();
+	grid_ = new tango_gl::Grid();
+	box_ = new BoundingBoxDrawable();
+	currentPose_ = new rtabmap::Transform();
+
+
+	axis_->SetScale(glm::vec3(0.5f,0.5f,0.5f));
+	frustum_->SetColor(kTraceColor);
+	trace_->ClearVertexArray();
+	trace_->SetColor(kTraceColor);
+	grid_->SetColor(kGridColor);
+	grid_->SetPosition(kHeightOffset);
+	box_->SetShader();
+	box_->SetColor(1,0,0);
+
+	PointCloudDrawable::createShaderPrograms();
+
+	if(graph_shader_program_ == 0)
+	{
+		graph_shader_program_ = tango_gl::util::CreateProgram(kGraphVertexShader.c_str(), kGraphFragmentShader.c_str());
+		UASSERT(graph_shader_program_ != 0);
+	}
+}
+
+//Should only be called in OpenGL thread!
+void Scene::DeleteResources() {
+
+	LOGI("Scene::DeleteResources()");
+	if(axis_)
+	{
+		delete axis_;
+		axis_ = 0;
+		delete frustum_;
+		delete trace_;
+		delete grid_;
+		delete currentPose_;
+		delete box_;
+	}
+
+	PointCloudDrawable::releaseShaderPrograms();
+
+	if (graph_shader_program_) {
+		glDeleteShader(graph_shader_program_);
+		graph_shader_program_ = 0;
+	}
+
+	if(fboId_>0)
+	{
+		glDeleteFramebuffers(1, &fboId_);
+		fboId_ = 0;
+		glDeleteTextures(1, &depthTexture_);
+		depthTexture_ = 0;
+	}
+
+	clear();
+}
+
+//Should only be called in OpenGL thread!
+void Scene::clear()
+{
+	LOGI("Scene::clear()");
+	for(std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.begin(); iter!=pointClouds_.end(); ++iter)
+	{
+		delete iter->second;
+	}
+	if(trace_)
+	{
+		trace_->ClearVertexArray();
+	}
+	if(graph_)
+	{
+		delete graph_;
+		graph_ = 0;
+	}
+	pointClouds_.clear();
+	if(grid_)
+	{
+		grid_->SetPosition(kHeightOffset);
+	}
+}
+
+//Should only be called in OpenGL thread!
+void Scene::SetupViewPort(int w, int h) {
+	if (h == 0) {
+		LOGE("Setup graphic height not valid");
+	}
+	UASSERT(gesture_camera_ != 0);
+	gesture_camera_->SetWindowSize(static_cast<float>(w), static_cast<float>(h));
+	glViewport(0, 0, w, h);
+	if(screenWidth_ != w || fboId_ == 0)
+	{
+		if(fboId_>0)
+		{
+			glDeleteFramebuffers(1, &fboId_);
+			fboId_ = 0;
+			glDeleteTextures(1, &depthTexture_);
+			depthTexture_ = 0;
+		}
+
+		// Create depth texture
+		glGenTextures(1, &depthTexture_);
+		glBindTexture(GL_TEXTURE_2D, depthTexture_);
+		glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+		glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+		glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+		glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+		glTexImage2D(GL_TEXTURE_2D, 0, GL_DEPTH_COMPONENT, w, h, 0, GL_DEPTH_COMPONENT, GL_UNSIGNED_INT, NULL);
+		glBindTexture(GL_TEXTURE_2D, 0);
+
+		// regenerate fbo texture
+		// create a framebuffer object, you need to delete them when program exits.
+		glGenFramebuffers(1, &fboId_);
+		glBindFramebuffer(GL_FRAMEBUFFER, fboId_);
+
+		// Set the texture to be at the depth attachment point of the FBO
+		glFramebufferTexture2D(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_TEXTURE_2D, depthTexture_, 0);
+
+		GLuint status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
+		if ( status != GL_FRAMEBUFFER_COMPLETE)
+		{
+			LOGE("Frame buffer cannot be generated! Status: %in", status);
+		}
+		glBindFramebuffer(GL_FRAMEBUFFER,0);
+	}
+	screenWidth_ = w;
+	screenHeight_ = h;
+}
+
+std::vector<glm::vec4> computeFrustumPlanes(const glm::mat4 & mat, bool normalize = true)
+{
+	// http://www.txutxi.com/?p=444
+	std::vector<glm::vec4> planes(6);
+
+	// Left Plane
+	// col4 + col1
+	planes[0].x = mat[0][3] + mat[0][0];
+	planes[0].y = mat[1][3] + mat[1][0];
+	planes[0].z = mat[2][3] + mat[2][0];
+	planes[0].w = mat[3][3] + mat[3][0];
+
+	// Right Plane
+	// col4 - col1
+	planes[1].x = mat[0][3] - mat[0][0];
+	planes[1].y = mat[1][3] - mat[1][0];
+	planes[1].z = mat[2][3] - mat[2][0];
+	planes[1].w = mat[3][3] - mat[3][0];
+
+	// Bottom Plane
+	// col4 + col2
+	planes[2].x = mat[0][3] + mat[0][1];
+	planes[2].y = mat[1][3] + mat[1][1];
+	planes[2].z = mat[2][3] + mat[2][1];
+	planes[2].w = mat[3][3] + mat[3][1];
+
+	// Top Plane
+	// col4 - col2
+	planes[3].x = mat[0][3] - mat[0][1];
+	planes[3].y = mat[1][3] - mat[1][1];
+	planes[3].z = mat[2][3] - mat[2][1];
+	planes[3].w = mat[3][3] - mat[3][1];
+
+	// Near Plane
+	// col4 + col3
+	planes[4].x = mat[0][3] + mat[0][2];
+	planes[4].y = mat[1][3] + mat[1][2];
+	planes[4].z = mat[2][3] + mat[2][2];
+	planes[4].w = mat[3][3] + mat[3][2];
+
+	// Far Plane
+	// col4 - col3
+	planes[5].x = mat[0][3] - mat[0][2];
+	planes[5].y = mat[1][3] - mat[1][2];
+	planes[5].z = mat[2][3] - mat[2][2];
+	planes[5].w = mat[3][3] - mat[3][2];
+
+	//if(normalize)
+	{
+		for(unsigned int i=0;i<planes.size(); ++i)
+		{
+			if(normalize)
+			{
+				float d = std::sqrt(planes[i].x * planes[i].x + planes[i].y * planes[i].y + planes[i].z * planes[i].z); // for normalizing the coordinates
+				planes[i].x/=d;
+				planes[i].y/=d;
+				planes[i].z/=d;
+				planes[i].w/=d;
+			}
+		}
+	}
+
+	return planes;
+}
+
+/**
+ * Tells whether or not b is intersecting f.
+ * http://www.txutxi.com/?p=584
+ * @param f Viewing frustum.
+ * @param b An axis aligned bounding box.
+ * @return True if b intersects f, false otherwise.
+ */
+bool intersectFrustumAABB(
+        const std::vector<glm::vec4> &planes,
+        const pcl::PointXYZ &boxMin,
+		const pcl::PointXYZ &boxMax)
+{
+  // Indexed for the 'index trick' later
+	const pcl::PointXYZ * box[] = {&boxMin, &boxMax};
+
+  // We only need to do 6 point-plane tests
+  for (unsigned int i = 0; i < planes.size(); ++i)
+  {
+    // This is the current plane
+    const glm::vec4 &p = planes[i];
+
+    // p-vertex selection (with the index trick)
+    // According to the plane normal we can know the
+    // indices of the positive vertex
+    const int px = p.x > 0.0f?1:0;
+    const int py = p.y > 0.0f?1:0;
+    const int pz = p.z > 0.0f?1:0;
+
+    // Dot product
+    // project p-vertex on plane normal
+    // (How far is p-vertex from the origin)
+    const float dp =
+        (p.x*box[px]->x) +
+        (p.y*box[py]->y) +
+        (p.z*box[pz]->z) + p.w;
+
+    // Doesn't intersect if it is behind the plane
+    if (dp < 0) {return false; }
+  }
+  return true;
+}
+
+//Should only be called in OpenGL thread!
+int Scene::Render() {
+	UASSERT(gesture_camera_ != 0);
+
+	glm::vec3 position(currentPose_->x(), currentPose_->y(), currentPose_->z());
+	Eigen::Quaternionf quat = currentPose_->getQuaternionf();
+	glm::quat rotation(quat.w(), quat.x(), quat.y(), quat.z());
+	glm::mat4 rotateM;
+	if(!currentPose_->isNull())
+	{
+		rotateM = glm::rotate<float>(float(color_camera_to_display_rotation_)*-1.57079632679489661923132169163975144, glm::vec3(0.0f, 0.0f, 1.0f));
+
+		if (gesture_camera_->GetCameraType() == tango_gl::GestureCamera::kFirstPerson)
+		{
+			// In first person mode, we directly control camera's motion.
+			gesture_camera_->SetPosition(position);
+			gesture_camera_->SetRotation(rotation*glm::quat(rotateM));
+		}
+		else
+		{
+			// In third person or top down mode, we follow the camera movement.
+			gesture_camera_->SetAnchorPosition(position, rotation*glm::quat(rotateM));
+		}
+	}
+
+	glm::mat4 projectionMatrix = gesture_camera_->GetProjectionMatrix();
+	glm::mat4 viewMatrix = gesture_camera_->GetViewMatrix();
+
+	rtabmap::Transform openglCamera = GetOpenGLCameraPose();//*rtabmap::Transform(0.0f, 0.0f, 3.0f, 0.0f, 0.0f, 0.0f);
+	// transform in same coordinate as frustum filtering
+	openglCamera *= rtabmap::Transform(
+		 0.0f,  0.0f,  1.0f, 0.0f,
+		 0.0f,  1.0f,  0.0f, 0.0f,
+		-1.0f,  0.0f,  0.0f, 0.0f);
+
+	//Culling
+	std::vector<glm::vec4> planes = computeFrustumPlanes(projectionMatrix*viewMatrix, true);
+	std::vector<PointCloudDrawable*> cloudsToDraw(pointClouds_.size());
+	int oi=0;
+	for(std::map<int, PointCloudDrawable*>::const_iterator iter=pointClouds_.begin(); iter!=pointClouds_.end(); ++iter)
+	{
+		if(!mapRendering_ && iter->first > 0)
+		{
+			break;
+		}
+
+		if(iter->second->isVisible())
+		{
+			if(intersectFrustumAABB(planes,
+					iter->second->aabbMinWorld(),
+					iter->second->aabbMaxWorld()))
+			{
+				cloudsToDraw[oi++] = iter->second;
+			}
+		}
+	}
+	cloudsToDraw.resize(oi);
+
+	// First rendering to get depth texture
+	glEnable(GL_DEPTH_TEST);
+	glDepthFunc(GL_LESS);
+	glDepthMask(GL_TRUE);
+	glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
+	glDisable (GL_BLEND);
+	glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+	if(backfaceCulling_)
+	{
+		glEnable(GL_CULL_FACE);
+	}
+	else
+	{
+		glDisable(GL_CULL_FACE);
+	}
+
+	UTimer timer;
+
+	bool onlineBlending = blending_ && gesture_camera_->GetCameraType()!=tango_gl::GestureCamera::kTopOrtho && mapRendering_ && meshRendering_ && cloudsToDraw.size()>1;
+	if(onlineBlending && fboId_)
+	{
+		// set the rendering destination to FBO
+		glBindFramebuffer(GL_FRAMEBUFFER, fboId_);
+
+		glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE);
+		glClearColor(1, 1, 1, 1);
+		glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+
+		// Draw scene
+		for(std::vector<PointCloudDrawable*>::const_iterator iter=cloudsToDraw.begin(); iter!=cloudsToDraw.end(); ++iter)
+		{
+			// set large distance to cam to use low res polygons for fast processing
+			(*iter)->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, false, false, 999.0f);
+		}
+
+		// back to normal window-system-provided framebuffer
+		glBindFramebuffer(GL_FRAMEBUFFER, 0); // unbind
+		glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
+	}
+
+	if(doubleTapOn_ && gesture_camera_->GetCameraType() != tango_gl::GestureCamera::kFirstPerson)
+	{
+		glClearColor(0, 0, 0, 0);
+		glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+
+		for(std::vector<PointCloudDrawable*>::const_iterator iter=cloudsToDraw.begin(); iter!=cloudsToDraw.end(); ++iter)
+		{
+			// set large distance to cam to use low res polygons for fast processing
+			(*iter)->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_*10.0f, false, false, 999.0f, 0, 0, 0, 0, 0, true);
+		}
+
+		GLubyte zValue[4];
+		glReadPixels(doubleTapPos_.x*screenWidth_, screenHeight_-doubleTapPos_.y*screenHeight_, 1, 1, GL_RGBA, GL_UNSIGNED_BYTE, zValue);
+		float fromFixed = 256.0f/255.0f;
+		float zValueF = float(zValue[0]/255.0f)*fromFixed + float(zValue[1]/255.0f)*fromFixed/255.0f + float(zValue[2]/255.0f)*fromFixed/65025.0f + float(zValue[3]/255.0f)*fromFixed/160581375.0f;
+
+		if(zValueF != 0.0f)
+		{
+			zValueF = zValueF*2.0-1.0;//NDC
+			glm::vec4 point = glm::inverse(projectionMatrix*viewMatrix)*glm::vec4(doubleTapPos_.x*2.0f-1.0f, (1.0f-doubleTapPos_.y)*2.0f-1.0f, zValueF, 1.0f);
+			point /= point.w;
+			gesture_camera_->SetAnchorOffset(glm::vec3(point.x, point.y, point.z) - position);
+		}
+	}
+	doubleTapOn_ = false;
+
+	glClearColor(r_, g_, b_, 1.0f);
+	glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+
+	if(!currentPose_->isNull())
+	{
+		if (gesture_camera_->GetCameraType() != tango_gl::GestureCamera::kFirstPerson)
+		{
+			frustum_->SetPosition(position);
+			frustum_->SetRotation(rotation);
+			// Set the frustum scale to 4:3, this doesn't necessarily match the physical
+			// camera's aspect ratio, this is just for visualization purposes.
+			frustum_->SetScale(kFrustumScale);
+			frustum_->Render(projectionMatrix, viewMatrix);
+
+			axis_->SetPosition(position);
+			axis_->SetRotation(rotation);
+			axis_->Render(projectionMatrix, viewMatrix);
+		}
+
+		trace_->UpdateVertexArray(position);
+		if(traceVisible_)
+		{
+			trace_->Render(projectionMatrix, viewMatrix);
+		}
+
+		if(gridVisible_)
+		{
+			grid_->Render(projectionMatrix, viewMatrix);
+		}
+	}
+
+	if(graphVisible_ && graph_)
+	{
+		graph_->Render(projectionMatrix, viewMatrix);
+	}
+
+
+	if(onlineBlending)
+	{
+		glEnable (GL_BLEND);
+		glDepthMask(GL_FALSE);
+	}
+
+	for(std::vector<PointCloudDrawable*>::const_iterator iter=cloudsToDraw.begin(); iter!=cloudsToDraw.end(); ++iter)
+	{
+		PointCloudDrawable * cloud = *iter;
+
+		if(boundingBoxRendering_)
+		{
+			box_->updateVertices(cloud->aabbMinWorld(), cloud->aabbMaxWorld());
+			box_->Render(projectionMatrix, viewMatrix);
+		}
+
+		Eigen::Vector3f cloudToCamera(
+				cloud->getPose().x() - openglCamera.x(),
+				cloud->getPose().y() - openglCamera.y(),
+				cloud->getPose().z() - openglCamera.z());
+		float distanceToCameraSqr = cloudToCamera[0]*cloudToCamera[0] + cloudToCamera[1]*cloudToCamera[1] + cloudToCamera[2]*cloudToCamera[2];
+
+		cloud->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, meshRenderingTexture_, lighting_, distanceToCameraSqr, onlineBlending?depthTexture_:0, screenWidth_, screenHeight_, gesture_camera_->getNearClipPlane(), gesture_camera_->getFarClipPlane(), false, wireFrame_);
+	}
+
+	if(onlineBlending)
+	{
+		glDisable (GL_BLEND);
+		glDepthMask(GL_TRUE);
+	}
+
+	return (int)cloudsToDraw.size();
+}
+
+void Scene::SetCameraType(tango_gl::GestureCamera::CameraType camera_type) {
+  gesture_camera_->SetCameraType(camera_type);
+}
+
+void Scene::SetCameraPose(const rtabmap::Transform & pose)
+{
+	UASSERT(currentPose_ != 0);
+	UASSERT(!pose.isNull());
+	*currentPose_ = pose;
+}
+
+void Scene::setFOV(float angle)
+{
+	gesture_camera_->SetFieldOfView(angle);
+}
+void Scene::setOrthoCropFactor(float value)
+{
+	gesture_camera_->SetOrthoCropFactor(value);
+}
+void Scene::setGridRotation(float angleDeg)
+{
+	float angleRad = angleDeg * DEGREE_2_RADIANS;
+	if(grid_)
+	{
+		glm::quat rot = glm::rotate(glm::quat(1,0,0,0), angleRad, glm::vec3(0, 1, 0));
+		grid_->SetRotation(rot);
+	}
+}
+
+rtabmap::Transform Scene::GetOpenGLCameraPose(float * fov) const
+{
+	if(fov)
+	{
+		*fov = gesture_camera_->getFOV();
+	}
+	return glmToTransform(gesture_camera_->GetTransformationMatrix());
+}
+
+void Scene::OnTouchEvent(int touch_count,
+                         tango_gl::GestureCamera::TouchEvent event, float x0,
+                         float y0, float x1, float y1) {
+	UASSERT(gesture_camera_ != 0);
+	if(touch_count == 3)
+	{
+		//doubletap
+		if(!doubleTapOn_)
+		{
+			doubleTapPos_.x = x0;
+			doubleTapPos_.y = y0;
+			doubleTapOn_ = true;
+		}
+	}
+	else
+	{
+		// rotate/translate/zoom
+		gesture_camera_->OnTouchEvent(touch_count, event, x0, y0, x1, y1);
+	}
+}
+
+void Scene::updateGraph(
+		const std::map<int, rtabmap::Transform> & poses,
+		const std::multimap<int, rtabmap::Link> & links)
+{
+	LOGI("updateGraph");
+	if(graph_)
+	{
+		delete graph_;
+		graph_ = 0;
+	}
+
+	//create
+	if(graphVisible_)
+	{
+		UASSERT(graph_shader_program_ != 0);
+		graph_ = new GraphDrawable(graph_shader_program_, poses, links);
+	}
+}
+
+void Scene::setGraphVisible(bool visible)
+{
+	graphVisible_ = visible;
+}
+
+void Scene::setGridVisible(bool visible)
+{
+	gridVisible_ = visible;
+}
+
+void Scene::setTraceVisible(bool visible)
+{
+	traceVisible_ = visible;
+}
+
+//Should only be called in OpenGL thread!
+void Scene::addCloud(
+		int id,
+		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
+		const pcl::IndicesPtr & indices,
+		const rtabmap::Transform & pose)
+{
+	LOGI("add cloud %d (%d points %d indices)", id, (int)cloud->size(), indices.get()?(int)indices->size():0);
+	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
+	if(iter != pointClouds_.end())
+	{
+		delete iter->second;
+		pointClouds_.erase(iter);
+	}
+
+	//create
+	PointCloudDrawable * drawable = new PointCloudDrawable(cloud, indices);
+	drawable->setPose(pose);
+	pointClouds_.insert(std::make_pair(id, drawable));
+}
+
+void Scene::addMesh(
+		int id,
+		const Mesh & mesh,
+		const rtabmap::Transform & pose,
+		bool createWireframe)
+{
+	LOGI("add mesh %d", id);
+	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
+	if(iter != pointClouds_.end())
+	{
+		delete iter->second;
+		pointClouds_.erase(iter);
+	}
+
+	//create
+	PointCloudDrawable * drawable = new PointCloudDrawable(mesh, createWireframe);
+	drawable->setPose(pose);
+	pointClouds_.insert(std::make_pair(id, drawable));
+
+	if(!mesh.pose.isNull() && mesh.cloud->size() && (!mesh.cloud->isOrganized() || mesh.indices->size()))
+	{
+		UTimer time;
+		float height = 0.0f;
+		Eigen::Affine3f affinePose = mesh.pose.toEigen3f();
+		if(mesh.polygons.size())
+		{
+			for(unsigned int i=0; i<mesh.polygons.size(); ++i)
+			{
+				for(unsigned int j=0; j<mesh.polygons[i].vertices.size(); ++j)
+				{
+					pcl::PointXYZRGB pt = pcl::transformPoint(mesh.cloud->at(mesh.polygons[i].vertices[j]), affinePose);
+					if(pt.z < height)
+					{
+						height = pt.z;
+					}
+				}
+			}
+		}
+		else
+		{
+			if(mesh.cloud->isOrganized())
+			{
+				for(unsigned int i=0; i<mesh.indices->size(); ++i)
+				{
+					pcl::PointXYZRGB pt = pcl::transformPoint(mesh.cloud->at(mesh.indices->at(i)), affinePose);
+					if(pt.z < height)
+					{
+						height = pt.z;
+					}
+				}
+			}
+			else
+			{
+				for(unsigned int i=0; i<mesh.cloud->size(); ++i)
+				{
+					pcl::PointXYZRGB pt = pcl::transformPoint(mesh.cloud->at(i), affinePose);
+					if(pt.z < height)
+					{
+						height = pt.z;
+					}
+				}
+			}
+		}
+
+		if(grid_->GetPosition().y == kHeightOffset.y || grid_->GetPosition().y > height)
+		{
+			grid_->SetPosition(glm::vec3(0,height,0));
+		}
+		LOGD("compute min height %f s", time.ticks());
+	}
+}
+
+
+void Scene::setCloudPose(int id, const rtabmap::Transform & pose)
+{
+	UASSERT(!pose.isNull());
+	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
+	if(iter != pointClouds_.end())
+	{
+		iter->second->setPose(pose);
+	}
+}
+
+void Scene::setCloudVisible(int id, bool visible)
+{
+	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
+	if(iter != pointClouds_.end())
+	{
+		iter->second->setVisible(visible);
+	}
+}
+
+bool Scene::hasCloud(int id) const
+{
+	return pointClouds_.find(id) != pointClouds_.end();
+}
+
+bool Scene::hasMesh(int id) const
+{
+	return pointClouds_.find(id) != pointClouds_.end() && pointClouds_.at(id)->hasMesh();
+}
+
+bool Scene::hasTexture(int id) const
+{
+	return pointClouds_.find(id) != pointClouds_.end() && pointClouds_.at(id)->hasTexture();
+}
+
+std::set<int> Scene::getAddedClouds() const
+{
+	return uKeysSet(pointClouds_);
+}
+
+void Scene::updateCloudPolygons(int id, const std::vector<pcl::Vertices> & polygons)
+{
+	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
+	if(iter != pointClouds_.end())
+	{
+		iter->second->updatePolygons(polygons);
+	}
+}
+
+void Scene::updateMesh(int id, const Mesh & mesh)
+{
+	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
+	if(iter != pointClouds_.end())
+	{
+		iter->second->updateMesh(mesh);
+	}
+}
+
+void Scene::updateGains(int id, float gainR, float gainG, float gainB)
+{
+	std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
+	if(iter != pointClouds_.end())
+	{
+		iter->second->setGains(gainR, gainG, gainB);
+	}
+}
+
+void Scene::setGridColor(float r, float g, float b)
+{
+	if(grid_)
+	{
+		grid_->SetColor(r, g, b);
+	}
+}

app/android/jni/scene.h

@@ -0,0 +1,199 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_POINT_CLOUD_SCENE_H_
+#define TANGO_POINT_CLOUD_SCENE_H_
+
+#include <jni.h>
+#include <memory>
+#include <set>
+
+#include <tango_client_api.h>  // NOLINT
+#include <tango-gl/axis.h>
+#include <tango-gl/camera.h>
+#include <tango-gl/color.h>
+#include <tango-gl/gesture_camera.h>
+#include <tango-gl/grid.h>
+#include <tango-gl/frustum.h>
+#include <tango-gl/trace.h>
+#include <tango-gl/transform.h>
+#include <tango-gl/util.h>
+
+#include <rtabmap/core/Transform.h>
+#include <rtabmap/core/Link.h>
+
+#include <point_cloud_drawable.h>
+#include <graph_drawable.h>
+#include <bounding_box_drawable.h>
+
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+
+// Scene provides OpenGL drawable objects and renders them for visualization.
+class Scene {
+ public:
+  // Constructor and destructor.
+  Scene();
+  ~Scene();
+
+  // Allocate OpenGL resources for rendering.
+  void InitGLContent();
+
+  // Release non-OpenGL allocated resources.
+  void DeleteResources();
+
+  // Setup GL view port.
+  void SetupViewPort(int w, int h);
+  int getViewPortWidth() const {return screenWidth_;}
+  int getViewPortHeight() const {return screenHeight_;}
+
+  void setScreenRotation(TangoSupportRotation colorCameraToDisplayRotation) {color_camera_to_display_rotation_ = colorCameraToDisplayRotation;}
+
+  void clear(); // removed all point clouds
+
+  // Render loop.
+  // @param: cur_pose_transformation, latest pose's transformation.
+  // @param: point_cloud_transformation, pose transformation at point cloud
+  //         frame's timestamp.
+  // @param: point_cloud_vertices, point cloud's vertices of the current point
+  //         frame.
+  int Render();
+
+  // Set render camera's viewing angle, first person, third person or top down.
+  //
+  // @param: camera_type, camera type includes first person, third person and
+  //         top down
+  void SetCameraType(tango_gl::GestureCamera::CameraType camera_type);
+
+  void SetCameraPose(const rtabmap::Transform & pose);
+  rtabmap::Transform GetCameraPose() const {return currentPose_!=0?*currentPose_:rtabmap::Transform();}
+  rtabmap::Transform GetOpenGLCameraPose(float * fov = 0) const;
+
+  // Touch event passed from android activity. This function only support two
+  // touches.
+  //
+  // @param: touch_count, total count for touches.
+  // @param: event, touch event of current touch.
+  // @param: x0, normalized touch location for touch 0 on x axis.
+  // @param: y0, normalized touch location for touch 0 on y axis.
+  // @param: x1, normalized touch location for touch 1 on x axis.
+  // @param: y1, normalized touch location for touch 1 on y axis.
+  void OnTouchEvent(int touch_count, tango_gl::GestureCamera::TouchEvent event,
+                    float x0, float y0, float x1, float y1);
+
+  void updateGraph(
+  		const std::map<int, rtabmap::Transform> & poses,
+  		const std::multimap<int, rtabmap::Link> & links);
+
+  void setGraphVisible(bool visible);
+  void setGridVisible(bool visible);
+  void setTraceVisible(bool visible);
+
+  void addCloud(
+  		  int id,
+  		  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
+		  const pcl::IndicesPtr & indices,
+  		  const rtabmap::Transform & pose);
+  void addMesh(
+  		int id,
+  		const Mesh & mesh,
+  		const rtabmap::Transform & pose,
+		bool createWireframe = false);
+
+  void setCloudPose(int id, const rtabmap::Transform & pose);
+  void setCloudVisible(int id, bool visible);
+  bool hasCloud(int id) const;
+  bool hasMesh(int id) const;
+  bool hasTexture(int id) const;
+  std::set<int> getAddedClouds() const;
+  void updateCloudPolygons(int id, const std::vector<pcl::Vertices> & polygons);
+  void updateMesh(int id, const Mesh & mesh);
+  void updateGains(int id, float gainR, float gainG, float gainB);
+
+  void setBlending(bool enabled) {blending_ = enabled;}
+  void setMapRendering(bool enabled) {mapRendering_ = enabled;}
+  void setMeshRendering(bool enabled, bool withTexture) {meshRendering_ = enabled; meshRenderingTexture_ = withTexture;}
+  void setPointSize(float size) {pointSize_ = size;}
+  void setFOV(float angle);
+  void setOrthoCropFactor(float value);
+  void setGridRotation(float angleDeg);
+  void setLighting(bool enabled) {lighting_ = enabled;}
+  void setBackfaceCulling(bool enabled) {backfaceCulling_ = enabled;}
+  void setWireframe(bool enabled) {wireFrame_ = enabled;}
+  void setBackgroundColor(float r, float g, float b) {r_=r; g_=g; b_=b;} // 0.0f <> 1.0f
+  void setGridColor(float r, float g, float b);
+
+  bool isBlending() const {return blending_;}
+  bool isMapRendering() const {return mapRendering_;}
+  bool isMeshRendering() const {return meshRendering_;}
+  bool isMeshTexturing() const {return meshRendering_ && meshRenderingTexture_;}
+  float getPointSize() const {return pointSize_;}
+  bool isLighting() const {return lighting_;}
+  bool isBackfaceCulling() const {return backfaceCulling_;}
+
+ private:
+  // Camera object that allows user to use touch input to interact with.
+  tango_gl::GestureCamera* gesture_camera_;
+
+  // Device axis (in device frame of reference).
+  tango_gl::Axis* axis_;
+
+  // Device frustum.
+  tango_gl::Frustum* frustum_;
+
+  // Ground grid.
+  tango_gl::Grid* grid_;
+
+  // Bounding box
+  BoundingBoxDrawable * box_;
+
+  // Trace of pose data.
+  tango_gl::Trace* trace_;
+  GraphDrawable * graph_;
+  bool graphVisible_;
+  bool gridVisible_;
+  bool traceVisible_;
+
+  TangoSupportRotation color_camera_to_display_rotation_;
+
+  std::map<int, PointCloudDrawable*> pointClouds_;
+
+  rtabmap::Transform * currentPose_;
+
+  // Shader to display point cloud.
+  GLuint graph_shader_program_;
+
+  bool blending_;
+  bool mapRendering_;
+  bool meshRendering_;
+  bool meshRenderingTexture_;
+  float pointSize_;
+  bool boundingBoxRendering_;
+  bool lighting_;
+  bool backfaceCulling_;
+  bool wireFrame_;
+  float r_;
+  float g_;
+  float b_;
+  GLuint fboId_;
+  GLuint depthTexture_;
+  GLsizei screenWidth_;
+  GLsizei screenHeight_;
+  bool doubleTapOn_;
+  cv::Point2f doubleTapPos_;
+};
+
+#endif  // TANGO_POINT_CLOUD_SCENE_H_

app/android/jni/tango-gl/axis.cpp

@@ -0,0 +1,75 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/axis.h"
+#include "tango-gl/shaders.h"
+
+namespace tango_gl {
+
+static const float float_vertices[] = {0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
+                                       0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f,
+                                       0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f};
+
+static const float float_colors[] = {
+    1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 1.0f, 0.0f, 1.0f,
+    0.0f, 1.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 1.0f};
+
+Axis::Axis() : Line(3.0f, GL_LINES) {
+  // Implement SetShader here, not using the dedault one.
+  shader_program_ =
+      util::CreateProgram(shaders::GetColorVertexShader().c_str(),
+                          shaders::GetBasicFragmentShader().c_str());
+  if (!shader_program_) {
+    LOGE("Could not create program.");
+  }
+  uniform_mvp_mat_ = glGetUniformLocation(shader_program_, "mvp");
+  attrib_colors_ = glGetAttribLocation(shader_program_, "color");
+  attrib_vertices_ = glGetAttribLocation(shader_program_, "vertex");
+
+  size_t size = sizeof(float_vertices) / (sizeof(float) * 3);
+  for (size_t i = 0; i < size; i++) {
+    vec_vertices_.push_back(glm::vec3(float_vertices[i * 3],
+                                      float_vertices[i * 3 + 1],
+                                      float_vertices[i * 3 + 2]));
+    vec_colors_.push_back(
+        glm::vec4(float_colors[i * 4], float_colors[i * 4 + 1],
+                  float_colors[i * 4 + 2], float_colors[i * 4 + 3]));
+  }
+}
+
+void Axis::Render(const glm::mat4& projection_mat,
+                  const glm::mat4& view_mat) const {
+  glUseProgram(shader_program_);
+  glLineWidth(line_width_);
+  glm::mat4 model_mat = GetTransformationMatrix();
+  glm::mat4 mvp_mat = projection_mat * view_mat * model_mat;
+  glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+
+  glEnableVertexAttribArray(attrib_vertices_);
+  glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE,
+                        sizeof(glm::vec3), &vec_vertices_[0]);
+
+  glEnableVertexAttribArray(attrib_colors_);
+  glVertexAttribPointer(attrib_colors_, 4, GL_FLOAT, GL_FALSE,
+                        sizeof(glm::vec4), &vec_colors_[0]);
+
+  glDrawArrays(render_mode_, 0, vec_vertices_.size());
+
+  glDisableVertexAttribArray(attrib_vertices_);
+  glDisableVertexAttribArray(attrib_colors_);
+  glUseProgram(0);
+}
+}  // namespace tango_gl

app/android/jni/tango-gl/band.cpp

@@ -0,0 +1,149 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/band.h"
+#include "tango-gl/util.h"
+
+namespace tango_gl {
+
+// Set band resolution to 0.01m(1cm) when using UpdateVertexArray()
+static const float kMinDistanceSquared = 0.0001f;
+
+Band::Band(const unsigned int max_length)
+    : band_width_(0.2), max_length_(max_length) {
+  SetShader();
+  vertices_v_.reserve(max_length);
+  pivot_left = glm::vec3(0, 0, 0);
+  pivot_right = glm::vec3(0, 0, 0);
+}
+
+void Band::SetWidth(const float width) {
+  band_width_ = width;
+}
+
+void Band::UpdateVertexArray(const glm::mat4 m, BandMode mode) {
+  // First 2 vertices of a band + 3 arrow head vertices.
+  bool need_to_initialize = (vertices_v_.size() < 5);
+
+  bool sufficient_delta = false;
+  if (!need_to_initialize) {
+    // Band head is the first two vertices after arrow head.
+    glm::vec3 band_front = 0.5f * (vertices_v_[vertices_v_.size() - 4] +
+                                   vertices_v_[vertices_v_.size() - 5]);
+    sufficient_delta = kMinDistanceSquared <
+        util::DistanceSquared(band_front, util::GetTranslationFromMatrix(m));
+  }
+
+  if (need_to_initialize || sufficient_delta) {
+    glm::vec3 left  = glm::vec3(-band_width_ * 0.5f, 0, 0);
+    glm::vec3 right = glm::vec3(band_width_ * 0.5f, 0, 0);
+    glm::vec3 arrow_left = glm::vec3(-band_width_ * 0.75f, 0, 0);
+    glm::vec3 arrow_right = glm::vec3(band_width_ * 0.75f, 0, 0);
+    glm::vec3 arrow_front = glm::vec3(0, 0, -band_width_ * 0.75f);
+
+    // If keep right pivot point, or normal mode,
+    // then only update left pivot point.
+    if (mode == BandMode::kNormal || mode == BandMode::kKeepRight) {
+      pivot_left = util::ApplyTransform(m, left);
+    }
+    // If keep left pivot point, or normal mode,
+    // then only update right pivot point.
+    if (mode == BandMode::kNormal || mode == BandMode::kKeepLeft) {
+      pivot_right = util::ApplyTransform(m, right);
+    }
+
+    glm::mat4 head_m = m;
+
+    if (mode != BandMode::kNormal) {
+      glm::vec3 up = glm::vec3(0, 1.0f, 0);
+      glm::vec3 position = 0.5f * (pivot_left + pivot_right);
+      glm::vec3 heading = glm::cross(up, pivot_right-pivot_left);
+      head_m = glm::inverse(glm::lookAt(glm::vec3(0, 0, 0), heading, up));
+      head_m[3][0] = position.x;
+      head_m[3][1] = position.y;
+      head_m[3][2] = position.z;
+    }
+
+    if (need_to_initialize) {
+      vertices_v_.resize(5);
+    } else {
+      vertices_v_.resize(vertices_v_.size() + 2);
+    }
+
+    size_t insertion_start = vertices_v_.size() - 5;
+    vertices_v_[insertion_start + 0] = pivot_left;
+    vertices_v_[insertion_start + 1] = pivot_right;
+    vertices_v_[insertion_start + 2] = util::ApplyTransform(head_m, arrow_left);
+    vertices_v_[insertion_start + 3] = util::ApplyTransform(head_m, arrow_right);
+    vertices_v_[insertion_start + 4] = util::ApplyTransform(head_m, arrow_front);
+
+    if (vertices_v_.size() > max_length_) {
+      vertices_v_.erase(vertices_v_.begin(), vertices_v_.begin() + 2);
+    }
+  }
+}
+
+void Band::UpdateVertexArray(const glm::mat4 m) {
+  // Defualt to call update with normal mode.
+  UpdateVertexArray(m, BandMode::kNormal);
+}
+
+void Band::SetVertexArray(const std::vector<glm::vec3>& v,
+                          const glm::vec3& up) {
+  vertices_v_.clear();
+  vertices_v_.reserve(2 * v.size());
+  if (v.size() < 2)
+    return;
+
+  for (size_t i = 0; i < v.size() - 1; ++i) {
+    glm::vec3 gl_p_world_a = v[i];
+    glm::vec3 gl_p_world_b = v[i + 1];
+    glm::vec3 dir = glm::normalize(gl_p_world_b - gl_p_world_a);
+    glm::vec3 left = glm::cross(up, dir);
+    glm::normalize(left);
+
+    vertices_v_.push_back(gl_p_world_a + (band_width_ / 2.0f * left));
+    vertices_v_.push_back(gl_p_world_a - (band_width_ / 2.0f * left));
+
+    // Cap the end of the path.
+    if (i == v.size() - 2) {
+      vertices_v_.push_back(gl_p_world_b + (band_width_ / 2.0f * left));
+      vertices_v_.push_back(gl_p_world_b - (band_width_ / 2.0f * left));
+    }
+  }
+
+}
+
+void Band::ClearVertexArray() { vertices_v_.clear(); }
+
+void Band::Render(const glm::mat4& projection_mat,
+                  const glm::mat4& view_mat) const {
+  glUseProgram(shader_program_);
+  glm::mat4 model_mat = GetTransformationMatrix();
+  glm::mat4 mvp_mat = projection_mat * view_mat * model_mat;
+  glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+
+  glUniform4f(uniform_color_, red_, green_, blue_, alpha_);
+
+  glEnableVertexAttribArray(attrib_vertices_);
+  glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE,
+                        sizeof(glm::vec3), &vertices_v_[0]);
+  glDrawArrays(GL_TRIANGLE_STRIP, 0, vertices_v_.size());
+  glDisableVertexAttribArray(attrib_vertices_);
+  glUseProgram(0);
+}
+
+}  // namespace tango_gl

app/android/jni/tango-gl/bounding_box.cpp

@@ -0,0 +1,62 @@
+#include "tango-gl/bounding_box.h"
+
+namespace tango_gl {
+BoundingBox::BoundingBox(const std::vector<float>& vertices) {
+  // Set min and max to the first vertice.
+  bounding_min_ = glm::vec3(vertices[0], vertices[1], vertices[2]);
+  bounding_max_ = bounding_min_;
+  size_t vertices_count = vertices.size() / 3;
+  for (size_t i = 1; i < vertices_count; i += 3) {
+    bounding_min_.x = std::min(vertices[i * 3], bounding_min_.x);
+    bounding_min_.y = std::min(vertices[i * 3 + 1], bounding_min_.y);
+    bounding_min_.z = std::min(vertices[i * 3 + 2], bounding_min_.z);
+
+    bounding_max_.x = std::max(vertices[i * 3], bounding_max_.x);
+    bounding_max_.y = std::max(vertices[i * 3 + 1], bounding_max_.y);
+    bounding_max_.z = std::max(vertices[i * 3 + 2], bounding_max_.z);
+  }
+}
+
+bool BoundingBox::IsIntersecting(const Segment& segment,
+                                 const glm::quat& rotation,
+                                 const glm::mat4& transformation) {
+  // The current bounding box.
+  glm::vec3 min, max;
+
+  // If the mesh has been rotated, we need to derive a new bounding box
+  // based on the original one, if it just been translated or scaled,
+  // we can still use the original one with current model matrix applied.
+  if (rotation == glm::quat(1.0f, 0.0f, 0.0f, 0.0f)) {
+    min = util::ApplyTransform(transformation, bounding_min_);
+    max = util::ApplyTransform(transformation, bounding_max_);
+  } else {
+    std::vector<glm::vec3> box;
+    // Derive 8 vertices of the new bounding box from original min and max.
+    box.push_back(bounding_min_);
+    box.push_back(bounding_max_);
+
+    box.push_back(glm::vec3(bounding_min_.x, bounding_max_.y, bounding_max_.z));
+    box.push_back(glm::vec3(bounding_max_.x, bounding_min_.y, bounding_min_.z));
+
+    box.push_back(glm::vec3(bounding_min_.x, bounding_min_.y, bounding_max_.z));
+    box.push_back(glm::vec3(bounding_max_.x, bounding_max_.y, bounding_min_.z));
+
+    box.push_back(glm::vec3(bounding_max_.x, bounding_min_.y, bounding_max_.z));
+    box.push_back(glm::vec3(bounding_min_.x, bounding_max_.y, bounding_min_.z));
+
+    min = util::ApplyTransform(transformation, bounding_min_);
+    max = min;
+    for (size_t i = 1; i < box.size(); i++) {
+      glm::vec3 temp = util::ApplyTransform(transformation, box[i]);
+      min.x = std::min(temp.x, min.x);
+      min.y = std::min(temp.y, min.y);
+      min.z = std::min(temp.z, min.z);
+
+      max.x = std::max(temp.x, max.x);
+      max.y = std::max(temp.y, max.y);
+      max.z = std::max(temp.z, max.z);
+    }
+  }
+  return util::SegmentAABBIntersect(min, max, segment.start, segment.end);
+}
+}  // namespace tango_gl

app/android/jni/tango-gl/camera.cpp

@@ -0,0 +1,83 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/camera.h"
+#include "tango-gl/util.h"
+
+namespace tango_gl {
+
+Camera::Camera() {
+  field_of_view_ = 45.0f * DEGREE_2_RADIANS;
+  aspect_ratio_ = 4.0f / 3.0f;
+  width_ = 800.0f;
+  height_ = 600.0f;
+  near_clip_plane_ = 0.2f;
+  far_clip_plane_ = 1000.0f;
+  ortho_ = false;
+  orthoScale_ = 2.0f;
+  orthoCropFactor_ = -1.0f;
+}
+
+glm::mat4 Camera::GetViewMatrix() {
+  return glm::inverse(GetTransformationMatrix());
+}
+
+glm::mat4 Camera::GetProjectionMatrix() {
+	if(ortho_)
+	{
+		return glm::ortho(-orthoScale_*aspect_ratio_, orthoScale_*aspect_ratio_, -orthoScale_, orthoScale_, orthoScale_ + orthoCropFactor_, far_clip_plane_);
+	}
+  return glm::perspective(field_of_view_, aspect_ratio_, near_clip_plane_, far_clip_plane_);
+}
+
+void Camera::SetWindowSize(float width, float height) {
+	width_ = width;
+	height_ = height;
+  aspect_ratio_ = width/height;
+}
+
+void Camera::SetFieldOfView(float fov) {
+  field_of_view_ = fov * DEGREE_2_RADIANS;
+}
+
+void Camera::SetNearFarClipPlanes(const float near, const float far)
+{
+	near_clip_plane_ = near;
+	far_clip_plane_ = far;
+}
+
+Camera::~Camera() {
+}
+
+glm::mat4 Camera::ProjectionMatrixForCameraIntrinsics(float width, float height,
+                                                      float fx, float fy,
+                                                      float cx, float cy,
+                                                      float near, float far) {
+  const float xscale = near / fx;
+  const float yscale = near / fy;
+
+  const float xoffset =  (cx - (width  / 2.0)) * xscale;
+  // Color camera's coordinates has y pointing downwards so we negate this term.
+  const float yoffset = -(cy - (height / 2.0)) * yscale;
+
+  return  glm::frustum(xscale * -width  / 2.0f - xoffset,
+                       xscale *  width  / 2.0f - xoffset,
+                       yscale * -height / 2.0f - yoffset,
+                       yscale *  height / 2.0f - yoffset,
+                       near, far);
+}
+
+}  // namespace tango_gl

app/android/jni/tango-gl/circle.cpp

@@ -0,0 +1,36 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/circle.h"
+
+namespace tango_gl {
+Circle::Circle(float radius, int resolution) : Mesh(GL_TRIANGLE_FAN){
+  SetShader();
+  std::vector<GLfloat> vertices;
+  vertices.reserve(3 * (resolution + 2));
+  vertices.push_back(0);
+  vertices.push_back(0);
+  vertices.push_back(0);
+  float delta_theta = M_PI * 2.0f / static_cast<float>(resolution);
+  for (int i = resolution; i >= 0; i--) {
+    float theta = delta_theta * static_cast<float>(i);
+    vertices.push_back(cos(theta) * radius);
+    vertices.push_back(0);
+    vertices.push_back(sin(theta) * radius);
+  }
+  SetVertices(vertices);
+}
+}  // namespace tango_gl

app/android/jni/tango-gl/conversions.cpp

@@ -0,0 +1,52 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/conversions.h"
+
+namespace tango_gl {
+namespace conversions {
+
+glm::mat4 opengl_world_T_tango_world() {
+  // Note glm is column-wise.
+  return glm::mat4(1.0f, 0.0f,  0.0f, 0.0f,
+                   0.0f, 0.0f, -1.0f, 0.0f,
+                   0.0f, 1.0f,  0.0f, 0.0f,
+                   0.0f, 0.0f,  0.0f, 1.0f);
+}
+
+glm::mat4 color_camera_T_opengl_camera() {
+  // Note glm is column-wise.
+  return glm::mat4(1.0f,  0.0f,  0.0f, 0.0f,
+                   0.0f, -1.0f,  0.0f, 0.0f,
+                   0.0f,  0.0f, -1.0f, 0.0f,
+                   0.0f,  0.0f,  0.0f, 1.0f);
+}
+
+glm::mat4 depth_camera_T_opengl_camera() {
+  // Note glm is column-wise.
+  return glm::mat4(1.0f, 0.0f, 0.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f, 0.0f, 0.0f,
+                   -1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
+}
+
+glm::quat QuatTangoToGl(const glm::quat& tango_q_frame) {
+  const float kSqrt2Over2 = std::sqrt(2.0) / 2.0f;
+  // Tango frame is a -90 degree rotation about +X from the GL frame.
+  glm::quat gl_q_tango = glm::quat(kSqrt2Over2, -kSqrt2Over2, 0.0f, 0.0f);
+  return gl_q_tango * tango_q_frame;
+}
+
+}  // namespace gl_tango_conversions
+}  // namespace tango_gl

app/android/jni/tango-gl/cube.cpp

@@ -0,0 +1,54 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/cube.h"
+
+namespace tango_gl {
+
+static const GLfloat const_vertices[] = {
+    -1.0f, 1.0f,  1.0f,  -1.0f, -1.0f, 1.0f,  1.0f,  1.0f,  1.0f,  -1.0f, -1.0f,
+    1.0f,  1.0f,  -1.0f, 1.0f,  1.0f,  1.0f,  1.0f,  1.0f,  1.0f,  1.0f,  1.0f,
+    -1.0f, 1.0f,  1.0f,  1.0f,  -1.0f, 1.0f,  -1.0f, 1.0f,  1.0f,  -1.0f, -1.0f,
+    1.0f,  1.0f,  -1.0f, 1.0f,  1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, -1.0f, 1.0f,
+    -1.0f, 1.0f,  -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f,  -1.0f, -1.0f,
+    1.0f,  -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f,  1.0f,  -1.0f, -1.0f, -1.0f,
+    -1.0f, -1.0f, 1.0f,  -1.0f, 1.0f,  1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, 1.0f,
+    1.0f,  1.0f,  1.0f,  -1.0f, -1.0f, 1.0f,  1.0f,  1.0f,  1.0f,  1.0f,  1.0f,
+    1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, 1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, -1.0f,
+    1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, 1.0f,  -1.0f, -1.0f, -1.0f};
+
+static const GLfloat const_normals[] = {
+    0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,
+    1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  1.0f,  0.0f,  0.0f,  1.0f,
+    0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,
+    1.0f,  0.0f,  0.0f,  0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,
+    -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, -1.0f,
+    0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,
+    -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,
+    0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,  1.0f,  0.0f,  0.0f,
+    1.0f,  0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,
+    0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f,  0.0f,  -1.0f, 0.0f};
+
+Cube::Cube() {
+  SetShader(true);
+  std::vector<GLfloat> vertices(
+      const_vertices,
+      const_vertices + sizeof(const_vertices) / sizeof(GLfloat));
+  std::vector<GLfloat> normals(
+      const_normals, const_normals + sizeof(const_normals) / sizeof(GLfloat));
+  SetVertices(vertices, normals);
+}
+}  // namespace tango_gl

app/android/jni/tango-gl/drawable_object.cpp

@@ -0,0 +1,66 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/drawable_object.h"
+#include "tango-gl/shaders.h"
+
+namespace tango_gl {
+
+void DrawableObject::SetShader() {
+  shader_program_ =
+      util::CreateProgram(shaders::GetBasicVertexShader().c_str(),
+                          shaders::GetBasicFragmentShader().c_str());
+  if (!shader_program_) {
+    LOGE("Could not create program.");
+  }
+  uniform_mvp_mat_ = glGetUniformLocation(shader_program_, "mvp");
+  attrib_vertices_ = glGetAttribLocation(shader_program_, "vertex");
+  uniform_color_ = glGetUniformLocation(shader_program_, "color");
+}
+
+void DrawableObject::DeleteGlResources() {
+  if (shader_program_) {
+    glDeleteShader(shader_program_);
+  }
+}
+
+void DrawableObject::SetColor(float red, float green, float blue) {
+  red_ = red;
+  green_ = green;
+  blue_ = blue;
+}
+void DrawableObject::SetColor(const Color& color) {
+  SetColor(color.r, color.g, color.b);
+}
+
+void DrawableObject::SetAlpha(const float alpha) { alpha_ = alpha; }
+
+void DrawableObject::SetVertices(const std::vector<GLfloat>& vertices) {
+  vertices_ = vertices;
+}
+
+void DrawableObject::SetVertices(const std::vector<GLfloat>& vertices,
+                                 const std::vector<GLushort>& indices) {
+  vertices_ = vertices;
+  indices_ = indices;
+}
+
+void DrawableObject::SetVertices(const std::vector<GLfloat>& vertices,
+                                 const std::vector<GLfloat>& normals) {
+  vertices_ = vertices;
+  normals_ = normals;
+}
+}  // namespace tango_gl

app/android/jni/tango-gl/frustum.cpp

@@ -0,0 +1,35 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "tango-gl/frustum.h"
+
+namespace tango_gl {
+
+static const float float_vertices[] = {
+    0.0f,  0.0f,  0.0f,  -1.0f, 1.0f,  -1.0f, 0.0f,  0.0f,  0.0f,  1.0f,
+    1.0f,  -1.0f, 0.0f,  0.0f,  0.0f,  -1.0f, -1.0f, -1.0f, 0.0f,  0.0f,
+    0.0f,  1.0f,  -1.0f, -1.0f, -1.0f, 1.0f,  -1.0f, 1.0f,  1.0f,  -1.0f,
+    1.0f,  1.0f,  -1.0f, 1.0f,  -1.0f, -1.0f, 1.0f,  -1.0f, -1.0f, -1.0f,
+    -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, -1.0f, 1.0f,  -1.0f};
+
+Frustum::Frustum() : Line(3.0f, GL_LINES) {
+  SetShader();
+  size_t size = sizeof(float_vertices) / sizeof(float);
+  for (size_t i = 0; i < size; i += 3) {
+    vec_vertices_.push_back(glm::vec3(float_vertices[i], float_vertices[i + 1],
+                                      float_vertices[i + 2]));
+  }
+}
+}  // namespace tango_gl

app/android/jni/tango-gl/gesture_camera.cpp

@@ -0,0 +1,247 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/gesture_camera.h"
+#include "tango-gl/util.h"
+#include "glm/gtx/quaternion.hpp"
+
+namespace {
+// Render camera observation distance in third person camera mode.
+const float kThirdPersonCameraDist = 7.0f;
+
+// Render camera observation distance in third person camera mode.
+const float kThirdPersonFollowCameraDist = 2.0f;
+
+// Render camera observation distance in top down camera mode.
+const float kTopDownCameraDist = 5.0f;
+
+// Zoom in speed.
+const float kZoomSpeed = 10.0f;
+
+// Move speed
+const float kMoveSpeed = 10.0f;
+
+// Rotation speed
+const float kRotationSpeed = 2.0f;
+
+// Min/max clamp value of camera observation distance.
+const float kCamViewMinDist = .1f;
+const float kCamViewMaxDist = 100.f;
+
+// FOV set up values.
+// Third and top down camera's FOV is 65 degrees.
+// First person camera's FOV is 45 degrees.
+const float kHighFov = 65.0f;
+const float kLowFov = 65.0f;
+}
+
+namespace tango_gl {
+
+GestureCamera::GestureCamera() :
+		cam_cur_target_rot_(1,0,0,0),
+		start_touch_dist_(0.0f),
+		cur_touch_dist_(0.0f)
+{
+  cam_parent_transform_ = new Transform();
+  SetParent(cam_parent_transform_);
+}
+
+GestureCamera::~GestureCamera() { delete cam_parent_transform_; }
+
+void GestureCamera::OnTouchEvent(int touch_count, TouchEvent event, float x0,
+		float y0, float x1, float y1) {
+
+	if (camera_type_!=kFirstPerson && touch_count == 1) {
+		switch (event) {
+		case kTouch0Down: {
+			cam_start_angle_ = cam_cur_angle_;
+
+			touch0_start_position_.x = x0;
+			touch0_start_position_.y = y0;
+			break;
+		}
+		case kTouchMove: {
+			glm::vec2 offset;
+
+			float rotation_x = (touch0_start_position_.y - y0) * kRotationSpeed;
+			float rotation_y = (touch0_start_position_.x - x0) * kRotationSpeed;
+
+			if(camera_type_!=kTopOrtho)
+				cam_cur_angle_.x = cam_start_angle_.x + rotation_x;
+			cam_cur_angle_.y = cam_start_angle_.y + rotation_y;
+
+			StartCameraToCurrentTransform();
+
+			break;
+		}
+		default: { break; }
+		}
+	}
+	if (touch_count == 2) {
+		switch (event) {
+		case kTouch1Down: {
+			float abs_x = x0 - x1;
+			float abs_y = y0 - y1;
+			start_touch_dist_ = std::sqrt(abs_x * abs_x + abs_y * abs_y);
+			cam_start_dist_ = GetPosition().z;
+			cam_start_fov_ = this->getFOV();
+
+			// center touch
+			touch0_start_position_.x = (x0+x1)/2.0f;
+			touch0_start_position_.y = (y0+y1)/2.0f;
+			break;
+		}
+		case kTouchMove: {
+			float abs_x = x0 - x1;
+			float abs_y = y0 - y1;
+			float dist = start_touch_dist_ - std::sqrt(abs_x * abs_x + abs_y * abs_y);
+
+			if(camera_type_ == kFirstPerson)
+			{
+				this->SetFieldOfView(tango_gl::util::Clamp(cam_start_fov_ + dist * kZoomSpeed*10.0f, 45, 90));
+			}
+			else
+			{
+				cam_cur_dist_ = tango_gl::util::Clamp(cam_start_dist_ + dist * kZoomSpeed,
+								kCamViewMinDist, kCamViewMaxDist);
+
+				this->SetOrthoMode(camera_type_ == kTopOrtho);
+				if(camera_type_ == kTopOrtho)
+				{
+					this->SetOrthoScale(cam_cur_dist_);
+				}
+
+				glm::vec2 touch_center_position((x0+x1)/2.0f, (y0+y1)/2.0f);
+				glm::vec2 offset;
+				offset.x = (touch_center_position.x - touch0_start_position_.x) * kMoveSpeed;
+				offset.y = (touch_center_position.y - touch0_start_position_.y) * kMoveSpeed;
+				touch0_start_position_ = touch_center_position;
+
+				StartCameraToCurrentTransform();
+
+				anchor_offset_ += glm::rotate(cam_parent_transform_->GetRotation(), glm::vec3(-offset.x, offset.y, 0));
+			}
+			break;
+		}
+		default: { break; }
+		}
+	}
+}
+
+Segment GestureCamera::GetSegmentFromTouch(float normalized_x,
+                                           float normalized_y,
+                                           float touch_range) {
+  float screen_height = touch_range * (2.0f * glm::tan(field_of_view_ * 0.5f));
+  float screen_width = screen_height * aspect_ratio_;
+  // normalized_x and normalized_x are from OnTouchEvent, top-left corner of the
+  // screen
+  // is [0, 0], transform it to opengl frame.
+  normalized_x = normalized_x - 0.5f;
+  normalized_y = 0.5f - normalized_y;
+  glm::vec3 start =
+      util::ApplyTransform(GetTransformationMatrix(), glm::vec3(0, 0, 0));
+  glm::vec3 end = util::ApplyTransform(GetTransformationMatrix(), 
+      glm::vec3(normalized_x * screen_width, normalized_y * screen_height,
+                -touch_range));
+  Segment segment(start, end);
+  return segment;
+}
+
+void GestureCamera::SetAnchorPosition(const glm::vec3& pos, const glm::quat & rotation) {
+	// Anchor position
+	cam_parent_transform_->SetPosition(pos+anchor_offset_);
+
+	// Anchor rotation
+	if(camera_type_ == kThirdPersonFollow)
+	{
+		cam_cur_target_rot_ = rotation;
+		cam_cur_target_rot_.x = 0;
+		cam_cur_target_rot_.z = 0;
+		cam_cur_target_rot_ = glm::normalize(cam_cur_target_rot_);
+		StartCameraToCurrentTransform();
+	}
+}
+
+void GestureCamera::SetCameraType(CameraType camera_index) {
+  camera_type_ = camera_index;
+  switch (camera_index) {
+    case kFirstPerson:
+    	SetOrthoMode(false);
+      SetFieldOfView(kLowFov);
+      SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
+      SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
+      cam_cur_dist_ = 0.0f;
+      anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
+      cam_cur_angle_.x = 0.0f;
+      cam_cur_angle_.y = 0.0f;
+      cam_cur_target_rot_ = glm::quat(1,0,0,0);
+      cam_parent_transform_->SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
+      StartCameraToCurrentTransform();
+      break;
+    case kThirdPerson:
+    case kThirdPersonFollow:
+    	SetOrthoMode(false);
+    	SetFieldOfView(kHighFov);
+      SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
+      SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
+      cam_cur_dist_ = kThirdPersonFollow?kThirdPersonFollowCameraDist:kThirdPersonCameraDist;
+      anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
+      cam_cur_angle_.x = -M_PI / 6.0f;
+      cam_cur_angle_.y = kThirdPersonFollow?0:M_PI / 4.0f;
+      cam_cur_target_rot_ = glm::quat(1,0,0,0);
+      StartCameraToCurrentTransform();
+      break;
+    case kTopDown:
+      SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
+      SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
+      SetOrthoMode(false);
+      SetFieldOfView(kHighFov);
+      cam_cur_dist_ = kTopDownCameraDist;
+      anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
+      cam_cur_angle_.x = -M_PI / 2.0f;
+      cam_cur_angle_.y = 0.0f;
+      cam_cur_target_rot_ = glm::quat(1,0,0,0);
+      StartCameraToCurrentTransform();
+      break;
+    case kTopOrtho:
+	  SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
+	  SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
+	  SetOrthoMode(true);
+	  SetOrthoScale(kTopDownCameraDist);
+	  SetOrthoCropFactor(-1.0f);
+	  cam_cur_dist_ = kTopDownCameraDist;
+	  anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
+	  cam_cur_angle_.x = -M_PI / 2.0f;
+	  cam_cur_angle_.y = 0.0f;
+	  cam_cur_target_rot_ = glm::quat(1,0,0,0);
+	  StartCameraToCurrentTransform();
+	  break;
+    default:
+      break;
+  }
+}
+
+void GestureCamera::StartCameraToCurrentTransform()
+{
+  //Anchor rotation
+  glm::quat parent_cam_rot = glm::rotate(cam_cur_target_rot_, cam_cur_angle_.y, glm::vec3(0, 1, 0));
+  parent_cam_rot = glm::rotate(parent_cam_rot, cam_cur_angle_.x, glm::vec3(1, 0, 0));
+  cam_parent_transform_->SetRotation(parent_cam_rot);
+
+  //Camera position
+  SetPosition(glm::vec3(0, 0, cam_cur_dist_));
+}
+}  // namespace tango_gl

app/android/jni/tango-gl/goal_marker.cpp

@@ -0,0 +1,59 @@
+
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ * Distributed under the Project Tango Preview Development Kit (PDK) Agreement.
+ * CONFIDENTIAL. AUTHORIZED USE ONLY. DO NOT REDISTRIBUTE.
+ */
+
+#include "tango-gl/goal_marker.h"
+
+namespace tango_gl {
+
+static const GLfloat const_vertices[] = {
+    -4.5298f,  -0.2676f,  0.0,       -4.3209f,  -1.3857f,  0.0,      -3.7242f,
+    -11.1445f, 0.0,       -5.6799f,  -8.9811f,  0.0,       -4.4540f, 0.8673f,
+    0.0,       -7.8376f,  -6.4508f,  0.0,       -9.5223f,  -3.0538f, 0.0,
+    -9.9826f,  -0.5898f,  0.0,       -9.8157f,  1.9113f,   0.0,      -9.0320f,
+    4.2923f,   0.0,       -7.6808f,  6.4036f,   0.0,       -5.8469f, 8.1125f,
+    0.0,       -3.6457f,  9.3117f,   0.0,       -4.0984f,  1.9477f,  0.0,
+    -1.2155f,  9.9259f,   0.0,       -3.4853f,  2.9057f,   0.0,      1.2912f,
+    9.9163f,   0.0,       -2.6532f,  3.6812f,   0.0,       3.7167f,  9.2837f,
+    0.0,       -1.6543f,  4.2254f,   0.0,       5.9087f,   8.0677f,  0.0,
+    -0.5515f,  4.5040f,   0.0,       7.7294f,   6.3448f,   0.0,      0.5859f,
+    4.4997f,   0.0,       9.0645f,   4.2232f,   0.0,       1.6865f,  4.2126f,
+    0.0,       9.8300f,   1.8363f,   0.0,       2.6812f,   3.6609f,  0.0,
+    9.9778f,   -0.6660f,  0.0,       3.5074f,   2.8791f,   0.0,      9.4987f,
+    -3.1264f,  0.0,       4.1132f,   1.9164f,   0.0,       7.7964f,  -6.5204f,
+    0.0,       4.4605f,   0.8333f,   0.0,       5.6245f,   -9.0444f, 0.0,
+    4.5276f,   -0.3022f,  0.0,       3.6572f,   -11.1925f, 0.0,      4.3102f,
+    -1.4187f,  0.0,       1.5165f,   -13.5960f, 0.0,       3.8220f,  -2.4460f,
+    0.0,       -0.0382f,  -16.4245f, 0.0,       3.0936f,   -3.3197f, 0.0,
+    -1.5902f,  -13.5657f, 0.0,       2.1709f,   -3.9847f,  0.0,      -3.8405f,
+    -2.4168f,  0.0,       -3.1189f,  -3.2959f,  0.0,       -2.2012f, -3.9680f,
+    0.0,       -1.1452f,  -4.3908f,  0.0,       -0.0173f,  -4.5377f, 0.0,
+    1.1117f,   -4.3994f,  0.0};
+
+static const GLushort const_indices[] = {
+    1,  2,  3,  1,  3,  4,  5,  1,  4,  4,  6,  7,  5,  4,  7,  7,  8,  9,  9,
+    10, 11, 7,  9,  11, 5,  7,  11, 5,  11, 12, 5,  12, 13, 14, 5,  13, 14, 13,
+    15, 16, 14, 15, 16, 15, 17, 18, 16, 17, 18, 17, 19, 20, 18, 19, 20, 19, 21,
+    22, 20, 21, 22, 21, 23, 24, 22, 23, 24, 23, 25, 26, 24, 25, 26, 25, 27, 28,
+    26, 27, 28, 27, 29, 30, 28, 29, 30, 29, 31, 32, 30, 31, 32, 31, 33, 34, 32,
+    33, 34, 33, 35, 36, 34, 35, 36, 35, 37, 38, 36, 37, 38, 37, 39, 40, 38, 39,
+    40, 39, 41, 42, 40, 41, 42, 41, 43, 44, 42, 43, 44, 43, 3,  3,  2,  45, 3,
+    45, 46, 3,  46, 47, 3,  47, 48, 3,  48, 49, 3,  49, 50, 44, 3,  50};
+
+GoalMarker::GoalMarker() {
+  SetShader();
+  std::vector<GLfloat> vertices(
+      const_vertices,
+      const_vertices + sizeof(const_vertices) / sizeof(GLfloat));
+  std::vector<GLushort> indices(
+      const_indices, const_indices + sizeof(const_indices) / sizeof(GLushort));
+  // Change indices so they are zero-indexed.
+  for (size_t i = 0; i < indices.size(); ++i) {
+    indices[i] = indices[i] - 1;
+  }
+  SetVertices(vertices, indices);
+}
+}  // namespace tango_gl

app/android/jni/tango-gl/grid.cpp

@@ -0,0 +1,43 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/grid.h"
+
+namespace tango_gl {
+
+// Initialize Grid with x and y grid count,
+// qx, quantity in x
+// qy, quantity in y.
+Grid::Grid(float density, int qx, int qy) : Line(1.0f, GL_LINES) {
+  SetShader();
+
+  // 3 float in 1 vertex, 2 vertices form a line.
+  // Horizontal line and vertical line forms the grid.
+  float width = density * qx / 2;
+  float height = density * qy / 2;
+
+  // Horizontal line.
+  for (int i = 0; i < (qy + 1); i++) {
+    vec_vertices_.push_back(glm::vec3(-width, 0.0f, -height + i * density));
+    vec_vertices_.push_back(glm::vec3(width, 0.0f, -height + i * density));
+  }
+
+  for (int i = 0; i < (qx + 1); i++) {
+    vec_vertices_.push_back(glm::vec3(-width + i * density, 0.0f, -height));
+    vec_vertices_.push_back(glm::vec3(-width + i * density, 0.0f, height));
+  }
+}
+}  // namespace tango_gl

app/android/jni/tango-gl/include/tango-gl/axis.h

@@ -0,0 +1,32 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_AXIS_H_
+#define TANGO_GL_AXIS_H_
+
+#include "tango-gl/line.h"
+
+namespace tango_gl {
+class Axis : public Line {
+ public:
+  Axis();
+  void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
+ private:
+  GLuint attrib_colors_;
+  std::vector<glm::vec4> vec_colors_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_AXIS_H_

app/android/jni/tango-gl/include/tango-gl/band.h

@@ -0,0 +1,55 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_BAND_H_
+#define TANGO_GL_BAND_H_
+
+#include <stdlib.h>
+#include <vector>
+
+#include "tango-gl/drawable_object.h"
+
+namespace tango_gl {
+class Band : public DrawableObject {
+ public:
+  enum BandMode {
+    kNormal = 0,
+    kKeepLeft = 1,
+    kKeepRight = 2
+  };
+
+  Band(const unsigned int max_legnth);
+
+  void SetWidth(const float width);
+  // Render a Band with arrow head, pass in the mode for rendering,
+  // kKeepLeft is left turn, kKeepRight is right turn,
+  // when making a turn, vertices only get updated in one side to avoid overlapping.
+  void UpdateVertexArray(const glm::mat4 m, BandMode mode);
+  void UpdateVertexArray(const glm::mat4 m);
+  void SetVertexArray(const std::vector<glm::vec3>& v, const glm::vec3& up);
+  void ClearVertexArray();
+  void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
+
+ private:
+  float band_width_;
+  unsigned int max_length_;
+  std::vector<glm::vec3> vertices_v_;
+  // Current band head's left and right position in world frame.
+  glm::vec3 pivot_left;
+  glm::vec3 pivot_right;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_BAND_H_

app/android/jni/tango-gl/include/tango-gl/bounding_box.h

@@ -0,0 +1,42 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_BOUNDING_BOX_H_
+#define TANGO_GL_BOUNDING_BOX_H_
+
+#include <vector>
+
+#include "tango-gl/segment.h"
+#include "tango-gl/util.h"
+
+namespace tango_gl {
+class BoundingBox {
+ public:
+  BoundingBox()
+      : bounding_min_(glm::vec3(0, 0, 0)), bounding_max_(glm::vec3(0, 0, 0)) {}
+  BoundingBox(const std::vector<float>& vertices);
+  BoundingBox(const glm::vec3& min, const glm::vec3& max)
+      : bounding_min_(min), bounding_max_(max) {}
+  bool IsIntersecting(const Segment& segment, const glm::quat& rotation,
+                      const glm::mat4& transformation);
+
+ private:
+  // Axis-aligned bounding box minimum and maximum point.
+  glm::vec3 bounding_min_;
+  glm::vec3 bounding_max_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_BOUNDING_BOX_H_

app/android/jni/tango-gl/include/tango-gl/camera.h

@@ -0,0 +1,69 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_CAMERA_H_
+#define TANGO_GL_CAMERA_H_
+
+#include "tango-gl/transform.h"
+
+namespace tango_gl {
+class Camera : public Transform {
+ public:
+  Camera();
+  Camera(const Camera& other) = delete;
+  Camera& operator=(const Camera&) = delete;
+  ~Camera();
+
+  void SetWindowSize(const float width, const float height);
+  void SetFieldOfView(const float fov);
+  void SetOrthoMode(bool enabled) {ortho_ = enabled;}
+  void SetOrthoScale(float scale) {orthoScale_ = scale;}
+  void SetOrthoCropFactor(float value) {orthoCropFactor_ = value;}
+  void SetNearFarClipPlanes(const float near, const float far);
+
+  glm::mat4 GetViewMatrix();
+  glm::mat4 GetProjectionMatrix();
+  float getNearClipPlane() const {return near_clip_plane_;}
+  float getFarClipPlane() const {return far_clip_plane_;}
+
+  /**
+   * Create an OpenGL perspective matrix from window size, camera intrinsics, and clip settings.
+   *
+   * @param width  - The width of the camera image.
+   * @param height - The height of the camera image.
+   * @param fx     - The x-axis focal length of the camera.
+   * @param fy     - The y-axis focal length of the camera.
+   * @param cx     - The x-coordinate principal point in pixels.
+   * @param cy     - The y-coordinate principal point in pixels.
+   * @param near   - The desired near z-clipping plane.
+   * @param far    - The desired far z-clipping plane.
+   */
+  static glm::mat4 ProjectionMatrixForCameraIntrinsics(float width, float height,
+                                                       float fx,    float fy,
+                                                       float cx,    float cy,
+                                                       float near,  float far);
+ protected:
+  float field_of_view_;
+  float aspect_ratio_;
+  float width_;
+  float height_;
+  float near_clip_plane_, far_clip_plane_;
+  bool ortho_;
+  float orthoScale_;
+  float orthoCropFactor_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_CAMERA_H_

app/android/jni/tango-gl/include/tango-gl/circle.h

@@ -0,0 +1,28 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_CIRCLE_H_
+#define TANGO_GL_CIRCLE_H_
+
+#include "tango-gl/mesh.h"
+
+namespace tango_gl {
+class Circle : public Mesh {
+ public:
+  Circle(float radius, int resolution);
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_CIRCLE_H_

app/android/jni/tango-gl/include/tango-gl/color.h

@@ -0,0 +1,33 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_COLOR_H_
+#define TANGO_GL_COLOR_H_
+
+namespace tango_gl {
+class Color {
+ public:
+  Color() : r(0), g(0), b(0) {}
+  Color(float red, float green, float blue) : r(red), g(green), b(blue) {}
+  Color(const Color&) = default;
+  Color& operator=(const Color&) = default;
+
+  float r;
+  float g;
+  float b;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_COLOR_H_

app/android/jni/tango-gl/include/tango-gl/conversions.h

@@ -0,0 +1,132 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_GL_TANGO_CONVERSIONS_H_
+#define TANGO_GL_GL_TANGO_CONVERSIONS_H_
+
+#define GLM_FORCE_RADIANS
+
+#include "glm/glm.hpp"
+#include "glm/gtc/matrix_transform.hpp"
+#include "glm/gtc/quaternion.hpp"
+
+namespace tango_gl {
+namespace conversions {
+
+/**
+ * @brief Creates a glm::vec3 from double[3] = {x, y, z}. This is designed to
+ * work with the TangoPoseData.translation field.
+ */
+inline glm::vec3 Vec3FromArray(const double* array) {
+  return glm::vec3(array[0], array[1], array[2]);
+}
+
+/**
+ * @brief Creates a glm::quat from double[4] = {x, y, z, w}. This is designed to
+ * work with the TangoPoseData.orientation field.
+ */
+inline glm::quat QuatFromArray(const double* array) {
+  // Note GLM expects arguments in order {w, x, y, z}.
+  return glm::quat(array[3], array[0], array[1], array[2]);
+}
+
+/**
+ * @brief Creates a glm::mat4 rigid-frame transformation matrix from two arrays.
+ * This is designed for the TangoPoseData translation and orientation fields.
+ * @param A_p_B Position [x, y, z] of B_origin from A_origin, expressed in A.
+ * @param A_q_B The quaternion representation [x, y, z, w] of the rotation
+ * matrix A_R_B.
+ * @return The transformation matrix A_T_B.
+ */
+inline glm::mat4 TransformFromArrays(const double* A_p_B, const double* A_q_B) {
+  glm::vec3 glm_A_p_B = Vec3FromArray(A_p_B);
+  glm::quat glm_A_q_B = QuatFromArray(A_q_B);
+  return glm::translate(glm::mat4(1.0f), glm_A_p_B) * glm::mat4_cast(glm_A_q_B);
+}
+
+/**
+ * @brief Creates a glm::mat4 rigid-frame transformation matrix from glm::vec3 and glm::quat.
+ * This is designed for the TangoPoseData translation and orientation fields.
+ * @param A_p_B A position vector of B_origin from A_origin, expressed in A.
+ * @param A_q_B A quaternion representation of the rotation.
+ * matrix A_R_B.
+ * @return The transformation matrix A_T_B.
+ */
+inline glm::mat4 TransformFromVecAndQuat(const glm::vec3& A_p_B, const glm::quat& A_q_B) {
+  return glm::translate(glm::mat4(1.0f), A_p_B) * glm::mat4_cast(A_q_B);
+}
+
+/**
+ * @brief Convert (re-express, or rotate) a vector from the Tango ADF (or start-
+ * of-service) frame convention [right, forward, up] to the typical OpenGl world
+ * frame convention [right, up, backward]. Note this assumes the two frames are
+ * coincident, and it doesn't know about any additional offsets between a
+ * particular OpenGl scene and the Tango service frames.
+ * @param tango_vec A vector expressed in the Tango ADF frame convention.
+ * @return The same vector expressed using the Opengl frame convention.
+ */
+inline glm::vec3 Vec3TangoToGl(const glm::vec3& tango_vec) {
+  return glm::vec3(tango_vec.x, tango_vec.z, -tango_vec.y);
+}
+
+/**
+ * @brief Convert (re-express, or rotate) a vector from the typical OpenGl world
+ * frame convention [right, up, backward] to the Tango ADF (or start-of-service)
+ * frame convention [right, forward, up]. Note this assumes the two frames are
+ * coincident, and it doesn't know about any additional offsets between a
+ * particular OpenGl scene and the Tango service frames.
+ * @param gl_vec A vector expressed in the Opengl world frame convention.
+ * @return The same vector expressed using the Tango ADF frame convention.
+ */
+inline glm::vec3 Vec3GlToTango(const glm::vec3& gl_vec) {
+  return glm::vec3(gl_vec.x, -gl_vec.z, gl_vec.y);
+}
+
+/**
+ * @brief Given a quaternion representing the rotation matrix tango_R_any,
+ * returns the quaternion representing gl_R_any, where "any" is an arbitrary
+ * frame. Note the gl base frame is rotated by 90-degrees about +X from the
+ * Tango ADF/start-of-service frame, so this is equivalent to applying such a
+ * rotation to the quaternion.
+ * @param tango_q_any A quaternion representing rotation matrix tango_R_any.
+ * @return The quaternion representing gl_R_any.
+ */
+glm::quat QuatTangoToGl(const glm::quat& tango_q_any);
+
+/**
+ * Get the fixed transformation matrix relating the opengl frame convention
+ * (with Y-up, X-right) and the tango frame convention for the start-of-service
+ * and ADF frames (with Z-up, X-right), termed "world" here.
+ */
+glm::mat4 opengl_world_T_tango_world();
+
+/**
+ * Get the fixed transformation matrix relating the frame convention of the
+ * device's color camera frame (with Z-forward, X-right) and the opengl camera
+ * frame (with Z-backward, X-right).
+ */
+glm::mat4 color_camera_T_opengl_camera();
+
+/**
+ * Get the fixed transformation matrix relating the frame convention of the
+ * device's depth camera frame (with Z-forward, X-right) and the opengl camera
+ * frame (with Z-backward, X-right).
+ */
+glm::mat4 depth_camera_T_opengl_camera();
+
+}  // namespace conversions
+}  // namespace tango_gl
+#endif  // TANGO_GL_GL_TANGO_CONVERSIONS_H_

app/android/jni/tango-gl/include/tango-gl/cube.h

@@ -0,0 +1,28 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_CUBE_H_
+#define TANGO_GL_CUBE_H_
+
+#include "tango-gl/mesh.h"
+
+namespace tango_gl {
+class Cube : public Mesh {
+ public:
+  Cube();
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_CUBE_H_

app/android/jni/tango-gl/include/tango-gl/drawable_object.h

@@ -0,0 +1,63 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_DRAWABLE_OBJECT_H_
+#define TANGO_GL_DRAWABLE_OBJECT_H_
+
+#include <vector>
+
+#include "tango-gl/color.h"
+#include "tango-gl/transform.h"
+#include "tango-gl/util.h"
+
+namespace tango_gl {
+class DrawableObject : public Transform {
+ public:
+  DrawableObject() : red_(0), green_(0), blue_(0), alpha_(1.0f) {};
+  DrawableObject(const DrawableObject& other) = delete;
+  const DrawableObject& operator=(const DrawableObject&) = delete;
+
+  void DeleteGlResources();
+  void SetShader();
+  void SetColor(const Color& color);
+  void SetColor(const float red, const float green, const float blue);
+  void SetAlpha(const float alpha);
+  void SetVertices(const std::vector<GLfloat>& vertices);
+  void SetVertices(const std::vector<GLfloat>& vertices,
+                   const std::vector<GLushort>& indices);
+  void SetVertices(const std::vector<GLfloat>& vertices,
+                   const std::vector<GLfloat>& normals);
+  virtual void Render(const glm::mat4& projection_mat,
+                      const glm::mat4& view_mat) const = 0;
+
+ protected:
+  float red_;
+  float green_;
+  float blue_;
+  float alpha_;
+  std::vector<GLushort> indices_;
+  std::vector<GLfloat> vertices_;
+  std::vector<GLfloat> normals_;
+
+  GLenum render_mode_;
+  GLuint shader_program_;
+  GLuint uniform_color_;
+  GLuint uniform_mvp_mat_;
+  GLuint attrib_vertices_;
+  GLuint attrib_normals_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_DRAWABLE_OBJECT_H_

app/android/jni/tango-gl/include/tango-gl/frustum.h

@@ -0,0 +1,28 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_FRUSTUM_H_
+#define TANGO_GL_FRUSTUM_H_
+
+#include "tango-gl/line.h"
+
+namespace tango_gl {
+class Frustum : public Line {
+ public:
+  Frustum();
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_FRUSTUM_H_

app/android/jni/tango-gl/include/tango-gl/gesture_camera.h

@@ -0,0 +1,94 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_GESTURE_CAMERA_H_
+#define TANGO_GL_GESTURE_CAMERA_H_
+
+#include "tango-gl/camera.h"
+#include "tango-gl/segment.h"
+#include "tango-gl/transform.h"
+#include "tango-gl/util.h"
+
+namespace tango_gl {
+class GestureCamera : public Camera {
+ public:
+  enum CameraType {
+    kFirstPerson = 0,
+    kThirdPersonFollow = 1,
+    kTopDown = 2,
+	kTopOrtho = 3,
+    kThirdPerson = 4
+  };
+
+  enum TouchEvent {
+    kTouch0Down = 0,
+    kTouch0Up = 1,
+    kTouchMove = 2,
+    kTouch1Down = 5,
+    kTouch1Up = 6,
+    kTouchNone = -1
+  };
+
+  GestureCamera();
+  ~GestureCamera();
+
+  void OnTouchEvent(int touch_count, TouchEvent event, float x0, float y0,
+                    float x1, float y1);
+
+  // Get the ray in opengl world frame given the 2d touch position on screen,
+  // normalized touch_x and normalized touch_y should be the same value get from
+  // OnTouchEvent, x0 and y0, touch_range is the depth of the touch in
+  // camera frame.
+  Segment GetSegmentFromTouch(float normalized_x, float normalized_y,
+                              float touch_range);
+
+  void SetAnchorPosition(const glm::vec3& pos, const glm::quat & rotation);
+  void SetAnchorOffset(const glm::vec3& pos) {anchor_offset_ = pos;}
+  const glm::vec3& GetAnchorOffset() const {return anchor_offset_;}
+
+  void SetCameraDistance(float cameraDistance) {cam_cur_dist_ = cameraDistance;}
+  float GetCameraDistance() const {return cam_cur_dist_;}
+
+  // Set camera type, set render camera's parent position and rotation.
+  void SetCameraType(CameraType camera_index);
+
+  CameraType GetCameraType() const { return camera_type_; }
+  float getFOV() const {return field_of_view_ * RADIAN_2_DEGREE;}
+
+ private:
+  void StartCameraToCurrentTransform();
+
+  // Render camera's parent transformation.
+  Transform* cam_parent_transform_;
+
+  CameraType camera_type_;
+
+  glm::vec2 cam_start_angle_;
+  glm::vec2 cam_cur_angle_;
+  glm::quat cam_cur_target_rot_;
+
+  float cam_start_dist_;
+  float cam_start_fov_;
+  float cam_cur_dist_;
+  glm::vec3 anchor_offset_;
+
+  float start_touch_dist_;
+  float cur_touch_dist_;
+
+  glm::vec2 touch0_start_position_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_GESTURE_CAMERA_H_

app/android/jni/tango-gl/include/tango-gl/goal_marker.h

@@ -0,0 +1,18 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ * Distributed under the Project Tango Preview Development Kit (PDK) Agreement.
+ * CONFIDENTIAL. AUTHORIZED USE ONLY. DO NOT REDISTRIBUTE.
+ */
+
+#ifndef TANGO_GL_GOAL_MARKER_H_
+#define TANGO_GL_GOAL_MARKER_H_
+
+#include <tango-gl/mesh.h>
+
+namespace tango_gl {
+class GoalMarker : public Mesh {
+ public:
+  GoalMarker();
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_GOAL_MARKER_H_

app/android/jni/tango-gl/include/tango-gl/grid.h

@@ -0,0 +1,28 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_GRID_H_
+#define TANGO_GL_GRID_H_
+
+#include "tango-gl/line.h"
+
+namespace tango_gl {
+class Grid : public Line {
+ public:
+  Grid(float density = 1.0f, int qx = 50, int qy = 50);
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_GRID_H_

app/android/jni/tango-gl/include/tango-gl/line.h

@@ -0,0 +1,37 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_LINE_H_
+#define TANGO_GL_LINE_H_
+
+#include "tango-gl/drawable_object.h"
+
+namespace tango_gl {
+class Line : public DrawableObject {
+ public:
+  Line(float line_width, GLenum render_mode);
+  void SetLineWidth(const float pixels);
+  void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
+  void UpdateLineVertices(const std::vector<glm::vec3>& vec_vertices) {
+    vec_vertices_ = vec_vertices;
+  }
+
+ protected:
+  float line_width_;
+  std::vector<glm::vec3> vec_vertices_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_LINE_H_

app/android/jni/tango-gl/include/tango-gl/mesh.h

@@ -0,0 +1,45 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_MESH_H_
+#define TANGO_GL_MESH_H_
+
+#include "tango-gl/bounding_box.h"
+#include "tango-gl/drawable_object.h"
+#include "tango-gl/segment.h"
+
+namespace tango_gl {
+class Mesh : public DrawableObject {
+ public:
+  Mesh();
+  Mesh(GLenum render_mode);
+  void SetShader();
+  void SetShader(bool is_lighting_on);
+  void SetBoundingBox();
+  void SetLightDirection(const glm::vec3& light_direction);
+  void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
+  bool IsIntersecting(const Segment& segment);
+
+ protected:
+  BoundingBox* bounding_box_;
+  bool is_lighting_on_;
+  bool is_bounding_box_on_;
+  glm::vec3 light_direction_;
+  GLuint uniform_mv_mat_;
+  GLuint uniform_light_vec_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_MESH_H_

app/android/jni/tango-gl/include/tango-gl/obj_loader.h

@@ -0,0 +1,61 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_OBJ_LOADER_H
+#define TANGO_GL_OBJ_LOADER_H
+
+#include <vector>
+
+#include "tango-gl/util.h"
+
+namespace tango_gl {
+namespace obj_loader {
+//  Load standard .obj file into vertices, indices or normals vectors,
+//  OBJ file can be exported from 3D tools like 3ds Max or Blender.
+//  A readable file with only vertices should look like
+//  "v 1.00 2.00 3.00
+//   ...
+//   f 1 2 3
+//   f 1 2 3 4
+//   ..."
+//
+//  If exported with normals, file should look like
+//  "v 1.00 2.00 3.00
+//   ...
+//   f 1//1 2//3 3//4
+//   f 1//1 2//3 3//4 4//6
+//   ...
+//   vn 1.00 2.00 3.00
+//   ..."
+//  this can be used with Mesh:
+//
+//  std::vector<GLfloat> vertices;
+//  std::vector<GLushort> indices;
+//  std::vector<GLfloat> normals;
+//  tango_gl::obj_loader::LoadOBJData("/sdcard/model.obj", vertices, indices);
+//  mesh->SetVertices(vertices, indices);
+//  or
+//  tango_gl::obj_loader::LoadOBJData("/sdcard/model.obj", vertices, normals);
+//  mesh->SetVertices(vertices, normals);
+
+bool LoadOBJData(const char* path, std::vector<GLfloat>& vertices,
+                 std::vector<GLushort>& indices);
+
+bool LoadOBJData(const char* path, std::vector<GLfloat>& vertices,
+                 std::vector<GLfloat>& normals);
+}  // namespace obj_loader
+}  // namespace tango_gl
+#endif  // TANGO_GL_OBJ_LOADER

app/android/jni/tango-gl/include/tango-gl/quad.h

@@ -0,0 +1,44 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_QUAD_H_
+#define TANGO_GL_QUAD_H_
+
+#include "tango-gl/drawable_object.h"
+
+namespace tango_gl {
+class Quad : public DrawableObject {
+ public:
+  Quad();
+  Quad(const Quad& other) = delete;
+  Quad& operator=(const Quad&) = delete;
+  ~Quad();
+
+  void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
+  void SetTextureId(GLuint texture_id);
+
+ private:
+  GLuint vertex_buffer_;
+  GLuint shader_program_;
+  GLuint attrib_vertices_;
+  GLuint texture_coords_;
+  GLuint texture_handle;
+  GLuint uniform_mvp_mat_;
+
+  GLuint texture_id_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_QUAD_H_

app/android/jni/tango-gl/include/tango-gl/segment.h

@@ -0,0 +1,35 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_SEGMENT_H_
+#define TANGO_GL_SEGMENT_H_
+
+#include "glm/glm.hpp"
+
+namespace tango_gl {
+class Segment {
+ public:
+  Segment() : start(glm::vec3(0, 0, 0)), end(glm::vec3(0, 0, 0)) {}
+  Segment(const glm::vec3& segment_start, const glm::vec3& segment_end)
+      : start(segment_start), end(segment_end) {}
+  Segment(const Segment&) = default;
+  Segment& operator=(const Segment&) = default;
+
+  glm::vec3 start;
+  glm::vec3 end;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_SEGMENT_H_

app/android/jni/tango-gl/include/tango-gl/segment_drawable.h

@@ -0,0 +1,30 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_SEGMENT_DRAWABLE_H_
+#define TANGO_GL_SEGMENT_DRAWABLE_H_
+
+#include "tango-gl/line.h"
+#include "tango-gl/segment.h"
+
+namespace tango_gl {
+class SegmentDrawable : public Line {
+ public:
+  SegmentDrawable();
+  void UpdateSegment(const Segment& segment);
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_SEGMENT_DRAWABLE_H_

app/android/jni/tango-gl/include/tango-gl/shaders.h

@@ -0,0 +1,32 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_SHADERS_H_
+#define TANGO_GL_SHADERS_H_
+
+#include <string>
+
+namespace tango_gl {
+namespace shaders {
+std::string GetBasicVertexShader();
+std::string GetBasicFragmentShader();
+std::string GetColorVertexShader();
+std::string GetVideoOverlayVertexShader();
+std::string GetVideoOverlayFragmentShader();
+std::string GetShadedVertexShader();
+}  // namespace shaders
+}  // namespace tango_gl
+#endif  // TANGO_GL_SHADERS_H_

app/android/jni/tango-gl/include/tango-gl/texture.h

@@ -0,0 +1,43 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_TEXTURE_H_
+#define TANGO_GL_TEXTURE_H_
+
+#include <errno.h>
+#include <png.h>
+
+#include "tango-gl/util.h"
+
+namespace tango_gl {
+class Texture {
+ public:
+  Texture(const char* file_path);
+  Texture(const Texture& other) = delete;
+  Texture& operator=(const Texture&) = delete;
+  ~Texture();
+
+  bool LoadFromPNG(const char* file_path);
+  GLuint GetTextureID() const;
+
+ private:
+  png_uint_32 width_, height_;
+  int bit_depth_, color_type_;
+  char* byte_data_;
+  GLuint texture_id_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_TEXTURE_H_

app/android/jni/tango-gl/include/tango-gl/trace.h

@@ -0,0 +1,30 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_TRACE_H_
+#define TANGO_GL_TRACE_H_
+
+#include "tango-gl/line.h"
+
+namespace tango_gl {
+class Trace : public Line {
+ public:
+  Trace();
+  void UpdateVertexArray(const glm::vec3& v);
+  void ClearVertexArray();
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_TRACE_H_

app/android/jni/tango-gl/include/tango-gl/transform.h

@@ -0,0 +1,59 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_TRANSFORM_H_
+#define TANGO_GL_TRANSFORM_H_
+
+#include "glm/glm.hpp"
+#include "glm/gtc/quaternion.hpp"
+
+namespace tango_gl {
+class Transform {
+ public:
+  Transform();
+  virtual ~Transform();
+
+  Transform(const Transform& other) = delete;
+  const Transform& operator=(const Transform& rhs) = delete;
+
+  void SetPosition(const glm::vec3& position);
+  glm::vec3 GetPosition() const;
+
+  void SetRotation(const glm::quat& rotation);
+  glm::quat GetRotation() const;
+
+  void SetScale(const glm::vec3& scale);
+  glm::vec3 GetScale() const;
+
+  void Translate(const glm::vec3& translation);
+
+  void SetTransformationMatrix(const glm::mat4& transform_mat);
+  glm::mat4 GetTransformationMatrix() const;
+
+  void SetParent(Transform* transform);
+
+  const Transform* GetParent() const ;
+  Transform* GetParent() ;
+
+ private:
+  Transform* parent_;
+
+  glm::vec3 position_;
+  glm::quat rotation_;
+  glm::vec3 scale_;
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_TRANSFORM_H_

app/android/jni/tango-gl/include/tango-gl/triangle.h

@@ -0,0 +1,28 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_TRIANGLE_H_
+#define TANGO_GL_TRIANGLE_H_
+
+#include "tango-gl/mesh.h"
+
+namespace tango_gl {
+class Triangle : public Mesh {
+ public:
+  Triangle();
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_TRIANGLE_H_

app/android/jni/tango-gl/include/tango-gl/util.h

@@ -0,0 +1,115 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_GL_UTIL_H_
+#define TANGO_GL_GL_UTIL_H_
+#define GLM_FORCE_RADIANS
+
+#define GL_VERTEX_PROGRAM_POINT_SIZE 0x8642
+
+#include <stdlib.h>
+#include <jni.h>
+#include <android/log.h>
+#include <GLES2/gl2.h>
+#include <GLES2/gl2ext.h>
+#include <tango_support_api.h>
+
+#include "glm/glm.hpp"
+#include "glm/gtc/matrix_transform.hpp"
+#include "glm/gtc/quaternion.hpp"
+#include "glm/gtc/type_ptr.hpp"
+#include "glm/gtx/matrix_decompose.hpp"
+
+#define LOG_TAG "rtabmap"
+#ifdef DISABLE_LOG
+#define LOGD(...) ;
+#define LOGI(...) ;
+#define LOGW(...) ;
+#else
+#define LOGD(...) __android_log_print(ANDROID_LOG_DEBUG,LOG_TAG,__VA_ARGS__)
+#define LOGI(...) __android_log_print(ANDROID_LOG_INFO,LOG_TAG,__VA_ARGS__)
+#define LOGW(...) __android_log_print(ANDROID_LOG_WARN,LOG_TAG,__VA_ARGS__)
+#endif
+#define LOGE(...) __android_log_print(ANDROID_LOG_ERROR,LOG_TAG,__VA_ARGS__)
+
+#ifndef M_PI
+#define M_PI 3.1415926f
+#endif
+
+#define RADIAN_2_DEGREE 57.2957795f
+#define DEGREE_2_RADIANS 0.0174532925f
+
+namespace tango_gl {
+namespace util {
+  void CheckGlError(const char* operation);
+
+  GLuint CreateProgram(const char* vertex_source,
+                       const char* fragment_source);
+
+  void DecomposeMatrix(const glm::mat4& transform_mat,
+                       glm::vec3& translation,
+                       glm::quat& rotation,
+                       glm::vec3& scale);
+
+  // Get a 3x1 column from the upper 3x4 of a transformation matrix. Columns
+  // 0, 1, 2 are the rotation/scale portion, and column 3 is the translation.
+  glm::vec3 GetColumnFromMatrix(const glm::mat4& mat, const int col);
+
+  // Get the translation component of a transformation matrix.
+  glm::vec3 GetTranslationFromMatrix(const glm::mat4& mat);
+
+  float Clamp(float value, float min, float max);
+  void PrintMatrix(const glm::mat4& matrix);
+  void PrintVector(const glm::vec3& vector);
+  void PrintQuaternion(const glm::quat& quat);
+
+  glm::vec3 LerpVector(const glm::vec3& x, const glm::vec3& y, float a);
+  float DistanceSquared(const glm::vec3& v1, const glm::vec3& v2);
+
+  bool SegmentAABBIntersect(const glm::vec3& aabb_min, const glm::vec3& aabb_max,
+                        const glm::vec3& start, const glm::vec3& end);
+
+  glm::vec3 ApplyTransform(const glm::mat4& mat, const glm::vec3& vec);
+
+  // Get the Android rotation integer value from color camera to display.
+  // This function is used to compute the orientation difference to handle
+  // the portrait and landscape mode for color camera display.
+  //
+  // @param display: integer value of display orientation, values available
+  // are 0, 1, 2 ,3. Followed by Android display orientation standard:
+  // https://developer.android.com/reference/android/view/Display.html#getRotation()
+  // @param color_camera: integer value of color camera oreintation, values
+  // available are 0, 90, 180, 270. Followed by Android camera orientation
+  // standard:
+  // https://developer.android.com/reference/android/hardware/Camera.CameraInfo.html#orientation
+  TangoSupportRotation GetAndroidRotationFromColorCameraToDisplay(
+      int display_rotation, int color_camera_rotation);
+
+  // Get the Android rotation integer value from color camera to display.
+  // This function is used to compute the orientation difference to handle
+  // the portrait and landscape mode for color camera display.
+  //
+  // @param display: the device display orientation.
+  // @param color_camera: integer value of color camera oreintation, values
+  // available are 0, 90, 180, 270. Followed by Android camera orientation
+  // standard:
+  // https://developer.android.com/reference/android/hardware/Camera.CameraInfo.html#orientation
+  TangoSupportRotation GetAndroidRotationFromColorCameraToDisplay(
+      TangoSupportRotation display_rotation, int color_camera_rotation);
+
+}  // namespace util
+}  // namespace tango_gl
+#endif  // TANGO_GL_RENDERER_GL_UTIL

app/android/jni/tango-gl/include/tango-gl/video_overlay.h

@@ -0,0 +1,39 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TANGO_GL_RENDERER_VIDEO_OVERLAY_H_
+#define TANGO_GL_RENDERER_VIDEO_OVERLAY_H_
+
+#include "tango-gl/drawable_object.h"
+
+namespace tango_gl {
+class VideoOverlay : public DrawableObject {
+ public:
+  VideoOverlay();
+  void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
+  GLuint GetTextureId() const { return texture_id_; }
+  void SetTextureId(GLuint texture_id) { texture_id_ = texture_id; }
+
+ private:
+  // This id is populated on construction, and is passed to the tango service.
+  GLuint texture_id_;
+
+  GLuint attrib_texture_coords_;
+  GLuint uniform_texture_;
+  GLuint vertex_buffers_[3];
+};
+}  // namespace tango_gl
+#endif  // TANGO_GL_RENDERER_VIDEO_OVERLAY_H_

app/android/jni/tango-gl/line.cpp

@@ -0,0 +1,44 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/line.h"
+
+namespace tango_gl {
+Line::Line(float line_width, GLenum render_mode) {
+  line_width_ = line_width;
+  render_mode_ = render_mode;
+}
+void Line::SetLineWidth(const float pixels) { line_width_ = pixels; }
+void Line::Render(const glm::mat4& projection_mat,
+                  const glm::mat4& view_mat) const {
+  glUseProgram(shader_program_);
+  glLineWidth(line_width_);
+  glm::mat4 model_mat = GetTransformationMatrix();
+  glm::mat4 mvp_mat = projection_mat * view_mat * model_mat;
+  glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+
+  glUniform4f(uniform_color_, red_, green_, blue_, alpha_);
+
+  glEnableVertexAttribArray(attrib_vertices_);
+  glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE,
+                        sizeof(glm::vec3), &vec_vertices_[0]);
+  glDrawArrays(render_mode_, 0, vec_vertices_.size());
+
+  glDisableVertexAttribArray(attrib_vertices_);
+  glUseProgram(0);
+}
+
+}  // namespace tango_gl

app/android/jni/tango-gl/mesh.cpp

@@ -0,0 +1,124 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/mesh.h"
+#include "tango-gl/shaders.h"
+
+namespace tango_gl {
+Mesh::Mesh() {
+  render_mode_ = GL_TRIANGLES;
+}
+Mesh::Mesh(GLenum render_mode) {
+  render_mode_ = render_mode;
+}
+
+void Mesh::SetShader() {
+  DrawableObject::SetShader();
+  // Default mode set to no lighting.
+  is_lighting_on_ = false;
+  // Default mode set to without bounding box detection.
+  is_bounding_box_on_ = false;
+}
+
+void Mesh::SetShader(bool is_lighting_on) {
+  if (is_lighting_on) {
+    shader_program_ =
+        util::CreateProgram(shaders::GetShadedVertexShader().c_str(),
+                            shaders::GetBasicFragmentShader().c_str());
+    if (!shader_program_) {
+      LOGE("Could not create program.");
+    }
+    uniform_mvp_mat_ = glGetUniformLocation(shader_program_, "mvp");
+    uniform_mv_mat_ = glGetUniformLocation(shader_program_, "mv");
+    uniform_light_vec_ = glGetUniformLocation(shader_program_, "lightVec");
+    uniform_color_ = glGetUniformLocation(shader_program_, "color");
+
+    attrib_vertices_ = glGetAttribLocation(shader_program_, "vertex");
+    attrib_normals_ = glGetAttribLocation(shader_program_, "normal");
+    is_lighting_on_ = true;
+    // Set a defualt direction for directional light.
+    light_direction_ = glm::vec3(-1.0f, -3.0f, -1.0f);
+    light_direction_ = glm::normalize(light_direction_);
+  } else {
+    SetShader();
+  }
+}
+
+void Mesh::SetBoundingBox(){
+  // Traverse all the vertices to define an axis-aligned
+  // bounding box for this mesh, needs to be called after SetVertices().
+  if(vertices_.size()==0){
+    LOGE("Please set up vertices first!");
+    return;
+  }
+  is_bounding_box_on_ = true;
+  bounding_box_ = new BoundingBox(vertices_);
+}
+
+void Mesh::SetLightDirection(const glm::vec3& light_direction) {
+  light_direction_ = light_direction;
+}
+
+bool Mesh::IsIntersecting(const Segment& segment) {
+  // If there is no bounding box defined based on all vertices,
+  // we can not calculate intersection.
+  if (!is_bounding_box_on_) {
+    LOGE("Mesh::IsIntersecting, bounding box is not available.");
+    return false;
+  }
+  return bounding_box_->IsIntersecting(segment, GetRotation(),
+                                       GetTransformationMatrix());
+}
+
+void Mesh::Render(const glm::mat4& projection_mat,
+                  const glm::mat4& view_mat) const {
+  glUseProgram(shader_program_);
+  glm::mat4 model_mat = GetTransformationMatrix();
+  glm::mat4 mv_mat = view_mat * model_mat;
+  glm::mat4 mvp_mat = projection_mat * mv_mat;
+  glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+  glUniform4f(uniform_color_, red_, green_, blue_, alpha_);
+
+  if (is_lighting_on_) {
+    glUniformMatrix4fv(uniform_mv_mat_, 1, GL_FALSE, glm::value_ptr(mv_mat));
+
+    glEnableVertexAttribArray(attrib_normals_);
+    glVertexAttribPointer(attrib_normals_, 3, GL_FLOAT, GL_FALSE,
+                          3 * sizeof(GLfloat), &normals_[0]);
+    glm::vec3 light_direction = glm::mat3(view_mat) * light_direction_;
+    glUniform3fv(uniform_light_vec_, 1, glm::value_ptr(light_direction));
+  }
+
+  glEnableVertexAttribArray(attrib_vertices_);
+
+  if (!indices_.empty()) {
+    glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE,
+                          3 * sizeof(GLfloat), vertices_.data());
+    glDrawElements(render_mode_, indices_.size(), GL_UNSIGNED_SHORT,
+                   indices_.data());
+  } else {
+    glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE,
+                          3 * sizeof(GLfloat), &vertices_[0]);
+    glDrawArrays(render_mode_, 0, vertices_.size() / 3);
+  }
+
+  glDisableVertexAttribArray(attrib_vertices_);
+  if (is_lighting_on_) {
+    glDisableVertexAttribArray(attrib_normals_);
+  }
+  glUseProgram(0);
+}
+}  // namespace tango_gl

app/android/jni/tango-gl/obj_loader.cpp

@@ -0,0 +1,156 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include <string>
+
+#include "tango-gl/obj_loader.h"
+
+namespace tango_gl {
+bool obj_loader::LoadOBJData(const char* path, std::vector<GLfloat>& vertices,
+                             std::vector<GLushort>& indices) {
+  FILE *file = fopen(path, "r");
+  if (file == NULL) {
+    LOGE("Failed to open file: %s", path);
+    return false;
+  }
+
+  while (1) {
+    char lineHeader[128];
+    int res = fscanf(file, "%s", lineHeader);
+    if (res == EOF) break;
+    if (strcmp(lineHeader, "v") == 0) {
+      GLfloat vertex[3];
+      int matches =
+          fscanf(file, "%f %f %f\n", &vertex[0], &vertex[1], &vertex[2]);
+      if (matches != 3) {
+        LOGE("Format of 'v float float float' required for each vertice line");
+        return false;
+      }
+      vertices.push_back(vertex[0]);
+      vertices.push_back(vertex[1]);
+      vertices.push_back(vertex[2]);
+    } else if (strcmp(lineHeader, "f") == 0) {
+      GLushort vertexIndex[3];
+      int matches = fscanf(file, "%hu %hu %hu\n", &vertexIndex[0],
+                           &vertexIndex[1], &vertexIndex[2]);
+      if (matches != 3) {
+        LOGE("Format of 'f int int int' required for each face line");
+        return false;
+      }
+      indices.push_back(vertexIndex[0] - 1);
+      indices.push_back(vertexIndex[1] - 1);
+      indices.push_back(vertexIndex[2] - 1);
+    }
+    else {
+      char comments_buffer[1000];
+      fgets(comments_buffer, 1000, file);
+    }
+  }
+  fclose(file);
+  return true;
+}
+
+bool obj_loader::LoadOBJData(const char* path, std::vector<GLfloat>& vertices,
+                             std::vector<GLfloat>& normals) {
+  std::vector<unsigned int> vertexIndices, normalIndices;
+  std::vector<GLfloat> temp_vertices, temp_normals;
+
+  FILE* file = fopen(path, "r");
+  if (file == NULL) {
+    LOGE("Failed to open file: %s", path);
+    return false;
+  }
+
+  while (1) {
+    char lineHeader[128];
+    int res = fscanf(file, "%s", lineHeader);
+    if (res == EOF) break;
+    if (strcmp(lineHeader, "v") == 0) {
+      GLfloat vertex[3];
+      int matches =
+          fscanf(file, "%f %f %f\n", &vertex[0], &vertex[1], &vertex[2]);
+      if (matches != 3) {
+        LOGE("Format of 'v float float float' required for each vertice line");
+        return false;
+      }
+      temp_vertices.push_back(vertex[0]);
+      temp_vertices.push_back(vertex[1]);
+      temp_vertices.push_back(vertex[2]);
+    } else if (strcmp(lineHeader, "vn") == 0) {
+      GLfloat normal[3];
+      int matches =
+          fscanf(file, "%f %f %f\n", &normal[0], &normal[1], &normal[2]);
+      if (matches != 3) {
+        LOGE("Format of 'vn float float float' required for each normal line");
+        return false;
+      }
+      temp_normals.push_back(normal[0]);
+      temp_normals.push_back(normal[1]);
+      temp_normals.push_back(normal[2]);
+    } else if (strcmp(lineHeader, "f") == 0) {
+      GLushort vertexIndex[4];
+      GLushort normalIndex[4];
+      int matches = fscanf(file, "%hu//%hu %hu//%hu %hu//%hu %hu//%hu\n",
+                           &vertexIndex[0], &normalIndex[0], &vertexIndex[1], &normalIndex[1],
+                           &vertexIndex[2], &normalIndex[2], &vertexIndex[3], &normalIndex[3]);
+
+      // .obj file is 1-indexed, so subtract 1 from all indices.
+      if (matches == 6) {
+        // If triangles provided.
+        vertexIndices.push_back(vertexIndex[0] - 1);
+        vertexIndices.push_back(vertexIndex[1] - 1);
+        vertexIndices.push_back(vertexIndex[2] - 1);
+        normalIndices.push_back(normalIndex[0] - 1);
+        normalIndices.push_back(normalIndex[1] - 1);
+        normalIndices.push_back(normalIndex[2] - 1);
+      } else if(matches == 8) {
+        // If quads provided.
+        vertexIndices.push_back(vertexIndex[0] - 1);
+        vertexIndices.push_back(vertexIndex[1] - 1);
+        vertexIndices.push_back(vertexIndex[2] - 1);
+        vertexIndices.push_back(vertexIndex[0] - 1);
+        vertexIndices.push_back(vertexIndex[2] - 1);
+        vertexIndices.push_back(vertexIndex[3] - 1);
+        normalIndices.push_back(normalIndex[0] - 1);
+        normalIndices.push_back(normalIndex[1] - 1);
+        normalIndices.push_back(normalIndex[2] - 1);
+        normalIndices.push_back(normalIndex[0] - 1);
+        normalIndices.push_back(normalIndex[2] - 1);
+        normalIndices.push_back(normalIndex[3] - 1);
+      } else {
+        LOGE("Format of 'f int//int int//int int//int' required for each face");
+        return false;
+      }
+    } else {
+      char comments_buffer[1000];
+      fgets(comments_buffer, 1000, file);
+    }
+  }
+
+  for (unsigned int i = 0; i < vertexIndices.size(); i++) {
+    unsigned int vertexIndex = vertexIndices[i];
+    unsigned int normalIndex = normalIndices[i];
+
+    vertices.push_back(temp_vertices[vertexIndex * 3]);
+    vertices.push_back(temp_vertices[vertexIndex * 3 + 1]);
+    vertices.push_back(temp_vertices[vertexIndex * 3 + 2]);
+    normals.push_back(temp_normals[normalIndex * 3]);
+    normals.push_back(temp_normals[normalIndex * 3 + 1]);
+    normals.push_back(temp_normals[normalIndex * 3 + 2]);
+  }
+  fclose(file);
+  return true;
+}
+}  // namespace tango_gl

app/android/jni/tango-gl/quad.cpp

@@ -0,0 +1,91 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/quad.h"
+#include "tango-gl/util.h"
+
+namespace tango_gl {
+
+static const char kVertexShader[] =
+    "attribute vec4 vertex;\n"
+    "attribute vec2 inputTextureCoordinate;\n"
+    "varying vec2 textureCoordinate;\n"
+    "uniform mat4 mvp;\n"
+    "void main() {\n"
+    "  gl_Position = mvp*vertex;\n"
+    "  textureCoordinate = inputTextureCoordinate.xy;\n"
+    "}\n";
+
+static const char kFragmentShader[] =
+    "varying vec2 textureCoordinate;\n"
+    "uniform sampler2D inputTexture;\n"
+    "void main() {\n"
+    "  gl_FragColor = texture2D(inputTexture, textureCoordinate);\n"
+    "}\n";
+
+static const float vertices[] = {-0.5f, -0.5f, 0.5f, -0.5f,
+                                 -0.5f, 0.5f,  0.5f, 0.5f};
+
+static const GLfloat texture_coords[] = {0.0f, 1.0f, 1.0f, 1.0f,
+                                         0.0f, 0.0f, 1.0f, 0.0f, };
+
+Quad::Quad() {
+  shader_program_ = util::CreateProgram(kVertexShader, kFragmentShader);
+  if (!shader_program_) {
+    LOGE("Could not create program.");
+  }
+  uniform_mvp_mat_ = glGetUniformLocation(shader_program_, "mvp");
+  attrib_vertices_ = glGetAttribLocation(shader_program_, "vertex");
+  texture_coords_ =
+      glGetAttribLocation(shader_program_, "inputTextureCoordinate");
+  texture_handle = glGetUniformLocation(shader_program_, "inputTexture");
+  glGenBuffers(1, &vertex_buffer_);
+}
+
+Quad::~Quad() { glDeleteShader(shader_program_); }
+
+void Quat::SetTextureId(GLuint texture_id) { texture_id_ = texture_id; }
+
+void Quad::Render(const glm::mat4& projection_mat,
+                  const glm::mat4& view_mat) const {
+  glEnable(GL_CULL_FACE);
+  glEnable(GL_BLEND);
+  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+  glUseProgram(shader_program_);
+
+  glBindTexture(GL_TEXTURE_2D, texture_id_);
+  glUniform1i(texture_handle, 0);
+
+  // Calculate MVP matrix and pass it to shader.
+  glm::mat4 model_mat = GetTransformationMatrix();
+  glm::mat4 mvp_mat = projection_mat * view_mat * model_mat;
+  glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+
+  // Vertice binding
+  glEnableVertexAttribArray(attrib_vertices_);
+  glVertexAttribPointer(attrib_vertices_, 2, GL_FLOAT, GL_FALSE, 0, vertices);
+  glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+  glEnableVertexAttribArray(texture_coords_);
+  glVertexAttribPointer(texture_coords_, 2, GL_FLOAT, GL_FALSE, 0,
+                        texture_coords);
+
+  glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
+  glUseProgram(0);
+  glBindTexture(GL_TEXTURE_2D, 0);
+}
+
+}  // namespace tango_gl

app/android/jni/tango-gl/segment_drawable.cpp

@@ -0,0 +1,29 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/segment_drawable.h"
+
+namespace tango_gl {
+SegmentDrawable::SegmentDrawable() : tango_gl::Line(5.0f, GL_LINES) {
+  SetShader();
+  vec_vertices_.push_back(glm::vec3(0, 0, 0));
+  vec_vertices_.push_back(glm::vec3(1.f, 1.f, 1.f));
+}
+void SegmentDrawable::UpdateSegment(const Segment& segment) {
+  vec_vertices_[0] = segment.start;
+  vec_vertices_[1] = segment.end;
+}
+}  // namespace tango_gl

app/android/jni/tango-gl/shaders.cpp

@@ -0,0 +1,95 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "tango-gl/shaders.h"
+
+namespace tango_gl {
+namespace shaders {
+std::string GetBasicVertexShader() {
+  return "precision mediump float;\n"
+         "precision mediump int;\n"
+         "attribute vec4 vertex;\n"
+         "uniform mat4 mvp;\n"
+         "uniform vec4 color;\n"
+         "varying vec4 v_color;\n"
+         "void main() {\n"
+         "  gl_Position = mvp*vertex;\n"
+         "  v_color = color;\n"
+         "}\n";
+}
+
+std::string GetBasicFragmentShader() {
+  return "precision mediump float;\n"
+         "varying vec4 v_color;\n"
+         "void main() {\n"
+         "  gl_FragColor = v_color;\n"
+         "}\n";
+}
+
+std::string GetColorVertexShader() {
+  return "precision mediump float;\n"
+         "precision mediump int;\n"
+         "attribute vec4 vertex;\n"
+         "attribute vec4 color;\n"
+         "uniform mat4 mvp;\n"
+         "varying vec4 v_color;\n"
+         "void main() {\n"
+         "  gl_Position = mvp*vertex;\n"
+         "  v_color = color;\n"
+         "}\n";
+}
+
+std::string GetVideoOverlayVertexShader() {
+  return "precision highp float;\n"
+         "precision highp int;\n"
+         "attribute vec4 vertex;\n"
+         "attribute vec2 textureCoords;\n"
+         "varying vec2 f_textureCoords;\n"
+         "uniform mat4 mvp;\n"
+         "void main() {\n"
+         "  f_textureCoords = textureCoords;\n"
+         "  gl_Position = mvp * vertex;\n"
+         "}\n";
+}
+
+std::string GetVideoOverlayFragmentShader() {
+  return "#extension GL_OES_EGL_image_external : require\n"
+         "precision highp float;\n"
+         "precision highp int;\n"
+         "uniform samplerExternalOES texture;\n"
+         "varying vec2 f_textureCoords;\n"
+         "void main() {\n"
+         "  gl_FragColor = texture2D(texture, f_textureCoords);\n"
+         "}\n";
+}
+
+std::string GetShadedVertexShader() {
+  return "attribute vec4 vertex;\n"
+         "attribute vec3 normal;\n"
+         "uniform mat4 mvp;\n"
+         "uniform mat4 mv;\n"
+         "uniform vec4 color;\n"
+         "uniform vec3 lightVec;\n"
+         "varying vec4 v_color;\n"
+         "void main() {\n"
+         "  vec3 mvNormal = vec3(mv * vec4(normal, 0.0));\n"
+         "  float diffuse = max(-dot(mvNormal, lightVec), 0.0);\n"
+         "  v_color.a = color.a;\n"
+         "  v_color.xyz = color.xyz * diffuse + color.xyz * 0.3;\n"
+         "  gl_Position = mvp*vertex;\n"
+         "}\n";
+}
+}  // namespace shaders
+}  // namespace tango_gl

app/android/jni/tango-gl/texture.cpp

@@ -0,0 +1,107 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "tango-gl/texture.h"
+#include "tango-gl/util.h"
+
+namespace tango_gl {
+
+static const int kMaxExponentiation = 12;
+
+static int RoundUpPowerOfTwo(int w) {
+  int start = 2;
+  for (int i = 0; i <= kMaxExponentiation; ++i) {
+    if (w < start) {
+      w = start;
+      break;
+    } else {
+      start = start << 1;
+    }
+  }
+  return w;
+}
+
+Texture::Texture(const char* file_path) {
+  if (!LoadFromPNG(file_path)) {
+    LOGE("Texture initialing error");
+  }
+}
+
+bool Texture::LoadFromPNG(const char* file_path) {
+  FILE* file = fopen(file_path, "rb");
+
+  if (file == NULL) {
+    LOGE("fp not loaded: %s", strerror(errno));
+    return false;
+  }
+
+  fseek(file, 8, SEEK_CUR);
+
+  png_structp png_ptr =
+      png_create_read_struct(PNG_LIBPNG_VER_STRING, NULL, NULL, NULL);
+  png_infop info_ptr = png_create_info_struct(png_ptr);
+
+  png_init_io(png_ptr, file);
+  png_set_sig_bytes(png_ptr, 8);
+  png_read_info(png_ptr, info_ptr);
+  png_get_IHDR(png_ptr, info_ptr, &width_, &height_, &bit_depth_, &color_type_,
+               NULL, NULL, NULL);
+
+  width_ = RoundUpPowerOfTwo(width_);
+  height_ = RoundUpPowerOfTwo(height_);
+  int row = width_ * (color_type_ == PNG_COLOR_TYPE_RGBA ? 4 : 3);
+  byte_data_ = new char[row * height_];
+
+  png_bytep* row_pointers = new png_bytep[height_];
+  for (uint i = 0; i < height_; ++i) {
+    row_pointers[i] = (png_bytep)(byte_data_ + i * row);
+  }
+  png_read_image(png_ptr, row_pointers);
+  png_destroy_read_struct(&png_ptr, &info_ptr, 0);
+
+  glGenTextures(1, &texture_id_);
+  glBindTexture(GL_TEXTURE_2D, texture_id_);
+  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT);
+  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT);
+  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+  glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+  util::CheckGlError("glBindTexture");
+  if (color_type_ == PNG_COLOR_TYPE_RGBA) {
+    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width_, height_, 0, GL_RGBA,
+                 GL_UNSIGNED_BYTE, byte_data_);
+  } else {
+    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width_, height_, 0, GL_RGB,
+                 GL_UNSIGNED_BYTE, byte_data_);
+  }
+  util::CheckGlError("glTexImage2D");
+  glBindTexture(GL_TEXTURE_2D, 0);
+
+  fclose(file);
+  delete[] row_pointers;
+  delete[] byte_data_;
+
+  return true;
+}
+
+GLuint Texture::GetTextureID() const { return texture_id_; }
+
+Texture::~Texture() {
+  if (byte_data_ != NULL) {
+    delete[] byte_data_;
+  }
+  byte_data_ = NULL;
+}
+
+}  // namespace tango_gl

app/android/jni/tango-gl/trace.cpp

@@ -0,0 +1,38 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/trace.h"
+
+namespace tango_gl {
+
+static const int kMaxTraceLength = 5000;
+static const float kDistanceCheck = 0.05f;
+
+Trace::Trace() : Line(3.0f, GL_LINE_STRIP) { SetShader(); }
+
+void Trace::UpdateVertexArray(const glm::vec3& v) {
+  if (vec_vertices_.size() == 0) {
+    vec_vertices_.push_back(v);
+  } else {
+    float dist = glm::distance(vec_vertices_[vec_vertices_.size() - 1], v);
+    if (dist >= kDistanceCheck) {
+      vec_vertices_.push_back(v);
+    }
+  }
+}
+
+void Trace::ClearVertexArray() { vec_vertices_.clear(); }
+}  // namespace tango_gl

app/android/jni/tango-gl/transform.cpp

@@ -0,0 +1,92 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/transform.h"
+#include "tango-gl/util.h"
+
+#define nullptr 0
+
+namespace tango_gl {
+
+Transform::Transform()
+  : parent_(nullptr),
+    position_(0.0f, 0.0f, 0.0f),
+    rotation_(1.0f, 0.0f, 0.0f, 0.0f),
+    scale_(1.0f, 1.0f, 1.0f) {
+}
+
+Transform::~Transform() {
+  // Objects are not responsible for deleting their parents.
+}
+
+void Transform::SetPosition(const glm::vec3& position) {
+  position_ = position;
+}
+
+glm::vec3 Transform::GetPosition() const {
+  return position_;
+}
+
+void Transform::SetRotation(const glm::quat& rotation) {
+  rotation_ = rotation;
+}
+
+glm::quat Transform::GetRotation() const {
+  return rotation_;
+}
+
+void Transform::SetScale(const glm::vec3& scale) {
+  scale_ = scale;
+}
+
+glm::vec3 Transform::GetScale() const {
+  return scale_;
+}
+
+void Transform::Translate(const glm::vec3& translation) {
+  position_ += translation;
+}
+
+void Transform::SetTransformationMatrix(const glm::mat4& transform_mat) {
+  util::DecomposeMatrix(transform_mat, position_, rotation_, scale_);
+}
+
+glm::mat4 Transform::GetTransformationMatrix() const {
+  glm::mat4 trans_mat = glm::scale(glm::mat4_cast(rotation_), scale_);
+  trans_mat[3][0] = position_.x;
+  trans_mat[3][1] = position_.y;
+  trans_mat[3][2] = position_.z;
+  glm::mat4 parent_mat = glm::mat4(1.0f);
+  if (parent_ != NULL) {
+    parent_mat = parent_->GetTransformationMatrix();
+    trans_mat = parent_mat * trans_mat;
+  }
+  return  trans_mat;
+}
+
+void Transform::SetParent(Transform* transform) {
+  parent_ = transform;
+}
+
+const Transform* Transform::GetParent() const {
+  return parent_;
+}
+
+Transform* Transform::GetParent() {
+  return parent_;
+}
+
+}  // namespace tango_gl

app/android/jni/tango-gl/triangle.cpp

@@ -0,0 +1,35 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/triangle.h"
+
+namespace tango_gl {
+
+static const GLfloat const_vertices[]
+  = {-0.15f, 0.0f, 0.0f, 0.15f, 0.0f, 0.0f, 0.0f, 0.0f, -0.2f};
+
+static const GLushort const_indices[] = {0, 1, 2};
+
+Triangle::Triangle() {
+  SetShader();
+  std::vector<GLfloat> vertices(
+      const_vertices,
+      const_vertices + sizeof(const_vertices) / sizeof(GLfloat));
+  std::vector<GLushort> indices(
+      const_indices, const_indices + sizeof(const_indices) / sizeof(GLushort));
+  SetVertices(vertices, indices);
+}
+}  // namespace tango_gl

app/android/jni/tango-gl/util.cpp

@@ -0,0 +1,260 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/util.h"
+#include <rtabmap/utilite/ULogger.h>
+
+namespace tango_gl {
+
+namespace {
+int NormalizedColorCameraRotation(int camera_rotation) {
+  int camera_n = 0;
+  switch (camera_rotation) {
+    case 90:
+      camera_n = 1;
+      break;
+    case 180:
+      camera_n = 2;
+      break;
+    case 270:
+      camera_n = 3;
+      break;
+    default:
+      camera_n = 0;
+      break;
+  }
+  return camera_n;
+}
+}  // annonymous namespace
+
+void util::CheckGlError(const char* operation) {
+  for (GLint error = glGetError(); error; error = glGetError()) {
+    LOGE("after %s() glError (0x%x)\n", operation, error);
+  }
+}
+
+// Convenience function used in CreateProgram below.
+static GLuint LoadShader(GLenum shader_type, const char* shader_source) {
+  GLuint shader = glCreateShader(shader_type);
+  if (shader) {
+    glShaderSource(shader, 1, &shader_source, NULL);
+    glCompileShader(shader);
+    GLint compiled = 0;
+    glGetShaderiv(shader, GL_COMPILE_STATUS, &compiled);
+    if (!compiled) {
+      GLint info_len = 0;
+      glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &info_len);
+      if (info_len) {
+        char* buf = (char*) malloc(info_len);
+        if (buf) {
+          glGetShaderInfoLog(shader, info_len, NULL, buf);
+          LOGE("Could not compile shader %d:\n%s\n", shader_type, buf);
+          free(buf);
+        }
+        glDeleteShader(shader);
+        shader = 0;
+      }
+    }
+  }
+  return shader;
+}
+
+GLuint util::CreateProgram(const char* vertex_source,
+                             const char* fragment_source) {
+  GLuint vertexShader = LoadShader(GL_VERTEX_SHADER, vertex_source);
+  if (!vertexShader) {
+    return 0;
+  }
+
+  GLuint fragment_shader = LoadShader(GL_FRAGMENT_SHADER, fragment_source);
+  if (!fragment_shader) {
+    return 0;
+  }
+
+  GLuint program = glCreateProgram();
+  if (program) {
+    glAttachShader(program, vertexShader);
+    CheckGlError("glAttachShader");
+    glAttachShader(program, fragment_shader);
+    CheckGlError("glAttachShader");
+    glLinkProgram(program);
+    GLint link_status = GL_FALSE;
+    glGetProgramiv(program, GL_LINK_STATUS, &link_status);
+    if (link_status != GL_TRUE) {
+      GLint buf_length = 0;
+      glGetProgramiv(program, GL_INFO_LOG_LENGTH, &buf_length);
+      if (buf_length) {
+        char* buf = (char*) malloc(buf_length);
+        if (buf) {
+          glGetProgramInfoLog(program, buf_length, NULL, buf);
+          LOGE("Could not link program:\n%s\n", buf);
+          free(buf);
+        }
+      }
+      glDeleteProgram(program);
+      program = 0;
+    }
+  }
+  CheckGlError("CreateProgram");
+  return program;
+}
+
+void util::DecomposeMatrix (const glm::mat4& transform_mat,
+                              glm::vec3& translation,
+                              glm::quat& rotation,
+                              glm::vec3& scale) {
+  float scale_x = glm::length( glm::vec3( transform_mat[0][0], transform_mat[1][0], transform_mat[2][0] ) );
+  float scale_y = glm::length( glm::vec3( transform_mat[0][1], transform_mat[1][1], transform_mat[2][1] ) );
+  float scale_z = glm::length( glm::vec3( transform_mat[0][2], transform_mat[1][2], transform_mat[2][2] ) );
+
+
+  float determinant = glm::determinant( transform_mat );
+  if( determinant < 0.0 )
+    scale_x = -scale_x;
+
+  translation.x = transform_mat[3][0];
+  translation.y = transform_mat[3][1];
+  translation.z = transform_mat[3][2];
+
+  float inverse_scale_x = 1.0 / scale_x;
+  float inverse_scale_y = 1.0 / scale_y;
+  float inverse_scale_z = 1.0 / scale_z;
+
+  glm::mat4 transform_unscaled = transform_mat;
+
+  transform_unscaled[0][0] *= inverse_scale_x;
+  transform_unscaled[1][0] *= inverse_scale_x;
+  transform_unscaled[2][0] *= inverse_scale_x;
+
+  transform_unscaled[0][1] *= inverse_scale_y;
+  transform_unscaled[1][1] *= inverse_scale_y;
+  transform_unscaled[2][1] *= inverse_scale_y;
+
+  transform_unscaled[0][2] *= inverse_scale_z;
+  transform_unscaled[1][2] *= inverse_scale_z;
+  transform_unscaled[2][2] *= inverse_scale_z;
+
+  rotation = glm::quat_cast( transform_mat );
+
+  scale.x = scale_x;
+  scale.y = scale_y;
+  scale.z = scale_z;
+}
+
+glm::vec3 util::GetColumnFromMatrix(const glm::mat4& mat, const int col) {
+  return glm::vec3(mat[col][0], mat[col][1], mat[col][2]);
+}
+
+glm::vec3 util::GetTranslationFromMatrix(const glm::mat4& mat) {
+  return glm::vec3(mat[3][0], mat[3][1], mat[3][2]);
+}
+
+float util::Clamp(float value, float min, float max) {
+  return value < min ? min : (value > max ? max : value);
+}
+
+// Print out a column major matrix.
+void util::PrintMatrix(const glm::mat4& matrix) {
+  int i;
+  for (i = 0; i < 4; i++) {
+    LOGI("[ %f, %f, %f, %f ]", matrix[0][i], matrix[1][i], matrix[2][i],
+         matrix[3][i]);
+  }
+  LOGI(" ");
+}
+
+void util::PrintVector(const glm::vec3& vector) {
+  LOGI("[ %f, %f, %f ]", vector[0], vector[1], vector[2]);
+  LOGI(" ");
+}
+
+void util::PrintQuaternion(const glm::quat& quat) {
+  LOGI("[ %f, %f, %f, %f ]", quat[0], quat[1], quat[2], quat[3]);
+  LOGI(" ");
+}
+
+glm::vec3 util::LerpVector(const glm::vec3& x, const glm::vec3& y, float a) {
+  return x * (1.0f - a) + y * a;
+}
+
+float util::DistanceSquared(const glm::vec3& v1, const glm::vec3& v2) {
+  glm::vec3 delta = v2 - v1;
+  return glm::dot(delta, delta);
+}
+
+bool util::SegmentAABBIntersect(const glm::vec3& aabb_min,
+                            const glm::vec3& aabb_max,
+                            const glm::vec3& start,
+                            const glm::vec3& end) {
+  float tmin, tmax, tymin, tymax, tzmin, tzmax;
+  glm::vec3 direction = end - start;
+  if (direction.x >= 0) {
+    tmin = (aabb_min.x - start.x) / direction.x;
+    tmax = (aabb_max.x - start.x) / direction.x;
+  } else {
+    tmin = (aabb_max.x - start.x) / direction.x;
+    tmax = (aabb_min.x - start.x) / direction.x;
+  }
+  if (direction.y >= 0) {
+    tymin = (aabb_min.y - start.y) / direction.y;
+    tymax = (aabb_max.y - start.y) / direction.y;
+  } else {
+    tymin = (aabb_max.y - start.y) / direction.y;
+    tymax = (aabb_min.y - start.y) / direction.y;
+  }
+  if ((tmin > tymax) || (tymin > tmax)) return false;
+
+  if (tymin > tmin) tmin = tymin;
+  if (tymax < tmax) tmax = tymax;
+  if (direction.z >= 0) {
+    tzmin = (aabb_min.z - start.z) / direction.z;
+    tzmax = (aabb_max.z - start.z) / direction.z;
+  } else {
+    tzmin = (aabb_max.z - start.z) / direction.z;
+    tzmax = (aabb_min.z - start.z) / direction.z;
+  }
+  if ((tmin > tzmax) || (tzmin > tmax)) return false;
+
+  if (tzmin > tmin) tmin = tzmin;
+  if (tzmax < tmax) tmax = tzmax;
+  // Use the full length of the segment.
+  return ((tmin < 1.0f) && (tmax > 0));
+}
+
+glm::vec3 util::ApplyTransform(const glm::mat4& mat, const glm::vec3& vec) {
+  return glm::vec3(mat * glm::vec4(vec, 1.0f));
+}
+
+TangoSupportRotation util::GetAndroidRotationFromColorCameraToDisplay(
+    int display_rotation, int color_camera_rotation) {
+  TangoSupportRotation r =
+      static_cast<TangoSupportRotation>(display_rotation);
+  return util::GetAndroidRotationFromColorCameraToDisplay(
+      r, color_camera_rotation);
+}
+
+TangoSupportRotation util::GetAndroidRotationFromColorCameraToDisplay(
+    TangoSupportRotation display_rotation, int color_camera_rotation) {
+  int color_camera_n = NormalizedColorCameraRotation(color_camera_rotation);
+
+  int ret = static_cast<int>(display_rotation) - color_camera_n;
+  if (ret < 0) {
+    ret += 4;
+  }
+  return static_cast<TangoSupportRotation>(ret % 4);
+}
+
+}  // namespace tango_gl

app/android/jni/tango-gl/video_overlay.cpp

@@ -0,0 +1,121 @@
+/*
+ * Copyright 2014 Google Inc. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "tango-gl/video_overlay.h"
+#include "tango-gl/shaders.h"
+
+namespace tango_gl {
+
+static const GLfloat kVertices[] =
+  {-1.0,  1.0, 0.0,
+   -1.0, -1.0, 0.0,
+    1.0,  1.0, 0.0,
+    1.0, -1.0, 0.0};
+
+static const GLushort kIndices[] =
+  {0, 1, 2, 2, 1, 3};
+
+static const GLfloat kTextureCoords[] =
+  {0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0};
+
+VideoOverlay::VideoOverlay() {
+  glEnable(GL_VERTEX_PROGRAM_POINT_SIZE);
+  shader_program_ =
+      util::CreateProgram(shaders::GetVideoOverlayVertexShader().c_str(),
+                          shaders::GetVideoOverlayFragmentShader().c_str());
+  if (!shader_program_) {
+    LOGE("Could not create program.");
+  }
+
+  glGenTextures(1, &texture_id_);
+  glBindTexture(GL_TEXTURE_EXTERNAL_OES, texture_id_);
+  glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+  glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+  uniform_texture_ = glGetUniformLocation(shader_program_, "texture");
+
+  glGenBuffers(3, vertex_buffers_);
+  // Allocate vertices buffer.
+  glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_[0]);
+  glBufferData(GL_ARRAY_BUFFER, sizeof(GLfloat) * 3 * 4, kVertices,
+               GL_STATIC_DRAW);
+  glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+  // Allocate triangle indices buffer.
+  glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vertex_buffers_[1]);
+  glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(GLushort) * 6, kIndices,
+               GL_STATIC_DRAW);
+  glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+
+  // Allocate texture coordinates buufer.
+  glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_[2]);
+  glBufferData(GL_ARRAY_BUFFER, sizeof(GLfloat) * 2 * 4, kTextureCoords,
+               GL_STATIC_DRAW);
+  glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+  // Assign the vertices attribute data.
+  attrib_vertices_ = glGetAttribLocation(shader_program_, "vertex");
+  glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_[0]);
+  glEnableVertexAttribArray(attrib_vertices_);
+  glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE, 0, nullptr);
+  glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+  // Assign the texture coordinates attribute data.
+  attrib_texture_coords_ = glGetAttribLocation(shader_program_, "textureCoords");
+  glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_[2]);
+  glEnableVertexAttribArray(attrib_texture_coords_);
+  glVertexAttribPointer(attrib_texture_coords_, 2, GL_FLOAT, GL_FALSE, 0,
+                        nullptr);
+  glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+  uniform_mvp_mat_ = glGetUniformLocation(shader_program_, "mvp");
+}
+
+void VideoOverlay::Render(const glm::mat4& projection_mat,
+                          const glm::mat4& view_mat) const {
+  glUseProgram(shader_program_);
+
+  glUniform1i(uniform_texture_, 0);
+  glActiveTexture(GL_TEXTURE0);
+  glBindTexture(GL_TEXTURE_EXTERNAL_OES, texture_id_);
+
+  glm::mat4 model_mat = GetTransformationMatrix();
+  glm::mat4 mvp_mat = projection_mat * view_mat * model_mat;
+  glUniformMatrix4fv(uniform_mvp_mat_, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+
+  // Bind vertices buffer.
+  glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_[0]);
+  glEnableVertexAttribArray(attrib_vertices_);
+  glVertexAttribPointer(attrib_vertices_, 3, GL_FLOAT, GL_FALSE, 0, nullptr);
+  glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+  // Bind texture coordinates buffer.
+  glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_[2]);
+  glEnableVertexAttribArray(attrib_texture_coords_);
+  glVertexAttribPointer(attrib_texture_coords_, 2, GL_FLOAT, GL_FALSE, 0,
+                        nullptr);
+  glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+  // Bind element array buffer.
+  glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, vertex_buffers_[1]);
+  glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_SHORT, 0);
+  util::CheckGlError("glDrawElements");
+  glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+
+  glUseProgram(0);
+  util::CheckGlError("glUseProgram()");
+}
+
+}  // namespace tango_gl

app/android/jni/third-party/include/glm/common.hpp

@@ -0,0 +1,31 @@
+///////////////////////////////////////////////////////////////////////////////////
+/// OpenGL Mathematics (glm.g-truc.net)
+///
+/// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net)
+/// Permission is hereby granted, free of charge, to any person obtaining a copy
+/// of this software and associated documentation files (the "Software"), to deal
+/// in the Software without restriction, including without limitation the rights
+/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+/// copies of the Software, and to permit persons to whom the Software is
+/// furnished to do so, subject to the following conditions:
+/// 
+/// The above copyright notice and this permission notice shall be included in
+/// all copies or substantial portions of the Software.
+/// 
+/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+/// THE SOFTWARE.
+///
+/// @ref core
+/// @file glm/common.hpp
+/// @date 2013-12-24 / 2013-12-24
+/// @author Christophe Riccio
+///////////////////////////////////////////////////////////////////////////////////
+
+#pragma once
+
+#include "detail/func_common.hpp"

app/android/jni/third-party/include/glm/detail/_features.hpp

@@ -0,0 +1,424 @@
+///////////////////////////////////////////////////////////////////////////////////
+/// OpenGL Mathematics (glm.g-truc.net)
+///
+/// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net)
+/// Permission is hereby granted, free of charge, to any person obtaining a copy
+/// of this software and associated documentation files (the "Software"), to deal
+/// in the Software without restriction, including without limitation the rights
+/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+/// copies of the Software, and to permit persons to whom the Software is
+/// furnished to do so, subject to the following conditions:
+/// 
+/// The above copyright notice and this permission notice shall be included in
+/// all copies or substantial portions of the Software.
+/// 
+/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+/// THE SOFTWARE.
+///
+/// @ref core
+/// @file glm/core/_features.hpp
+/// @date 2013-02-20 / 2013-02-20
+/// @author Christophe Riccio
+///////////////////////////////////////////////////////////////////////////////////
+
+#pragma once
+
+// #define GLM_CXX98_EXCEPTIONS
+// #define GLM_CXX98_RTTI
+
+// #define GLM_CXX11_RVALUE_REFERENCES
+// Rvalue references - GCC 4.3
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2006/n2118.html
+
+// GLM_CXX11_TRAILING_RETURN
+// Rvalue references for *this - GCC not supported
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2439.htm
+
+// GLM_CXX11_NONSTATIC_MEMBER_INIT
+// Initialization of class objects by rvalues - GCC any
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2004/n1610.html
+
+// GLM_CXX11_NONSTATIC_MEMBER_INIT
+// Non-static data member initializers - GCC 4.7
+// http://www.open-std.org/JTC1/SC22/WG21/docs/papers/2008/n2756.htm
+
+// #define GLM_CXX11_VARIADIC_TEMPLATE
+// Variadic templates - GCC 4.3
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2242.pdf
+
+// 
+// Extending variadic template template parameters - GCC 4.4
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2008/n2555.pdf
+
+// #define GLM_CXX11_GENERALIZED_INITIALIZERS
+// Initializer lists - GCC 4.4
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2008/n2672.htm
+
+// #define GLM_CXX11_STATIC_ASSERT 
+// Static assertions - GCC 4.3
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2004/n1720.html
+
+// #define GLM_CXX11_AUTO_TYPE
+// auto-typed variables - GCC 4.4
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2006/n1984.pdf
+
+// #define GLM_CXX11_AUTO_TYPE
+// Multi-declarator auto - GCC 4.4
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2004/n1737.pdf
+
+// #define GLM_CXX11_AUTO_TYPE
+// Removal of auto as a storage-class specifier - GCC 4.4
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2008/n2546.htm
+
+// #define GLM_CXX11_AUTO_TYPE
+// New function declarator syntax - GCC 4.4
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2008/n2541.htm
+
+// #define GLM_CXX11_LAMBDAS
+// New wording for C++0x lambdas - GCC 4.5
+// http://www.open-std.org/JTC1/SC22/WG21/docs/papers/2009/n2927.pdf
+
+// #define GLM_CXX11_DECLTYPE
+// Declared type of an expression - GCC 4.3
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2343.pdf
+
+// 
+// Right angle brackets - GCC 4.3
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2005/n1757.html
+
+// 
+// Default template arguments for function templates	DR226	GCC 4.3
+// http://www.open-std.org/jtc1/sc22/wg21/docs/cwg_defects.html#226
+
+// 
+// Solving the SFINAE problem for expressions	DR339	GCC 4.4
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2008/n2634.html
+
+// #define GLM_CXX11_ALIAS_TEMPLATE
+// Template aliases	N2258	GCC 4.7
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2258.pdf
+
+// 
+// Extern templates	N1987	Yes
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2006/n1987.htm
+
+// #define GLM_CXX11_NULLPTR
+// Null pointer constant	N2431	GCC 4.6
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2431.pdf
+
+// #define GLM_CXX11_STRONG_ENUMS
+// Strongly-typed enums	N2347	GCC 4.4
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2347.pdf
+
+// 
+// Forward declarations for enums	N2764	GCC 4.6
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2008/n2764.pdf
+
+// 
+// Generalized attributes	N2761	GCC 4.8
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2008/n2761.pdf
+
+// 
+// Generalized constant expressions	N2235	GCC 4.6
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2235.pdf
+
+// 
+// Alignment support	N2341	GCC 4.8
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2341.pdf
+
+// #define GLM_CXX11_DELEGATING_CONSTRUCTORS
+// Delegating constructors	N1986	GCC 4.7
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2006/n1986.pdf
+
+// 
+// Inheriting constructors	N2540	GCC 4.8
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2008/n2540.htm
+
+// #define GLM_CXX11_EXPLICIT_CONVERSIONS
+// Explicit conversion operators	N2437	GCC 4.5
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2437.pdf
+
+// 
+// New character types	N2249	GCC 4.4
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2249.html
+
+// 
+// Unicode string literals	N2442	GCC 4.5
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2442.htm
+
+// 
+// Raw string literals	N2442	GCC 4.5
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2442.htm
+
+// 
+// Universal character name literals	N2170	GCC 4.5
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2170.html
+
+// #define GLM_CXX11_USER_LITERALS
+// User-defined literals		N2765	GCC 4.7
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2008/n2765.pdf
+
+// 
+// Standard Layout Types	N2342	GCC 4.5
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2342.htm
+
+// #define GLM_CXX11_DEFAULTED_FUNCTIONS
+// #define GLM_CXX11_DELETED_FUNCTIONS
+// Defaulted and deleted functions	N2346	GCC 4.4
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2346.htm
+
+// 
+// Extended friend declarations	N1791	GCC 4.7
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2005/n1791.pdf
+
+// 
+// Extending sizeof	N2253	GCC 4.4
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2253.html
+
+// #define GLM_CXX11_INLINE_NAMESPACES
+// Inline namespaces	N2535	GCC 4.4
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2008/n2535.htm
+
+// #define GLM_CXX11_UNRESTRICTED_UNIONS
+// Unrestricted unions	N2544	GCC 4.6
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2008/n2544.pdf
+
+// #define GLM_CXX11_LOCAL_TYPE_TEMPLATE_ARGS
+// Local and unnamed types as template arguments	N2657	GCC 4.5
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2008/n2657.htm
+
+// #define GLM_CXX11_RANGE_FOR
+// Range-based for	N2930	GCC 4.6
+// http://www.open-std.org/JTC1/SC22/WG21/docs/papers/2009/n2930.html
+
+// #define GLM_CXX11_OVERRIDE_CONTROL
+// Explicit virtual overrides	N2928 N3206 N3272	GCC 4.7
+// http://www.open-std.org/JTC1/SC22/WG21/docs/papers/2009/n2928.htm
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2010/n3206.htm
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2011/n3272.htm
+
+// 
+// Minimal support for garbage collection and reachability-based leak detection	N2670	No
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2008/n2670.htm
+
+// #define GLM_CXX11_NOEXCEPT
+// Allowing move constructors to throw [noexcept]	N3050	GCC 4.6 (core language only)
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2010/n3050.html
+
+// 
+// Defining move special member functions	N3053	GCC 4.6
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2010/n3053.html
+
+// 
+// Sequence points	N2239	Yes
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2239.html
+
+// 
+// Atomic operations	N2427	GCC 4.4
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2239.html
+
+// 
+// Strong Compare and Exchange	N2748	GCC 4.5
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2427.html
+
+// 
+// Bidirectional Fences	N2752	GCC 4.8
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2008/n2752.htm
+
+// 
+// Memory model	N2429	GCC 4.8
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2429.htm
+
+// 
+// Data-dependency ordering: atomics and memory model	N2664	GCC 4.4
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2008/n2664.htm
+
+// 
+// Propagating exceptions	N2179	GCC 4.4
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2179.html
+
+// 
+// Abandoning a process and at_quick_exit	N2440	GCC 4.8
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2440.htm
+
+// 
+// Allow atomics use in signal handlers	N2547	Yes
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2008/n2547.htm
+
+// 
+// Thread-local storage	N2659	GCC 4.8
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2008/n2659.htm
+
+// 
+// Dynamic initialization and destruction with concurrency	N2660	GCC 4.3
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2008/n2660.htm
+
+// 
+// __func__ predefined identifier	N2340	GCC 4.3
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2340.htm
+
+// 
+// C99 preprocessor	N1653	GCC 4.3
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2004/n1653.htm
+
+// 
+// long long	N1811	GCC 4.3
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2005/n1811.pdf
+
+// 
+// Extended integral types	N1988	Yes
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2006/n1988.pdf
+
+#if(GLM_COMPILER & GLM_COMPILER_GCC)
+
+#	if(GLM_COMPILER >= GLM_COMPILER_GCC43)
+#		define GLM_CXX11_STATIC_ASSERT
+#	endif
+
+#elif(GLM_COMPILER & GLM_COMPILER_CLANG)
+#	if(__has_feature(cxx_exceptions))
+#		define GLM_CXX98_EXCEPTIONS
+#	endif
+
+#	if(__has_feature(cxx_rtti))
+#		define GLM_CXX98_RTTI
+#	endif
+
+#	if(__has_feature(cxx_access_control_sfinae))
+#		define GLM_CXX11_ACCESS_CONTROL_SFINAE
+#	endif
+
+#	if(__has_feature(cxx_alias_templates))
+#		define GLM_CXX11_ALIAS_TEMPLATE
+#	endif
+
+#	if(__has_feature(cxx_alignas))
+#		define GLM_CXX11_ALIGNAS
+#	endif
+
+#	if(__has_feature(cxx_attributes))
+#		define GLM_CXX11_ATTRIBUTES
+#	endif
+
+#	if(__has_feature(cxx_constexpr))
+#		define GLM_CXX11_CONSTEXPR
+#	endif
+
+#	if(__has_feature(cxx_decltype))
+#		define GLM_CXX11_DECLTYPE
+#	endif
+
+#	if(__has_feature(cxx_default_function_template_args))
+#		define GLM_CXX11_DEFAULT_FUNCTION_TEMPLATE_ARGS
+#	endif
+
+#	if(__has_feature(cxx_defaulted_functions))
+#		define GLM_CXX11_DEFAULTED_FUNCTIONS
+#	endif
+
+#	if(__has_feature(cxx_delegating_constructors))
+#		define GLM_CXX11_DELEGATING_CONSTRUCTORS
+#	endif
+
+#	if(__has_feature(cxx_deleted_functions))
+#		define GLM_CXX11_DELETED_FUNCTIONS
+#	endif
+
+#	if(__has_feature(cxx_explicit_conversions))
+#		define GLM_CXX11_EXPLICIT_CONVERSIONS
+#	endif
+
+#	if(__has_feature(cxx_generalized_initializers))
+#		define GLM_CXX11_GENERALIZED_INITIALIZERS
+#	endif
+
+#	if(__has_feature(cxx_implicit_moves))
+#		define GLM_CXX11_IMPLICIT_MOVES
+#	endif
+
+#	if(__has_feature(cxx_inheriting_constructors))
+#		define GLM_CXX11_INHERITING_CONSTRUCTORS
+#	endif
+
+#	if(__has_feature(cxx_inline_namespaces))
+#		define GLM_CXX11_INLINE_NAMESPACES
+#	endif
+
+#	if(__has_feature(cxx_lambdas))
+#		define GLM_CXX11_LAMBDAS
+#	endif
+
+#	if(__has_feature(cxx_local_type_template_args))
+#		define GLM_CXX11_LOCAL_TYPE_TEMPLATE_ARGS
+#	endif
+
+#	if(__has_feature(cxx_noexcept))
+#		define GLM_CXX11_NOEXCEPT
+#	endif
+
+#	if(__has_feature(cxx_nonstatic_member_init))
+#		define GLM_CXX11_NONSTATIC_MEMBER_INIT
+#	endif
+
+#	if(__has_feature(cxx_nullptr))
+#		define GLM_CXX11_NULLPTR
+#	endif
+
+#	if(__has_feature(cxx_override_control))
+#		define GLM_CXX11_OVERRIDE_CONTROL
+#	endif
+
+#	if(__has_feature(cxx_reference_qualified_functions))
+#		define GLM_CXX11_REFERENCE_QUALIFIED_FUNCTIONS
+#	endif
+
+#	if(__has_feature(cxx_range_for))
+#		define GLM_CXX11_RANGE_FOR
+#	endif
+
+#	if(__has_feature(cxx_raw_string_literals))
+#		define GLM_CXX11_RAW_STRING_LITERALS
+#	endif
+
+#	if(__has_feature(cxx_rvalue_references))
+#		define GLM_CXX11_RVALUE_REFERENCES
+#	endif
+
+#	if(__has_feature(cxx_static_assert))
+#		define GLM_CXX11_STATIC_ASSERT
+#	endif
+
+#	if(__has_feature(cxx_auto_type))
+#		define GLM_CXX11_AUTO_TYPE
+#	endif
+
+#	if(__has_feature(cxx_strong_enums))
+#		define GLM_CXX11_STRONG_ENUMS
+#	endif
+
+#	if(__has_feature(cxx_trailing_return))
+#		define GLM_CXX11_TRAILING_RETURN
+#	endif
+
+#	if(__has_feature(cxx_unicode_literals))
+#		define GLM_CXX11_UNICODE_LITERALS
+#	endif
+
+#	if(__has_feature(cxx_unrestricted_unions))
+#		define GLM_CXX11_UNRESTRICTED_UNIONS
+#	endif
+
+#	if(__has_feature(cxx_user_literals))
+#		define GLM_CXX11_USER_LITERALS
+#	endif
+
+#	if(__has_feature(cxx_variadic_templates))
+#		define GLM_CXX11_VARIADIC_TEMPLATES
+#	endif
+
+#endif//(GLM_COMPILER & GLM_COMPILER_CLANG)

app/android/jni/third-party/include/glm/detail/_fixes.hpp

@@ -0,0 +1,55 @@
+///////////////////////////////////////////////////////////////////////////////////
+/// OpenGL Mathematics (glm.g-truc.net)
+///
+/// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net)
+/// Permission is hereby granted, free of charge, to any person obtaining a copy
+/// of this software and associated documentation files (the "Software"), to deal
+/// in the Software without restriction, including without limitation the rights
+/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+/// copies of the Software, and to permit persons to whom the Software is
+/// furnished to do so, subject to the following conditions:
+/// 
+/// The above copyright notice and this permission notice shall be included in
+/// all copies or substantial portions of the Software.
+/// 
+/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+/// THE SOFTWARE.
+///
+/// @ref core
+/// @file glm/core/_fixes.hpp
+/// @date 2011-02-21 / 2011-11-22
+/// @author Christophe Riccio
+///////////////////////////////////////////////////////////////////////////////////
+
+#include <cmath>
+
+//! Workaround for compatibility with other libraries
+#ifdef max
+#undef max
+#endif
+
+//! Workaround for compatibility with other libraries
+#ifdef min
+#undef min
+#endif
+
+//! Workaround for Android
+#ifdef isnan
+#undef isnan
+#endif
+
+//! Workaround for Android
+#ifdef isinf
+#undef isinf
+#endif
+
+//! Workaround for Chrone Native Client
+#ifdef log2
+#undef log2
+#endif
+

app/android/jni/third-party/include/glm/detail/_literals.hpp

@@ -0,0 +1,48 @@
+///////////////////////////////////////////////////////////////////////////////////
+/// OpenGL Mathematics (glm.g-truc.net)
+///
+/// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net)
+/// Permission is hereby granted, free of charge, to any person obtaining a copy
+/// of this software and associated documentation files (the "Software"), to deal
+/// in the Software without restriction, including without limitation the rights
+/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+/// copies of the Software, and to permit persons to whom the Software is
+/// furnished to do so, subject to the following conditions:
+/// 
+/// The above copyright notice and this permission notice shall be included in
+/// all copies or substantial portions of the Software.
+/// 
+/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+/// THE SOFTWARE.
+///
+/// @ref core
+/// @file glm/core/_literals.hpp
+/// @date 2013-05-06 / 2013-05-06
+/// @author Christophe Riccio
+///////////////////////////////////////////////////////////////////////////////////
+
+#pragma once
+
+namespace glm
+{
+#define GLM_CXX11_USER_LITERALS
+#ifdef GLM_CXX11_USER_LITERALS
+/*
+	GLM_FUNC_QUALIFIER detail::half operator "" _h(long double const s)
+	{
+		return detail::half(s);
+	}
+
+	GLM_FUNC_QUALIFIER float operator "" _f(long double const s)
+	{
+		return static_cast<float>(s);
+	}
+*/
+#endif//GLM_CXX11_USER_LITERALS
+
+}//namespace glm

app/android/jni/third-party/include/glm/detail/_noise.hpp

@@ -0,0 +1,127 @@
+///////////////////////////////////////////////////////////////////////////////////
+/// OpenGL Mathematics (glm.g-truc.net)
+///
+/// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net)
+/// Permission is hereby granted, free of charge, to any person obtaining a copy
+/// of this software and associated documentation files (the "Software"), to deal
+/// in the Software without restriction, including without limitation the rights
+/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+/// copies of the Software, and to permit persons to whom the Software is
+/// furnished to do so, subject to the following conditions:
+/// 
+/// The above copyright notice and this permission notice shall be included in
+/// all copies or substantial portions of the Software.
+/// 
+/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+/// THE SOFTWARE.
+///
+/// @ref core
+/// @file glm/detail/_noise.hpp
+/// @date 2013-12-24 / 2013-12-24
+/// @author Christophe Riccio
+///////////////////////////////////////////////////////////////////////////////////
+
+#pragma once
+
+namespace glm{
+namespace detail
+{
+	template <typename T>
+	GLM_FUNC_QUALIFIER T mod289(T const & x)
+	{
+		return x - floor(x * static_cast<T>(1.0) / static_cast<T>(289.0)) * static_cast<T>(289.0);
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER T permute(T const & x)
+	{
+		return mod289(((x * static_cast<T>(34)) + static_cast<T>(1)) * x);
+	}
+
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER tvec2<T, P> permute(tvec2<T, P> const & x)
+	{
+		return mod289(((x * static_cast<T>(34)) + static_cast<T>(1)) * x);
+	}
+	
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER tvec3<T, P> permute(tvec3<T, P> const & x)
+	{
+		return mod289(((x * static_cast<T>(34)) + static_cast<T>(1)) * x);
+	}
+	
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER tvec4<T, P> permute(tvec4<T, P> const & x)
+	{
+		return mod289(((x * static_cast<T>(34)) + static_cast<T>(1)) * x);
+	}
+/*
+	template <typename T, precision P, template<typename> class vecType>
+	GLM_FUNC_QUALIFIER vecType<T, P> permute(vecType<T, P> const & x)
+	{
+		return mod289(((x * T(34)) + T(1)) * x);
+	}
+*/
+	template <typename T>
+	GLM_FUNC_QUALIFIER T taylorInvSqrt(T const & r)
+	{
+		return T(1.79284291400159) - T(0.85373472095314) * r;
+	}
+	
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER detail::tvec2<T, P> taylorInvSqrt(detail::tvec2<T, P> const & r)
+	{
+		return T(1.79284291400159) - T(0.85373472095314) * r;
+	}
+	
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER detail::tvec3<T, P> taylorInvSqrt(detail::tvec3<T, P> const & r)
+	{
+		return T(1.79284291400159) - T(0.85373472095314) * r;
+	}
+	
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER detail::tvec4<T, P> taylorInvSqrt(detail::tvec4<T, P> const & r)
+	{
+		return T(1.79284291400159) - T(0.85373472095314) * r;
+	}
+/*
+	template <typename T, precision P, template<typename> class vecType>
+	GLM_FUNC_QUALIFIER vecType<T, P> taylorInvSqrt(vecType<T, P> const & r)
+	{
+		return T(1.79284291400159) - T(0.85373472095314) * r;
+	}
+*/
+	
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER detail::tvec2<T, P> fade(detail::tvec2<T, P> const & t)
+	{
+		return (t * t * t) * (t * (t * T(6) - T(15)) + T(10));
+	}
+	
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER detail::tvec3<T, P> fade(detail::tvec3<T, P> const & t)
+	{
+		return (t * t * t) * (t * (t * T(6) - T(15)) + T(10));
+	}
+	
+	template <typename T, precision P>
+	GLM_FUNC_QUALIFIER detail::tvec4<T, P> fade(detail::tvec4<T, P> const & t)
+	{
+		return (t * t * t) * (t * (t * T(6) - T(15)) + T(10));
+	}
+/*
+	template <typename T, precision P, template <typename> class vecType>
+	GLM_FUNC_QUALIFIER vecType<T, P> fade(vecType<T, P> const & t)
+	{
+		return (t * t * t) * (t * (t * T(6) - T(15)) + T(10));
+	}
+*/
+}//namespace detail
+}//namespace glm
+

app/android/jni/third-party/include/glm/detail/_swizzle.hpp

@@ -0,0 +1,837 @@
+///////////////////////////////////////////////////////////////////////////////////
+/// OpenGL Mathematics (glm.g-truc.net)
+///
+/// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net)
+/// Permission is hereby granted, free of charge, to any person obtaining a copy
+/// of this software and associated documentation files (the "Software"), to deal
+/// in the Software without restriction, including without limitation the rights
+/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+/// copies of the Software, and to permit persons to whom the Software is
+/// furnished to do so, subject to the following conditions:
+/// 
+/// The above copyright notice and this permission notice shall be included in
+/// all copies or substantial portions of the Software.
+/// 
+/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+/// THE SOFTWARE.
+///
+/// @ref core
+/// @file glm/core/_swizzle.hpp
+/// @date 2006-04-20 / 2011-02-16
+/// @author Christophe Riccio
+///////////////////////////////////////////////////////////////////////////////////
+
+#pragma once
+
+namespace glm{
+namespace detail
+{
+	// Internal class for implementing swizzle operators
+	template <typename T, int N>
+	struct _swizzle_base0
+	{
+		typedef T       value_type;
+
+	protected:
+		GLM_FUNC_QUALIFIER value_type&         elem   (size_t i)       { return (reinterpret_cast<value_type*>(_buffer))[i]; }
+		GLM_FUNC_QUALIFIER const value_type&   elem   (size_t i) const { return (reinterpret_cast<const value_type*>(_buffer))[i]; }
+
+		// Use an opaque buffer to *ensure* the compiler doesn't call a constructor.
+		// The size 1 buffer is assumed to aligned to the actual members so that the
+		// elem() 
+		char    _buffer[1];
+	};
+
+	template <typename T, precision P, typename V, int E0, int E1, int E2, int E3, int N>
+	struct _swizzle_base1 : public _swizzle_base0<T, N>
+	{
+	};
+
+	template <typename T, precision P, typename V, int E0, int E1>
+	struct _swizzle_base1<T, P, V,E0,E1,-1,-2,2> : public _swizzle_base0<T, 2>
+	{
+		GLM_FUNC_QUALIFIER V operator ()()  const { return V(this->elem(E0), this->elem(E1)); }
+	};
+
+	template <typename T, precision P, typename V, int E0, int E1, int E2>
+	struct _swizzle_base1<T, P, V,E0,E1,E2,-1,3> : public _swizzle_base0<T, 3>
+	{
+		GLM_FUNC_QUALIFIER V operator ()()  const { return V(this->elem(E0), this->elem(E1), this->elem(E2)); }
+	};
+
+	template <typename T, precision P, typename V, int E0, int E1, int E2, int E3>
+	struct _swizzle_base1<T, P, V,E0,E1,E2,E3,4> : public _swizzle_base0<T, 4>
+	{ 
+		GLM_FUNC_QUALIFIER V operator ()()  const { return V(this->elem(E0), this->elem(E1), this->elem(E2), this->elem(E3)); }
+	};
+
+	// Internal class for implementing swizzle operators
+	/*
+		Template parameters:
+
+		ValueType = type of scalar values (e.g. float, double)
+		VecType   = class the swizzle is applies to (e.g. tvec3<float>)
+		N         = number of components in the vector (e.g. 3)
+		E0...3    = what index the n-th element of this swizzle refers to in the unswizzled vec
+
+		DUPLICATE_ELEMENTS = 1 if there is a repeated element, 0 otherwise (used to specialize swizzles
+			containing duplicate elements so that they cannot be used as r-values).            
+	*/
+	template <typename ValueType, precision P, typename VecType, int N, int E0, int E1, int E2, int E3, int DUPLICATE_ELEMENTS>
+	struct _swizzle_base2 : public _swizzle_base1<ValueType, P, VecType,E0,E1,E2,E3,N>
+	{
+		typedef VecType vec_type;
+		typedef ValueType value_type;
+
+		GLM_FUNC_QUALIFIER _swizzle_base2& operator= (const ValueType& t)
+		{
+			for (int i = 0; i < N; ++i)
+				(*this)[i] = t;
+			return *this;
+		}
+
+		GLM_FUNC_QUALIFIER _swizzle_base2& operator= (const VecType& that)
+		{
+			struct op { 
+				GLM_FUNC_QUALIFIER void operator() (value_type& e, value_type& t) { e = t; } 
+			};
+			_apply_op(that, op());
+			return *this;
+		}
+
+		GLM_FUNC_QUALIFIER void operator -= (const VecType& that)
+		{
+			struct op { 
+				GLM_FUNC_QUALIFIER void operator() (value_type& e, value_type& t) { e -= t; } 
+			};
+			_apply_op(that, op());
+		}
+
+		GLM_FUNC_QUALIFIER void operator += (const VecType& that)
+		{
+			struct op { 
+				GLM_FUNC_QUALIFIER void operator() (value_type& e, value_type& t) { e += t; } 
+			};
+			_apply_op(that, op());
+		}
+
+		GLM_FUNC_QUALIFIER void operator *= (const VecType& that)
+		{
+			struct op { 
+				GLM_FUNC_QUALIFIER void operator() (value_type& e, value_type& t) { e *= t; } 
+			};
+			_apply_op(that, op());
+		}
+
+		GLM_FUNC_QUALIFIER void operator /= (const VecType& that)
+		{
+			struct op { 
+				GLM_FUNC_QUALIFIER void operator() (value_type& e, value_type& t) { e /= t; } 
+			};
+			_apply_op(that, op());
+		}
+
+		GLM_FUNC_QUALIFIER value_type& operator[]  (size_t i)
+		{
+#ifndef __CUDA_ARCH__
+			static
+#endif
+				const int offset_dst[4] = { E0, E1, E2, E3 };
+			return this->elem(offset_dst[i]);
+		}
+		GLM_FUNC_QUALIFIER value_type  operator[]  (size_t i) const
+		{
+#ifndef __CUDA_ARCH__
+			static
+#endif
+				const int offset_dst[4] = { E0, E1, E2, E3 };
+			return this->elem(offset_dst[i]);
+		}
+	protected:
+		template <typename T>
+		GLM_FUNC_QUALIFIER void _apply_op(const VecType& that, T op)
+		{
+			// Make a copy of the data in this == &that.
+			// The copier should optimize out the copy in cases where the function is
+			// properly inlined and the copy is not necessary.
+			ValueType t[N];
+			for (int i = 0; i < N; ++i)
+				t[i] = that[i];
+			for (int i = 0; i < N; ++i)
+				op( (*this)[i], t[i] );
+		}
+	};
+
+	// Specialization for swizzles containing duplicate elements.  These cannot be modified.
+	template <typename ValueType, precision P, typename VecType, int N, int E0, int E1, int E2, int E3>
+	struct _swizzle_base2<ValueType, P, VecType,N,E0,E1,E2,E3,1> : public _swizzle_base1<ValueType, P, VecType,E0,E1,E2,E3,N>
+	{
+		typedef VecType         vec_type;        
+		typedef ValueType       value_type;
+
+		struct Stub {};
+		GLM_FUNC_QUALIFIER _swizzle_base2& operator= (Stub const &) { return *this; }
+
+		GLM_FUNC_QUALIFIER value_type  operator[]  (size_t i) const
+		{
+#ifndef __CUDA_ARCH__
+			static
+#endif
+				const int offset_dst[4] = { E0, E1, E2, E3 };
+			return this->elem(offset_dst[i]);
+		}
+	};
+
+	template <int N,typename ValueType, precision P, typename VecType, int E0,int E1,int E2,int E3>
+	struct _swizzle : public _swizzle_base2<ValueType, P, VecType, N,E0,E1,E2,E3,(E0==E1||E0==E2||E0==E3||E1==E2||E1==E3||E2==E3)>
+	{
+		typedef _swizzle_base2<ValueType, P, VecType,N,E0,E1,E2,E3,(E0==E1||E0==E2||E0==E3||E1==E2||E1==E3||E2==E3)> base_type;
+
+		using base_type::operator=;
+
+		GLM_FUNC_QUALIFIER operator VecType () const { return (*this)(); }
+	};
+
+//
+// To prevent the C++ syntax from getting entirely overwhelming, define some alias macros
+//
+#define _GLM_SWIZZLE_TEMPLATE1   template <int N, typename T, precision P, typename V, int E0, int E1, int E2, int E3>
+#define _GLM_SWIZZLE_TEMPLATE2   template <int N, typename T, precision P, typename V, int E0, int E1, int E2, int E3, int F0, int F1, int F2, int F3>
+#define _GLM_SWIZZLE_TYPE1       _swizzle<N, T, P, V, E0, E1, E2, E3>
+#define _GLM_SWIZZLE_TYPE2       _swizzle<N, T, P, V, F0, F1, F2, F3>
+
+//
+// Wrapper for a binary operator (e.g. u.yy + v.zy)
+//
+#define _GLM_SWIZZLE_VECTOR_BINARY_OPERATOR_IMPLEMENTATION(OPERAND)                 \
+	_GLM_SWIZZLE_TEMPLATE2                                                          \
+	GLM_FUNC_QUALIFIER V operator OPERAND ( const _GLM_SWIZZLE_TYPE1& a, const _GLM_SWIZZLE_TYPE2& b)  \
+	{                                                                               \
+		return a() OPERAND b();                                                     \
+	}                                                                               \
+	_GLM_SWIZZLE_TEMPLATE1                                                          \
+	GLM_FUNC_QUALIFIER V operator OPERAND ( const _GLM_SWIZZLE_TYPE1& a, const V& b)                   \
+	{                                                                               \
+		return a() OPERAND b;                                                       \
+	}                                                                               \
+	_GLM_SWIZZLE_TEMPLATE1                                                          \
+	GLM_FUNC_QUALIFIER V operator OPERAND ( const V& a, const _GLM_SWIZZLE_TYPE1& b)                   \
+	{                                                                               \
+		return a OPERAND b();                                                       \
+	}
+
+//
+// Wrapper for a operand between a swizzle and a binary (e.g. 1.0f - u.xyz)
+//
+#define _GLM_SWIZZLE_SCALAR_BINARY_OPERATOR_IMPLEMENTATION(OPERAND)                 \
+	_GLM_SWIZZLE_TEMPLATE1                                                          \
+	GLM_FUNC_QUALIFIER V operator OPERAND ( const _GLM_SWIZZLE_TYPE1& a, const T& b)                   \
+	{                                                                               \
+		return a() OPERAND b;                                                       \
+	}                                                                               \
+	_GLM_SWIZZLE_TEMPLATE1                                                          \
+	GLM_FUNC_QUALIFIER V operator OPERAND ( const T& a, const _GLM_SWIZZLE_TYPE1& b)                   \
+	{                                                                               \
+		return a OPERAND b();                                                       \
+	}
+
+//
+// Macro for wrapping a function taking one argument (e.g. abs())
+//
+#define _GLM_SWIZZLE_FUNCTION_1_ARGS(RETURN_TYPE,FUNCTION)                          \
+	_GLM_SWIZZLE_TEMPLATE1                                                          \
+	GLM_FUNC_QUALIFIER typename _GLM_SWIZZLE_TYPE1::RETURN_TYPE FUNCTION(const _GLM_SWIZZLE_TYPE1& a)  \
+	{                                                                               \
+		return FUNCTION(a());                                                       \
+	}
+
+//
+// Macro for wrapping a function taking two vector arguments (e.g. dot()).
+//
+#define _GLM_SWIZZLE_FUNCTION_2_ARGS(RETURN_TYPE,FUNCTION)                                                      \
+	_GLM_SWIZZLE_TEMPLATE2                                                                                      \
+	GLM_FUNC_QUALIFIER typename _GLM_SWIZZLE_TYPE1::RETURN_TYPE FUNCTION(const _GLM_SWIZZLE_TYPE1& a, const _GLM_SWIZZLE_TYPE2& b) \
+	{                                                                                                           \
+		return FUNCTION(a(), b());                                                                              \
+	}                                                                                                           \
+	_GLM_SWIZZLE_TEMPLATE1                                                                                      \
+	GLM_FUNC_QUALIFIER typename _GLM_SWIZZLE_TYPE1::RETURN_TYPE FUNCTION(const _GLM_SWIZZLE_TYPE1& a, const _GLM_SWIZZLE_TYPE1& b) \
+	{                                                                                                           \
+		return FUNCTION(a(), b());                                                                              \
+	}                                                                                                           \
+	_GLM_SWIZZLE_TEMPLATE1                                                                                      \
+	GLM_FUNC_QUALIFIER typename _GLM_SWIZZLE_TYPE1::RETURN_TYPE FUNCTION(const _GLM_SWIZZLE_TYPE1& a, const typename V& b)         \
+	{                                                                                                           \
+		return FUNCTION(a(), b);                                                                                \
+	}                                                                                                           \
+	_GLM_SWIZZLE_TEMPLATE1                                                                                      \
+	GLM_FUNC_QUALIFIER typename _GLM_SWIZZLE_TYPE1::RETURN_TYPE FUNCTION(const V& a, const _GLM_SWIZZLE_TYPE1& b)                  \
+	{                                                                                                           \
+		return FUNCTION(a, b());                                                                                \
+	} 
+
+//
+// Macro for wrapping a function take 2 vec arguments followed by a scalar (e.g. mix()).
+//
+#define _GLM_SWIZZLE_FUNCTION_2_ARGS_SCALAR(RETURN_TYPE,FUNCTION)                                                             \
+	_GLM_SWIZZLE_TEMPLATE2                                                                                                    \
+	GLM_FUNC_QUALIFIER typename _GLM_SWIZZLE_TYPE1::RETURN_TYPE FUNCTION(const _GLM_SWIZZLE_TYPE1& a, const _GLM_SWIZZLE_TYPE2& b, const T& c)   \
+	{                                                                                                                         \
+		return FUNCTION(a(), b(), c);                                                                                         \
+	}                                                                                                                         \
+	_GLM_SWIZZLE_TEMPLATE1                                                                                                    \
+	GLM_FUNC_QUALIFIER typename _GLM_SWIZZLE_TYPE1::RETURN_TYPE FUNCTION(const _GLM_SWIZZLE_TYPE1& a, const _GLM_SWIZZLE_TYPE1& b, const T& c)   \
+	{                                                                                                                         \
+		return FUNCTION(a(), b(), c);                                                                                         \
+	}                                                                                                                         \
+	_GLM_SWIZZLE_TEMPLATE1                                                                                                    \
+	GLM_FUNC_QUALIFIER typename _GLM_SWIZZLE_TYPE1::RETURN_TYPE FUNCTION(const _GLM_SWIZZLE_TYPE1& a, const typename S0::vec_type& b, const T& c)\
+	{                                                                                                                         \
+		return FUNCTION(a(), b, c);                                                                                           \
+	}                                                                                                                         \
+	_GLM_SWIZZLE_TEMPLATE1                                                                                                    \
+	GLM_FUNC_QUALIFIER typename _GLM_SWIZZLE_TYPE1::RETURN_TYPE FUNCTION(const typename V& a, const _GLM_SWIZZLE_TYPE1& b, const T& c)           \
+	{                                                                                                                         \
+		return FUNCTION(a, b(), c);                                                                                           \
+	} 
+ 
+}//namespace detail 
+}//namespace glm
+
+namespace glm
+{
+	namespace detail
+	{
+		_GLM_SWIZZLE_SCALAR_BINARY_OPERATOR_IMPLEMENTATION(-)
+		_GLM_SWIZZLE_SCALAR_BINARY_OPERATOR_IMPLEMENTATION(*)
+		_GLM_SWIZZLE_VECTOR_BINARY_OPERATOR_IMPLEMENTATION(+)
+		_GLM_SWIZZLE_VECTOR_BINARY_OPERATOR_IMPLEMENTATION(-)
+		_GLM_SWIZZLE_VECTOR_BINARY_OPERATOR_IMPLEMENTATION(*)
+		_GLM_SWIZZLE_VECTOR_BINARY_OPERATOR_IMPLEMENTATION(/)
+	}
+
+	//
+	// Swizzles are distinct types from the unswizzled type.  The below macros will
+	// provide template specializations for the swizzle types for the given functions
+	// so that the compiler does not have any ambiguity to choosing how to handle
+	// the function.
+	//
+	// The alternative is to use the operator()() when calling the function in order
+	// to explicitly convert the swizzled type to the unswizzled type.
+	//
+
+	//_GLM_SWIZZLE_FUNCTION_1_ARGS(vec_type,    abs);
+	//_GLM_SWIZZLE_FUNCTION_1_ARGS(vec_type,    acos);
+	//_GLM_SWIZZLE_FUNCTION_1_ARGS(vec_type,    acosh);
+	//_GLM_SWIZZLE_FUNCTION_1_ARGS(vec_type,    all);
+	//_GLM_SWIZZLE_FUNCTION_1_ARGS(vec_type,    any);
+
+	//_GLM_SWIZZLE_FUNCTION_2_ARGS(value_type,  dot);
+	//_GLM_SWIZZLE_FUNCTION_2_ARGS(vec_type,    cross);
+	//_GLM_SWIZZLE_FUNCTION_2_ARGS(vec_type,    step);    
+	//_GLM_SWIZZLE_FUNCTION_2_ARGS_SCALAR(vec_type, mix);
+}
+
+#define _GLM_SWIZZLE2_2_MEMBERS(T, P, V, E0,E1) \
+	struct { _swizzle<2, T, P, V<T, P>, 0,0,-1,-2> E0 ## E0; }; \
+	struct { _swizzle<2, T, P, V<T, P>, 0,1,-1,-2> E0 ## E1; }; \
+	struct { _swizzle<2, T, P, V<T, P>, 1,0,-1,-2> E1 ## E0; }; \
+	struct { _swizzle<2, T, P, V<T, P>, 1,1,-1,-2> E1 ## E1; }; 
+
+#define _GLM_SWIZZLE2_3_MEMBERS(T, P, V, E0,E1) \
+	struct { _swizzle<3,T, P, V<T, P>, 0,0,0,-1> E0 ## E0 ## E0; }; \
+	struct { _swizzle<3,T, P, V<T, P>, 0,0,1,-1> E0 ## E0 ## E1; }; \
+	struct { _swizzle<3,T, P, V<T, P>, 0,1,0,-1> E0 ## E1 ## E0; }; \
+	struct { _swizzle<3,T, P, V<T, P>, 0,1,1,-1> E0 ## E1 ## E1; }; \
+	struct { _swizzle<3,T, P, V<T, P>, 1,0,0,-1> E1 ## E0 ## E0; }; \
+	struct { _swizzle<3,T, P, V<T, P>, 1,0,1,-1> E1 ## E0 ## E1; }; \
+	struct { _swizzle<3,T, P, V<T, P>, 1,1,0,-1> E1 ## E1 ## E0; }; \
+	struct { _swizzle<3,T, P, V<T, P>, 1,1,1,-1> E1 ## E1 ## E1; };  
+
+#define _GLM_SWIZZLE2_4_MEMBERS(T, P, V, E0,E1) \
+	struct { _swizzle<4,T, P, V<T, P>, 0,0,0,0> E0 ## E0 ## E0 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,0,0,1> E0 ## E0 ## E0 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,0,1,0> E0 ## E0 ## E1 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,0,1,1> E0 ## E0 ## E1 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,1,0,0> E0 ## E1 ## E0 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,1,0,1> E0 ## E1 ## E0 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,1,1,0> E0 ## E1 ## E1 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,1,1,1> E0 ## E1 ## E1 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,0,0,0> E1 ## E0 ## E0 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,0,0,1> E1 ## E0 ## E0 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,0,1,0> E1 ## E0 ## E1 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,0,1,1> E1 ## E0 ## E1 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,1,0,0> E1 ## E1 ## E0 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,1,0,1> E1 ## E1 ## E0 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,1,1,0> E1 ## E1 ## E1 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,1,1,1> E1 ## E1 ## E1 ## E1; };  
+
+#define _GLM_SWIZZLE3_2_MEMBERS(T, P, V, E0,E1,E2) \
+	struct { _swizzle<2,T, P, V<T, P>, 0,0,-1,-2> E0 ## E0; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 0,1,-1,-2> E0 ## E1; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 0,2,-1,-2> E0 ## E2; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 1,0,-1,-2> E1 ## E0; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 1,1,-1,-2> E1 ## E1; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 1,2,-1,-2> E1 ## E2; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 2,0,-1,-2> E2 ## E0; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 2,1,-1,-2> E2 ## E1; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 2,2,-1,-2> E2 ## E2; }; 
+
+#define _GLM_SWIZZLE3_3_MEMBERS(T, P, V ,E0,E1,E2) \
+	struct { _swizzle<3,T,P, V<T, P>, 0,0,0,-1> E0 ## E0 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,0,1,-1> E0 ## E0 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,0,2,-1> E0 ## E0 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,1,0,-1> E0 ## E1 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,1,1,-1> E0 ## E1 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,1,2,-1> E0 ## E1 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,2,0,-1> E0 ## E2 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,2,1,-1> E0 ## E2 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,2,2,-1> E0 ## E2 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,0,0,-1> E1 ## E0 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,0,1,-1> E1 ## E0 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,0,2,-1> E1 ## E0 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,1,0,-1> E1 ## E1 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,1,1,-1> E1 ## E1 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,1,2,-1> E1 ## E1 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,2,0,-1> E1 ## E2 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,2,1,-1> E1 ## E2 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,2,2,-1> E1 ## E2 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,0,0,-1> E2 ## E0 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,0,1,-1> E2 ## E0 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,0,2,-1> E2 ## E0 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,1,0,-1> E2 ## E1 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,1,1,-1> E2 ## E1 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,1,2,-1> E2 ## E1 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,2,0,-1> E2 ## E2 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,2,1,-1> E2 ## E2 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,2,2,-1> E2 ## E2 ## E2; };
+
+#define _GLM_SWIZZLE3_4_MEMBERS(T, P, V, E0,E1,E2) \
+	struct { _swizzle<4,T, P, V<T, P>, 0,0,0,0> E0 ## E0 ## E0 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,0,0,1> E0 ## E0 ## E0 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,0,0,2> E0 ## E0 ## E0 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,0,1,0> E0 ## E0 ## E1 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,0,1,1> E0 ## E0 ## E1 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,0,1,2> E0 ## E0 ## E1 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,0,2,0> E0 ## E0 ## E2 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,0,2,1> E0 ## E0 ## E2 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,0,2,2> E0 ## E0 ## E2 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,1,0,0> E0 ## E1 ## E0 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,1,0,1> E0 ## E1 ## E0 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,1,0,2> E0 ## E1 ## E0 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,1,1,0> E0 ## E1 ## E1 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,1,1,1> E0 ## E1 ## E1 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,1,1,2> E0 ## E1 ## E1 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,1,2,0> E0 ## E1 ## E2 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,1,2,1> E0 ## E1 ## E2 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,1,2,2> E0 ## E1 ## E2 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,2,0,0> E0 ## E2 ## E0 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,2,0,1> E0 ## E2 ## E0 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,2,0,2> E0 ## E2 ## E0 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,2,1,0> E0 ## E2 ## E1 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,2,1,1> E0 ## E2 ## E1 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,2,1,2> E0 ## E2 ## E1 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,2,2,0> E0 ## E2 ## E2 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,2,2,1> E0 ## E2 ## E2 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 0,2,2,2> E0 ## E2 ## E2 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,0,0,0> E1 ## E0 ## E0 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,0,0,1> E1 ## E0 ## E0 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,0,0,2> E1 ## E0 ## E0 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,0,1,0> E1 ## E0 ## E1 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,0,1,1> E1 ## E0 ## E1 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,0,1,2> E1 ## E0 ## E1 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,0,2,0> E1 ## E0 ## E2 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,0,2,1> E1 ## E0 ## E2 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,0,2,2> E1 ## E0 ## E2 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,1,0,0> E1 ## E1 ## E0 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,1,0,1> E1 ## E1 ## E0 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,1,0,2> E1 ## E1 ## E0 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,1,1,0> E1 ## E1 ## E1 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,1,1,1> E1 ## E1 ## E1 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,1,1,2> E1 ## E1 ## E1 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,1,2,0> E1 ## E1 ## E2 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,1,2,1> E1 ## E1 ## E2 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,1,2,2> E1 ## E1 ## E2 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,2,0,0> E1 ## E2 ## E0 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,2,0,1> E1 ## E2 ## E0 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,2,0,2> E1 ## E2 ## E0 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,2,1,0> E1 ## E2 ## E1 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,2,1,1> E1 ## E2 ## E1 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,2,1,2> E1 ## E2 ## E1 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,2,2,0> E1 ## E2 ## E2 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,2,2,1> E1 ## E2 ## E2 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 1,2,2,2> E1 ## E2 ## E2 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,0,0,0> E2 ## E0 ## E0 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,0,0,1> E2 ## E0 ## E0 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,0,0,2> E2 ## E0 ## E0 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,0,1,0> E2 ## E0 ## E1 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,0,1,1> E2 ## E0 ## E1 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,0,1,2> E2 ## E0 ## E1 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,0,2,0> E2 ## E0 ## E2 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,0,2,1> E2 ## E0 ## E2 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,0,2,2> E2 ## E0 ## E2 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,1,0,0> E2 ## E1 ## E0 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,1,0,1> E2 ## E1 ## E0 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,1,0,2> E2 ## E1 ## E0 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,1,1,0> E2 ## E1 ## E1 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,1,1,1> E2 ## E1 ## E1 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,1,1,2> E2 ## E1 ## E1 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,1,2,0> E2 ## E1 ## E2 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,1,2,1> E2 ## E1 ## E2 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,1,2,2> E2 ## E1 ## E2 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,2,0,0> E2 ## E2 ## E0 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,2,0,1> E2 ## E2 ## E0 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,2,0,2> E2 ## E2 ## E0 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,2,1,0> E2 ## E2 ## E1 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,2,1,1> E2 ## E2 ## E1 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,2,1,2> E2 ## E2 ## E1 ## E2; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,2,2,0> E2 ## E2 ## E2 ## E0; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,2,2,1> E2 ## E2 ## E2 ## E1; }; \
+	struct { _swizzle<4,T, P, V<T, P>, 2,2,2,2> E2 ## E2 ## E2 ## E2; }; 
+
+#define _GLM_SWIZZLE4_2_MEMBERS(T, P, V, E0,E1,E2,E3) \
+	struct { _swizzle<2,T, P, V<T, P>, 0,0,-1,-2> E0 ## E0; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 0,1,-1,-2> E0 ## E1; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 0,2,-1,-2> E0 ## E2; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 0,3,-1,-2> E0 ## E3; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 1,0,-1,-2> E1 ## E0; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 1,1,-1,-2> E1 ## E1; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 1,2,-1,-2> E1 ## E2; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 1,3,-1,-2> E1 ## E3; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 2,0,-1,-2> E2 ## E0; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 2,1,-1,-2> E2 ## E1; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 2,2,-1,-2> E2 ## E2; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 2,3,-1,-2> E2 ## E3; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 3,0,-1,-2> E3 ## E0; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 3,1,-1,-2> E3 ## E1; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 3,2,-1,-2> E3 ## E2; }; \
+	struct { _swizzle<2,T, P, V<T, P>, 3,3,-1,-2> E3 ## E3; }; 
+
+#define _GLM_SWIZZLE4_3_MEMBERS(T,P, V, E0,E1,E2,E3) \
+	struct { _swizzle<3,T,P, V<T, P>, 0,0,0,-1> E0 ## E0 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,0,1,-1> E0 ## E0 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,0,2,-1> E0 ## E0 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,0,3,-1> E0 ## E0 ## E3; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,1,0,-1> E0 ## E1 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,1,1,-1> E0 ## E1 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,1,2,-1> E0 ## E1 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,1,3,-1> E0 ## E1 ## E3; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,2,0,-1> E0 ## E2 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,2,1,-1> E0 ## E2 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,2,2,-1> E0 ## E2 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,2,3,-1> E0 ## E2 ## E3; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,3,0,-1> E0 ## E3 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,3,1,-1> E0 ## E3 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,3,2,-1> E0 ## E3 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 0,3,3,-1> E0 ## E3 ## E3; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,0,0,-1> E1 ## E0 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,0,1,-1> E1 ## E0 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,0,2,-1> E1 ## E0 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,0,3,-1> E1 ## E0 ## E3; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,1,0,-1> E1 ## E1 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,1,1,-1> E1 ## E1 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,1,2,-1> E1 ## E1 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,1,3,-1> E1 ## E1 ## E3; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,2,0,-1> E1 ## E2 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,2,1,-1> E1 ## E2 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,2,2,-1> E1 ## E2 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,2,3,-1> E1 ## E2 ## E3; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,3,0,-1> E1 ## E3 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,3,1,-1> E1 ## E3 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,3,2,-1> E1 ## E3 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 1,3,3,-1> E1 ## E3 ## E3; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,0,0,-1> E2 ## E0 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,0,1,-1> E2 ## E0 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,0,2,-1> E2 ## E0 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,0,3,-1> E2 ## E0 ## E3; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,1,0,-1> E2 ## E1 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,1,1,-1> E2 ## E1 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,1,2,-1> E2 ## E1 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,1,3,-1> E2 ## E1 ## E3; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,2,0,-1> E2 ## E2 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,2,1,-1> E2 ## E2 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,2,2,-1> E2 ## E2 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,2,3,-1> E2 ## E2 ## E3; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,3,0,-1> E2 ## E3 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,3,1,-1> E2 ## E3 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,3,2,-1> E2 ## E3 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 2,3,3,-1> E2 ## E3 ## E3; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 3,0,0,-1> E3 ## E0 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 3,0,1,-1> E3 ## E0 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 3,0,2,-1> E3 ## E0 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 3,0,3,-1> E3 ## E0 ## E3; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 3,1,0,-1> E3 ## E1 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 3,1,1,-1> E3 ## E1 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 3,1,2,-1> E3 ## E1 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 3,1,3,-1> E3 ## E1 ## E3; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 3,2,0,-1> E3 ## E2 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 3,2,1,-1> E3 ## E2 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 3,2,2,-1> E3 ## E2 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 3,2,3,-1> E3 ## E2 ## E3; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 3,3,0,-1> E3 ## E3 ## E0; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 3,3,1,-1> E3 ## E3 ## E1; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 3,3,2,-1> E3 ## E3 ## E2; }; \
+	struct { _swizzle<3,T,P, V<T, P>, 3,3,3,-1> E3 ## E3 ## E3; };  
+
+#define _GLM_SWIZZLE4_4_MEMBERS(T, P, V, E0,E1,E2,E3) \
+	struct { _swizzle<4, T, P, V<T, P>, 0,0,0,0> E0 ## E0 ## E0 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,0,0,1> E0 ## E0 ## E0 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,0,0,2> E0 ## E0 ## E0 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,0,0,3> E0 ## E0 ## E0 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,0,1,0> E0 ## E0 ## E1 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,0,1,1> E0 ## E0 ## E1 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,0,1,2> E0 ## E0 ## E1 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,0,1,3> E0 ## E0 ## E1 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,0,2,0> E0 ## E0 ## E2 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,0,2,1> E0 ## E0 ## E2 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,0,2,2> E0 ## E0 ## E2 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,0,2,3> E0 ## E0 ## E2 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,0,3,0> E0 ## E0 ## E3 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,0,3,1> E0 ## E0 ## E3 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,0,3,2> E0 ## E0 ## E3 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,0,3,3> E0 ## E0 ## E3 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,1,0,0> E0 ## E1 ## E0 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,1,0,1> E0 ## E1 ## E0 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,1,0,2> E0 ## E1 ## E0 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,1,0,3> E0 ## E1 ## E0 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,1,1,0> E0 ## E1 ## E1 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,1,1,1> E0 ## E1 ## E1 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,1,1,2> E0 ## E1 ## E1 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,1,1,3> E0 ## E1 ## E1 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,1,2,0> E0 ## E1 ## E2 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,1,2,1> E0 ## E1 ## E2 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,1,2,2> E0 ## E1 ## E2 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,1,2,3> E0 ## E1 ## E2 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,1,3,0> E0 ## E1 ## E3 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,1,3,1> E0 ## E1 ## E3 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,1,3,2> E0 ## E1 ## E3 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,1,3,3> E0 ## E1 ## E3 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,2,0,0> E0 ## E2 ## E0 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,2,0,1> E0 ## E2 ## E0 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,2,0,2> E0 ## E2 ## E0 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,2,0,3> E0 ## E2 ## E0 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,2,1,0> E0 ## E2 ## E1 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,2,1,1> E0 ## E2 ## E1 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,2,1,2> E0 ## E2 ## E1 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,2,1,3> E0 ## E2 ## E1 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,2,2,0> E0 ## E2 ## E2 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,2,2,1> E0 ## E2 ## E2 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,2,2,2> E0 ## E2 ## E2 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,2,2,3> E0 ## E2 ## E2 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,2,3,0> E0 ## E2 ## E3 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,2,3,1> E0 ## E2 ## E3 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,2,3,2> E0 ## E2 ## E3 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,2,3,3> E0 ## E2 ## E3 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,3,0,0> E0 ## E3 ## E0 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,3,0,1> E0 ## E3 ## E0 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,3,0,2> E0 ## E3 ## E0 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,3,0,3> E0 ## E3 ## E0 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,3,1,0> E0 ## E3 ## E1 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,3,1,1> E0 ## E3 ## E1 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,3,1,2> E0 ## E3 ## E1 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,3,1,3> E0 ## E3 ## E1 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,3,2,0> E0 ## E3 ## E2 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,3,2,1> E0 ## E3 ## E2 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,3,2,2> E0 ## E3 ## E2 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,3,2,3> E0 ## E3 ## E2 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,3,3,0> E0 ## E3 ## E3 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,3,3,1> E0 ## E3 ## E3 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,3,3,2> E0 ## E3 ## E3 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 0,3,3,3> E0 ## E3 ## E3 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,0,0,0> E1 ## E0 ## E0 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,0,0,1> E1 ## E0 ## E0 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,0,0,2> E1 ## E0 ## E0 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,0,0,3> E1 ## E0 ## E0 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,0,1,0> E1 ## E0 ## E1 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,0,1,1> E1 ## E0 ## E1 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,0,1,2> E1 ## E0 ## E1 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,0,1,3> E1 ## E0 ## E1 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,0,2,0> E1 ## E0 ## E2 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,0,2,1> E1 ## E0 ## E2 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,0,2,2> E1 ## E0 ## E2 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,0,2,3> E1 ## E0 ## E2 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,0,3,0> E1 ## E0 ## E3 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,0,3,1> E1 ## E0 ## E3 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,0,3,2> E1 ## E0 ## E3 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,0,3,3> E1 ## E0 ## E3 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,1,0,0> E1 ## E1 ## E0 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,1,0,1> E1 ## E1 ## E0 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,1,0,2> E1 ## E1 ## E0 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,1,0,3> E1 ## E1 ## E0 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,1,1,0> E1 ## E1 ## E1 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,1,1,1> E1 ## E1 ## E1 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,1,1,2> E1 ## E1 ## E1 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,1,1,3> E1 ## E1 ## E1 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,1,2,0> E1 ## E1 ## E2 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,1,2,1> E1 ## E1 ## E2 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,1,2,2> E1 ## E1 ## E2 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,1,2,3> E1 ## E1 ## E2 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,1,3,0> E1 ## E1 ## E3 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,1,3,1> E1 ## E1 ## E3 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,1,3,2> E1 ## E1 ## E3 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,1,3,3> E1 ## E1 ## E3 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,2,0,0> E1 ## E2 ## E0 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,2,0,1> E1 ## E2 ## E0 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,2,0,2> E1 ## E2 ## E0 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,2,0,3> E1 ## E2 ## E0 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,2,1,0> E1 ## E2 ## E1 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,2,1,1> E1 ## E2 ## E1 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,2,1,2> E1 ## E2 ## E1 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,2,1,3> E1 ## E2 ## E1 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,2,2,0> E1 ## E2 ## E2 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,2,2,1> E1 ## E2 ## E2 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,2,2,2> E1 ## E2 ## E2 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,2,2,3> E1 ## E2 ## E2 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,2,3,0> E1 ## E2 ## E3 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,2,3,1> E1 ## E2 ## E3 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,2,3,2> E1 ## E2 ## E3 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,2,3,3> E1 ## E2 ## E3 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,3,0,0> E1 ## E3 ## E0 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,3,0,1> E1 ## E3 ## E0 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,3,0,2> E1 ## E3 ## E0 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,3,0,3> E1 ## E3 ## E0 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,3,1,0> E1 ## E3 ## E1 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,3,1,1> E1 ## E3 ## E1 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,3,1,2> E1 ## E3 ## E1 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,3,1,3> E1 ## E3 ## E1 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,3,2,0> E1 ## E3 ## E2 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,3,2,1> E1 ## E3 ## E2 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,3,2,2> E1 ## E3 ## E2 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,3,2,3> E1 ## E3 ## E2 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,3,3,0> E1 ## E3 ## E3 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,3,3,1> E1 ## E3 ## E3 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,3,3,2> E1 ## E3 ## E3 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 1,3,3,3> E1 ## E3 ## E3 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,0,0,0> E2 ## E0 ## E0 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,0,0,1> E2 ## E0 ## E0 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,0,0,2> E2 ## E0 ## E0 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,0,0,3> E2 ## E0 ## E0 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,0,1,0> E2 ## E0 ## E1 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,0,1,1> E2 ## E0 ## E1 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,0,1,2> E2 ## E0 ## E1 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,0,1,3> E2 ## E0 ## E1 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,0,2,0> E2 ## E0 ## E2 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,0,2,1> E2 ## E0 ## E2 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,0,2,2> E2 ## E0 ## E2 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,0,2,3> E2 ## E0 ## E2 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,0,3,0> E2 ## E0 ## E3 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,0,3,1> E2 ## E0 ## E3 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,0,3,2> E2 ## E0 ## E3 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,0,3,3> E2 ## E0 ## E3 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,1,0,0> E2 ## E1 ## E0 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,1,0,1> E2 ## E1 ## E0 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,1,0,2> E2 ## E1 ## E0 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,1,0,3> E2 ## E1 ## E0 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,1,1,0> E2 ## E1 ## E1 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,1,1,1> E2 ## E1 ## E1 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,1,1,2> E2 ## E1 ## E1 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,1,1,3> E2 ## E1 ## E1 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,1,2,0> E2 ## E1 ## E2 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,1,2,1> E2 ## E1 ## E2 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,1,2,2> E2 ## E1 ## E2 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,1,2,3> E2 ## E1 ## E2 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,1,3,0> E2 ## E1 ## E3 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,1,3,1> E2 ## E1 ## E3 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,1,3,2> E2 ## E1 ## E3 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,1,3,3> E2 ## E1 ## E3 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,2,0,0> E2 ## E2 ## E0 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,2,0,1> E2 ## E2 ## E0 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,2,0,2> E2 ## E2 ## E0 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,2,0,3> E2 ## E2 ## E0 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,2,1,0> E2 ## E2 ## E1 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,2,1,1> E2 ## E2 ## E1 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,2,1,2> E2 ## E2 ## E1 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,2,1,3> E2 ## E2 ## E1 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,2,2,0> E2 ## E2 ## E2 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,2,2,1> E2 ## E2 ## E2 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,2,2,2> E2 ## E2 ## E2 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,2,2,3> E2 ## E2 ## E2 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,2,3,0> E2 ## E2 ## E3 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,2,3,1> E2 ## E2 ## E3 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,2,3,2> E2 ## E2 ## E3 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,2,3,3> E2 ## E2 ## E3 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,3,0,0> E2 ## E3 ## E0 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,3,0,1> E2 ## E3 ## E0 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,3,0,2> E2 ## E3 ## E0 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,3,0,3> E2 ## E3 ## E0 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,3,1,0> E2 ## E3 ## E1 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,3,1,1> E2 ## E3 ## E1 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,3,1,2> E2 ## E3 ## E1 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,3,1,3> E2 ## E3 ## E1 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,3,2,0> E2 ## E3 ## E2 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,3,2,1> E2 ## E3 ## E2 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,3,2,2> E2 ## E3 ## E2 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,3,2,3> E2 ## E3 ## E2 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,3,3,0> E2 ## E3 ## E3 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,3,3,1> E2 ## E3 ## E3 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,3,3,2> E2 ## E3 ## E3 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 2,3,3,3> E2 ## E3 ## E3 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,0,0,0> E3 ## E0 ## E0 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,0,0,1> E3 ## E0 ## E0 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,0,0,2> E3 ## E0 ## E0 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,0,0,3> E3 ## E0 ## E0 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,0,1,0> E3 ## E0 ## E1 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,0,1,1> E3 ## E0 ## E1 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,0,1,2> E3 ## E0 ## E1 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,0,1,3> E3 ## E0 ## E1 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,0,2,0> E3 ## E0 ## E2 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,0,2,1> E3 ## E0 ## E2 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,0,2,2> E3 ## E0 ## E2 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,0,2,3> E3 ## E0 ## E2 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,0,3,0> E3 ## E0 ## E3 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,0,3,1> E3 ## E0 ## E3 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,0,3,2> E3 ## E0 ## E3 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,0,3,3> E3 ## E0 ## E3 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,1,0,0> E3 ## E1 ## E0 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,1,0,1> E3 ## E1 ## E0 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,1,0,2> E3 ## E1 ## E0 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,1,0,3> E3 ## E1 ## E0 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,1,1,0> E3 ## E1 ## E1 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,1,1,1> E3 ## E1 ## E1 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,1,1,2> E3 ## E1 ## E1 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,1,1,3> E3 ## E1 ## E1 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,1,2,0> E3 ## E1 ## E2 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,1,2,1> E3 ## E1 ## E2 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,1,2,2> E3 ## E1 ## E2 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,1,2,3> E3 ## E1 ## E2 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,1,3,0> E3 ## E1 ## E3 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,1,3,1> E3 ## E1 ## E3 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,1,3,2> E3 ## E1 ## E3 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,1,3,3> E3 ## E1 ## E3 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,2,0,0> E3 ## E2 ## E0 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,2,0,1> E3 ## E2 ## E0 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,2,0,2> E3 ## E2 ## E0 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,2,0,3> E3 ## E2 ## E0 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,2,1,0> E3 ## E2 ## E1 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,2,1,1> E3 ## E2 ## E1 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,2,1,2> E3 ## E2 ## E1 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,2,1,3> E3 ## E2 ## E1 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,2,2,0> E3 ## E2 ## E2 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,2,2,1> E3 ## E2 ## E2 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,2,2,2> E3 ## E2 ## E2 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,2,2,3> E3 ## E2 ## E2 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,2,3,0> E3 ## E2 ## E3 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,2,3,1> E3 ## E2 ## E3 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,2,3,2> E3 ## E2 ## E3 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,2,3,3> E3 ## E2 ## E3 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,3,0,0> E3 ## E3 ## E0 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,3,0,1> E3 ## E3 ## E0 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,3,0,2> E3 ## E3 ## E0 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,3,0,3> E3 ## E3 ## E0 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,3,1,0> E3 ## E3 ## E1 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,3,1,1> E3 ## E3 ## E1 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,3,1,2> E3 ## E3 ## E1 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,3,1,3> E3 ## E3 ## E1 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,3,2,0> E3 ## E3 ## E2 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,3,2,1> E3 ## E3 ## E2 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,3,2,2> E3 ## E3 ## E2 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,3,2,3> E3 ## E3 ## E2 ## E3; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,3,3,0> E3 ## E3 ## E3 ## E0; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,3,3,1> E3 ## E3 ## E3 ## E1; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,3,3,2> E3 ## E3 ## E3 ## E2; }; \
+	struct { _swizzle<4, T, P, V<T, P>, 3,3,3,3> E3 ## E3 ## E3 ## E3; };

app/android/jni/third-party/include/glm/detail/_swizzle_func.hpp

@@ -0,0 +1,721 @@
+///////////////////////////////////////////////////////////////////////////////////
+/// OpenGL Mathematics (glm.g-truc.net)
+///
+/// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net)
+/// Permission is hereby granted, free of charge, to any person obtaining a copy
+/// of this software and associated documentation files (the "Software"), to deal
+/// in the Software without restriction, including without limitation the rights
+/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+/// copies of the Software, and to permit persons to whom the Software is
+/// furnished to do so, subject to the following conditions:
+/// 
+/// The above copyright notice and this permission notice shall be included in
+/// all copies or substantial portions of the Software.
+/// 
+/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+/// THE SOFTWARE.
+///
+/// @ref core
+/// @file glm/core/_swizzle_func.hpp
+/// @date 2011-10-16 / 2011-10-16
+/// @author Christophe Riccio
+///////////////////////////////////////////////////////////////////////////////////
+
+#pragma once
+
+#define GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, CONST, A, B)	\
+	SWIZZLED_TYPE<TMPL_TYPE, PRECISION> A ## B() CONST												\
+	{																								\
+		return SWIZZLED_TYPE<TMPL_TYPE, PRECISION>(this->A, this->B);								\
+	}
+
+#define GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, CONST, A, B, C)		\
+	SWIZZLED_TYPE<TMPL_TYPE, PRECISION> A ## B ## C() CONST												\
+	{																									\
+		return SWIZZLED_TYPE<TMPL_TYPE, PRECISION>(this->A, this->B, this->C);							\
+	}
+
+#define GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, CONST, A, B, C, D)	\
+	SWIZZLED_TYPE<TMPL_TYPE, PRECISION> A ## B ## C ## D() CONST										\
+	{																									\
+		return SWIZZLED_TYPE<TMPL_TYPE, PRECISION>(this->A, this->B, this->C, this->D);					\
+	}
+
+#define GLM_SWIZZLE_GEN_VEC2_ENTRY_DEF(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, CONST, A, B)	\
+	template <typename TMPL_TYPE>																		\
+	SWIZZLED_TYPE<TMPL_TYPE> CLASS_TYPE<TMPL_TYPE, PRECISION>::A ## B() CONST							\
+	{																									\
+		return SWIZZLED_TYPE<TMPL_TYPE, PRECISION>(this->A, this->B);									\
+	}
+
+#define GLM_SWIZZLE_GEN_VEC3_ENTRY_DEF(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, CONST, A, B, C)		\
+	template <typename TMPL_TYPE>																			\
+	SWIZZLED_TYPE<TMPL_TYPE> CLASS_TYPE<TMPL_TYPE, PRECISION>::A ## B ## C() CONST							\
+	{																										\
+		return SWIZZLED_TYPE<TMPL_TYPE, PRECISION>(this->A, this->B, this->C);								\
+	}
+
+#define GLM_SWIZZLE_GEN_VEC4_ENTRY_DEF(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, CONST, A, B, C, D)	\
+	template <typename TMPL_TYPE>																			\
+	SWIZZLED_TYPE<TMPL_TYPE> CLASS_TYPE<TMPL_TYPE, PRECISION>::A ## B ## C ## D() CONST						\
+	{																										\
+		return SWIZZLED_TYPE<TMPL_TYPE, PRECISION>(this->A, this->B, this->C, this->D);						\
+	}
+
+#define GLM_MUTABLE
+
+#define GLM_SWIZZLE_GEN_REF2_FROM_VEC2_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, A, B) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, A, B) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, B, A)
+
+#define GLM_SWIZZLE_GEN_REF_FROM_VEC2(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE) \
+	GLM_SWIZZLE_GEN_REF2_FROM_VEC2_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, x, y) \
+	GLM_SWIZZLE_GEN_REF2_FROM_VEC2_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, r, g) \
+	GLM_SWIZZLE_GEN_REF2_FROM_VEC2_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, s, t)
+
+//GLM_SWIZZLE_GEN_REF_FROM_VEC2(valType, detail::vec2, detail::ref2)
+
+#define GLM_SWIZZLE_GEN_REF2_FROM_VEC3_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, A, B, C) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, A, B) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, A, C) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, B, A) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, B, C) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, C, A) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, C, B)
+
+#define GLM_SWIZZLE_GEN_REF3_FROM_VEC3_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, A, B, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, A, B, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, A, C, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, B, A, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, B, C, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, C, A, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, C, B, A)
+
+#define GLM_SWIZZLE_GEN_REF_FROM_VEC3_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, A, B, C) \
+	GLM_SWIZZLE_GEN_REF3_FROM_VEC3_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC3_TYPE, A, B, C) \
+	GLM_SWIZZLE_GEN_REF2_FROM_VEC3_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, A, B, C)
+
+#define GLM_SWIZZLE_GEN_REF_FROM_VEC3(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE) \
+	GLM_SWIZZLE_GEN_REF_FROM_VEC3_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, x, y, z) \
+	GLM_SWIZZLE_GEN_REF_FROM_VEC3_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, r, g, b) \
+	GLM_SWIZZLE_GEN_REF_FROM_VEC3_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, s, t, p)
+
+//GLM_SWIZZLE_GEN_REF_FROM_VEC3(valType, detail::vec3, detail::ref2, detail::ref3)
+
+#define GLM_SWIZZLE_GEN_REF2_FROM_VEC4_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, A, B, C, D) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, A, B) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, A, C) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, A, D) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, B, A) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, B, C) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, B, D) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, C, A) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, C, B) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, C, D) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, D, A) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, D, B) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, GLM_MUTABLE, D, C)
+
+#define GLM_SWIZZLE_GEN_REF3_FROM_VEC4_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, A, B, C, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , A, B, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , A, B, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , A, C, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , A, C, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , A, D, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , A, D, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , B, A, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , B, A, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , B, C, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , B, C, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , B, D, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , B, D, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , C, A, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , C, A, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , C, B, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , C, B, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , C, D, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , C, D, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , D, A, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , D, A, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , D, B, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , D, B, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , D, C, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , D, C, B)
+
+#define GLM_SWIZZLE_GEN_REF4_FROM_VEC4_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, A, B, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , A, C, B, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , A, C, D, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , A, D, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , A, D, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , A, B, D, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , A, B, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , B, C, A, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , B, C, D, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , B, D, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , B, D, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , B, A, D, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , B, A, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , C, B, A, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , C, B, D, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , C, D, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , C, D, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , C, A, D, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , C, A, B, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , D, C, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , D, C, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , D, A, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , D, A, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , D, B, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, , D, B, C, A)
+
+#define GLM_SWIZZLE_GEN_REF_FROM_VEC4_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE, A, B, C, D) \
+	GLM_SWIZZLE_GEN_REF2_FROM_VEC4_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, A, B, C, D) \
+	GLM_SWIZZLE_GEN_REF3_FROM_VEC4_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC3_TYPE, A, B, C, D) \
+	GLM_SWIZZLE_GEN_REF4_FROM_VEC4_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC4_TYPE, A, B, C, D)
+
+#define GLM_SWIZZLE_GEN_REF_FROM_VEC4(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE) \
+	GLM_SWIZZLE_GEN_REF_FROM_VEC4_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE, x, y, z, w) \
+	GLM_SWIZZLE_GEN_REF_FROM_VEC4_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE, r, g, b, a) \
+	GLM_SWIZZLE_GEN_REF_FROM_VEC4_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE, s, t, p, q)
+
+//GLM_SWIZZLE_GEN_REF_FROM_VEC4(valType, detail::vec4, detail::ref2, detail::ref3, detail::ref4)
+
+#define GLM_SWIZZLE_GEN_VEC2_FROM_VEC2_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, A, B) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B)
+
+#define GLM_SWIZZLE_GEN_VEC3_FROM_VEC2_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, A, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, B)
+
+#define GLM_SWIZZLE_GEN_VEC4_FROM_VEC2_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, B, B)
+
+#define GLM_SWIZZLE_GEN_VEC_FROM_VEC2_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE, A, B) \
+	GLM_SWIZZLE_GEN_VEC2_FROM_VEC2_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, A, B) \
+	GLM_SWIZZLE_GEN_VEC3_FROM_VEC2_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC3_TYPE, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_FROM_VEC2_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC4_TYPE, A, B)
+
+#define GLM_SWIZZLE_GEN_VEC_FROM_VEC2(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE)			\
+	GLM_SWIZZLE_GEN_VEC_FROM_VEC2_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE, x, y)	\
+	GLM_SWIZZLE_GEN_VEC_FROM_VEC2_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE, r, g)	\
+	GLM_SWIZZLE_GEN_VEC_FROM_VEC2_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE, s, t)
+
+//GLM_SWIZZLE_GEN_VEC_FROM_VEC2(valType, detail::vec2, detail::vec2, detail::vec3, detail::vec4)
+
+#define GLM_SWIZZLE_GEN_VEC2_FROM_VEC3_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, A, B, C) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C)
+
+#define GLM_SWIZZLE_GEN_VEC3_FROM_VEC3_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, A, B, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, C)
+
+#define GLM_SWIZZLE_GEN_VEC4_FROM_VEC3_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, A, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, C, C)
+
+#define GLM_SWIZZLE_GEN_VEC_FROM_VEC3_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE, A, B, C) \
+	GLM_SWIZZLE_GEN_VEC2_FROM_VEC3_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, A, B, C) \
+	GLM_SWIZZLE_GEN_VEC3_FROM_VEC3_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC3_TYPE, A, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_FROM_VEC3_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC4_TYPE, A, B, C)
+
+#define GLM_SWIZZLE_GEN_VEC_FROM_VEC3(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE) \
+	GLM_SWIZZLE_GEN_VEC_FROM_VEC3_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE, x, y, z) \
+	GLM_SWIZZLE_GEN_VEC_FROM_VEC3_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE, r, g, b) \
+	GLM_SWIZZLE_GEN_VEC_FROM_VEC3_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE, s, t, p)
+
+//GLM_SWIZZLE_GEN_VEC_FROM_VEC3(valType, detail::vec3, detail::vec2, detail::vec3, detail::vec4)
+
+#define GLM_SWIZZLE_GEN_VEC2_FROM_VEC4_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, A, B, C, D) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C) \
+	GLM_SWIZZLE_GEN_VEC2_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D)
+
+#define GLM_SWIZZLE_GEN_VEC3_FROM_VEC4_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, A, B, C, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, D) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, A) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, B) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, C) \
+	GLM_SWIZZLE_GEN_VEC3_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, D)
+
+#define GLM_SWIZZLE_GEN_VEC4_FROM_VEC4_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, A, B, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, A, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, B, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, D, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, D, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, D, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, A, D, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, A, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, B, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, D, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, D, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, D, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, B, D, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, A, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, B, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, D, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, D, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, D, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, C, D, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, A, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, B, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, D, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, D, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, D, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, A, D, D, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, A, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, B, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, D, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, D, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, D, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, A, D, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, A, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, B, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, D, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, D, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, D, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, B, D, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, A, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, B, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, D, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, D, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, D, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, C, D, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, A, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, B, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, D, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, D, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, D, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, B, D, D, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, A, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, B, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, D, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, D, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, D, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, A, D, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, A, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, B, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, D, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, D, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, D, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, B, D, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, A, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, B, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, D, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, D, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, D, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, C, D, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, A, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, B, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, D, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, D, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, D, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, C, D, D, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, A, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, B, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, D, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, D, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, D, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, A, D, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, A, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, B, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, D, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, D, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, D, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, B, D, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, A, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, B, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, D, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, D, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, D, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, C, D, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, A, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, A, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, A, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, A, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, B, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, B, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, B, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, B, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, C, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, C, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, C, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, D, A) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, D, B) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, D, C) \
+	GLM_SWIZZLE_GEN_VEC4_ENTRY(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_TYPE, const, D, D, D, D)
+
+#define GLM_SWIZZLE_GEN_VEC_FROM_VEC4_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE, A, B, C, D) \
+	GLM_SWIZZLE_GEN_VEC2_FROM_VEC4_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, A, B, C, D) \
+	GLM_SWIZZLE_GEN_VEC3_FROM_VEC4_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC3_TYPE, A, B, C, D) \
+	GLM_SWIZZLE_GEN_VEC4_FROM_VEC4_SWIZZLE(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC4_TYPE, A, B, C, D)
+
+#define GLM_SWIZZLE_GEN_VEC_FROM_VEC4(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE) \
+	GLM_SWIZZLE_GEN_VEC_FROM_VEC4_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE, x, y, z, w) \
+	GLM_SWIZZLE_GEN_VEC_FROM_VEC4_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE, r, g, b, a) \
+	GLM_SWIZZLE_GEN_VEC_FROM_VEC4_COMP(TMPL_TYPE, PRECISION, CLASS_TYPE, SWIZZLED_VEC2_TYPE, SWIZZLED_VEC3_TYPE, SWIZZLED_VEC4_TYPE, s, t, p, q)
+
+//GLM_SWIZZLE_GEN_VEC_FROM_VEC4(valType, detail::vec4, detail::vec2, detail::vec3, detail::vec4)

app/android/jni/third-party/include/glm/detail/_vectorize.hpp

@@ -0,0 +1,227 @@
+///////////////////////////////////////////////////////////////////////////////////
+/// OpenGL Mathematics (glm.g-truc.net)
+///
+/// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net)
+/// Permission is hereby granted, free of charge, to any person obtaining a copy
+/// of this software and associated documentation files (the "Software"), to deal
+/// in the Software without restriction, including without limitation the rights
+/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+/// copies of the Software, and to permit persons to whom the Software is
+/// furnished to do so, subject to the following conditions:
+/// 
+/// The above copyright notice and this permission notice shall be included in
+/// all copies or substantial portions of the Software.
+/// 
+/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+/// THE SOFTWARE.
+///
+/// @ref core
+/// @file glm/core/_vectorize.hpp
+/// @date 2011-10-14 / 2011-10-14
+/// @author Christophe Riccio
+///////////////////////////////////////////////////////////////////////////////////
+
+#pragma once
+
+#include "type_vec1.hpp"
+#include "type_vec2.hpp"
+#include "type_vec3.hpp"
+#include "type_vec4.hpp"
+
+#define VECTORIZE1_VEC(func)						\
+	template <typename T, precision P>				\
+	GLM_FUNC_QUALIFIER detail::tvec1<T, P> func(	\
+		detail::tvec1<T, P> const & v)				\
+	{												\
+		return detail::tvec1<T, P>(					\
+			func(v.x));								\
+	}
+
+#define VECTORIZE2_VEC(func)						\
+	template <typename T, precision P>				\
+	GLM_FUNC_QUALIFIER detail::tvec2<T, P> func(	\
+		detail::tvec2<T, P> const & v)				\
+	{												\
+		return detail::tvec2<T, P>(					\
+			func(v.x),								\
+			func(v.y));								\
+	}
+
+#define VECTORIZE3_VEC(func)						\
+	template <typename T, precision P>				\
+	GLM_FUNC_QUALIFIER detail::tvec3<T, P> func(	\
+		detail::tvec3<T, P> const & v)				\
+	{												\
+		return detail::tvec3<T, P>(					\
+			func(v.x),								\
+			func(v.y),								\
+			func(v.z));								\
+	}
+
+#define VECTORIZE4_VEC(func)						\
+	template <typename T, precision P>				\
+	GLM_FUNC_QUALIFIER detail::tvec4<T, P> func(	\
+		detail::tvec4<T, P> const & v)				\
+	{												\
+		return detail::tvec4<T, P>(					\
+			func(v.x),								\
+			func(v.y),								\
+			func(v.z),								\
+			func(v.w));								\
+	}
+
+#define VECTORIZE_VEC(func)		\
+	VECTORIZE1_VEC(func)		\
+	VECTORIZE2_VEC(func)		\
+	VECTORIZE3_VEC(func)		\
+	VECTORIZE4_VEC(func)
+
+#define VECTORIZE1_VEC_SCA(func)							\
+	template <typename T, precision P>						\
+	GLM_FUNC_QUALIFIER detail::tvec1<T, P> func				\
+	(														\
+		detail::tvec1<T, P> const & x,						\
+		typename detail::tvec1<T, P>::value_type const & y	\
+	)														\
+	{														\
+		return detail::tvec1<T, P>(							\
+			func(x.x, y));									\
+	}
+
+#define VECTORIZE2_VEC_SCA(func)							\
+	template <typename T, precision P>						\
+	GLM_FUNC_QUALIFIER detail::tvec2<T, P> func				\
+	(														\
+		detail::tvec2<T, P> const & x,						\
+		typename detail::tvec2<T, P>::value_type const & y	\
+	)														\
+	{														\
+		return detail::tvec2<T, P>(							\
+			func(x.x, y),									\
+			func(x.y, y));									\
+	}
+
+#define VECTORIZE3_VEC_SCA(func)							\
+	template <typename T, precision P>						\
+	GLM_FUNC_QUALIFIER detail::tvec3<T, P> func				\
+	(														\
+		detail::tvec3<T, P> const & x,						\
+		typename detail::tvec3<T, P>::value_type const & y	\
+	)														\
+	{														\
+		return detail::tvec3<T, P>(							\
+			func(x.x, y),									\
+			func(x.y, y),									\
+			func(x.z, y));									\
+	}
+
+#define VECTORIZE4_VEC_SCA(func)							\
+	template <typename T, precision P>						\
+	GLM_FUNC_QUALIFIER detail::tvec4<T, P> func				\
+	(														\
+		detail::tvec4<T, P> const & x,						\
+		typename detail::tvec4<T, P>::value_type const & y	\
+	)														\
+	{														\
+		return detail::tvec4<T, P>(							\
+			func(x.x, y),									\
+			func(x.y, y),									\
+			func(x.z, y),									\
+			func(x.w, y));									\
+	}
+
+#define VECTORIZE_VEC_SCA(func)		\
+	VECTORIZE1_VEC_SCA(func)		\
+	VECTORIZE2_VEC_SCA(func)		\
+	VECTORIZE3_VEC_SCA(func)		\
+	VECTORIZE4_VEC_SCA(func)
+
+#define VECTORIZE1_VEC_VEC(func)					\
+	template <typename T, precision P>				\
+	GLM_FUNC_QUALIFIER detail::tvec1<T, P> func		\
+	(												\
+		detail::tvec1<T, P> const & x,				\
+		detail::tvec1<T, P> const & y				\
+	)												\
+	{												\
+		return detail::tvec1<T, P>(					\
+			func(x.x, y.x));						\
+	}
+
+#define VECTORIZE2_VEC_VEC(func)					\
+	template <typename T, precision P>				\
+	GLM_FUNC_QUALIFIER detail::tvec2<T, P> func		\
+	(												\
+		detail::tvec2<T, P> const & x,				\
+		detail::tvec2<T, P> const & y				\
+	)												\
+	{												\
+		return detail::tvec2<T, P>(					\
+			func(x.x, y.x),							\
+			func(x.y, y.y));						\
+	}
+
+#define VECTORIZE3_VEC_VEC(func)					\
+	template <typename T, precision P>				\
+	GLM_FUNC_QUALIFIER detail::tvec3<T, P> func		\
+	(												\
+		detail::tvec3<T, P> const & x,				\
+		detail::tvec3<T, P> const & y				\
+	)												\
+	{												\
+		return detail::tvec3<T, P>(					\
+			func(x.x, y.x),							\
+			func(x.y, y.y),							\
+			func(x.z, y.z));						\
+	}
+
+#define VECTORIZE4_VEC_VEC(func)				\
+	template <typename T, precision P>			\
+	GLM_FUNC_QUALIFIER detail::tvec4<T, P> func	\
+	(											\
+		detail::tvec4<T, P> const & x,			\
+		detail::tvec4<T, P> const & y			\
+	)											\
+	{											\
+		return detail::tvec4<T, P>(				\
+			func(x.x, y.x),						\
+			func(x.y, y.y),						\
+			func(x.z, y.z),						\
+			func(x.w, y.w));					\
+	}
+
+#define VECTORIZE_VEC_VEC(func)		\
+	VECTORIZE1_VEC_VEC(func)		\
+	VECTORIZE2_VEC_VEC(func)		\
+	VECTORIZE3_VEC_VEC(func)		\
+	VECTORIZE4_VEC_VEC(func)
+
+namespace glm{
+namespace detail
+{
+	template<bool C>
+	struct If
+	{
+		template<typename F, typename T>
+		static GLM_FUNC_QUALIFIER T apply(F functor, const T& val)
+		{
+			return functor(val);
+		}
+	};
+
+	template<>
+	struct If<false>
+	{
+		template<typename F, typename T>
+		static GLM_FUNC_QUALIFIER T apply(F, const T& val)
+		{
+			return val;
+		}
+	};
+}//namespace detail
+}//namespace glm

app/android/jni/third-party/include/glm/detail/dummy.cpp

@@ -0,0 +1,191 @@
+///////////////////////////////////////////////////////////////////////////////////
+/// OpenGL Mathematics (glm.g-truc.net)
+///
+/// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net)
+/// Permission is hereby granted, free of charge, to any person obtaining a copy
+/// of this software and associated documentation files (the "Software"), to deal
+/// in the Software without restriction, including without limitation the rights
+/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+/// copies of the Software, and to permit persons to whom the Software is
+/// furnished to do so, subject to the following conditions:
+/// 
+/// The above copyright notice and this permission notice shall be included in
+/// all copies or substantial portions of the Software.
+/// 
+/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+/// THE SOFTWARE.
+///
+/// @ref core
+/// @file glm/core/dummy.cpp
+/// @date 2011-01-19 / 2011-06-15
+/// @author Christophe Riccio
+///
+/// GLM is a header only library. There is nothing to compile. 
+/// dummy.cpp exist only a wordaround for CMake file.
+///////////////////////////////////////////////////////////////////////////////////
+
+#define GLM_MESSAGES
+#include "../glm.hpp"
+#include <limits>
+
+struct material
+{
+	glm::vec4 emission; // Ecm
+	glm::vec4 ambient; // Acm
+	glm::vec4 diffuse; // Dcm
+	glm::vec4 specular; // Scm
+	float shininess; // Srm
+};
+
+struct light
+{
+	glm::vec4 ambient; // Acli
+	glm::vec4 diffuse; // Dcli
+	glm::vec4 specular; // Scli
+	glm::vec4 position; // Ppli
+	glm::vec4 halfVector; // Derived: Hi
+	glm::vec3 spotDirection; // Sdli
+	float spotExponent; // Srli
+	float spotCutoff; // Crli
+	// (range: [0.0,90.0], 180.0)
+	float spotCosCutoff; // Derived: cos(Crli)
+	// (range: [1.0,0.0],-1.0)
+	float constantAttenuation; // K0
+	float linearAttenuation; // K1
+	float quadraticAttenuation;// K2
+};
+
+
+// Sample 1
+#include <glm/vec3.hpp>// glm::vec3
+#include <glm/geometric.hpp>// glm::cross, glm::normalize
+
+glm::vec3 computeNormal
+(
+	glm::vec3 const & a,
+	glm::vec3 const & b,
+	glm::vec3 const & c
+)
+{
+	return glm::normalize(glm::cross(c - a, b - a));
+}
+
+typedef unsigned int GLuint;
+#define GL_FALSE 0
+void glUniformMatrix4fv(GLuint, int, int, float*){}
+
+// Sample 2
+#include <glm/vec3.hpp> // glm::vec3
+#include <glm/vec4.hpp> // glm::vec4, glm::ivec4
+#include <glm/mat4x4.hpp> // glm::mat4
+#include <glm/gtc/matrix_transform.hpp> // glm::translate, glm::rotate, glm::scale, glm::perspective
+#include <glm/gtc/type_ptr.hpp> // glm::value_ptr
+void func(GLuint LocationMVP, float Translate, glm::vec2 const & Rotate)
+{
+	glm::mat4 Projection = glm::perspective(45.0f, 4.0f / 3.0f, 0.1f, 100.f);
+	glm::mat4 ViewTranslate = glm::translate(glm::mat4(1.0f), glm::vec3(0.0f, 0.0f, -Translate));
+	glm::mat4 ViewRotateX = glm::rotate(ViewTranslate, Rotate.y, glm::vec3(-1.0f, 0.0f, 0.0f));
+	glm::mat4 View = glm::rotate(ViewRotateX, Rotate.x, glm::vec3(0.0f, 1.0f, 0.0f));
+	glm::mat4 Model = glm::scale(glm::mat4(1.0f), glm::vec3(0.5f));
+	glm::mat4 MVP = Projection * View * Model;
+	glUniformMatrix4fv(LocationMVP, 1, GL_FALSE, glm::value_ptr(MVP));
+}
+
+// Sample 3
+#include <glm/vec2.hpp>// glm::vec2
+#include <glm/packing.hpp>// glm::packUnorm2x16
+#include <glm/integer.hpp>// glm::uint
+#include <glm/gtc/type_precision.hpp>// glm::i8vec2, glm::i32vec2
+std::size_t const VertexCount = 4;
+// Float quad geometry
+std::size_t const PositionSizeF32 = VertexCount * sizeof(glm::vec2);
+glm::vec2 const PositionDataF32[VertexCount] =
+{
+	glm::vec2(-1.0f,-1.0f),
+	glm::vec2( 1.0f,-1.0f),
+	glm::vec2( 1.0f, 1.0f),
+	glm::vec2(-1.0f, 1.0f)
+	};
+// Half-float quad geometry
+std::size_t const PositionSizeF16 = VertexCount * sizeof(glm::uint);
+glm::uint const PositionDataF16[VertexCount] =
+{
+	glm::uint(glm::packUnorm2x16(glm::vec2(-1.0f, -1.0f))),
+	glm::uint(glm::packUnorm2x16(glm::vec2( 1.0f, -1.0f))),
+	glm::uint(glm::packUnorm2x16(glm::vec2( 1.0f, 1.0f))),
+	glm::uint(glm::packUnorm2x16(glm::vec2(-1.0f, 1.0f)))
+};
+// 8 bits signed integer quad geometry
+std::size_t const PositionSizeI8 = VertexCount * sizeof(glm::i8vec2);
+glm::i8vec2 const PositionDataI8[VertexCount] =
+{
+	glm::i8vec2(-1,-1),
+	glm::i8vec2( 1,-1),
+	glm::i8vec2( 1, 1),
+	glm::i8vec2(-1, 1)
+};
+// 32 bits signed integer quad geometry
+std::size_t const PositionSizeI32 = VertexCount * sizeof(glm::i32vec2);
+glm::i32vec2 const PositionDataI32[VertexCount] =
+{
+	glm::i32vec2 (-1,-1),
+	glm::i32vec2 ( 1,-1),
+	glm::i32vec2 ( 1, 1),
+	glm::i32vec2 (-1, 1)
+};
+
+struct intersection
+{
+	glm::vec4 position;
+	glm::vec3 normal;
+};
+
+/*
+// Sample 4
+#include <glm/vec3.hpp>// glm::vec3
+#include <glm/geometric.hpp>// glm::normalize, glm::dot, glm::reflect
+#include <glm/exponential.hpp>// glm::pow
+#include <glm/gtc/random.hpp>// glm::vecRand3
+glm::vec3 lighting
+(
+	intersection const & Intersection,
+	material const & Material,
+	light const & Light,
+	glm::vec3 const & View
+)
+{
+	glm::vec3 Color(0.0f);
+	glm::vec3 LightVertor(glm::normalize(
+		Light.position - Intersection.position +
+		glm::vecRand3(0.0f, Light.inaccuracy));
+
+	if(!shadow(Intersection.position, Light.position, LightVertor))
+	{
+		float Diffuse = glm::dot(Intersection.normal, LightVector);
+		if(Diffuse <= 0.0f)
+			return Color;
+		if(Material.isDiffuse())
+			Color += Light.color() * Material.diffuse * Diffuse;
+		if(Material.isSpecular())
+		{
+			glm::vec3 Reflect(glm::reflect(
+				glm::normalize(-LightVector),
+				glm::normalize(Intersection.normal)));
+			float Dot = glm::dot(Reflect, View);
+			float Base = Dot > 0.0f ? Dot : 0.0f;
+			float Specular = glm::pow(Base, Material.exponent);
+			Color += Material.specular * Specular;
+		}
+	}
+	return Color;
+}
+*/
+int main()
+{
+	return 0;
+}

app/android/jni/third-party/include/glm/detail/func_common.hpp

@@ -0,0 +1,470 @@
+///////////////////////////////////////////////////////////////////////////////////
+/// OpenGL Mathematics (glm.g-truc.net)
+///
+/// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net)
+/// Permission is hereby granted, free of charge, to any person obtaining a copy
+/// of this software and associated documentation files (the "Software"), to deal
+/// in the Software without restriction, including without limitation the rights
+/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+/// copies of the Software, and to permit persons to whom the Software is
+/// furnished to do so, subject to the following conditions:
+/// 
+/// The above copyright notice and this permission notice shall be included in
+/// all copies or substantial portions of the Software.
+/// 
+/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+/// THE SOFTWARE.
+///
+/// @ref core
+/// @file glm/core/func_common.hpp
+/// @date 2008-03-08 / 2010-01-26
+/// @author Christophe Riccio
+/// 
+/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+///
+/// @defgroup core_func_common Common functions
+/// @ingroup core
+/// 
+/// These all operate component-wise. The description is per component.
+///////////////////////////////////////////////////////////////////////////////////
+
+#pragma once
+
+#include "setup.hpp"
+#include "precision.hpp"
+#include "type_int.hpp"
+#include "_fixes.hpp"
+
+namespace glm
+{
+	/// @addtogroup core_func_common
+	/// @{
+
+	/// Returns x if x >= 0; otherwise, it returns -x.
+	/// 
+	/// @tparam genType floating-point or signed integer; scalar or vector types.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/abs.xml">GLSL abs man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType>
+	GLM_FUNC_DECL genType abs(genType const & x);
+
+	/// Returns 1.0 if x > 0, 0.0 if x == 0, or -1.0 if x < 0. 
+	/// 
+	/// @tparam genType Floating-point or signed integer; scalar or vector types.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/sign.xml">GLSL sign man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType>
+	GLM_FUNC_DECL genType sign(genType const & x);
+	
+	/// Returns a value equal to the nearest integer that is less then or equal to x. 
+	/// 
+	/// @tparam genType Floating-point scalar or vector types.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/floor.xml">GLSL floor man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType>
+	GLM_FUNC_DECL genType floor(genType const & x);
+
+	/// Returns a value equal to the nearest integer to x
+	/// whose absolute value is not larger than the absolute value of x.
+	/// 
+	/// @tparam genType Floating-point scalar or vector types.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/trunc.xml">GLSL trunc man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType>
+	GLM_FUNC_DECL genType trunc(genType const & x);
+
+	/// Returns a value equal to the nearest integer to x.
+	/// The fraction 0.5 will round in a direction chosen by the
+	/// implementation, presumably the direction that is fastest.
+	/// This includes the possibility that round(x) returns the
+	/// same value as roundEven(x) for all values of x.
+	/// 
+	/// @tparam genType Floating-point scalar or vector types.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/round.xml">GLSL round man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType>
+	GLM_FUNC_DECL genType round(genType const & x);
+	
+	/// Returns a value equal to the nearest integer to x.
+	/// A fractional part of 0.5 will round toward the nearest even
+	/// integer. (Both 3.5 and 4.5 for x will return 4.0.)
+	///
+	/// @tparam genType Floating-point scalar or vector types.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/roundEven.xml">GLSL roundEven man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	/// @see <a href="http://developer.amd.com/documentation/articles/pages/New-Round-to-Even-Technique.aspx">New round to even technique</a>
+	template <typename genType>
+	GLM_FUNC_DECL genType roundEven(genType const & x);
+
+	/// Returns a value equal to the nearest integer
+	/// that is greater than or equal to x.
+	/// 
+	/// @tparam genType Floating-point scalar or vector types.
+	///
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/ceil.xml">GLSL ceil man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType>
+	GLM_FUNC_DECL genType ceil(genType const & x);
+
+	/// Return x - floor(x).
+	/// 
+	/// @tparam genType Floating-point scalar or vector types.
+	///
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/fract.xml">GLSL fract man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType>
+	GLM_FUNC_DECL genType fract(genType const & x);
+
+	/// Modulus. Returns x - y * floor(x / y)
+	/// for each component in x using the floating point value y.
+	///
+	/// @tparam genType Floating-point scalar or vector types.
+	///
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/mod.xml">GLSL mod man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType>
+	GLM_FUNC_DECL genType mod(
+		genType const & x,
+		genType const & y);
+
+	/// Modulus. Returns x - y * floor(x / y)
+	/// for each component in x using the floating point value y.
+	/// 
+	/// @tparam genType Floating-point scalar or vector types.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/mod.xml">GLSL mod man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType>
+	GLM_FUNC_DECL genType mod(
+		genType const & x,
+		typename genType::value_type const & y);
+
+	/// Returns the fractional part of x and sets i to the integer
+	/// part (as a whole number floating point value). Both the
+	/// return value and the output parameter will have the same
+	/// sign as x.
+	/// 
+	/// @tparam genType Floating-point scalar or vector types.
+	///
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/modf.xml">GLSL modf man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType>
+	GLM_FUNC_DECL genType modf(
+		genType const & x,
+		genType & i);
+
+	/// Returns y if y < x; otherwise, it returns x.
+	///
+	/// @tparam genType Floating-point or integer; scalar or vector types.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/min.xml">GLSL min man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType>
+	GLM_FUNC_DECL genType min(
+		genType const & x,
+		genType const & y);
+
+	template <typename genType>
+	GLM_FUNC_DECL genType min(
+		genType const & x,
+		typename genType::value_type const & y);
+
+	/// Returns y if x < y; otherwise, it returns x.
+	/// 
+	/// @tparam genType Floating-point or integer; scalar or vector types.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/max.xml">GLSL max man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType>
+	GLM_FUNC_DECL genType max(
+		genType const & x,
+		genType const & y);
+
+	template <typename genType>
+	GLM_FUNC_DECL genType max(
+		genType const & x,
+		typename genType::value_type const & y);
+
+	/// Returns min(max(x, minVal), maxVal) for each component in x 
+	/// using the floating-point values minVal and maxVal.
+	///
+	/// @tparam genType Floating-point or integer; scalar or vector types.
+	///
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/clamp.xml">GLSL clamp man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType>
+	GLM_FUNC_DECL genType clamp(
+		genType const & x,
+		genType const & minVal,
+		genType const & maxVal);
+
+	template <typename genType, precision P>
+	GLM_FUNC_DECL genType clamp(
+		genType const & x,
+		typename genType::value_type const & minVal,
+		typename genType::value_type const & maxVal);
+
+	/// If genTypeU is a floating scalar or vector:
+	/// Returns x * (1.0 - a) + y * a, i.e., the linear blend of
+	/// x and y using the floating-point value a.
+	/// The value for a is not restricted to the range [0, 1].
+	/// 
+	/// If genTypeU is a boolean scalar or vector:
+	/// Selects which vector each returned component comes
+	/// from. For a component of <a> that is false, the
+	/// corresponding component of x is returned. For a
+	/// component of a that is true, the corresponding
+	/// component of y is returned. Components of x and y that
+	/// are not selected are allowed to be invalid floating point
+	/// values and will have no effect on the results. Thus, this
+	/// provides different functionality than
+	/// genType mix(genType x, genType y, genType(a))
+	/// where a is a Boolean vector.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/mix.xml">GLSL mix man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	/// 
+	/// @param[in]  x Value to interpolate.
+	/// @param[in]  y Value to interpolate.
+	/// @param[in]  a Interpolant.
+	/// 
+	/// @tparam	genTypeT Floating point scalar or vector.
+	/// @tparam genTypeU Floating point or boolean scalar or vector. It can't be a vector if it is the length of genTypeT.
+	/// 
+	/// @code
+	/// #include <glm/glm.hpp>
+	/// ...
+	/// float a;
+	/// bool b;
+	/// glm::dvec3 e;
+	/// glm::dvec3 f;
+	/// glm::vec4 g;
+	/// glm::vec4 h;
+	/// ...
+	/// glm::vec4 r = glm::mix(g, h, a); // Interpolate with a floating-point scalar two vectors. 
+	/// glm::vec4 s = glm::mix(g, h, b); // Teturns g or h;
+	/// glm::dvec3 t = glm::mix(e, f, a); // Types of the third parameter is not required to match with the first and the second.
+	/// glm::vec4 u = glm::mix(g, h, r); // Interpolations can be perform per component with a vector for the last parameter.
+	/// @endcode
+	template <typename T, typename U, precision P, template <typename, precision> class vecType>
+	GLM_FUNC_DECL vecType<T, P> mix(
+		vecType<T, P> const & x,
+		vecType<T, P> const & y,
+		vecType<U, P> const & a);
+
+	template <typename T, typename U, precision P, template <typename, precision> class vecType>
+	GLM_FUNC_DECL vecType<T, P> mix(
+		vecType<T, P> const & x,
+		vecType<T, P> const & y,
+		U const & a);
+
+	template <typename genTypeT, typename genTypeU>
+	GLM_FUNC_DECL genTypeT mix(
+		genTypeT const & x,
+		genTypeT const & y,
+		genTypeU const & a);
+
+	/// Returns 0.0 if x < edge, otherwise it returns 1.0 for each component of a genType.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/step.xml">GLSL step man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType>
+	GLM_FUNC_DECL genType step(
+		genType const & edge,
+		genType const & x);
+
+	/// Returns 0.0 if x < edge, otherwise it returns 1.0.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/step.xml">GLSL step man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <template <typename, precision> class vecType, typename T, precision P>
+	GLM_FUNC_DECL vecType<T, P> step(
+		T const & edge,
+		vecType<T, P> const & x);
+
+	/// Returns 0.0 if x <= edge0 and 1.0 if x >= edge1 and
+	/// performs smooth Hermite interpolation between 0 and 1
+	/// when edge0 < x < edge1. This is useful in cases where
+	/// you would want a threshold function with a smooth
+	/// transition. This is equivalent to:
+	/// genType t;
+	/// t = clamp ((x - edge0) / (edge1 - edge0), 0, 1);
+	/// return t * t * (3 - 2 * t);
+	/// Results are undefined if edge0 >= edge1.
+	///
+	/// @tparam genType Floating-point scalar or vector types.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/smoothstep.xml">GLSL smoothstep man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType>
+	GLM_FUNC_DECL genType smoothstep(
+		genType const & edge0,
+		genType const & edge1,
+		genType const & x);
+
+	template <typename genType>
+	GLM_FUNC_DECL genType smoothstep(
+		typename genType::value_type const & edge0,
+		typename genType::value_type const & edge1,
+		genType const & x);
+
+	/// Returns true if x holds a NaN (not a number)
+	/// representation in the underlying implementation's set of
+	/// floating point representations. Returns false otherwise,
+	/// including for implementations with no NaN
+	/// representations.
+	/// 
+	/// /!\ When using compiler fast math, this function may fail.
+	/// 
+	/// @tparam genType Floating-point scalar or vector types.
+	///
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/isnan.xml">GLSL isnan man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType> 
+	GLM_FUNC_DECL typename genType::bool_type isnan(genType const & x);
+
+	/// Returns true if x holds a positive infinity or negative
+	/// infinity representation in the underlying implementation's
+	/// set of floating point representations. Returns false
+	/// otherwise, including for implementations with no infinity
+	/// representations.
+	/// 
+	/// @tparam genType Floating-point scalar or vector types.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/isinf.xml">GLSL isinf man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType> 
+	GLM_FUNC_DECL typename genType::bool_type isinf(genType const & x);
+
+	/// Returns a signed integer value representing
+	/// the encoding of a floating-point value. The floating-point
+	/// value's bit-level representation is preserved.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/floatBitsToInt.xml">GLSL floatBitsToInt man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	GLM_FUNC_DECL int floatBitsToInt(float const & v);
+
+	/// Returns a signed integer value representing
+	/// the encoding of a floating-point value. The floatingpoint
+	/// value's bit-level representation is preserved.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/floatBitsToInt.xml">GLSL floatBitsToInt man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <template <typename, precision> class vecType, precision P>
+	GLM_FUNC_DECL vecType<int, P> floatBitsToInt(vecType<float, P> const & v);
+
+	/// Returns a unsigned integer value representing
+	/// the encoding of a floating-point value. The floatingpoint
+	/// value's bit-level representation is preserved.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/floatBitsToUint.xml">GLSL floatBitsToUint man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	GLM_FUNC_DECL uint floatBitsToUint(float const & v);
+
+	/// Returns a unsigned integer value representing
+	/// the encoding of a floating-point value. The floatingpoint
+	/// value's bit-level representation is preserved.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/floatBitsToUint.xml">GLSL floatBitsToUint man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <template <typename, precision> class vecType, precision P>
+	GLM_FUNC_DECL vecType<uint, P> floatBitsToUint(vecType<float, P> const & v);
+
+	/// Returns a floating-point value corresponding to a signed
+	/// integer encoding of a floating-point value.
+	/// If an inf or NaN is passed in, it will not signal, and the
+	/// resulting floating point value is unspecified. Otherwise,
+	/// the bit-level representation is preserved.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/intBitsToFloat.xml">GLSL intBitsToFloat man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	GLM_FUNC_DECL float intBitsToFloat(int const & v);
+
+	/// Returns a floating-point value corresponding to a signed
+	/// integer encoding of a floating-point value.
+	/// If an inf or NaN is passed in, it will not signal, and the
+	/// resulting floating point value is unspecified. Otherwise,
+	/// the bit-level representation is preserved.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/intBitsToFloat.xml">GLSL intBitsToFloat man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <template <typename, precision> class vecType, precision P>
+	GLM_FUNC_DECL vecType<float, P> intBitsToFloat(vecType<int, P> const & v);
+
+	/// Returns a floating-point value corresponding to a
+	/// unsigned integer encoding of a floating-point value.
+	/// If an inf or NaN is passed in, it will not signal, and the
+	/// resulting floating point value is unspecified. Otherwise,
+	/// the bit-level representation is preserved.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/uintBitsToFloat.xml">GLSL uintBitsToFloat man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	GLM_FUNC_DECL float uintBitsToFloat(uint const & v);
+
+	/// Returns a floating-point value corresponding to a
+	/// unsigned integer encoding of a floating-point value.
+	/// If an inf or NaN is passed in, it will not signal, and the
+	/// resulting floating point value is unspecified. Otherwise,
+	/// the bit-level representation is preserved.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/uintBitsToFloat.xml">GLSL uintBitsToFloat man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <template <typename, precision> class vecType, precision P>
+	GLM_FUNC_DECL vecType<float, P> uintBitsToFloat(vecType<uint, P> const & v);
+
+	/// Computes and returns a * b + c.
+	/// 
+	/// @tparam genType Floating-point scalar or vector types.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/fma.xml">GLSL fma man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType>
+	GLM_FUNC_DECL genType fma(genType const & a, genType const & b, genType const & c);
+
+	/// Splits x into a floating-point significand in the range
+	/// [0.5, 1.0) and an integral exponent of two, such that:
+	/// x = significand * exp(2, exponent)
+	/// 
+	/// The significand is returned by the function and the
+	/// exponent is returned in the parameter exp. For a
+	/// floating-point value of zero, the significant and exponent
+	/// are both zero. For a floating-point value that is an
+	/// infinity or is not a number, the results are undefined.
+	/// 
+	/// @tparam genType Floating-point scalar or vector types.
+	/// 
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/frexp.xml">GLSL frexp man page</a>
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType, typename genIType>
+	GLM_FUNC_DECL genType frexp(genType const & x, genIType & exp);
+
+	/// Builds a floating-point number from x and the
+	/// corresponding integral exponent of two in exp, returning:
+	/// significand * exp(2, exponent)
+	/// 
+	/// If this product is too large to be represented in the
+	/// floating-point type, the result is undefined.
+	/// 
+	/// @tparam genType Floating-point scalar or vector types.
+	///  
+	/// @see <a href="http://www.opengl.org/sdk/docs/manglsl/xhtml/ldexp.xml">GLSL ldexp man page</a>; 
+	/// @see <a href="http://www.opengl.org/registry/doc/GLSLangSpec.4.20.8.pdf">GLSL 4.20.8 specification, section 8.3 Common Functions</a>
+	template <typename genType, typename genIType>
+	GLM_FUNC_DECL genType ldexp(genType const & x, genIType const & exp);
+
+	/// @}
+}//namespace glm
+
+#include "func_common.inl"
+