merged master->jazzy

* New feature: Depth confidence

* iOS app updated to save depth confidence, added util2d::depthBleedingFiltering function

* Updated tools to show/extract depth confidence

* Android: moved smoothing in post-processing, fixed confidence registration, added depth bleeding error option.

* Fixed warning

* removed debug log

* Added new feature types, fixed rendering when exporting texture >4096 (#1469), added depth bleeding filter option to iOS

* fixed some warnings, android: added bleeding error option

* CI: try updating ros2 key

* added sudo

* antoher test

* bump ios app version

.appveyor.yml

@@ -17,6 +17,9 @@ init:
   - call "C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" x86_amd64
 
 install:
+  # To download from google drive
+  - set PATH=C:\Python38-x64;C:\Python38-x64\Scripts;%PATH%
+  - ps: py -m pip --disable-pip-version-check install gdown>=5.1.0 
   # Qt
   - set QTDIR=C:\Qt\5.10.1\msvc2015_64
   # make sure Qt bin path is before cmake bin path to avoid copying qt5 dlls from cmake before qt installation
@@ -33,13 +36,16 @@ install:
   - set OPENNI2_LIB64=C:\Program Files\OpenNI2\Lib
   - set OPENNI2_REDIST64=C:\Program Files\OpenNI2\Redist
   # OpenCV
-  #- ps: wget 'http://kent.dl.sourceforge.net/project/opencvlibrary/opencv-win/3.3.1/opencv-3.3.1-vc14.exe' -outfile opencv-3.3.1-vc14.exe
-  #- cmd: opencv-3.3.1-vc14.exe -o"C:\Program Files" -y
-  - ps: $url = "https://downloads.sourceforge.net/project/opencvlibrary/opencv-win/2.4.13/opencv-2.4.13.6-vc14.exe?r=&ts="+([int64](([datetime]::UtcNow)-(get-date "1/1/1970")).TotalSeconds) ; wget $url -outfile opencv-2.4.13.6-vc14.exe
-  - cmd: opencv-2.4.13.6-vc14.exe -o"C:\Program Files" -y
+  #- appveyor-retry appveyor DownloadFile http://downloads.sourceforge.net/project/opencvlibrary/4.5.2/opencv-4.5.2-vc14_vc15.exe
+  #- cmd: opencv-4.5.2-vc14_vc15.exe -o"C:\Program Files" -y
+  #- ECHO "Installed OpenCV:"
+  #- ps: "ls \"C:/Program Files/opencv/build\""
+  #- set PATH=%PATH%;C:\Program Files\opencv\build\x64\vc14\bin
+  - ps: wget 'https://dl.dropboxusercontent.com/s/o6ofn491bc0jso1/opencv450_vc14.exe?dl=0' -outfile opencv.exe
+  - cmd: opencv.exe -o"C:\Program Files" -y
   - ECHO "Installed OpenCV:"
-  - ps: "ls \"C:/Program Files/opencv/build\""
-  - set PATH=%PATH%;C:\Program Files\opencv\build\x64\vc14\bin
+  - ps: "ls \"C:/Program Files/opencv\""
+  - set PATH=%PATH%;C:\Program Files\opencv\x64\vc14\bin
   # VTK (including QVTK)
   - ps: wget 'https://dl.dropboxusercontent.com/s/1l33b5l3f3y52gf/VTK-6_3-msvc140.exe?dl=0' -outfile VTK-6_3.exe
   - cmd: VTK-6_3.exe -o"C:\Program Files" -y
@@ -70,7 +76,7 @@ install:
   - ps: "ls \"C:/Program Files/PCL\""
   - set PATH=%PATH%;C:\Program Files\PCL\bin
   # zlib
-  - ps: wget 'https://docs.google.com/uc?authuser=0&id=0B46akLGdg-uaYm9MTTI4MUtUcmc&export=download' -outfile zlib-1.2.8-vc2010-x64.zip
+  - ps: gdown -q 0B46akLGdg-uaYm9MTTI4MUtUcmc
   - ps: Expand-Archive zlib-1.2.8-vc2010-x64.zip -DestinationPath 'C:\Program Files'
   - ECHO "Installed zlib:"
   - ps: "ls \"C:/Program Files/zlib\""
@@ -105,12 +111,7 @@ install:
   - ECHO "Installed Open Chisel:"
   - ps: "ls \"C:/Program Files/open_chisel\""
   - set PATH=%PATH%;C:\Program Files\open_chisel\bin
-  # cvsba
-  - ps: wget 'https://dl.dropboxusercontent.com/s/4ey8ergerx46zvj/cvsba_x64_vc14.exe?dl=0' -outfile cvsba.exe
-  - cmd: cvsba.exe -o"C:\Program Files" -y
-  - ECHO "Installed cvsba:"
-  - ps: "ls \"C:/Program Files/cvsba\""
-  - set PATH=%PATH%;C:\Program Files\cvsba\bin
+  # yaml-cpp
   - ps: wget 'https://dl.dropboxusercontent.com/s/22qfvftwj6zq8tj/yaml-cpp_x64_vc14.exe?dl=0' -outfile yaml-cpp.exe
   - cmd: yaml-cpp.exe -o"C:\Program Files" -y
   - ECHO "Installed yaml-cpp:"
@@ -134,7 +135,7 @@ before_build:
   - cd c:\projects\rtabmap\build
   - ECHO %PROGRAMFILES%
   - ECHO %PATH%
-  - cmake -G "Visual Studio 14 2015 Win64" -DOpenCV_DIR="C:\Program Files\opencv\build" -DPCL_DIR="C:\Program Files\PCL\cmake" -DCPUTSDF_DIR="C:\Program Files\cpu_tsdf\share\cpu_tsdf" -Dcvsba_DIR="C:\Program Files\cvsba\lib\cmake" -Dyaml-cpp_DIR="C:\Program Files\yaml-cpp\CMake" -DBUILD_AS_BUNDLE=ON ..
+  - cmake -G "Visual Studio 14 2015 Win64" -DOpenCV_DIR="C:\Program Files\opencv\build" -DPCL_DIR="C:\Program Files\PCL\cmake" -DCPUTSDF_DIR="C:\Program Files\cpu_tsdf\share\cpu_tsdf" -Dyaml-cpp_DIR="C:\Program Files\yaml-cpp\CMake" -DBUILD_AS_BUNDLE=ON ..
   
 after_build :
   - cmake --build . --config Release --target package

.devcontainer/android/devcontainer.json

@@ -0,0 +1,9 @@
+{
+    "image": "introlab3it/rtabmap:android-deps",
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools", "vscjava.vscode-java-pack"]
+        }
+      },
+    "runArgs": ["--privileged", "--network=host"]
+}

.devcontainer/bionic/devcontainer.json

@@ -0,0 +1,8 @@
+{
+    "image": "introlab3it/rtabmap:18.04",
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
+        }
+      }
+}

.devcontainer/focal/devcontainer.json

@@ -0,0 +1,8 @@
+{
+    "image": "introlab3it/rtabmap:20.04",
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
+        }
+      }
+}

.devcontainer/jammy/devcontainer.json

@@ -0,0 +1,8 @@
+{
+    "image": "introlab3it/rtabmap:22.04",
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
+        }
+      }
+}

.devcontainer/noble/devcontainer.json

@@ -0,0 +1,8 @@
+{
+    "image": "introlab3it/rtabmap:24.04",
+    "customizations": {
+        "vscode": {
+          "extensions": ["ms-vscode.cpptools-themes", "ms-vscode.cmake-tools"]
+        }
+      }
+}

.dockerignore

@@ -0,0 +1,2 @@
+build/*
+build_*

.github/workflows/cmake-ros.yml

@@ -0,0 +1,68 @@
+name: CMake-ROS
+
+on:
+  push:
+    branches: 
+      - jazzy-devel
+  pull_request:
+    branches: 
+      - '**'
+
+env:
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    # The CMake configure and build commands are platform agnostic and should work equally
+    # well on Windows or Mac.  You can convert this to a matrix build if you need
+    # cross-platform coverage.
+    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
+    name: Build on ros ${{ matrix.ros_distribution }} and ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distribution: [jazzy]
+        include:
+        - ros_distribution: 'jazzy'
+          os: ubuntu-24.04
+
+    steps:   
+    - name: Setup ROS2
+      # https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
+      run: |
+        sudo apt install software-properties-common
+        sudo add-apt-repository universe
+        sudo apt update && sudo apt install curl -y
+        export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
+        curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb"
+        sudo apt install /tmp/ros2-apt-source.deb
+        sudo apt update
+
+    - uses: ros-tooling/setup-ros@v0.7
+      with:
+        required-ros-distributions: ${{ matrix.ros_distribution }}
+    
+    - uses: actions/checkout@v4
+
+    - name: Install dependencies
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        rosdep update
+        rosdep install --from-paths ${{github.workspace}} -y
+
+    - name: Configure CMake
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+
+    - name: Build
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Info
+      working-directory: ${{github.workspace}}/build/bin
+      run: |
+        source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+        ./rtabmap-console --version
+      

.github/workflows/cmake.yml

@@ -0,0 +1,49 @@
+name: CMake
+
+on:
+  push:
+    branches: 
+      - master
+  pull_request:
+    branches: 
+      - '**'
+
+env:
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    name: ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-24.04, ubuntu-22.04]
+
+    steps:    
+    - name: Install dependencies
+      run: |
+        DEBIAN_FRONTEND=noninteractive
+        sudo apt-get update
+        sudo apt-get -y install libopencv-dev libpcl-dev git cmake software-properties-common libyaml-cpp-dev
+
+    - uses: actions/checkout@v4
+
+    - name: Configure CMake
+      run: |
+        cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+
+    - name: Build
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Info
+      working-directory: ${{github.workspace}}/build/bin
+      run: |
+        ./rtabmap-console --version
+
+#    - name: Test
+#      working-directory: ${{github.workspace}}/build
+#      # Execute tests defined by the CMake configuration.  
+#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+#      run: ctest -C ${{env.BUILD_TYPE}}
+      

.github/workflows/docker.yml

@@ -0,0 +1,210 @@
+name: docker
+
+on:
+  push:
+    branches:
+      - 'master'
+
+jobs:
+  docker_deps:
+
+    # Disabling ###-deps step from CI because it is too flaky (seg faults, arm64 build timeout...)
+    # Only way I was able to build all images is to do it from a ubuntu 20.04 computer with:
+    #    $ sudo add-apt-repository ppa:canonical-server/server-backports
+    #    $ sudo apt-get update
+    #    $ sudo apt-get upgrade qemu-user-static
+    #    $ docker run --rm --privileged multiarch/qemu-user-static --reset -p yes -c yes
+    # More info: https://github.com/introlab/rtabmap/issues/1454
+    # if: false
+
+    runs-on: ubuntu-latest
+    
+    strategy:
+      fail-fast: false
+      matrix:
+        docker_tag: [focal-deps, jammy-deps, noble-deps, noble-kilted-deps]
+        include:
+        - docker_tag: focal-deps
+          docker_tags: |
+            introlab3it/rtabmap:focal-deps
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'focal/deps'
+        - docker_tag: jammy-deps
+          docker_tags: |
+            introlab3it/rtabmap:jammy-deps
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'jammy/deps'
+        - docker_tag: noble-deps
+          docker_tags: |
+            introlab3it/rtabmap:noble-deps
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'noble/deps'
+        - docker_tag: noble-kilted-deps
+          docker_tags: |
+            introlab3it/rtabmap:noble-kilted-deps
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'noble-kilted/deps'
+    
+    steps:
+      -
+        name: Checkout
+        uses: actions/checkout@v2
+      - 
+        name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: all
+      -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      -
+        name: Login to DockerHub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+      -
+        name: Build and push
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          push: true
+          platforms: ${{ matrix.docker_platforms }}
+          file: ./docker/${{ matrix.docker_path }}/Dockerfile
+          tags: ${{ matrix.docker_tags }}
+          cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_tag }}
+          cache-to: type=inline
+  
+  docker:
+    needs: docker_deps
+    runs-on: ubuntu-latest
+    
+    strategy:
+      fail-fast: false
+      matrix:
+        docker_tag: [bionic, focal, jammy, noble, noble-kilted, android23, android24, android26, android30]
+        include:
+        - docker_tag: bionic
+          docker_tags: |
+            introlab3it/rtabmap:bionic
+            introlab3it/rtabmap:18.04
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'bionic'
+        - docker_tag: focal
+          docker_tags: |
+            introlab3it/rtabmap:focal
+            introlab3it/rtabmap:20.04
+            introlab3it/rtabmap:latest
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'focal'
+        - docker_tag: jammy
+          docker_tags: |
+            introlab3it/rtabmap:jammy
+            introlab3it/rtabmap:22.04
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'jammy'
+        - docker_tag: noble
+          docker_tags: |
+            introlab3it/rtabmap:noble
+            introlab3it/rtabmap:24.04
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'noble'
+        - docker_tag: noble-kilted
+          docker_tags: |
+            introlab3it/rtabmap:noble-kilted
+          docker_args: |
+            NOT_USED=0
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
+          docker_path: 'noble-kilted'
+        - docker_tag: android23
+          docker_tags: |
+            introlab3it/rtabmap:android23
+            introlab3it/rtabmap:tango
+          docker_args: |
+            API_VERSION=23
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'bionic/android/rtabmap_apiXX'
+        - docker_tag: android24
+          docker_tags: |
+            introlab3it/rtabmap:android24
+          docker_args: |
+            API_VERSION=24
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'bionic/android/rtabmap_apiXX'
+        - docker_tag: android26
+          docker_tags: |
+            introlab3it/rtabmap:android26
+          docker_args: |
+            API_VERSION=26
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'bionic/android/rtabmap_apiXX'
+        - docker_tag: android30
+          docker_tags: |
+            introlab3it/rtabmap:android30
+          docker_args: |
+            API_VERSION=30
+          docker_platforms: |
+            linux/amd64
+          docker_path: 'bionic/android/rtabmap_apiXX'
+    
+    steps:
+      -
+        name: Checkout
+        uses: actions/checkout@v2
+      - 
+        name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: all
+      -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      -
+        name: Login to DockerHub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+      -
+        name: Build and push
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          push: true
+          platforms: ${{ matrix.docker_platforms }}
+          file: ./docker/${{ matrix.docker_path }}/Dockerfile
+          build-args: |
+            ${{ matrix.docker_args }}
+          tags: ${{ matrix.docker_tags }}
+          cache-from: type=registry,ref=introlab3it/rtabmap:${{ matrix.docker_tag }}
+          cache-to: type=inline
+

.github/workflows/scheduled-stats.yml

@@ -0,0 +1,16 @@
+name: RTAB-Map Scheduled Stats Extraction From GitHub
+
+on:
+    workflow_dispatch:
+    schedule:
+        - cron: '0 5 * * *'
+jobs:
+    get_stats:
+        runs-on: ubuntu-latest
+        steps:
+            - name: Update Stats
+              uses: introlab/github-stats-action@v1
+              with:
+                  github-stats-token: ${{ secrets.STATS_TOKEN }}
+                  google-application-credentials: ${{ secrets.GOOGLE_APPLICATION_CREDENTIALS }}
+                  spreadsheet-id: ${{ secrets.SPREADSHEET_ID }}

.gitignore

@@ -10,3 +10,5 @@ app/android/AndroidManifest.xml
 app/android/res/raw/
 compile_flags.txt
 tags
+build_*
+*.bak

.travis.yml

@@ -1,73 +0,0 @@
-sudo: true
-language: cpp
-group: deprecated-2017Q3
-
-compiler:
-  - gcc
-
-matrix:
-  include:
-
-    - dist: trusty
-      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 update && sudo apt-get install dpkg
-        - sudo apt-get -y install ros-indigo-rtabmap-ros
-        - sudo apt-get -y remove ros-indigo-rtabmap
-
-      script: 
-        - source /opt/ros/indigo/setup.bash
-        - mkdir -p build && cd build
-        - cmake .. 
-        - make
-
-    - dist: xenial
-      install:
-        - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial 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 update && sudo apt-get install dpkg
-        - sudo apt-get -y install ros-kinetic-rtabmap-ros
-        - sudo apt-get -y remove ros-kinetic-rtabmap
-
-      script: 
-        - source /opt/ros/kinetic/setup.bash
-        - mkdir -p build && cd build
-        - cmake .. 
-        - make
-
-    - dist: bionic
-      install:
-        - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu bionic 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 update && sudo apt-get install dpkg
-        - sudo apt-get -y install ros-melodic-rtabmap-ros
-        - sudo apt-get -y remove ros-melodic-rtabmap
-
-      script: 
-        - source /opt/ros/melodic/setup.bash
-        - mkdir -p build && cd build
-        - cmake .. 
-        - make
-        
-    - dist: focal
-      install:
-        - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu focal 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 update && sudo apt-get install dpkg
-        - sudo apt-get -y install ros-noetic-rtabmap-ros
-        - sudo apt-get -y remove ros-noetic-rtabmap
-
-      script: 
-        - source /opt/ros/noetic/setup.bash
-        - mkdir -p build && cd build
-        - cmake .. 
-        - make
-
-notifications:
-  email:
-    - matlabbe@gmail.com

LICENSE

@@ -1,5 +1,6 @@
-Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
-All rights reserved.
+RTAB-Map - https://github.com/introlab/rtabmap
+Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke, all rights reserved.
+Copyright (c) XXX, contributors, all rights reserved.
 
 Redistribution and use in source and binary forms, with or without
 modification, are permitted provided that the following conditions are met:
@@ -11,7 +12,7 @@ modification, are permitted provided that the following conditions are met:
   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
+* Neither the name of the copyright holders nor the names of the 
   contributors may be used to endorse or promote products derived from
   this software without specific prior written permission.
 
@@ -24,4 +25,4 @@ 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.
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Matlab/DumpMemorySign.txt

@@ -1,86 +0,0 @@
-SignatureID WordsID...
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-30 31 32 33 33 58 76 83 144 162 204 210 219 221 230 320 340 345 345 347 366 395 403 429 527 540 540 543 548 553 553 583 594 622 652 652 653 662 694 699 709 709 744 753 782 832 858 923 923 923 923 934 954 1003 1026 1083 1083 1088 1111 1174 1290 1303 1303 1360 1521 1630 1651 1725 1738 1763 1771 1779 1787 1788 1799 1838 1852 1856 1871 1873 1874 1883 1902 1902 1903 1915 1916 1930 1931 1941 1961 1975 1997 1998 2014 2014 2015 2015 2015 2029 2044 2045 2046 2047 2048 2049 2050 2051 2052 2053 2054 2055 2056 2057 2058 2059 2060 2061 2062 2063 2064 2065 2066 2067 2068 2069 2070 2071 2072 2073 2074 2075 2076 2077 2078 2079 2080 2081 2082 2083 2084 2085 2086 2087 2088 2089 2090 2091 2092 2093 2094 2094 2095 2096 2097 2098 2099 2100 2101 2102 2103 2104 2105 2106 2107 2108 2109 2110 2111 2112 2113 2114 2115 2116 2117 2118 2119 2120 2121 2122 2123 2124 2125 2126 2127 2128 2129 2130 2131 2132 2133 2134 2135 2136 2137 2138 2139 2140 2141 2142 2143 2144 2145 2146 2147 2148 2149 2150 
-31 4 7 7 31 31 32 33 33 48 78 78 89 114 133 147 162 182 208 211 241 260 296 315 345 381 395 403 439 494 498 543 553 563 619 623 624 699 704 707 895 923 923 978 978 990 1052 1174 1195 1199 1303 1518 1519 1566 1630 1630 1680 1721 1723 1731 1738 1743 1750 1848 1856 1868 1900 1902 1953 1957 1962 1963 1973 1987 1987 1993 2010 2033 2051 2052 2058 2061 2067 2069 2106 2147 2151 2152 2153 2154 2155 2156 2156 2157 2158 2159 2160 2161 2162 2163 2164 2165 2166 2167 2168 2169 2170 2171 2172 2173 2173 2174 2175 2176 2177 2178 2179 2180 2181 2182 2183 2184 2185 2186 2187 2188 2189 2190 2191 2192 2193 2194 2195 2196 2197 2198 2199 2200 2201 2202 2203 2204 2205 2206 2207 2208 2209 2209 2210 2211 2212 2213 2213 2214 2215 2216 2217 2218 2219 2220 2221 2222 2223 2224 2225 2226 2227 2228 2229 2230 2231 2232 2233 2234 2235 2236 2237 2238 2239 2240 2241 2242 2243 2244 2245 2246 2247 2248 2249 2249 2250 2251 2252 2253 2254 2255 2256 2257 2258 2259 2260 
-32 32 32 33 33 48 58 63 78 95 133 253 275 301 354 371 395 405 495 597 662 699 699 707 707 738 778 784 793 805 818 867 899 923 1027 1027 1034 1103 1103 1144 1200 1237 1529 1692 1714 1743 1743 1749 1750 1753 1768 1817 1841 1843 1878 1993 2047 2054 2054 2061 2067 2067 2067 2067 2101 2113 2116 2139 2152 2156 2159 2165 2167 2168 2171 2190 2190 2201 2208 2221 2233 2248 2261 2262 2263 2264 2264 2265 2265 2266 2267 2268 2269 2269 2270 2271 2272 2273 2274 2275 2276 2277 2277 2278 2279 2280 2281 2282 2283 2284 2285 2286 2287 2288 2288 2289 2290 2291 2292 2293 2294 2295 2296 2297 2298 2299 2299 2300 2301 2302 2302 2303 2304 2305 2306 2307 2308 2309 2310 2311 2312 2313 2314 2315 2316 2316 2317 2318 2319 2319 2320 2321 2322 2323 2324 2325 2326 2327 2328 2329 2330 2331 2332 2333 2334 2335 2336 2337 2338 2339 2340 2341 2342 2343 2344 2345 2346 2347 2348 2349 2350 2351 2352 2353 2354 2355 2355 2356 2357 2358 2359 2360 2361 2362 2363 2364 2365 2366 2367 2368 2369 
-33 33 48 58 78 78 114 118 162 167 182 182 193 202 202 204 221 226 249 249 257 261 274 287 287 345 346 368 408 412 457 504 506 576 592 624 653 697 699 699 771 818 832 847 923 923 1003 1103 1175 1199 1200 1202 1223 1370 1519 1696 1723 1723 1750 1771 1777 1848 1903 1929 1935 2014 2030 2053 2061 2072 2151 2152 2152 2153 2168 2168 2221 2243 2247 2262 2263 2264 2288 2291 2293 2293 2303 2323 2333 2335 2340 2352 2370 2371 2372 2373 2374 2374 2375 2376 2377 2378 2379 2380 2381 2382 2383 2384 2385 2386 2387 2388 2389 2390 2391 2392 2393 2394 2395 2396 2397 2398 2399 2400 2401 2402 2403 2404 2405 2406 2407 2408 2409 2410 2411 2412 2413 2414 2415 2416 2417 2418 2419 2420 2421 2422 2423 2424 2425 2426 2427 2428 2429 2430 2430 2431 2432 2433 2434 2435 2436 2437 2438 2439 2440 2441 2442 2443 2444 2445 2446 2447 2448 2449 2450 2451 2451 2452 2453 2454 2455 2456 2457 2458 2459 2459 2460 2461 2462 2463 2464 2465 2466 2467 2468 2469 2470 2471 2472 2473 2474 
-34 31 32 32 33 35 35 44 58 58 67 67 70 78 78 83 96 115 136 136 162 182 182 202 202 202 202 217 230 237 249 320 324 340 345 346 366 397 405 414 504 519 540 572 576 593 597 622 625 669 694 694 699 790 815 815 832 835 920 923 923 954 1042 1098 1102 1110 1129 1199 1200 1218 1477 1501 1509 1515 1529 1557 1625 1692 1722 1723 1742 1844 1868 1877 1904 1904 1972 2152 2165 2168 2171 2173 2198 2243 2267 2293 2293 2294 2308 2317 2323 2323 2387 2389 2390 2400 2400 2422 2423 2423 2440 2442 2447 2459 2461 2475 2475 2476 2477 2478 2479 2480 2481 2481 2482 2483 2484 2485 2486 2487 2488 2488 2489 2490 2491 2492 2493 2494 2495 2496 2497 2498 2499 2500 2501 2502 2503 2504 2505 2506 2507 2508 2509 2510 2511 2512 2513 2514 2515 2516 2517 2518 2519 2520 2521 2522 2523 2524 2525 2526 2527 2527 2528 2529 2530 2531 2532 2532 2533 2534 2535 2536 2537 2538 2539 2540 2541 2542 2543 2544 2545 2546 2547 2548 2549 2550 2551 2552 2553 2554 2555 2556 2557 2558 2559 2560 2561 2562 2563 2564 2565 2566 2567 2568 2569 
-35 30 32 33 35 58 60 64 76 78 78 84 89 120 133 202 204 204 241 249 249 301 304 340 366 384 416 428 496 508 624 699 700 700 778 815 832 906 923 923 943 987 997 1001 1200 1203 1226 1303 1360 1424 1432 1441 1749 1802 1868 1914 1933 1936 1962 2171 2188 2243 2327 2342 2352 2360 2427 2490 2494 2494 2502 2504 2530 2532 2533 2546 2546 2547 2548 2558 2560 2570 2571 2572 2573 2574 2575 2576 2577 2578 2579 2580 2581 2582 2583 2584 2585 2586 2587 2588 2588 2589 2590 2591 2592 2593 2594 2595 2596 2597 2598 2599 2600 2601 2602 2603 2604 2605 2606 2607 2608 2609 2610 2611 2612 
-36 32 32 32 58 58 63 89 98 133 133 133 162 162 188 204 213 217 304 345 358 366 366 366 366 381 395 395 395 539 553 623 624 624 640 667 667 667 694 694 699 722 782 815 816 858 922 923 979 1012 1026 1040 1063 1079 1079 1088 1091 1149 1222 1453 1461 1526 1565 1662 1692 1692 1731 1750 1796 1829 1889 1931 1997 2000 2014 2014 2038 2111 2164 2188 2427 2445 2501 2505 2546 2578 2580 2591 2594 2613 2614 2615 2616 2617 2618 2619 2620 2621 2622 2622 2623 2624 2625 2626 2627 2628 2629 2630 2631 2632 2633 2633 2634 2635 2636 2637 2638 2639 2640 2641 2642 2643 2644 2645 2646 2646 2647 2648 2649 2650 2651 2652 2653 2654 2655 2656 
-37 9 32 32 33 46 58 63 79 84 133 133 162 188 237 247 259 260 273 301 301 304 304 326 340 358 366 424 447 480 504 508 546 580 591 606 617 617 637 640 653 667 667 699 782 793 793 794 895 923 955 1001 1026 1034 1034 1061 1087 1088 1088 1127 1147 1148 1155 1166 1177 1177 1228 1249 1303 1323 1339 1343 1368 1388 1441 1441 1444 1515 1630 1645 1800 1809 1972 2000 2054 2117 2151 2157 2164 2292 2360 2580 2591 2591 2617 2624 2625 2626 2631 2632 2632 2633 2634 2635 2638 2642 2643 2657 2658 2659 2660 2661 2662 2663 2664 2665 2666 2667 2668 2669 2670 2671 2672 2673 2674 2675 2676 2677 2678 2679 2680 2681 2682 2683 2684 2685 2686 2687 2688 2689 2690 2691 2692 2693 2694 2695 2696 2697 2698 2699 2700 2701 2702 2703 2704 2705 
-38 4 32 32 33 46 58 63 78 88 179 182 204 204 211 241 249 249 259 301 345 346 346 366 412 415 416 416 438 439 447 447 447 504 527 527 539 540 553 553 558 661 667 667 667 674 699 722 725 725 782 794 797 812 842 842 842 923 954 954 1129 1137 1144 1181 1202 1259 1339 1339 1444 1543 1617 1680 1705 1713 1874 1874 1878 2030 2054 2153 2224 2256 2307 2360 2413 2461 2481 2546 2580 2617 2619 2633 2635 2660 2661 2662 2663 2664 2665 2666 2669 2679 2680 2681 2689 2694 2695 2706 2707 2708 2709 2710 2711 2712 2713 2714 2715 2716 2717 2718 2719 2720 2721 2722 2723 2724 2725 2726 2727 2728 2729 2730 2731 2732 2733 2734 2735 2736 2737 2738 2739 2740 2741 2742 2743 2744 2745 2746 2747 2748 2749 2750 2751 2752 
-39 4 4 32 32 55 58 58 70 95 124 133 141 177 186 211 211 217 247 249 249 259 260 301 304 312 312 326 329 338 340 345 366 366 408 447 447 502 509 509 510 522 527 553 558 566 598 612 619 621 622 625 625 625 640 653 653 653 667 667 667 674 699 715 741 753 868 954 955 958 1027 1034 1063 1102 1120 1147 1193 1241 1241 1303 1483 1672 1719 1803 1868 1868 1973 2003 2014 2138 2138 2211 2248 2450 2494 2580 2615 2617 2617 2624 2625 2625 2625 2633 2635 2661 2662 2666 2669 2679 2682 2689 2711 2713 2725 2725 2728 2729 2732 2734 2737 2740 2746 2748 2753 2754 2755 2756 2757 2758 2759 2760 2761 2762 2763 2764 2765 2766 2767 2767 2768 2769 2770 2771 2772 2773 2774 2775 2776 2777 2778 2779 2780 2780 2781 2782 2783 2784 2785 
-40 35 44 120 131 202 207 304 304 336 381 434 537 553 566 572 867 1039 1170 1222 1235 1259 1270 1357 1501 1575 1575 1617 1749 1795 1868 1889 2434 2627 2716 2756 2786 2787 2788 2789 2790 2791 2792 2793 2794 2795 2796 2797 2798 2799 2799 2800 2801 2802 2803 2804 2804 2805 2806 2807 2808 2809 2810 2811 2812 2812 2813 2814 2815 2816 2817 2818 2819 2820 2821 2822 2823 2824 2825 2826 2827 2828 2829 2830 2831 2832 2833 
-41 8 21 26 28 28 31 32 33 33 33 38 42 46 46 48 49 49 53 55 57 58 58 59 60 61 61 63 65 66 67 68 72 73 73 78 82 84 84 84 85 85 88 92 94 96 96 103 103 111 113 115 122 124 133 138 142 143 148 151 153 154 160 162 165 166 167 167 172 174 178 178 179 180 182 183 186 188 189 189 189 189 196 199 201 202 202 202 202 202 204 205 213 218 218 239 255 256 268 268 271 277 277 278 289 289 290 290 291 299 340 366 368 371 371 376 407 414 415 553 598 623 625 816 816 835 965 965 965 1082 1086 1129 1129 1172 1222 1241 1574 1575 1630 1673 1707 1825 1884 1928 2158 2293 2494 2619 2722 2834 2835 2836 2837 2838 2839 2840 2841 2842 2843 2844 2845 2846 2847 2848 2849 2850 2851 2852 2853 2853 2854 2855 2856 2857 2857 2858 2859 2860 2861 2862 2863 2864 2865 2866 2867 2868 2869 2870 2871 2872 2873 2874 2875 2876 2877 2878 2879 2880 2881 2882 2883 
-42 4 5 24 28 32 32 33 44 44 48 49 51 52 55 56 56 56 59 65 70 72 72 73 78 96 97 103 111 111 113 117 123 124 135 136 136 136 141 143 148 152 153 167 178 179 182 185 186 188 190 217 218 226 230 232 235 236 241 244 246 247 249 255 259 260 260 260 261 268 268 268 273 274 276 277 278 279 282 287 289 290 291 291 293 294 295 304 305 308 310 326 340 340 349 368 376 381 384 403 406 407 407 414 417 450 454 510 535 540 553 554 702 710 738 789 889 964 1087 1087 1155 1200 1241 1241 1388 1432 1681 1696 1822 1962 1974 2014 2371 2372 2400 2409 2450 2619 2624 2781 2877 2878 2883 2884 2885 2886 2887 2888 2889 2890 2891 2892 2893 2894 2895 2896 2897 2898 2899 2900 2901 2902 2903 2904 2904 2905 2906 2907 2908 2909 2910 2911 2912 2913 2914 2915 2916 2917 2918 2919 2920 2921 2922 2923 2924 2925 2926 
-43 5 24 31 32 32 32 35 46 47 49 56 67 68 68 72 73 73 120 123 124 130 135 141 143 165 167 177 179 189 189 190 213 213 217 220 223 228 232 241 246 255 256 268 271 276 282 284 287 287 290 305 306 306 324 325 326 326 340 347 358 362 368 371 372 376 376 377 381 388 389 390 394 395 397 398 399 403 404 405 407 411 415 415 415 442 447 450 539 550 553 593 691 699 741 816 856 868 954 1097 1097 1102 1191 1195 1214 1214 1259 1351 1368 1390 1417 1477 1545 1545 1680 1841 1868 1868 1962 2223 2248 2293 2360 2475 2475 2506 2508 2510 2514 2625 2673 2678 2779 2877 2888 2915 2927 2928 2929 2930 2931 2932 2933 2934 2935 2936 2937 2938 2939 2940 2941 2942 2943 2944 2945 2946 2947 2948 2949 2950 2951 2952 2953 2954 2955 2955 2956 2957 2958 2959 2960 2961 2962 2963 2964 2965 2966 2967 2968 2969 2970 2971 2972 2973 
-44 4 21 24 31 41 46 48 49 72 73 83 103 105 120 120 120 124 124 130 136 136 136 165 179 189 189 193 202 217 218 218 219 222 227 227 227 228 232 243 249 268 271 275 289 320 324 325 327 329 334 349 354 356 363 376 388 395 404 405 407 421 431 431 439 439 442 447 450 454 457 473 489 504 504 504 504 504 510 550 550 553 553 568 593 709 753 883 959 964 964 965 987 1047 1052 1086 1087 1097 1097 1241 1259 1432 1501 1696 1829 1865 2240 2469 2484 2726 2727 2847 2914 2933 2946 2947 2947 2948 2974 2974 2975 2976 2977 2978 2979 2980 2981 2982 2983 2984 2985 2986 2987 2988 2989 2989 2990 2991 2992 2992 2993 2994 2995 2996 2997 2998 2999 3000 3001 3002 3003 3004 3005 3006 3007 
-45 4 21 22 105 114 114 120 120 124 124 130 156 162 188 189 202 217 217 217 232 241 249 289 289 325 340 408 414 415 419 423 428 429 429 432 437 439 462 474 474 478 480 485 496 497 497 498 500 502 504 508 509 509 509 527 527 528 530 532 532 533 533 535 539 543 543 547 554 554 559 864 868 912 930 930 954 965 971 1002 1019 1087 1129 1149 1163 1183 1200 1214 1214 1237 1241 1259 1259 1318 1350 1390 1424 1501 1526 1538 1678 1714 1829 1829 1886 1973 2014 2086 2198 2198 2243 2371 2421 2678 2753 2758 2766 2851 2877 2995 2995 3003 3008 3009 3010 3011 3012 3013 3014 3015 3016 3017 3018 3019 3020 3020 3021 3022 3023 3024 3024 3024 3025 3026 3027 3028 3029 3030 3031 3032 3033 3034 3034 3035 3036 3037 3038 3038 3039 3040 3041 3042 3043 3044 3045 3046 3047 3048 3049 3050 3051 3052 3053 3054 3055 3056 3057 3058 3059 3060 3061 3062 3063 3064 3065 3066 3067 3068 3069 3070 3071 3072 3073 3074 3075 3076 3077 3078 3079 3080 3081 
-46 
-47 21 31 32 33 33 58 58 64 78 204 207 217 217 260 260 318 366 366 408 504 508 508 539 550 553 567 568 568 568 568 568 570 573 574 576 577 580 588 590 590 591 594 597 597 598 599 601 603 604 606 608 608 609 610 612 613 614 623 624 625 626 634 635 638 641 642 643 646 646 649 652 652 653 659 662 663 664 672 678 690 693 699 703 708 712 713 715 717 725 726 727 733 751 763 782 790 792 819 823 841 849 867 868 887 919 934 939 939 939 954 1052 1087 1130 1270 1276 1303 1451 1673 1679 2400 2591 2591 2627 2706 2856 2926 3042 3075 3075 3082 3083 3083 3084 3085 3086 3087 3088 3089 3090 3091 3092 3093 3094 3095 3096 3097 3098 3099 3100 3101 3102 3103 3104 3105 3106 3107 3108 3109 3110 3110 3111 3112 3113 3114 3115 3116 3117 3118 3119 3120 
-48 21 31 31 58 67 181 181 217 217 217 217 340 346 346 356 366 366 499 527 527 527 539 553 568 588 588 588 590 590 606 606 612 623 626 630 637 638 638 638 641 650 652 652 653 664 687 691 700 706 711 711 714 715 716 721 723 725 729 738 741 745 753 762 763 764 765 765 767 769 774 780 782 783 785 786 787 787 791 796 802 803 810 810 811 838 849 858 894 895 942 951 954 954 979 1019 1027 1039 1044 1057 1170 1174 1203 1222 1222 1572 1691 1829 1953 1953 1987 1987 2014 2014 2135 2241 2736 2793 2912 2962 3100 3121 3121 3122 3123 3124 3125 3126 3127 3128 3129 3130 3131 3132 3133 3134 3135 3136 3137 3138 3139 3140 3141 3142 3143 3144 3145 3146 3147 3148 3149 3150 3151 3152 3153 3154 3155 3156 3157 3158 3159 3160 3161 3162 3163 3164 
-49 4 4 4 4 32 32 33 33 58 58 72 72 83 84 105 157 162 162 162 162 179 179 179 213 217 217 217 217 217 243 318 320 321 336 346 366 368 384 388 416 424 504 539 550 550 550 553 553 553 553 558 570 573 583 588 590 635 638 644 654 664 691 691 697 702 704 711 750 753 753 754 755 755 756 757 759 760 762 763 765 770 774 775 799 807 817 818 819 823 837 838 842 842 844 845 846 846 849 851 854 858 858 858 858 860 865 866 868 874 875 878 880 880 885 885 887 889 889 891 891 892 895 897 922 925 942 951 954 970 1019 1030 1034 1047 1049 1060 1097 1170 1187 1195 1199 1214 1241 1241 1241 1241 1241 1259 1405 1465 1501 1529 1575 1622 1679 1768 1889 2276 2494 2576 2627 2678 2678 2847 2973 3006 3043 3063 3073 3147 3155 3165 3166 3167 3168 3169 3169 3170 3171 3172 3173 3174 3175 3176 3177 3178 3179 3180 3181 3182 3183 3184 3185 3186 3187 3188 3189 3190 3191 3192 3193 3194 3195 3196 3197 3198 3199 3200 3201 3202 3203 3204 3205 3206 3207 3208 3209 3210 3211 3212 
-50 31 32 32 58 63 114 219 247 320 345 345 358 366 366 366 395 416 424 502 504 504 509 539 544 550 550 554 558 558 558 569 580 580 583 583 588 590 598 604 612 617 617 624 636 638 664 693 693 710 715 750 770 770 770 780 786 790 813 817 818 818 819 824 825 826 832 834 836 836 839 839 843 846 846 851 853 853 854 856 858 858 859 860 867 868 869 872 874 875 875 878 880 885 885 887 887 889 902 909 915 920 923 924 925 928 931 932 933 939 939 940 941 943 951 951 954 954 1002 1007 1083 1107 1111 1235 1235 1241 1303 1679 1742 1841 1841 1862 1872 2135 2165 2276 2276 2390 2627 2729 2745 2748 3105 3117 3182 3184 3194 3197 3197 3204 3208 3213 3214 3215 3216 3217 3218 3219 3220 3221 3222 3223 3224 3225 3226 3227 3228 3229 3230 3231 3232 3233 3234 3235 3236 3237 3238 3239 3240 3241 
-51 22 32 32 32 32 32 33 33 46 58 58 63 72 114 182 217 217 217 218 247 247 260 260 345 358 366 424 439 539 539 553 553 558 558 591 604 608 623 623 693 698 702 731 738 750 770 770 782 786 794 815 817 818 819 824 825 832 834 843 846 856 862 862 862 868 880 895 896 902 909 913 916 919 922 924 926 927 928 929 931 932 933 939 939 941 943 943 944 946 948 948 954 954 954 954 955 957 959 968 970 971 973 974 975 978 983 986 987 1000 1004 1007 1010 1014 1034 1061 1077 1079 1083 1087 1121 1149 1149 1153 1153 1187 1259 1707 1742 1742 1750 1829 1841 1841 1946 2047 2168 2188 2276 2306 2683 3004 3047 3075 3077 3104 3171 3194 3225 3235 3237 3242 3243 3244 3245 3246 3247 3248 3249 3250 3251 3252 3253 3254 3255 3256 3257 3258 3259 3260 3261 3262 3263 3263 3264 3265 3266 3267 3268 3269 3270 3271 3272 3273 3274 
-52 4 22 31 32 33 58 72 72 105 124 204 218 218 218 218 218 227 227 247 249 287 326 439 480 489 502 502 502 502 502 502 504 504 539 540 553 553 558 568 572 574 583 585 588 606 606 606 606 684 693 699 709 751 755 765 793 804 829 836 846 846 849 851 868 881 898 911 915 916 916 939 943 949 954 954 955 956 957 958 961 962 965 969 972 974 974 978 978 987 989 996 1000 1001 1002 1003 1005 1016 1017 1021 1023 1029 1030 1030 1034 1034 1034 1035 1043 1050 1052 1055 1055 1058 1060 1060 1063 1064 1068 1071 1083 1106 1109 1111 1114 1127 1127 1152 1170 1174 1183 1204 1235 1259 1471 1506 1545 1660 1679 1696 1841 1841 1869 1874 1874 1974 2014 2014 2151 2152 2168 2188 2243 2307 2532 2532 2678 2736 2758 2764 3065 3152 3171 3192 3255 3275 3276 3277 3278 3279 3280 3281 3282 3283 3284 3285 3286 3287 3288 3289 3290 3291 3291 3292 3293 3294 3295 3296 3297 3298 3299 3300 3301 3302 3303 3304 3305 3306 3307 3308 3309 
-53 32 33 48 69 105 120 120 188 188 189 189 204 204 204 217 217 218 247 247 249 249 260 271 320 320 320 349 370 405 408 408 416 438 500 500 502 502 502 502 502 509 543 544 546 552 553 553 566 588 588 607 617 652 654 654 662 693 699 812 819 842 842 847 851 858 868 868 868 916 955 959 964 965 983 1001 1003 1009 1019 1021 1022 1023 1024 1030 1033 1034 1041 1047 1057 1060 1061 1063 1064 1064 1076 1083 1085 1097 1097 1099 1107 1109 1109 1111 1114 1120 1120 1120 1121 1129 1129 1129 1129 1129 1129 1129 1132 1138 1145 1153 1155 1174 1182 1187 1199 1200 1214 1228 1258 1259 1270 1276 1386 1451 1506 1528 1553 1622 1696 1718 1809 2048 2138 2138 2248 2326 2532 2619 2758 2758 3034 3047 3071 3079 3085 3096 3096 3264 3275 3277 3278 3310 3311 3312 3313 3314 3315 3316 3317 3318 3319 3320 3321 3322 3323 3324 3325 3326 3327 3328 3329 3330 3331 3332 3333 3334 3335 3336 3337 3338 3338 3339 3340 3341 3342 3343 3344 3345 3346 3347 3348 
-54 32 48 78 105 114 120 120 120 120 182 204 204 211 241 249 303 303 304 324 324 346 349 366 366 366 366 405 502 502 502 502 502 522 544 544 546 585 588 588 588 597 617 644 653 699 725 782 836 836 868 875 959 961 980 1001 1001 1027 1034 1052 1059 1083 1087 1087 1093 1099 1102 1102 1103 1109 1109 1110 1111 1114 1119 1120 1120 1127 1129 1130 1131 1133 1138 1140 1141 1141 1144 1153 1165 1169 1189 1192 1214 1241 1258 1258 1270 1392 1505 1509 1526 1526 1575 1678 1684 1684 1915 2014 2138 2269 2678 2761 2761 2874 2997 3003 3049 3054 3075 3138 3138 3316 3319 3325 3330 3349 3350 3351 3352 3353 3354 3355 3356 3357 3358 3359 3360 3361 3362 3363 3364 3365 3366 3367 3368 3369 3370 3371 
-55 4 4 4 30 31 31 32 32 32 32 33 202 228 247 249 276 320 320 338 345 346 366 366 366 366 366 366 366 366 366 381 439 442 462 509 546 568 588 588 653 653 653 653 653 674 674 751 782 842 842 842 847 847 847 989 1025 1027 1030 1030 1034 1041 1060 1097 1097 1097 1098 1114 1140 1148 1150 1151 1155 1168 1169 1169 1170 1170 1177 1183 1183 1187 1189 1192 1193 1196 1200 1205 1206 1210 1213 1226 1227 1229 1233 1234 1234 1241 1256 1258 1258 1258 1270 1270 1303 1392 1415 1451 1501 1550 1662 1673 1679 1680 1742 1794 1822 2014 2014 2461 2493 2713 2764 3079 3098 3121 3147 3152 3194 3254 3316 3360 3361 3365 3372 3372 3373 3374 3375 3376 3377 3378 3379 3380 3381 3382 3383 3383 3384 3385 3386 3387 3388 3389 3390 3391 3392 3393 3394 3395 3396 3397 3398 3399 3400 3401 3402 
-56 4 4 4 32 114 120 217 218 218 358 366 366 370 370 381 426 506 506 540 543 553 558 558 568 588 588 638 810 810 867 939 964 1019 1060 1087 1087 1098 1153 1177 1214 1218 1219 1234 1241 1241 1242 1258 1258 1270 1276 1286 1371 1424 1451 1501 1678 1679 1679 1679 1745 2242 2706 2791 2941 3194 3284 3360 3392 3403 3404 3405 3406 3407 3408 3409 3410 3411 3412 3413 3414 
-57 4 4 4 24 24 24 25 31 31 45 46 68 72 72 72 72 72 72 73 73 133 182 189 189 189 189 202 217 217 217 217 218 218 218 218 218 218 218 218 218 271 345 345 345 345 346 346 346 366 366 370 370 370 370 370 407 434 489 527 539 539 539 539 550 550 550 550 550 550 553 553 553 553 558 558 568 568 588 607 618 653 716 782 816 867 867 867 954 954 954 954 1041 1087 1087 1087 1087 1177 1187 1218 1223 1223 1235 1236 1236 1236 1238 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1246 1253 1254 1258 1258 1259 1265 1265 1266 1266 1270 1273 1278 1286 1290 1303 1451 1526 1550 1588 1679 1679 1679 1680 1692 1822 2014 2047 2242 2369 2501 2823 2941 3075 3075 3075 3079 3079 3079 3372 3372 3372 3415 3416 3417 3418 3419 3420 3421 3422 3423 3424 3425 3426 3427 3428 3429 3430 3431 3432 3433 3433 3434 3435 3436 3437 3438 3439 3440 3441 3442 3443 3444 3445 3446 3447 3448 3449 
-58 4 4 4 4 4 4 4 4 4 4 4 21 24 24 24 24 24 24 31 31 31 32 32 33 46 46 72 72 72 84 133 133 189 189 189 189 189 202 202 202 213 217 217 217 217 217 218 218 234 271 312 370 370 370 370 370 370 434 527 527 527 539 539 550 553 553 568 568 607 755 755 782 858 908 919 954 954 954 954 954 1087 1087 1087 1087 1087 1087 1087 1087 1087 1087 1149 1223 1238 1238 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1242 1258 1258 1258 1258 1259 1259 1281 1283 1286 1287 1290 1424 1673 1679 1679 1679 1692 1704 2014 2591 2753 2941 2957 2957 2957 2957 3079 3194 3194 3194 3194 3194 3194 3416 3429 3438 3450 3451 3452 3453 3454 3455 3456 3457 3458 3459 3460 3461 3462 3463 3464 
-59 4 4 24 31 32 33 46 46 72 120 120 133 179 189 189 189 189 189 189 202 217 218 218 218 268 370 370 539 550 550 553 553 558 558 558 558 558 568 568 568 755 755 782 782 843 858 954 954 955 965 965 965 1039 1087 1087 1087 1214 1235 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1241 1283 1286 1538 1538 1675 1679 1679 1679 1679 2014 2238 2761 2941 2957 3075 3079 3194 3465 3466 3467 3468 3469 3470 3471 3472 3473 3474 3475 3476 3477 3478 3479 3480 3481 3482 3483 3484 3485 3485 3486 
-60 4 4 4 24 24 31 31 32 33 56 72 105 136 189 189 207 209 209 209 217 217 217 217 217 218 247 260 271 301 306 312 317 320 354 408 548 550 553 553 558 568 568 568 568 568 568 568 613 619 619 623 635 637 652 653 684 706 738 784 847 853 858 894 939 954 965 985 1087 1151 1187 1193 1223 1226 1237 1334 1338 1339 1342 1343 1355 1375 1375 1378 1411 1422 1428 1441 1460 1468 1471 1515 1617 1673 1809 1829 1841 1905 2326 2494 2510 2532 2706 2707 2729 2745 3075 3194 3264 3487 3488 3489 3490 3491 3492 3493 3494 3495 3496 3497 3498 3499 3500 3501 3502 3503 3504 3505 3506 3507 3508 3509 3510 3511 3512 3513 3514 3515 3516 3517 3518 3519 3520 3521 3522 3523 3524 3525 3526 3527 3528 3528 3529 3530 3531 3532 3533 3534 3535 3536 3537 3538 3539 3540 3541 3542 3543 3544 3545 3546 3547 3547 3548 3549 3550 3551 3552 3553 3554 3555 3556 3557 3558 3559 3560 3561 3562 3563 3564 3565 3566 3567 3568 3569 3570 3571 3572 3573 3574 3575 3576 
-61 4 4 33 33 45 48 58 73 83 105 120 120 120 133 133 202 204 204 217 218 285 289 312 320 320 320 324 327 340 370 432 438 485 502 504 508 509 509 527 540 544 550 558 563 699 739 770 845 867 867 867 922 965 1022 1030 1047 1082 1083 1086 1097 1098 1109 1177 1206 1214 1241 1270 1271 1303 1305 1307 1310 1312 1315 1337 1339 1339 1340 1342 1345 1353 1365 1367 1367 1369 1370 1378 1379 1379 1379 1381 1381 1382 1383 1388 1388 1392 1392 1415 1424 1443 1450 1451 1451 1457 1458 1459 1460 1467 1475 1515 1515 1523 1526 1544 1560 1621 1623 1679 1681 1696 1705 1779 1796 1805 1972 2014 2018 2138 2240 2341 2400 2706 2736 2753 2753 2765 2877 2903 2957 2957 2957 3079 3171 3252 3293 3311 3325 3455 3577 3578 3579 3580 3581 3582 3583 3584 3585 3586 3587 3588 3589 3590 3591 3592 3593 3594 3595 3596 3597 3598 3599 3600 3601 3601 3602 3603 3604 3605 3606 3607 3608 3609 3610 3611 3612 3613 3614 3615 3616 3617 3618 3619 3620 3621 3622 3623 3624 3625 3626 
-62 4 21 21 24 45 53 72 72 73 120 133 133 146 156 179 204 204 217 312 320 320 338 340 349 366 407 429 502 502 502 502 502 553 553 558 637 699 699 725 739 784 784 816 845 852 867 867 884 949 965 979 1087 1097 1097 1097 1098 1098 1109 1182 1187 1218 1246 1256 1310 1315 1339 1340 1342 1342 1342 1345 1350 1351 1351 1351 1365 1371 1379 1381 1388 1395 1407 1450 1450 1451 1451 1451 1463 1467 1482 1483 1486 1487 1489 1490 1493 1494 1497 1498 1500 1501 1502 1504 1504 1505 1507 1508 1508 1511 1513 1514 1515 1518 1519 1520 1522 1523 1523 1525 1526 1526 1527 1529 1530 1531 1532 1538 1538 1540 1541 1543 1552 1553 1553 1557 1560 1561 1562 1563 1629 1630 1678 1679 1680 1690 1796 1839 1962 1965 2134 2161 2400 2483 2867 2925 3047 3194 3248 3360 3583 3627 3628 3629 3630 3631 3632 3633 3634 3635 3635 3636 3637 3638 3639 3640 3641 3642 3643 3644 3645 3646 3647 3648 3649 3650 3651 3652 3653 3654 3655 3656 3657 3658 3659 3660 3661 3662 3663 3664 3665 
-63 4 4 21 22 72 73 120 120 133 133 133 136 165 232 320 320 327 340 439 508 527 537 539 539 550 696 702 702 782 784 784 835 841 847 867 1072 1098 1098 1098 1098 1102 1170 1177 1181 1214 1214 1219 1241 1241 1246 1256 1256 1271 1310 1339 1342 1342 1395 1451 1451 1467 1501 1512 1515 1515 1515 1517 1526 1544 1550 1560 1568 1572 1575 1576 1580 1581 1589 1591 1593 1598 1605 1609 1616 1617 1618 1619 1621 1623 1630 1704 1711 1712 1723 1780 1868 2014 2135 2619 2812 2847 2979 3047 3047 3075 3075 3139 3251 3426 3537 3587 3591 3612 3612 3651 3666 3667 3668 3669 3670 3671 3672 3673 3674 3675 3676 3677 3678 3679 3680 3681 3682 3683 3684 3685 3686 3687 3688 3689 3690 3691 3692 3693 3694 3695 
-64 4 4 4 4 19 32 33 35 48 118 120 133 133 217 217 227 289 340 368 441 443 550 558 782 813 842 842 842 852 867 867 867 901 954 1241 1310 1336 1340 1350 1351 1351 1370 1370 1371 1501 1513 1538 1587 1589 1594 1597 1615 1615 1621 1632 1636 1637 1637 1638 1640 1642 1646 1646 1647 1650 1651 1652 1656 1661 1662 1663 1663 1671 1672 1681 1684 1689 1694 1702 1707 2014 2753 2812 3121 3499 3687 3694 3696 3697 3698 3699 3700 3701 3702 3703 3704 3705 3706 3707 3708 3709 3710 3711 3712 3713 3714 
-65 4 4 4 4 4 4 4 22 31 31 32 32 72 73 84 162 217 318 321 346 370 370 508 550 558 755 784 842 954 965 1087 1226 1241 1276 1336 1351 1557 1594 1623 1671 1680 1689 1697 1702 1703 2014 2014 2014 2117 2135 2792 2941 2941 3056 3152 3177 3326 3703 3715 3716 3717 3718 3719 3720 3721 3722 3723 3724 3725 3726 3727 
-66 32 39 58 204 275 318 318 320 371 407 408 408 414 417 432 473 626 649 653 653 653 653 655 667 668 668 674 674 793 797 939 1030 1113 1115 1203 1210 1319 1352 1388 1529 1557 1566 1714 1716 1720 1722 1725 1726 1729 1738 1742 1742 1745 1745 1747 1748 1748 1750 1751 1755 1756 1758 1759 1763 1764 1766 1766 1766 1768 1771 1771 1777 1779 1779 1781 1784 1785 1785 1791 1794 1796 1798 1799 1800 1802 1803 1807 1808 1809 1810 1811 1812 1813 1815 1820 1821 1836 1841 1842 1864 1868 1870 1871 1875 1889 1895 1901 1902 1929 1936 1961 1980 2014 2017 2018 2060 2106 2186 2202 2237 2301 2360 2360 2389 2450 2491 2494 2494 2521 2546 2591 2617 2745 2745 2748 2748 2781 3038 3075 3293 3311 3378 3728 3729 3730 3731 3732 3733 3734 3735 3736 3737 3738 3739 3740 3741 3742 3743 3744 3745 3746 3747 3748 3749 3750 3751 3752 3753 3754 3755 3756 3757 3758 3759 3760 3761 3762 3763 3764 3765 3766 3767 3768 3769 3770 3770 3770 3771 3772 3773 3774 3775 3776 3777 3778 3779 3780 3781 3782 3783 
-67 14 32 32 32 48 58 84 133 133 168 183 211 259 260 366 395 395 408 433 439 547 558 563 566 572 572 580 583 591 598 622 625 642 653 654 662 662 684 694 699 704 731 755 797 816 818 818 819 832 832 858 910 922 923 925 954 987 1034 1200 1352 1415 1477 1501 1521 1543 1543 1630 1692 1726 1738 1747 1748 1750 1763 1763 1765 1766 1771 1771 1771 1771 1776 1777 1785 1809 1819 1822 1824 1826 1832 1837 1840 1841 1841 1843 1844 1845 1852 1862 1863 1868 1871 1879 1882 1882 1885 1886 1888 1889 1891 1892 1896 1897 1899 1901 1903 1908 1909 1936 1953 1961 1963 1968 1972 1973 2000 2000 2030 2053 2099 2107 2138 2151 2242 2243 2361 2372 2400 2442 2470 2494 2501 2506 2563 2729 2741 2939 3047 3075 3079 3181 3219 3311 3369 3707 3707 3758 3784 3785 3786 3787 3788 3789 3790 3791 3792 3793 3794 3795 3796 3797 3798 3799 3800 3800 3801 3802 3803 3804 3805 3806 3807 3808 3809 3810 3811 3812 3813 3814 3814 3815 3816 3817 3818 3819 3820 3821 3822 3823 3824 
-68 33 58 72 78 98 133 133 168 193 204 217 217 217 241 241 249 354 366 366 366 366 414 439 447 463 494 537 592 607 619 625 632 635 637 653 654 668 675 675 679 699 794 819 842 923 925 958 1048 1079 1174 1374 1386 1388 1521 1543 1575 1753 1761 1771 1771 1829 1832 1856 1856 1862 1868 1868 1874 1874 1877 1899 1914 1916 1928 1928 1928 1929 1930 1931 1933 1933 1933 1937 1941 1943 1945 1946 1953 1953 1958 1959 1962 1963 1965 1965 1965 1968 1969 1971 1973 1980 2005 2014 2014 2016 2018 2028 2039 2042 2106 2111 2136 2147 2151 2151 2185 2237 2292 2360 2400 2440 2459 2470 2494 2578 2587 2653 2741 2881 2918 3075 3079 3079 3096 3464 3748 3789 3795 3800 3800 3801 3825 3826 3827 3828 3829 3830 3831 3832 3833 3834 3835 3836 3837 3838 3839 3840 3841 3842 3843 3844 3845 3846 3847 3848 3849 3850 3851 3852 3853 3854 3854 3855 3856 3857 3858 3859 3860 3861 3862 3863 3864 3865 3866 3867 3867 3867 3868 3869 3870 3871 3872 3873 3874 3875 3876 3877 3878 3879 3880 
-69 32 33 33 33 58 63 188 228 239 247 249 260 296 325 340 345 366 371 395 432 540 550 568 624 652 662 684 694 699 736 782 816 863 868 922 923 923 923 1027 1034 1061 1165 1170 1199 1241 1301 1303 1395 1680 1717 1721 1768 1810 1824 1833 1836 1856 1874 1884 1903 1916 1930 1957 2014 2030 2040 2048 2051 2052 2053 2058 2060 2061 2065 2084 2091 2094 2102 2103 2117 2117 2122 2128 2137 2141 2147 2152 2218 2243 2288 2361 2440 2481 2494 2546 2546 2572 2600 2614 2625 2655 2748 2751 2764 2874 2957 2957 3075 3075 3075 3312 3764 3784 3833 3835 3844 3854 3881 3882 3883 3884 3885 3886 3887 3888 3889 3890 3891 3892 3893 3894 3894 3895 3896 3897 3898 3899 3900 3901 3902 3903 3904 3904 3905 3906 3907 3908 3909 3910 3911 3912 3913 3913 3914 3915 3916 3917 3918 3919 3920 3921 3922 3923 3924 3925 3926 3927 3928 
-70 32 32 38 48 58 58 78 112 204 210 211 226 226 231 236 287 366 366 371 550 644 653 694 699 744 782 784 845 923 955 1009 1024 1027 1034 1036 1042 1052 1083 1220 1226 1303 1380 1441 1518 1538 1543 1630 1630 1738 1753 1777 1788 1836 1841 1856 1871 1916 1936 1936 1957 2000 2014 2015 2027 2033 2033 2046 2047 2052 2058 2061 2063 2067 2074 2083 2083 2099 2106 2113 2116 2122 2125 2132 2138 2145 2147 2152 2153 2156 2157 2161 2162 2165 2168 2170 2183 2186 2187 2188 2191 2193 2204 2205 2206 2207 2209 2224 2228 2230 2253 2258 2301 2302 2440 2440 2442 2459 2482 2494 2613 2624 2625 2668 2736 2851 2979 3004 3006 3059 3150 3281 3464 3464 3667 3801 3854 3862 3863 3880 3890 3891 3922 3929 3930 3931 3932 3933 3934 3935 3936 3937 3938 3939 3940 3941 3942 3943 3944 3945 3946 3947 3948 3949 3950 3951 3952 3953 3954 3955 3956 3957 3958 3959 3960 3961 3962 3963 3964 3965 3966 3967 3968 3969 3970 3971 3972 3973 3974 3975 3976 3977 3978 3979 3980 3981 3982 3983 3984 3985 3986 3987 3988 3989 3990 3991 3992 3993 3994 3995 3996 3997 3998 3999 4000 4001 4002 4003 4004 4005 
-71 33 63 105 143 162 217 260 321 371 372 390 408 429 432 540 572 613 621 642 694 699 707 784 789 793 842 842 895 918 923 923 923 1027 1034 1072 1157 1160 1199 1303 1357 1432 1543 1731 1743 1746 1750 1836 1836 1852 1870 1872 1875 1987 1995 2010 2061 2067 2125 2141 2147 2147 2151 2152 2156 2158 2186 2203 2207 2208 2224 2233 2258 2261 2263 2266 2268 2269 2272 2276 2280 2293 2301 2306 2323 2329 2336 2344 2352 2361 2440 2442 2459 2459 2494 2542 2576 2591 2726 2728 2979 2979 3047 3205 3205 3292 3321 3507 3587 3743 3790 3863 3870 3979 4006 4007 4008 4009 4010 4011 4012 4013 4014 4014 4015 4016 4017 4018 4019 4020 4021 4022 4023 4024 4025 4026 4027 4028 4029 4030 4031 4032 4033 4034 4035 4035 4036 4037 4038 4039 4040 4041 4042 4043 4044 4045 4046 4047 4048 4049 4050 4051 4052 4053 4054 4055 4056 4057 4058 4059 4060 4061 4062 4063 4064 4065 4066 4067 4068 4069 4070 4071 4072 4073 4074 4075 4076 4077 4078 4079 4080 4080 4081 4082 4083 4084 4085 4086 4087 4088 4089 
-72 4 5 24 31 33 48 58 88 98 162 217 231 268 366 372 429 486 527 566 592 694 738 923 985 1019 1019 1200 1352 1432 1630 1675 1690 1692 1726 1753 1870 1871 1878 1946 1954 2082 2158 2202 2221 2234 2263 2276 2288 2293 2301 2303 2333 2371 2372 2373 2386 2390 2400 2413 2417 2423 2426 2433 2437 2440 2442 2443 2447 2450 2455 2458 2460 2462 2465 2470 2471 2494 2494 2494 2527 2558 2560 2568 2625 2741 2799 2851 2898 2914 2984 3063 3100 3150 3201 3309 3311 3318 3348 3348 3356 3356 3612 3784 3801 3844 3906 3913 3918 3979 4011 4052 4090 4091 4092 4093 4094 4095 4096 4097 4098 4099 4100 4101 4102 4103 4104 4105 4106 4107 4108 4109 4110 4111 4112 4113 4114 4115 4116 4117 4118 4119 4120 4121 4122 4123 4124 4125 4126 4127 4128 4129 4130 4131 4132 4132 4133 4134 4135 4136 4137 4138 4139 4140 4141 4142 4143 4144 4145 4146 4147 4148 4149 4150 4151 4152 4153 4154 4155 4156 4157 4158 4159 4160 4161 4162 4163 4164 4165 4166 4167 4168 4169 4170 4171 4172 4173 4174 4175 4176 4177 4178 4179 4180 4181 4182 4183 4184 4185 4186 
-73 32 33 33 33 35 35 44 58 58 78 104 217 237 257 320 351 397 405 408 416 502 508 528 583 625 686 738 753 918 920 987 987 1009 1019 1052 1144 1175 1175 1199 1223 1377 1483 1515 1615 1622 1722 1726 1742 1877 1896 1915 1915 1946 1974 2061 2171 2221 2301 2323 2325 2327 2340 2385 2386 2387 2420 2423 2442 2445 2459 2494 2521 2528 2528 2537 2544 2558 2560 2561 2561 2563 2591 2594 2666 2805 2928 2972 3004 3042 3147 3177 3251 3311 3588 3641 3741 3742 3784 3785 3851 3898 3908 4109 4172 4179 4187 4188 4189 4190 4190 4191 4192 4193 4194 4195 4196 4196 4197 4198 4199 4200 4200 4201 4202 4203 4204 4205 4206 4207 4208 4209 4210 4211 4212 4213 4214 4215 4216 4217 4218 4219 4220 4221 4222 4223 4224 4225 4226 4227 4228 4229 4229 4230 4231 4232 4233 4234 4235 4236 4237 4238 4239 4240 4241 4242 4243 4244 4245 4246 4246 4247 4248 4249 4250 4251 4252 4253 4254 4255 4256 4257 4258 4258 4259 4260 4261 4262 4263 4264 4265 4266 4267 4268 4269 4270 4271 4272 4273 4274 4275 
-74 32 32 32 58 58 124 193 202 204 204 213 217 260 340 366 366 395 415 485 527 553 589 591 625 625 642 668 684 694 699 812 818 923 1003 1034 1034 1042 1199 1200 1200 1203 1471 1526 1675 1868 1884 1904 1914 1931 1950 2062 2111 2165 2165 2168 2243 2292 2292 2356 2360 2387 2389 2400 2423 2427 2440 2445 2491 2491 2494 2527 2532 2533 2542 2542 2546 2547 2555 2558 2558 2560 2563 2567 2583 2585 2591 2592 2593 2598 2600 2603 2609 2610 2617 2636 2638 2639 2666 2691 2736 2741 2755 2851 2874 3228 3264 3348 3356 3503 3725 3725 3835 3912 4036 4048 4115 4149 4210 4232 4276 4277 4278 4279 4280 4281 4282 4283 4284 4285 4286 4287 4288 4289 4290 4291 4291 4292 4293 4294 4295 4296 4297 4298 4299 4300 4301 4302 4303 4304 4305 4306 4307 4308 4309 4310 4311 4312 4313 4314 4315 4316 4317 4318 4319 4319 4320 4320 4321 4322 4323 4324 4325 4326 4327 4328 4329 4330 4331 4332 4333 4334 
-75 7 32 32 33 72 76 98 210 217 228 301 301 304 320 346 366 366 395 432 508 566 572 572 617 624 640 699 770 815 860 906 916 923 923 1061 1063 1219 1222 1229 1253 1263 1270 1303 1421 1692 1742 1822 1841 1868 1868 1870 1874 1941 2015 2117 2138 2138 2165 2214 2237 2241 2243 2292 2459 2475 2494 2494 2505 2546 2547 2560 2589 2598 2604 2617 2622 2625 2626 2627 2631 2638 2645 2652 2655 2680 2686 2696 2730 2801 3075 3417 3425 3503 3707 3750 3826 4291 4320 4321 4335 4335 4336 4337 4338 4339 4340 4340 4341 4342 4343 4344 4345 4346 4347 4348 4349 4350 4351 4352 4353 4354 4355 4356 4357 4358 4359 4360 4361 4362 4363 4364 
-76 32 33 33 33 60 63 68 89 133 156 188 237 260 301 304 368 395 432 617 617 619 624 640 652 667 694 699 713 772 815 860 923 1026 1069 1079 1222 1398 1444 1505 1681 1787 1800 1822 1953 2000 2014 2151 2164 2188 2243 2243 2292 2400 2494 2494 2580 2591 2592 2617 2623 2626 2628 2632 2638 2645 2654 2664 2669 2696 2701 2735 2746 2801 2851 2997 3075 3079 3588 3676 3682 4036 4048 4189 4343 4344 4365 4366 4367 4368 4369 4370 4371 4372 4373 4374 4375 4376 4377 4378 4379 4380 4381 4382 
-77 8 32 32 32 33 33 33 58 58 105 120 124 133 133 156 162 228 287 301 304 349 366 366 395 414 442 447 447 527 553 568 625 640 640 653 653 667 667 699 702 738 797 835 847 954 963 1034 1069 1083 1121 1214 1271 1339 1543 1679 1720 1742 1829 1844 2111 2153 2188 2241 2248 2248 2413 2413 2427 2494 2497 2560 2576 2580 2613 2633 2635 2661 2662 2663 2669 2676 2680 2684 2687 2689 2695 2713 2721 2723 2726 2730 2732 2736 2740 2741 2743 2744 2745 2746 2747 2748 2748 2749 2751 2753 2775 2855 2874 2947 2957 3082 3205 3284 3294 3952 4115 4115 4383 4384 4385 4386 4387 4388 4389 4390 4391 4392 4393 4394 4395 4396 4397 4398 4399 4400 4401 4402 4403 4404 4405 4406 4407 4408 4409 
-78 32 46 58 60 60 78 124 133 144 162 182 182 186 210 211 211 211 287 304 312 324 345 358 366 381 414 415 416 447 447 487 504 527 565 621 622 623 625 652 653 667 699 725 739 782 858 898 965 974 1027 1034 1052 1058 1061 1087 1169 1196 1241 1451 1477 1633 1719 1787 2138 2224 2243 2269 2360 2413 2580 2616 2624 2625 2635 2635 2665 2679 2682 2713 2725 2729 2729 2732 2734 2736 2740 2741 2743 2748 2753 2757 2760 2766 2767 2768 2770 2775 2776 2777 2780 2780 2780 2781 2782 2783 2784 2785 2925 2957 3007 3053 3075 3075 3082 3127 3152 3299 3464 3510 3510 3536 3536 3746 4115 4182 4387 4402 4410 4411 4412 4413 4414 4415 4416 4417 4417 4418 4418 4419 4420 4421 4422 4423 4424 4425 4426 4427 4428 4429 4430 4431 4432 4433 4434 4435 4436 4437 
-79 4 4 31 32 33 46 48 55 58 58 59 114 120 133 144 162 182 182 217 228 235 247 249 249 287 304 345 366 366 370 381 395 408 424 426 439 442 502 504 558 568 625 637 653 653 667 668 755 755 784 810 858 858 901 954 954 954 964 974 989 1027 1049 1063 1087 1087 1120 1214 1241 1241 1303 1406 1451 1462 1501 1501 1501 1678 1678 1718 1809 1880 1888 1889 1901 1972 2014 2070 2293 2360 2372 2494 2501 2578 2591 2615 2615 2617 2617 2617 2633 2661 2665 2678 2679 2691 2711 2713 2734 2757 2758 2759 2759 2760 2762 2767 2768 2770 2771 2775 2780 2784 2941 3018 3063 3071 3075 3075 3079 3313 3426 3464 3676 3731 3835 4287 4383 4396 4402 4420 4423 4428 4434 4434 4438 4439 4440 4441 4442 4443 4444 4445 4446 4447 4448 4449 4450 4451 4452 4453 4454 4455 4456 4457 4458 4459 4460 4461 4462 4463 4464 4465 4466 4467 4468 4469 4470 4471 4472 4473 4474 4475 
-80 32 33 58 72 79 179 202 207 217 304 304 338 366 381 395 498 553 553 553 576 591 623 674 694 782 810 845 857 918 1087 1120 1120 1157 1229 1241 1241 1339 1511 1660 1704 1829 2117 2269 2533 2617 2661 2665 2665 2711 2759 2767 2768 2780 2784 2816 2847 2941 3005 3251 3464 4290 4387 4390 4390 4395 4418 4422 4427 4427 4457 4462 4462 4463 4464 4466 4470 4476 4477 4478 4479 4480 4481 4482 4483 4484 4485 4486 4487 4488 4489 4490 4491 4492 4493 4494 4495 4496 4496 4497 4498 4499 4500 4501 4502 4503 4504 4505 4506 4507 4508 4509 4510 4511 4512 4513 4514 4515 4516 4517 4518 4519 4520 4521 
-81 3 4 4 5 7 9 11 12 19 23 29 32 33 35 35 36 39 43 45 48 48 49 51 52 55 56 57 58 58 59 60 61 63 64 65 67 68 70 72 72 72 72 72 73 73 76 77 80 82 83 84 84 84 84 85 85 88 92 94 96 97 98 98 99 101 103 133 141 141 153 156 157 157 157 165 167 169 178 179 183 186 188 189 189 198 199 204 205 217 217 217 218 218 227 239 249 256 277 278 289 290 301 354 358 366 368 370 370 371 371 376 395 407 415 424 430 536 553 614 623 625 636 784 965 1030 1195 1241 1465 1526 1575 1617 1673 1673 1679 1953 2030 2223 2480 2812 2836 2841 2853 2853 2856 2879 2918 2957 3006 3146 3205 3326 3676 3676 3676 3707 4391 4489 4522 4523 4524 4525 4526 4527 4528 4529 4530 4531 4532 4533 4534 4535 4536 4537 4538 4539 4540 4541 4542 4543 4544 4545 4546 4547 4547 4548 4549 4550 4551 4552 4553 4554 4555 4556 4557 4558 4559 4560 4561 4561 4562 
-82 5 7 12 21 24 29 32 44 49 49 52 52 55 56 58 58 58 60 65 68 73 73 97 99 103 113 115 126 126 131 136 136 136 136 141 142 143 147 147 148 150 151 154 158 165 165 167 179 179 182 182 186 188 189 192 197 199 231 232 235 240 249 255 260 268 268 268 270 271 274 275 276 278 280 287 289 289 290 291 295 301 304 305 307 320 320 320 320 370 372 403 404 407 415 454 502 784 786 842 959 964 964 964 965 965 1030 1088 1200 1219 1223 1352 1390 1501 1868 2113 2159 2409 2447 2480 2483 2552 2624 2624 2690 2845 2846 2848 2869 2878 2903 2907 2914 2917 2918 2924 2948 2957 2957 2957 2968 2973 2990 3030 3045 3047 3194 3197 3667 3835 3890 3921 4115 4429 4489 4524 4529 4529 4535 4538 4541 4544 4563 4564 4565 4566 4567 4568 4569 4570 4571 4572 4573 4574 4575 4576 4577 4578 4579 4580 4581 4582 4583 4584 4585 4586 4587 4588 4589 4590 4591 4592 4593 4594 4595 4596 4597 4598 4599 4600 4601 
-83 5 19 23 28 31 32 32 42 48 49 52 73 73 96 97 103 105 135 141 142 143 162 167 179 207 218 227 232 235 244 246 250 255 257 261 262 268 273 274 275 276 277 280 282 283 284 289 290 292 295 297 304 331 340 354 358 371 371 376 388 390 395 395 398 403 404 407 407 414 417 450 553 699 702 816 816 829 868 955 1102 1102 1241 1323 1388 1528 1874 1874 2243 2430 2619 2756 2758 2848 2848 2856 2893 2898 2901 2903 2911 2914 2915 2917 2918 2941 2946 2962 2965 2997 3002 3030 3045 3282 3284 3356 3968 4280 4345 4529 4546 4582 4582 4602 4603 4604 4605 4606 4607 4608 4609 4610 4611 4612 4612 4613 4614 4615 4616 4617 4618 4619 4620 4621 4622 4623 4624 4625 4626 
-84 4 4 4 21 22 22 24 71 73 103 103 124 124 130 136 143 162 165 178 202 217 218 232 243 246 247 249 255 271 271 276 276 286 289 290 296 311 315 320 328 328 335 337 338 340 340 342 354 358 381 381 389 390 395 399 399 403 404 407 409 414 417 434 439 442 451 453 454 457 504 553 568 607 653 842 959 1097 1155 1219 1223 1241 1342 1351 1395 1406 1675 1681 1742 1792 2215 2341 2469 2806 2848 2903 2903 2914 2931 2934 2965 2991 2991 3045 3047 3186 3194 3290 3890 3928 4411 4569 4601 4605 4615 4627 4628 4629 4630 4631 4632 4633 4634 4635 4636 4637 4638 4639 4640 4641 4642 4643 4644 4645 4646 4647 4648 

Matlab/README.txt

@@ -1,4 +0,0 @@
-This directory contains some basic concepts on Bayes filtering.
-Main scripts :
- RecursivesBayes.m
- RecursivesBayesAvpd.m

README.md

@@ -1,21 +1,25 @@
-rtabmap ![Analytics](https://ga-beacon-279122.nn.r.appspot.com/UA-56986679-3/github-main?pixel) 
+rtabmap
 =======
 
 [![RTAB-Map Logo](https://raw.githubusercontent.com/introlab/rtabmap/master/guilib/src/images/RTAB-Map100.png)](http://introlab.github.io/rtabmap)
 
 [![Release][release-image]][releases]
+[![Downloads][downloads-image]][downloads]
 [![License][license-image]][license]
-Linux: [![Build Status](https://travis-ci.org/introlab/rtabmap.svg?branch=master)](https://travis-ci.org/introlab/rtabmap) Windows: [![Build status](https://ci.appveyor.com/api/projects/status/hr73xspix9oqa26h/branch/master?svg=true)](https://ci.appveyor.com/project/matlabbe/rtabmap/branch/master)
 
-[release-image]: https://img.shields.io/badge/release-0.20.2-green.svg?style=flat
+[release-image]: https://img.shields.io/badge/release-0.21.4-green.svg?style=flat
 [releases]: https://github.com/introlab/rtabmap/releases
 
+[downloads-image]: https://img.shields.io/github/downloads/introlab/rtabmap/total?label=downloads
+[downloads]: https://github.com/introlab/rtabmap/releases
+
 [license-image]: https://img.shields.io/badge/license-BSD-green.svg?style=flat
 [license]: https://github.com/introlab/rtabmap/blob/master/LICENSE
 
 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).
+ * For more information (e.g., papers, major updates), visit [RTAB-Map's home page](http://introlab.github.io/rtabmap).
+ * For installation instructions and examples, visit [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.
 
@@ -25,3 +29,54 @@ This project is supported by [IntRoLab - Intelligent / Interactive / Integrated
 <a href="https://introlab.3it.usherbrooke.ca/">
 <img src="https://github.com/introlab/16SoundsUSB/blob/master/images/IntRoLab.png" alt="IntRoLab" height="100">
 </a>
+
+#### CI Latest
+
+  <table>
+    <tbody>
+        <tr>
+           <td>Linux</td>
+           <td><a href="https://github.com/introlab/rtabmap/actions/workflows/cmake.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/cmake-ros.yml/badge.svg" alt="Build Status"/> <br> <a href="https://github.com/introlab/rtabmap/actions/workflows/docker.yml"><img src="https://github.com/introlab/rtabmap/actions/workflows/docker.yml/badge.svg" alt="Build Status"/>
+           </td>
+        </tr>
+        <tr>
+           <td>Windows</td>
+           <td><a href="https://ci.appveyor.com/project/matlabbe/rtabmap/branch/master"><img src="https://ci.appveyor.com/api/projects/status/hr73xspix9oqa26h/branch/master?svg=true" alt="Build Status"/>
+           </td>
+        </tr>
+     </tbody>
+  </table>
+ 
+ #### ROS Binaries
+ 
+ `ros-$ROS_DISTRO-rtabmap`
+ 
+ <table>
+    <tbody>
+        <tr>
+           <td rowspan="1">ROS 1</td>
+            <td>Noetic</td>
+            <td><a href="http://build.ros.org/job/Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary/"><img src="http://build.ros.org/buildStatus/icon?job=Nbin_ufv8_uFv8__rtabmap__ubuntu_focal_arm64__binary" alt="Build Status"/></td>
+        </tr>
+        <tr>
+            <td rowspan="3">ROS 2</td>
+            <td>Humble</td>
+            <td><a href="http://build.ros2.org/job/Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
+        </tr>
+        <tr>
+            <td>Jazzy</td>
+            <td><a href="http://build.ros2.org/job/Jbin_uN64__rtabmap__ubuntu_noble_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Jbin_uN64__rtabmap__ubuntu_noble_amd64__binary" alt="Build Status"/></td>
+        </tr>
+        <tr>
+            <td>Rolling</td>
+            <td><a href="http://build.ros2.org/job/Rbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary/"><img src="http://build.ros2.org/buildStatus/icon?job=Rbin_uJ64__rtabmap__ubuntu_jammy_amd64__binary" alt="Build Status"/></td>
+        </tr>
+        <tr>
+           <td>Docker</td>
+           <td>
+             <a href="https://hub.docker.com/r/introlab3it/rtabmap">rtabmap</a>
+           </td>
+           <td><img src="https://img.shields.io/docker/pulls/introlab3it/rtabmap" alt="Docker Pulls"/></td>
+        </tr>
+    </tbody>
+</table>

RTABMapConfig.cmake.in

@@ -1,96 +1,102 @@
-# - 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)
+include(CMakeFindDependencyMacro)
 
-# Compute paths
-get_filename_component(RTABMap_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
-set(RTABMap_INCLUDE_DIRS "@CONF_INCLUDE_DIRS@")
+# Mandatory dependencies
+find_dependency(OpenCV COMPONENTS core calib3d imgproc highgui stitching photo video OPTIONAL_COMPONENTS aruco objdetect xfeatures2d nonfree gpu cudafeatures2d)
 
-#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 ${RTABMap_CORE_DEBUG})
+if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/RTABMap_guiTargets.cmake")
+    find_dependency(PCL 1.7 COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)
+    
+    if(@CONF_QT_VERSION@ EQUAL 6)
+        find_dependency(Qt6 COMPONENTS Widgets Core Gui OpenGL)
+    elseif(@CONF_QT_VERSION@ EQUAL 5)
+        find_dependency(Qt5 COMPONENTS Widgets Core Gui OpenGL)
+    else() # Qt4
+        find_dependency(Qt4 COMPONENTS QtCore QtGui)
+    endif()
+    set(RTABMap_QT_VERSION @CONF_QT_VERSION@)
 ELSE()
-   SET(RTABMap_CORE ${RTABMap_CORE_RELEASE})
+    find_dependency(PCL 1.7 COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation)
+ENDIF()
+set(RTABMap_DEFINITIONS ${PCL_DEFINITIONS})
+add_definitions(${RTABMap_DEFINITIONS}) # To include -march=native if set
+
+# Optional dependencies
+IF(EXISTS "${CMAKE_CURRENT_LIST_DIR}/@CONF_MODULES_DIR@")
+    list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/@CONF_MODULES_DIR@")
 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})
+IF(@CONF_WITH_REALSENSE2@)
+    IF(WIN32)
+        find_dependency(RealSense2)
+    ELSE()
+        find_dependency(realsense2)
+    ENDIF()
 ENDIF()
 
-set(RTABMap_LIBRARIES ${RTABMap_CORE} ${RTABMap_UTILITE})
+IF(@CONF_WITH_K4A@)
+    IF(WIN32)
+        find_dependency(K4A)
+    ELSE()
+        find_dependency(k4a)
+        find_dependency(k4arecord)
+    ENDIF()
+ENDIF()
 
-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)
+IF(@CONF_WITH_DEPTH_AI@)
+  find_dependency(depthai 2.24)
+ENDIF()
 
+IF(@CONF_WITH_XVSDK@)
+  find_dependency(xvsdk)
+ENDIF()
 
-#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(WARNING "Asked for \"gui\" module but RTABMap hasn't been built with gui support.")
-endif()
+IF(@CONF_WITH_OCTOMAP@)
+  find_dependency(octomap)
+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@")
+IF(@CONF_WITH_PYTHON@)
+  find_dependency(Python3 COMPONENTS Interpreter Development NumPy)
+ENDIF()
 
-#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)
+# Provide those for backward compatibilities (e.g., catkin requires them to propagate dependencies)
+set(RTABMap_INCLUDE_DIRS "")
+set(RTABMap_LIBRARIES "")
+set(RTABMap_TARGETS "")
 
-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)
+set(_RTABMap_supported_components utilite core gui)
+
+foreach(_comp ${_RTABMap_supported_components})
+  if(EXISTS "${CMAKE_CURRENT_LIST_DIR}/RTABMap_${_comp}Targets.cmake")
+    include("${CMAKE_CURRENT_LIST_DIR}/RTABMap_${_comp}Targets.cmake")
+    set(RTABMap_${_comp}_FOUND True)
+    set(RTABMap_TARGETS
+      ${RTABMap_TARGETS}
+      rtabmap::${_comp})
+    get_target_property(RTABMap_${_comp}_INCLUDE_DIRS rtabmap::${_comp} INTERFACE_INCLUDE_DIRECTORIES)
+    get_target_property(RTABMap_${_comp}_LIBRARIES rtabmap::${_comp} INTERFACE_LINK_LIBRARIES)
+    set(RTABMap_INCLUDE_DIRS 
+      ${RTABMap_INCLUDE_DIRS}
+      ${RTABMap_${_comp}_INCLUDE_DIRS})
+    set(RTABMap_LIBRARIES 
+      ${RTABMap_LIBRARIES}
+      rtabmap::${_comp})
+    if(RTABMap_${_comp}_LIBRARIES)
+      set(RTABMap_LIBRARIES 
+        ${RTABMap_LIBRARIES}
+        ${RTABMap_${_comp}_LIBRARIES})
+    endif()
+  else()
+    set(RTABMap_${_comp}_FOUND False)
+  endif()
+endforeach()
+
+include("${CMAKE_CURRENT_LIST_DIR}/RTABMapTargets.cmake")
+
+foreach(_comp ${RTABMap_FIND_COMPONENTS})
+  if (NOT RTABMap_${_comp}_FOUND)
+    if(${RTABMap_FIND_REQUIRED_${_comp}})
+      set(RTABMap_FOUND False)
+      set(RTABMap_NOT_FOUND_MESSAGE "Unsupported or not found required component: ${_comp}")
+    endif()
+  endif()
+endforeach()

RTABMapConfigVersion.cmake.in

@@ -1,11 +0,0 @@
-set(PACKAGE_VERSION "@RTABMAP_VERSION@")
-
-# Check whether the requested PACKAGE_FIND_VERSION is compatible
-if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}")
-  set(PACKAGE_VERSION_COMPATIBLE FALSE)
-else()
-  set(PACKAGE_VERSION_COMPATIBLE TRUE)
-  if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}")
-    set(PACKAGE_VERSION_EXACT TRUE)
-  endif()
-endif()

Version.h.in

@@ -40,10 +40,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @NONFREE@#define RTABMAP_NONFREE
 @TORO@#define RTABMAP_TORO
 @G2O@#define RTABMAP_G2O
-@G2O_CPP_CONF@#define RTABMAP_G2O_CPP11
+@G2O_CPP_CONF@#define RTABMAP_G2O_CPP11 @G2O_CPP11@
 @GTSAM@#define RTABMAP_GTSAM
 @CERES@#define RTABMAP_CERES
+@MRPT@#define RTABMAP_MRPT
 @VERTIGO@#define RTABMAP_VERTIGO
+@OPENNI@#define RTABMAP_OPENNI
 @OPENNI2@#define RTABMAP_OPENNI2
 @FREENECT@#define RTABMAP_FREENECT
 @FREENECT2@#define RTABMAP_FREENECT2
@@ -51,16 +53,27 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @K4A@#define RTABMAP_K4A
 @CVSBA@#define RTABMAP_CVSBA
 @POINTMATCHER@#define RTABMAP_POINTMATCHER
+@CCCORELIB@#define RTABMAP_CCCORELIB
+@OPEN3D@#define RTABMAP_OPEN3D
 @FASTCV@#define RTABMAP_FASTCV
+@OPENGV@#define RTABMAP_OPENGV
+@PDAL@#define RTABMAP_PDAL
+@LIBLAS@#define RTABMAP_LIBLAS
+@CUDASIFT@#define RTABMAP_CUDASIFT
 @LOAM@#define RTABMAP_LOAM
+@FLOAM@#define RTABMAP_FLOAM
 @DC1394@#define RTABMAP_DC1394
 @FLYCAPTURE2@#define RTABMAP_FLYCAPTURE2
 @ZED@#define RTABMAP_ZED
+@ZEDOC@#define RTABMAP_ZEDOC
 @REALSENSE@#define RTABMAP_REALSENSE
 @REALSENSESLAM@#define RTABMAP_REALSENSE_SLAM
 @REALSENSE2@#define RTABMAP_REALSENSE2
 @MYNTEYE@#define RTABMAP_MYNTEYE
+@DEPTHAI@#define RTABMAP_DEPTHAI
+@XVSDK@#define RTABMAP_XVSDK
 @OCTOMAP@#define RTABMAP_OCTOMAP
+@GRIDMAP@#define RTABMAP_GRIDMAP
 @CPUTSDF@#define RTABMAP_CPUTSDF
 @ALICE_VISION@#define RTABMAP_ALICE_VISION
 @OPENCHISEL@#define RTABMAP_OPENCHISEL
@@ -70,10 +83,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 @OKVIS@#define RTABMAP_OKVIS
 @MSCKF_VIO@#define RTABMAP_MSCKF_VIO
 @VINS@#define RTABMAP_VINS
-@ORB_SLAM2@#define RTABMAP_ORB_SLAM2
+@OPENVINS@#define RTABMAP_OPENVINS
+@ORB_SLAM@#define RTABMAP_ORB_SLAM @ORB_SLAM_VERSION@
 @ORB_OCTREE@#define RTABMAP_ORB_OCTREE
-@SUPERPOINT_TORCH@#define RTABMAP_SUPERPOINT_TORCH
-@PYMATCHER@#define RTABMAP_PYMATCHER
+@TORCH@#define RTABMAP_TORCH
+@PYTHON@#define RTABMAP_PYTHON
 @MADGWICK@#define RTABMAP_MADGWICK
 
 #include <pcl/pcl_config.h>

app/android/AndroidManifest.xml.in

@@ -17,6 +17,11 @@
 
     <!-- This is the platform API where depth16 support in android was introduced. -->
     <uses-sdk android:minSdkVersion="@ANDROID_NATIVE_API_LEVEL@" />
+    
+    <queries>
+        <package android:name="com.google.ar.core" />
+        <package android:name="com.huawei.ar.engine" /> 
+    </queries>
 
     <!-- This .apk has no Java code itself, so set hasCode to false. -->
     <application 
@@ -42,7 +47,16 @@
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />
                 <category android:name="android.intent.category.LAUNCHER" />
-            </intent-filter>
+		    </intent-filter>
+		    <intent-filter>
+		        <action android:name="android.intent.action.SEND" />
+		        <action android:name="android.intent.action.SEND_MULTIPLE" />
+		        <action android:name="android.intent.action.OPEN_DOCUMENT" />
+		        <category android:name="android.intent.category.DEFAULT" />
+		        <data android:mimeType="application/octet-stream" />
+		        <data android:pathPattern=".*\.db" />
+		    </intent-filter>
+		    
         </activity>
 
         <activity android:name="SettingsActivity" android:label="@string/settings" android:screenOrientation="fullSensor"/>

app/android/jni/CMakeLists.txt

@@ -3,8 +3,10 @@ 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
+	  ${PROJECT_BINARY_DIR}/corelib/include
+	  ${PROJECT_SOURCE_DIR}/corelib/include
+	  ${PROJECT_SOURCE_DIR}/utilite/include
+    ${CMAKE_CURRENT_BINARY_DIR}
     ${OpenCV_INCLUDE_DIRS}
     ${PCL_INCLUDE_DIRS}
     "${ANDROID_NDK}/platforms/android-${ANDROID_NATIVE_API_LEVEL}/arch-${ANDROID_ARCH_NAME}/usr/include"
@@ -23,14 +25,19 @@ set(sources
   point_cloud_drawable.cpp
   graph_drawable.cpp
   background_renderer.cc
+  text_drawable.cpp
+  quad_color.cpp
+  tango-gl/bounding_box.cpp 
   tango-gl/axis.cpp 
   tango-gl/camera.cpp 
+  tango-gl/circle.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/mesh.cpp 
   tango-gl/shaders.cpp 
   tango-gl/trace.cpp 
   tango-gl/transform.cpp 
@@ -113,7 +120,35 @@ add_definitions(${PCL_DEFINITIONS})
 
 INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
 
-add_library(NativeRTABMap SHARED ${sources})        
+####################################
+# Generate resources files
+####################################
+SET(RESOURCES
+    ${CMAKE_CURRENT_SOURCE_DIR}/resources/text_atlas.png
+)
+
+foreach(arg ${RESOURCES})
+   get_filename_component(filename ${arg} NAME)
+   string(REPLACE "." "_" output ${filename})
+   set(RESOURCES_HEADERS "${RESOURCES_HEADERS}" "${CMAKE_CURRENT_BINARY_DIR}/${output}.h")
+endforeach(arg ${RESOURCES})
+
+find_host_program(RTABMAP_RES_TOOL rtabmap-res_tool PATHS ${CMAKE_RUNTIME_OUTPUT_DIRECTORY})
+IF(NOT RTABMAP_RES_TOOL)
+  MESSAGE( FATAL_ERROR "RTABMAP_RES_TOOL is not defined (it is the path to \"rtabmap-res_tool\" application created by a non-Android build)." )
+ENDIF(NOT RTABMAP_RES_TOOL)
+
+ADD_CUSTOM_COMMAND(
+      OUTPUT ${RESOURCES_HEADERS}
+      COMMAND ${RTABMAP_RES_TOOL} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
+      COMMENT "[Creating resources]"
+      DEPENDS ${RESOURCES}
+)
+####################################
+# Generate resources files END
+####################################
+
+add_library(NativeRTABMap SHARED ${sources} ${RESOURCES_HEADERS})        
 target_link_libraries(NativeRTABMap ${LIBRARIES}
   android
   log

app/android/jni/CameraARCore.cpp

@@ -37,15 +37,12 @@ namespace rtabmap {
 //////////////////////////////
 // CameraARCore
 //////////////////////////////
-CameraARCore::CameraARCore(void* env, void* context, void* activity, bool depthFromMotion, bool smoothing):
-	CameraMobile(smoothing),
+CameraARCore::CameraARCore(void* env, void* context, void* activity, bool depthFromMotion, float upstreamRelocalizationAccThr):
+	CameraMobile(upstreamRelocalizationAccThr),
 	env_(env),
 	context_(context),
 	activity_(activity),
 	arInstallRequested_(false),
-	textureId_(9999),
-	uvs_initialized_(false),
-	updateOcclusionImage_(false),
 	depthFromMotion_(depthFromMotion)
 {
 }
@@ -53,12 +50,6 @@ CameraARCore::CameraARCore(void* env, void* context, void* activity, bool depthF
 CameraARCore::~CameraARCore() {
 	// Disconnect ARCore service
 	close();
-
-	if(textureId_ != 9999)
-	{
-		glDeleteTextures(1, &textureId_);
-		textureId_ = 9999;
-	}
 }
 
 
@@ -134,6 +125,8 @@ bool CameraARCore::init(const std::string & calibrationFolder, const std::string
 {
 	close();
 
+	CameraMobile::init(calibrationFolder, cameraName);
+
 	UScopeMutex lock(arSessionMutex_);
 
 	ArInstallStatus install_status;
@@ -176,7 +169,7 @@ bool CameraARCore::init(const std::string & calibrationFolder, const std::string
 	  ArConfig_setDepthMode(arSession_, arConfig_, AR_DEPTH_MODE_DISABLED);
 	}
 
-	ArConfig_setFocusMode(arSession_, arConfig_, AR_FOCUS_MODE_AUTO);
+	ArConfig_setFocusMode(arSession_, arConfig_, AR_FOCUS_MODE_FIXED);
 	UASSERT(ArSession_configure(arSession_, arConfig_) == AR_SUCCESS);
 
 	ArFrame_create(arSession_, &arFrame_);
@@ -279,55 +272,6 @@ void CameraARCore::close()
 	arPose_ = nullptr;
 
 	CameraMobile::close();
-	occlusionImage_ = cv::Mat();
-}
-
-LaserScan CameraARCore::scanFromPointCloudData(
-		const float * pointCloudData,
-		int points,
-		const Transform & pose,
-		const CameraModel & model,
-		const cv::Mat & rgb,
-		std::vector<cv::KeyPoint> * kpts,
-		std::vector<cv::Point3f> * kpts3D)
-{
-	if(pointCloudData && points>0)
-	{
-		cv::Mat scanData(1, points, CV_32FC4);
-		float * ptr = scanData.ptr<float>();
-		for(unsigned int i=0;i<points; ++i)
-		{
-			cv::Point3f pt(pointCloudData[i*4], pointCloudData[i*4 + 1], pointCloudData[i*4 + 2]);
-			pt = util3d::transformPoint(pt, pose.inverse()*rtabmap_world_T_opengl_world);
-			ptr[i*4] = pt.x;
-			ptr[i*4 + 1] = pt.y;
-			ptr[i*4 + 2] = pt.z;
-
-			//get color from rgb image
-			cv::Point3f org= pt;
-			pt = util3d::transformPoint(pt, opticalRotationInv);
-			int u,v;
-			model.reproject(pt.x, pt.y, pt.z, u, v);
-			unsigned char r=255,g=255,b=255;
-			if(model.inFrame(u, v))
-			{
-				b=rgb.at<cv::Vec3b>(v,u).val[0];
-				g=rgb.at<cv::Vec3b>(v,u).val[1];
-				r=rgb.at<cv::Vec3b>(v,u).val[2];
-				if(kpts)
-					kpts->push_back(cv::KeyPoint(u,v,3));
-				if(kpts3D)
-					kpts3D->push_back(org);
-			}
-			*(int*)&ptr[i*4 + 3] = int(b) | (int(g) << 8) | (int(r) << 16);
-
-			//confidence
-			//*(int*)&ptr[i*4 + 3] = (int(pointCloudData[i*4 + 3] * 255.0f) << 8) | (int(255) << 16);
-
-		}
-		return LaserScan::backwardCompatibility(scanData, 0, 10, rtabmap::Transform::getIdentity());
-	}
-	return LaserScan();
 }
 
 void CameraARCore::setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height)
@@ -344,18 +288,19 @@ void CameraARCore::setScreenRotationAndSize(ScreenRotation colorCameraToDisplayR
 	}
 }
 
-SensorData CameraARCore::captureImage(CameraInfo * info)
+SensorData CameraARCore::updateDataOnRender(Transform & pose)
 {
 	UScopeMutex lock(arSessionMutex_);
 	//LOGI("Capturing image...");
 
+	pose.setNull();
 	SensorData data;
 	if(!arSession_)
 	{
 		return data;
 	}
 
-	if(textureId_ == 9999)
+	if(textureId_ == 0)
 	{
 		glGenTextures(1, &textureId_);
 		glBindTexture(GL_TEXTURE_EXTERNAL_OES, textureId_);
@@ -364,7 +309,8 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
 		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
 	}
-	ArSession_setCameraTextureName(arSession_, textureId_);
+	if(textureId_!=0)
+		ArSession_setCameraTextureName(arSession_, textureId_);
 
 	// Update session to get current frame and render camera background.
 	if (ArSession_update(arSession_, arFrame_) != AR_SUCCESS) {
@@ -379,7 +325,7 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 	if (geometry_changed != 0 || !uvs_initialized_) {
 		ArFrame_transformCoordinates2d(
 				arSession_, arFrame_, AR_COORDINATES_2D_OPENGL_NORMALIZED_DEVICE_COORDINATES,
-				BackgroundRenderer::kNumVertices, BackgroundRenderer_kVertices, AR_COORDINATES_2D_TEXTURE_NORMALIZED,
+				BackgroundRenderer::kNumVertices, BackgroundRenderer_kVerticesDevice, AR_COORDINATES_2D_TEXTURE_NORMALIZED,
 				transformed_uvs_);
 		UASSERT(transformed_uvs_);
 		uvs_initialized_ = true;
@@ -396,7 +342,6 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 	ArTrackingState camera_tracking_state;
 	ArCamera_getTrackingState(arSession_, ar_camera, &camera_tracking_state);
 
-	Transform pose;
 	CameraModel model;
 	if(camera_tracking_state == AR_TRACKING_STATE_TRACKING)
 	{
@@ -404,8 +349,14 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 		float pose_raw[7];
 		ArCamera_getPose(arSession_, ar_camera, arPose_);
 		ArPose_getPoseRaw(arSession_, arPose_, pose_raw);
-		pose = Transform(pose_raw[4], pose_raw[5], pose_raw[6], pose_raw[0], pose_raw[1], pose_raw[2], pose_raw[3]);
-		pose = rtabmap::rtabmap_world_T_opengl_world * pose * rtabmap::opengl_world_T_rtabmap_world;
+		Transform poseArCore = Transform(pose_raw[4], pose_raw[5], pose_raw[6], pose_raw[0], pose_raw[1], pose_raw[2], pose_raw[3]);
+		pose = rtabmap::rtabmap_world_T_opengl_world * poseArCore * rtabmap::opengl_world_T_rtabmap_world;
+
+		if(pose.isNull())
+		{
+			LOGE("CameraARCore: Pose is null");
+			return data;
+		}
 
 		// Get calibration parameters
 		float fx,fy, cx, cy;
@@ -432,7 +383,7 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 			ArStatus status = ArFrame_acquireCameraImage(arSession_, arFrame_, &image);
 			if(status == AR_SUCCESS)
 			{
-				if(is_depth_supported && (updateOcclusionImage_||depthFromMotion_))
+				if(is_depth_supported)
 				{
 					LOGD("Acquire depth image!");
 					ArImage * depthImage = nullptr;
@@ -459,11 +410,12 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 
 						LOGD("width=%d, height=%d, bytes=%d stride=%d", depth_width, depth_height, len, stride);
 
-						occlusionImage_ = cv::Mat(depth_height, depth_width, CV_16UC1, (void*)data).clone();
+						cv::Mat occlusionImage = cv::Mat(depth_height, depth_width, CV_16UC1, (void*)data).clone();
 
 						float scaleX = (float)depth_width / (float)width;
 						float scaleY = (float)depth_height / (float)height;
-						occlusionModel_ = CameraModel(fx*scaleX, fy*scaleY, cx*scaleX, cy*scaleY, pose*deviceTColorCamera_, 0, cv::Size(depth_width, depth_height));
+						CameraModel occlusionModel(fx*scaleX, fy*scaleY, cx*scaleX, cy*scaleY, pose*deviceTColorCamera_, 0, cv::Size(depth_width, depth_height));
+						this->setOcclusionImage(occlusionImage, occlusionModel);
 					}
 					ArImage_release(depthImage);
 				}
@@ -506,11 +458,11 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 							cv::Mat yuv(height+height/2, width, CV_8UC1);
 							memcpy(yuv.data, plane_data, data_length);
 							memcpy(yuv.data+data_length, plane_uv_data, height/2*width);
-							cv::cvtColor(yuv, rgb, CV_YUV2BGR_NV21);
+							cv::cvtColor(yuv, rgb, cv::COLOR_YUV2BGR_NV21);
 						}
 						else
 						{
-							cv::cvtColor(cv::Mat(height+height/2, width, CV_8UC1, (void*)plane_data), rgb, CV_YUV2BGR_NV21);
+							cv::cvtColor(cv::Mat(height+height/2, width, CV_8UC1, (void*)plane_data), rgb, cv::COLOR_YUV2BGR_NV21);
 						}
 
 						std::vector<cv::KeyPoint> kpts;
@@ -527,7 +479,11 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 #endif
 							if(pointCloudData && points>0)
 							{
-								scan = scanFromPointCloudData(pointCloudData, points, pose, model, rgb, &kpts, &kpts3);
+								cv::Mat pointCloudDataMat(1, points, CV_32FC4, (void *)pointCloudData);
+								scan = scanFromPointCloudData(pointCloudDataMat, pose, model, rgb, &kpts, &kpts3);
+#ifndef DISABLE_LOG
+								LOGI("valid scan points = %d", scan.size());
+#endif
 							}
 						}
 						else
@@ -535,8 +491,13 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 							LOGI("pointCloud empty");
 						}
 
-						data = SensorData(scan, rgb, depthFromMotion_?occlusionImage_:cv::Mat(), model, 0, stamp);
+						data = SensorData(scan, rgb, depthFromMotion_?getOcclusionImage():cv::Mat(), model, 0, stamp);
 						data.setFeatures(kpts,  kpts3, cv::Mat());
+
+						if(!pose.isNull())
+						{
+							this->poseReceived(pose, stamp);
+						}
 					}
 				}
 				else
@@ -556,133 +517,7 @@ SensorData CameraARCore::captureImage(CameraInfo * info)
 
 	ArCamera_release(ar_camera);
 
-	if(pose.isNull())
-	{
-		LOGE("CameraARCore: Pose is null");
-	}
-	else
-	{
-		this->poseReceived(pose);
-		info->odomPose = pose;
-	}
 	return data;
-
-}
-
-void CameraARCore::capturePoseOnly()
-{
-	UScopeMutex lock(arSessionMutex_);
-	//LOGI("Capturing image...");
-
-	if(!arSession_)
-	{
-		return;
-	}
-
-	if(textureId_ == 9999)
-	{
-		glGenTextures(1, &textureId_);
-		glBindTexture(GL_TEXTURE_EXTERNAL_OES, textureId_);
-		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
-		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
-		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
-		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
-	}
-	ArSession_setCameraTextureName(arSession_, textureId_);
-
-	// Update session to get current frame and render camera background.
-	if (ArSession_update(arSession_, arFrame_) != AR_SUCCESS) {
-		LOGE("CameraARCore::capturePoseOnly() ArSession_update error");
-		return;
-	}
-
-	// If display rotation changed (also includes view size change), we need to
-	// re-query the uv coordinates for the on-screen portion of the camera image.
-	int32_t geometry_changed = 0;
-	ArFrame_getDisplayGeometryChanged(arSession_, arFrame_, &geometry_changed);
-	if (geometry_changed != 0 || !uvs_initialized_) {
-		ArFrame_transformCoordinates2d(
-				arSession_, arFrame_, AR_COORDINATES_2D_OPENGL_NORMALIZED_DEVICE_COORDINATES,
-				BackgroundRenderer::kNumVertices, BackgroundRenderer_kVertices, AR_COORDINATES_2D_TEXTURE_NORMALIZED,
-				transformed_uvs_);
-		UASSERT(transformed_uvs_);
-		uvs_initialized_ = true;
-	}
-
-	ArCamera* ar_camera;
-	ArFrame_acquireCamera(arSession_, arFrame_, &ar_camera);
-
-	ArCamera_getViewMatrix(arSession_, ar_camera, glm::value_ptr(viewMatrix_));
-	ArCamera_getProjectionMatrix(arSession_, ar_camera,
-							   /*near=*/0.1f, /*far=*/100.f,
-							   glm::value_ptr(projectionMatrix_));
-
-	ArTrackingState camera_tracking_state;
-	ArCamera_getTrackingState(arSession_, ar_camera, &camera_tracking_state);
-
-	Transform pose;
-	CameraModel model;
-	if(camera_tracking_state == AR_TRACKING_STATE_TRACKING)
-	{
-		// pose in OpenGL coordinates
-		float pose_raw[7];
-		ArCamera_getPose(arSession_, ar_camera, arPose_);
-		ArPose_getPoseRaw(arSession_, arPose_, pose_raw);
-		pose = Transform(pose_raw[4], pose_raw[5], pose_raw[6], pose_raw[0], pose_raw[1], pose_raw[2], pose_raw[3]);
-		if(!pose.isNull())
-		{
-			pose = rtabmap::rtabmap_world_T_opengl_world * pose * rtabmap::opengl_world_T_rtabmap_world;
-			this->poseReceived(pose);
-		}
-
-		int32_t is_depth_supported = 0;
-		ArSession_isDepthModeSupported(arSession_, AR_DEPTH_MODE_AUTOMATIC, &is_depth_supported);
-
-		if(is_depth_supported && updateOcclusionImage_)
-		{
-			LOGD("Acquire depth image!");
-			ArImage * depthImage = nullptr;
-			ArFrame_acquireDepthImage(arSession_, arFrame_, &depthImage);
-
-			ArImageFormat format;
-			ArImage_getFormat(arSession_, depthImage, &format);
-			if(format == AR_IMAGE_FORMAT_DEPTH16)
-			{
-				LOGD("Depth format detected!");
-				int planeCount;
-				ArImage_getNumberOfPlanes(arSession_, depthImage, &planeCount);
-				LOGD("planeCount=%d", planeCount);
-				UASSERT_MSG(planeCount == 1, uFormat("Error: getNumberOfPlanes() planceCount = %d", planeCount).c_str());
-				const uint8_t *data = nullptr;
-				int len = 0;
-				int stride;
-				int width;
-				int height;
-				ArImage_getWidth(arSession_, depthImage, &width);
-				ArImage_getHeight(arSession_, depthImage, &height);
-				ArImage_getPlaneRowStride(arSession_, depthImage, 0, &stride);
-				ArImage_getPlaneData(arSession_, depthImage, 0, &data, &len);
-
-				LOGD("width=%d, height=%d, bytes=%d stride=%d", width, height, len, stride);
-
-				occlusionImage_ = cv::Mat(height, width, CV_16UC1, (void*)data).clone();
-
-				float fx,fy, cx, cy;
-				int32_t rgb_width, rgb_height;
-				ArCamera_getImageIntrinsics(arSession_, ar_camera, arCameraIntrinsics_);
-				ArCameraIntrinsics_getFocalLength(arSession_, arCameraIntrinsics_, &fx, &fy);
-				ArCameraIntrinsics_getPrincipalPoint(arSession_, arCameraIntrinsics_, &cx, &cy);
-				ArCameraIntrinsics_getImageDimensions(arSession_, arCameraIntrinsics_, &rgb_width, &rgb_height);
-
-				float scaleX = (float)width / (float)rgb_width;
-				float scaleY = (float)height / (float)rgb_height;
-				occlusionModel_ = CameraModel(fx*scaleX, fy*scaleY, cx*scaleX, cy*scaleY, pose*deviceTColorCamera_, 0, cv::Size(width, height));
-			}
-			ArImage_release(depthImage);
-		}
-	}
-
-	ArCamera_release(ar_camera);
 }
 
 } /* namespace rtabmap */

app/android/jni/CameraARCore.h

@@ -50,39 +50,17 @@ namespace rtabmap {
 
 class CameraARCore : public CameraMobile {
 public:
-	static LaserScan scanFromPointCloudData(
-			const float * pointCloudData,
-			int points,
-			const Transform & pose,
-			const CameraModel & model,
-			const cv::Mat & rgb,
-			std::vector<cv::KeyPoint> * kpts = 0,
-			std::vector<cv::Point3f> * kpts3D = 0);
-
-public:
-	CameraARCore(void* env, void* context, void* activity, bool depthFromMotion = false, bool smoothing = false);
+	CameraARCore(void* env, void* context, void* activity, bool depthFromMotion = false, float upstreamRelocalizationAccThr = 0.0f);
 	virtual ~CameraARCore();
 
-	bool uvsInitialized() const {return uvs_initialized_;}
-	const float* uvsTransformed() const {return transformed_uvs_;}
-	void getVPMatrices(glm::mat4 & view, glm::mat4 & projection) const {view=viewMatrix_; projection=projectionMatrix_;}
-
-	void updateOcclusionImage(bool enabled) {updateOcclusionImage_ = enabled;}
-	const cv::Mat & getOcclusionImage(CameraModel * model=0) const {if(model)*model=occlusionModel_; return occlusionImage_; }
-
 	virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height);
 
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
-	void setupGL();
-	virtual void close(); // close Tango connection
+	virtual void close(); // close ARCore connection
 	virtual std::string getSerial() const;
-	GLuint getTextureId() const {return textureId_;}
-
-	void imageCallback(AImageReader *reader);
 
 protected:
-	virtual SensorData captureImage(CameraInfo * info = 0); // should be called in opengl thread
-	virtual void capturePoseOnly();
+	virtual SensorData updateDataOnRender(Transform & pose); // should be called in opengl thread
 
 private:
 	rtabmap::Transform getPoseAtTimestamp(double timestamp);
@@ -97,17 +75,8 @@ private:
 	ArCameraIntrinsics *arCameraIntrinsics_ = nullptr;
 	ArPose * arPose_ = nullptr;
 	bool arInstallRequested_;
-	GLuint textureId_;
 	UMutex arSessionMutex_;
 
-	float transformed_uvs_[BackgroundRenderer::kNumVertices*2];
-	bool uvs_initialized_ = false;
-	glm::mat4 viewMatrix_;
-	glm::mat4 projectionMatrix_;
-
-	bool updateOcclusionImage_;
-	cv::Mat occlusionImage_;
-	CameraModel occlusionModel_;
 	bool depthFromMotion_;
 };
 

app/android/jni/CameraAREngine.cpp

@@ -40,8 +40,8 @@ namespace rtabmap {
 //////////////////////////////
 // CameraAREngine
 //////////////////////////////
-CameraAREngine::CameraAREngine(void* env, void* context, void* activity, bool smoothing):
-	CameraMobile(smoothing),
+CameraAREngine::CameraAREngine(void* env, void* context, void* activity, float upstreamRelocalizationAccThr):
+	CameraMobile(upstreamRelocalizationAccThr),
 	env_(env),
 	context_(context),
 	activity_(activity),
@@ -66,6 +66,8 @@ bool CameraAREngine::init(const std::string & calibrationFolder, const std::stri
 {
 	close();
 
+	CameraMobile::init(calibrationFolder, cameraName);
+
 	UScopeMutex lock(arSessionMutex_);
 
 	HwArInstallStatus install_status;
@@ -117,9 +119,6 @@ bool CameraAREngine::init(const std::string & calibrationFolder, const std::stri
 
 	deviceTColorCamera_ = opticalRotation;
 
-	// Required as ArSession_update does some off-screen OpenGL stuff...
-	HwArSession_setCameraTextureName(arSession_, textureId_);
-
 	if (HwArSession_resume(arSession_) != HWAR_SUCCESS)
 	{
 		UERROR("Cannot resume camera!");
@@ -169,38 +168,81 @@ void CameraAREngine::close()
 	CameraMobile::close();
 }
 
-SensorData CameraAREngine::captureImage(CameraInfo * info)
+void CameraAREngine::setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height)
+{
+	CameraMobile::setScreenRotationAndSize(colorCameraToDisplayRotation, width, height);
+	if(arSession_)
+	{
+		int ret = static_cast<int>(colorCameraToDisplayRotation) + 1; // remove 90deg camera rotation
+		  if (ret > 3) {
+		    ret -= 4;
+		  }
+
+		HwArSession_setDisplayGeometry(arSession_, ret, width, height);
+	}
+}
+
+SensorData CameraAREngine::updateDataOnRender(Transform & pose)
 {
 	UScopeMutex lock(arSessionMutex_);
 	//LOGI("Capturing image...");
 
+	pose.setNull();
 	SensorData data;
 	if(!arSession_)
 	{
 		return data;
 	}
 
+	if(textureId_ == 0)
+	{
+		glGenTextures(1, &textureId_);
+		glBindTexture(GL_TEXTURE_EXTERNAL_OES, textureId_);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+	}
+	if(textureId_!=0)
+		HwArSession_setCameraTextureName(arSession_, textureId_);
+
 	// Update session to get current frame and render camera background.
 	if (HwArSession_update(arSession_, arFrame_) != HWAR_SUCCESS) {
 		LOGE("CameraAREngine::captureImage() ArSession_update error");
 		return data;
 	}
 
+	// If display rotation changed (also includes view size change), we need to
+	// re-query the uv coordinates for the on-screen portion of the camera image.
+	int32_t geometry_changed = 0;
+	HwArFrame_getDisplayGeometryChanged(arSession_, arFrame_, &geometry_changed);
+	if (geometry_changed != 0 || !uvs_initialized_) {
+		HwArFrame_transformDisplayUvCoords(
+				arSession_, arFrame_,
+				BackgroundRenderer::kNumVertices*2, BackgroundRenderer_kVerticesView,
+				transformed_uvs_);
+		UERROR("uv: (%f,%f) (%f,%f) (%f,%f) (%f,%f)", 
+			transformed_uvs_[0], transformed_uvs_[1],
+			transformed_uvs_[2], transformed_uvs_[3],
+			transformed_uvs_[4], transformed_uvs_[5],
+			transformed_uvs_[6], transformed_uvs_[7]);
+		UASSERT(transformed_uvs_);
+		uvs_initialized_ = true;
+	}
+
 	HwArCamera* ar_camera;
 	HwArFrame_acquireCamera(arSession_, arFrame_, &ar_camera);
 
+	HwArCamera_getViewMatrix(arSession_, ar_camera, glm::value_ptr(viewMatrix_));
+	HwArCamera_getProjectionMatrix(arSession_, ar_camera,
+							   /*near=*/0.1f, /*far=*/100.f,
+							   glm::value_ptr(projectionMatrix_));
+
 	HwArTrackingState camera_tracking_state;
 	HwArCamera_getTrackingState(arSession_, ar_camera, &camera_tracking_state);
 
-	Transform pose;
 	if(camera_tracking_state == HWAR_TRACKING_STATE_TRACKING)
 	{
-		// pose in OpenGL coordinates
-		float pose_raw[7];
-		HwArCamera_getPose(arSession_, ar_camera, arPose_);
-		HwArPose_getPoseRaw(arSession_, arPose_, pose_raw);
-		pose = Transform(pose_raw[4], pose_raw[5], pose_raw[6], pose_raw[0], pose_raw[1], pose_raw[2], pose_raw[3]);
-
 		// Get calibration parameters
 		// FIXME: Hard-coded as getting intrinsics with the api fails
 		float fx=492.689667,fy=492.606201, cx=323.594849, cy=234.659744;
@@ -244,7 +286,7 @@ SensorData CameraAREngine::captureImage(CameraInfo * info)
 				cv::Mat outputRGB;
 				if(imageData != nullptr && len>0)
 				{
-					cv::cvtColor(cv::Mat(height+height/2, width, CV_8UC1, (void*)imageData), outputRGB, CV_YUV2BGR_NV21);
+					cv::cvtColor(cv::Mat(height+height/2, width, CV_8UC1, (void*)imageData), outputRGB, cv::COLOR_YUV2BGR_NV21);
 				}
 
 				//Depth
@@ -274,6 +316,21 @@ SensorData CameraAREngine::captureImage(CameraInfo * info)
 					double stamp = double(timestamp_ns)/10e8;
 					CameraModel model = CameraModel(fx, fy, cx, cy, deviceTColorCamera_, 0, cv::Size(camWidth, camHeight));
 					data = SensorData(outputRGB, outputDepth, model, 0, stamp);
+
+					// pose in OpenGL coordinates
+					float pose_raw[7];
+					HwArCamera_getPose(arSession_, ar_camera, arPose_);
+					HwArPose_getPoseRaw(arSession_, arPose_, pose_raw);
+					pose = Transform(pose_raw[4], pose_raw[5], pose_raw[6], pose_raw[0], pose_raw[1], pose_raw[2], pose_raw[3]);
+					if(pose.isNull())
+					{
+						LOGE("CameraAREngine: Pose is null");
+					}
+					else
+					{
+						pose = rtabmap::rtabmap_world_T_opengl_world * pose * rtabmap::opengl_world_T_rtabmap_world;
+						this->poseReceived(pose, stamp);
+					}
 				}
 			}
 			else
@@ -291,61 +348,8 @@ SensorData CameraAREngine::captureImage(CameraInfo * info)
 	}
 
 	HwArCamera_release(ar_camera);
-
-	if(pose.isNull())
-	{
-		LOGE("CameraAREngine: Pose is null");
-	}
-	else
-	{
-		pose = rtabmap::rtabmap_world_T_opengl_world * pose * rtabmap::opengl_world_T_rtabmap_world;
-		this->poseReceived(pose);
-		info->odomPose = pose;
-	}
 	return data;
 
 }
 
-void CameraAREngine::capturePoseOnly()
-{
-	UScopeMutex lock(arSessionMutex_);
-	//LOGI("Capturing image...");
-
-	SensorData data;
-	if(!arSession_)
-	{
-		return;
-	}
-
-	// Update session to get current frame and render camera background.
-	if (HwArSession_update(arSession_, arFrame_) != HWAR_SUCCESS) {
-		LOGE("CameraARCore::captureImage() ArSession_update error");
-		return;
-	}
-
-	HwArCamera* ar_camera;
-	HwArFrame_acquireCamera(arSession_, arFrame_, &ar_camera);
-
-	HwArTrackingState camera_tracking_state;
-	HwArCamera_getTrackingState(arSession_, ar_camera, &camera_tracking_state);
-
-	Transform pose;
-	CameraModel model;
-	if(camera_tracking_state == HWAR_TRACKING_STATE_TRACKING)
-	{
-		// pose in OpenGL coordinates
-		float pose_raw[7];
-		HwArCamera_getPose(arSession_, ar_camera, arPose_);
-		HwArPose_getPoseRaw(arSession_, arPose_, pose_raw);
-		pose = Transform(pose_raw[4], pose_raw[5], pose_raw[6], pose_raw[0], pose_raw[1], pose_raw[2], pose_raw[3]);
-		if(!pose.isNull())
-		{
-			pose = rtabmap::rtabmap_world_T_opengl_world * pose * rtabmap::opengl_world_T_rtabmap_world;
-			this->poseReceived(pose);
-		}
-	}
-
-	HwArCamera_release(ar_camera);
-}
-
 } /* namespace rtabmap */

app/android/jni/CameraAREngine.h

@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/utilite/UEvent.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <boost/thread/mutex.hpp>
+#include <background_renderer.h>
 
 #include <huawei_arengine_interface.h>
 
@@ -45,16 +46,17 @@ namespace rtabmap {
 
 class CameraAREngine : public CameraMobile {
 public:
-	CameraAREngine(void* env, void* context, void* activity, bool smoothing = false);
+	CameraAREngine(void* env, void* context, void* activity, float upstreamRelocalizationAccThr = 0.0f);
 	virtual ~CameraAREngine();
 
+	virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height);
+
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
-	virtual void close(); // close Tango connection
+	virtual void close(); // close AREngine connection
 	virtual std::string getSerial() const;
 
 protected:
-	virtual SensorData captureImage(CameraInfo * info = 0);
-	virtual void capturePoseOnly();
+	virtual SensorData updateDataOnRender(Transform & pose);
 
 private:
 	rtabmap::Transform getPoseAtTimestamp(double timestamp);
@@ -69,7 +71,6 @@ private:
 	HwArCameraIntrinsics *arCameraIntrinsics_ = nullptr;
 	HwArPose * arPose_ = nullptr;
 	bool arInstallRequested_;
-	GLuint textureId_;
 	UMutex arSessionMutex_;
 
 };

app/android/jni/CameraMobile.cpp

@@ -18,6 +18,7 @@ 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
+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
@@ -31,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/util3d_transforms.h"
 #include "rtabmap/core/OdometryEvent.h"
 #include "rtabmap/core/util2d.h"
+#include <glm/gtx/transform.hpp>
 
 namespace rtabmap {
 
@@ -39,9 +41,6 @@ namespace rtabmap {
 //////////////////////////////
 // CameraMobile
 //////////////////////////////
-const float CameraMobile::bilateralFilteringSigmaS = 2.0f;
-const float CameraMobile::bilateralFilteringSigmaR = 0.075f;
-
 const rtabmap::Transform CameraMobile::opticalRotation = Transform(
 		0.0f,  0.0f,  1.0f, 0.0f,
 	   -1.0f,  0.0f,  0.0f, 0.0f,
@@ -51,15 +50,17 @@ const rtabmap::Transform CameraMobile::opticalRotationInv = Transform(
 	    0.0f,  0.0f, -1.0f, 0.0f,
 		1.0f,  0.0f,  0.0f, 0.0f);
 
-CameraMobile::CameraMobile(bool smoothing) :
+CameraMobile::CameraMobile(float upstreamRelocalizationAccThr) :
 		Camera(10),
 		deviceTColorCamera_(Transform::getIdentity()),
-		spinOncePreviousStamp_(0.0),
-		previousStamp_(0.0),
+		textureId_(0),
+		uvs_initialized_(false),
 		stampEpochOffset_(0.0),
-		smoothing_(smoothing),
 		colorCameraToDisplayRotation_(ROTATION_0),
-		originUpdate_(false)
+		originUpdate_(true),
+		upstreamRelocalizationAccThr_(upstreamRelocalizationAccThr),
+		previousAnchorStamp_(0.0),
+		dataGoodTracking_(true)
 {
 }
 
@@ -71,46 +72,215 @@ CameraMobile::~CameraMobile() {
 bool CameraMobile::init(const std::string &, const std::string &)
 {
 	deviceTColorCamera_ = opticalRotation;
+	// clear semaphore
+	if(dataReady_.value() > 0) {
+		dataReady_.acquire(dataReady_.value());
+	}
 	return true;
 }
 
 void CameraMobile::close()
 {
-	previousPose_.setNull();
-	previousStamp_ = 0.0;
+	UScopeMutex lock(dataMutex_);
+
+	firstFrame_ = true;
 	lastKnownGPS_ = GPS();
 	lastEnvSensors_.clear();
 	originOffset_ = Transform();
-	originUpdate_ = false;
-	pose_ = Transform();
+	originUpdate_ = true;
+	dataPose_ = Transform();
 	data_ = SensorData();
+    dataGoodTracking_ = true;
+    previousAnchorPose_.setNull();
+    previousAnchorLinearVelocity_.clear();
+    previousAnchorStamp_ = 0.0;
+
+    if(textureId_ != 0)
+    {
+        glDeleteTextures(1, &textureId_);
+        textureId_ = 0;
+    }
+    // in case someone is waiting on captureImage()
+    dataReady_.release();
 }
 
-void CameraMobile::resetOrigin()
+void CameraMobile::resetOrigin(const rtabmap::Transform & offset)
 {
+    manualOriginOffset_ = offset;
 	originUpdate_ = true;
 }
 
-void CameraMobile::poseReceived(const Transform & pose)
+bool CameraMobile::getPose(double epochStamp, Transform & pose, cv::Mat & covariance, double maxWaitTime)
 {
-	if(!pose.isNull())
-	{
-		// send pose of the camera (without optical rotation)
-		Transform p = pose*deviceTColorCamera_;
-		if(originUpdate_)
-		{
-			originOffset_ = p.translation().inverse();
-			originUpdate_ = false;
-		}
+	pose.setNull();
 
-		if(!originOffset_.isNull())
+	int maxWaitTimeMs = maxWaitTime * 1000;
+
+	// Interpolate pose
+	if(!poseBuffer_.empty())
+	{
+		poseMutex_.lock();
+		int waitTry = 0;
+		while(maxWaitTimeMs>0 && poseBuffer_.rbegin()->first < epochStamp && waitTry < maxWaitTimeMs)
 		{
-			this->post(new PoseEvent(originOffset_*p));
+			poseMutex_.unlock();
+			++waitTry;
+			uSleep(1);
+			poseMutex_.lock();
+		}
+		if(poseBuffer_.rbegin()->first < epochStamp)
+		{
+			if(maxWaitTimeMs > 0)
+			{
+				UWARN("Could not find poses to interpolate at time %f after waiting %d ms (latest is %f)...", epochStamp, maxWaitTimeMs, poseBuffer_.rbegin()->first);
+			}
+			else
+			{
+				UWARN("Could not find poses to interpolate at time %f (latest is %f)...", epochStamp, poseBuffer_.rbegin()->first);
+			}
 		}
 		else
 		{
-			this->post(new PoseEvent(p));
+			std::map<double, Transform>::const_iterator iterB = poseBuffer_.lower_bound(epochStamp);
+			std::map<double, Transform>::const_iterator iterA = iterB;
+			if(iterA != poseBuffer_.begin())
+			{
+				iterA = --iterA;
+			}
+			if(iterB == poseBuffer_.end())
+			{
+				iterB = --iterB;
+			}
+			if(iterA == iterB && epochStamp == iterA->first)
+			{
+				pose = iterA->second;
+			}
+			else if(epochStamp >= iterA->first && epochStamp <= iterB->first)
+			{
+				pose = iterA->second.interpolate((epochStamp-iterA->first) / (iterB->first-iterA->first), iterB->second);
+			}
+			else // stamp < iterA->first
+			{
+				UWARN("Could not find pose data to interpolate at time %f (earliest is %f). Are sensors synchronized?", epochStamp, iterA->first);
+			}
 		}
+		poseMutex_.unlock();
+	}
+	return !pose.isNull();
+}
+
+void CameraMobile::poseReceived(const Transform & pose, double deviceStamp)
+{
+	// Pose reveived is the pose of the device in rtabmap coordinate
+	if(!pose.isNull())
+	{
+		Transform p = pose;
+		
+		if(stampEpochOffset_ == 0.0)
+		{
+			stampEpochOffset_ = UTimer::now() - deviceStamp;
+		}
+
+		if(originUpdate_)
+		{
+			firstFrame_ = true;
+			lastKnownGPS_ = GPS();
+			lastEnvSensors_.clear();
+			dataGoodTracking_ = true;
+			previousAnchorPose_.setNull();
+			previousAnchorLinearVelocity_.clear();
+			previousAnchorStamp_ = 0.0;
+            originOffset_ = manualOriginOffset_.isNull() ? pose.translation().inverse() : manualOriginOffset_;
+			originUpdate_ = false;
+		}
+        
+		double epochStamp = stampEpochOffset_ + deviceStamp;
+		if(!originOffset_.isNull())
+		{
+			// Filter re-localizations from poses received
+			rtabmap::Transform rawPose = originOffset_ * pose.translation(); // remove rotation to keep position in fixed frame
+			// Remove upstream localization corrections by integrating pose from previous frame anchor
+            bool showLog = false;
+            if(upstreamRelocalizationAccThr_>0.0f && !previousAnchorPose_.isNull())
+			{
+				float dt = epochStamp - previousAnchorStamp_;
+                std::vector<float> currentLinearVelocity(3);
+                float dx = rawPose.x()-previousAnchorPose_.x();
+                float dy = rawPose.y()-previousAnchorPose_.y();
+                float dz = rawPose.z()-previousAnchorPose_.z();
+                currentLinearVelocity[0] = dx / dt;
+                currentLinearVelocity[1] = dy / dt;
+                currentLinearVelocity[2] = dz / dt;
+				if(!previousAnchorLinearVelocity_.empty() && uNorm(dx, dy, dz)>0.02)
+				{
+                    float ax = (currentLinearVelocity[0] - previousAnchorLinearVelocity_[0]) / dt;
+                    float ay = (currentLinearVelocity[1] - previousAnchorLinearVelocity_[1]) / dt;
+                    float az = (currentLinearVelocity[2] - previousAnchorLinearVelocity_[2]) / dt;
+					float acceleration = sqrt(ax*ax + ay*ay + az*az);
+					if(acceleration>=upstreamRelocalizationAccThr_)
+					{
+						// Only correct the translation to not lose rotation aligned
+						// with gravity.
+                        
+                        // Use constant motion model to update current pose.
+						rtabmap::Transform offset(previousAnchorLinearVelocity_[0] * dt,
+                                                  previousAnchorLinearVelocity_[1] * dt,
+                                                  previousAnchorLinearVelocity_[2] * dt,
+                                                  0, 0, 0, 1);
+						rtabmap::Transform newRawPose = offset * previousAnchorPose_;
+						currentLinearVelocity = previousAnchorLinearVelocity_;
+						originOffset_.x() += newRawPose.x() - rawPose.x();
+                        originOffset_.y() += newRawPose.y() - rawPose.y();
+                        originOffset_.z() += newRawPose.z() - rawPose.z();
+                        UERROR("Upstream re-localization has been suppressed because of "
+						     "high acceleration detected (%f m/s^2) causing a jump!",
+								acceleration);
+						dataGoodTracking_ = false;
+                        post(new CameraInfoEvent(0, "UpstreamRelocationFiltered", uFormat("%.1f m/s^2", acceleration).c_str()));
+                        showLog = true;
+					}
+				}
+				previousAnchorLinearVelocity_ = currentLinearVelocity;
+			}
+
+            p = originOffset_*pose;
+            previousAnchorPose_ = p;
+            previousAnchorStamp_ = epochStamp;
+            
+            if(upstreamRelocalizationAccThr_>0.0f) {
+                relocalizationDebugBuffer_.insert(std::make_pair(epochStamp, std::make_pair(pose, p)));
+                if(relocalizationDebugBuffer_.size() > 60)
+                {
+                    relocalizationDebugBuffer_.erase(relocalizationDebugBuffer_.begin());
+                }
+                if(showLog) {
+                    std::stringstream stream;
+                    for(auto iter=relocalizationDebugBuffer_.begin(); iter!=relocalizationDebugBuffer_.end(); ++iter)
+                    {
+                        stream << iter->first - relocalizationDebugBuffer_.begin()->first
+                        << " " << iter->second.first.x()
+                        << " " << iter->second.first.y()
+                        << " " << iter->second.first.z()
+                        << " " << iter->second.second.x()
+                        << " " << iter->second.second.y()
+                        << " " << iter->second.second.z() << std::endl;
+                    }
+                    UERROR("timestamp original_xyz corrected_xyz:\n%s", stream.str().c_str());
+                }
+            }
+		}
+
+		{
+			UScopeMutex lock(poseMutex_);
+			poseBuffer_.insert(poseBuffer_.end(), std::make_pair(epochStamp, p));
+			if(poseBuffer_.size() > 1000)
+			{
+				poseBuffer_.erase(poseBuffer_.begin());
+			}
+		}
+
+		// send pose of the camera (with optical rotation)
+		this->post(new PoseEvent(p * deviceTColorCamera_));
 	}
 }
 
@@ -124,218 +294,343 @@ void CameraMobile::setGPS(const GPS & gps)
 	lastKnownGPS_ = gps;
 }
 
-void CameraMobile::setData(const SensorData & data, const Transform & pose)
-{
-	LOGD("CameraMobile::setData pose=%s stamp=%f", pose.prettyPrint().c_str(), data.stamp());
-	data_ = data;
-	pose_ = pose;
-}
-
 void CameraMobile::addEnvSensor(int type, float value)
 {
 	lastEnvSensors_.insert(std::make_pair((EnvSensor::Type)type, EnvSensor((EnvSensor::Type)type, value)));
 }
 
-void CameraMobile::spinOnce()
+void CameraMobile::update(const SensorData & data, const Transform & pose, const glm::mat4 & viewMatrix, const glm::mat4 & projectionMatrix, const float * texCoord)
 {
-	if(!this->isRunning())
-	{
-		bool ignoreFrame = false;
-		float rate = 10.0f; // maximum 10 FPS for image data
-		double now = UTimer::now();
-		if(rate>0.0f)
-		{
-			if((spinOncePreviousStamp_>=0.0 && now>spinOncePreviousStamp_ && now - spinOncePreviousStamp_ < 1.0f/rate) ||
-				((spinOncePreviousStamp_<=0.0 || now<=spinOncePreviousStamp_) && spinOnceFrameRateTimer_.getElapsedTime() < 1.0f/rate))
-			{
-				ignoreFrame = true;
-			}
-		}
+	UScopeMutex lock(dataMutex_);
 
-		if(!ignoreFrame)
+    LOGD("CameraMobile::update pose=%s stamp=%f", pose.prettyPrint().c_str(), data.stamp());
+
+	bool notify = !data_.isValid();
+    
+	data_ = data;
+    dataPose_ = pose;
+
+    viewMatrix_ = viewMatrix;
+    projectionMatrix_ = projectionMatrix;
+        
+    if(textureId_ == 0)
+    {
+    	glGenTextures(1, &textureId_);
+    }
+
+    if(texCoord)
+    {
+        memcpy(transformed_uvs_, texCoord, 8*sizeof(float));
+        uvs_initialized_ = true;
+    }
+    
+    LOGD("CameraMobile::update textureId_=%d", (int)textureId_);
+
+    if(textureId_ != 0 && texCoord != 0)
+    {
+        cv::Mat rgbImage;
+        cv::cvtColor(data.imageRaw(), rgbImage, cv::COLOR_BGR2RGBA);
+        
+        glBindTexture(GL_TEXTURE_2D, textureId_);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+        
+        glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
+        //glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
+        //glPixelStorei(GL_UNPACK_SKIP_PIXELS, 0);
+        //glPixelStorei(GL_UNPACK_SKIP_ROWS, 0);
+        glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, rgbImage.cols, rgbImage.rows, 0, GL_RGBA, GL_UNSIGNED_BYTE, rgbImage.data);
+
+        GLint error = glGetError();
+        if(error != GL_NO_ERROR)
+        {
+            LOGE("OpenGL: Could not allocate texture (0x%x)\n", error);
+            textureId_ = 0;
+            return;
+        }
+    }
+
+    if(data_.isValid())
+    {
+        postUpdate();
+
+        if(notify)
+        {
+            dataReady_.release();
+        }
+    }
+}
+
+void CameraMobile::updateOnRender()
+{
+	UScopeMutex lock(dataMutex_);
+	bool notify = !data_.isValid();
+
+	data_ = updateDataOnRender(dataPose_);
+	if(data_.isValid())
+	{
+		postUpdate();
+
+		if(notify)
 		{
-			spinOnceFrameRateTimer_.start();
-			spinOncePreviousStamp_ = now;
-			mainLoop();
-		}
-		else
-		{
-			// just send pose
-			capturePoseOnly();
+			dataReady_.release();
 		}
 	}
 }
 
-void CameraMobile::mainLoopBegin()
+SensorData CameraMobile::updateDataOnRender(Transform & pose)
 {
-	double t = cameraStartedTime_.elapsed();
-	if(t < 5.0)
-	{
-		uSleep((5.0-t)*1000); // just to make sure that the camera is started
+	LOGE("To use CameraMobile::updateOnRender(), CameraMobile::updateDataOnRender() "
+	     "should be overridden by inherited classes. Returning empty data!\n");
+	return SensorData();
+}
+
+void CameraMobile::postUpdate()
+{
+	if(data_.isValid())
+    {
+        // adjust origin
+        if(!originOffset_.isNull())
+        {
+            dataPose_ = originOffset_ * dataPose_;
+            viewMatrix_ = glm::inverse(rtabmap::glmFromTransform(rtabmap::opengl_world_T_rtabmap_world * originOffset_ *rtabmap::rtabmap_world_T_opengl_world)*glm::inverse(viewMatrix_));
+            occlusionModel_.setLocalTransform(originOffset_ * occlusionModel_.localTransform());
+        }
+        
+        if(lastKnownGPS_.stamp() > 0.0 && data_.stamp()-lastKnownGPS_.stamp()<1.0)
+        {
+            data_.setGPS(lastKnownGPS_);
+        }
+        else if(lastKnownGPS_.stamp()>0.0)
+        {
+            LOGD("GPS too old (current time=%f, gps time = %f)", data_.stamp(), lastKnownGPS_.stamp());
+        }
+        
+        if(lastEnvSensors_.size())
+        {
+            data_.setEnvSensors(lastEnvSensors_);
+            lastEnvSensors_.clear();
+        }
+        
+        
+        // Rotate image depending on the camera orientation
+        if(colorCameraToDisplayRotation_ == ROTATION_90)
+        {
+            UDEBUG("ROTATION_90");
+            cv::Mat rgb, depth, confidence;
+            cv::Mat rgbt;
+            cv::flip(data_.imageRaw(),rgb,1);
+            cv::transpose(rgb,rgbt);
+            rgb = rgbt;
+            cv::Mat deptht;
+            cv::flip(data_.depthRaw(),depth,1);
+            cv::transpose(depth,deptht);
+            depth = deptht;
+            if(!data_.depthConfidenceRaw().empty()) {
+                cv::Mat conft;
+                cv::flip(data_.depthConfidenceRaw(),confidence,1);
+                cv::transpose(confidence,conft);
+                confidence = conft;
+            }
+            CameraModel model = data_.cameraModels()[0];
+            cv::Size sizet(model.imageHeight(), model.imageWidth());
+            model = CameraModel(
+                                model.fy(),
+                                model.fx(),
+                                model.cy(),
+                                model.cx()>0?model.imageWidth()-model.cx():0,
+                                model.localTransform()*rtabmap::Transform(0,-1,0,0, 1,0,0,0, 0,0,1,0));
+            model.setImageSize(sizet);
+            data_.setRGBDImage(rgb, depth, confidence, model);
+            
+            std::vector<cv::KeyPoint> keypoints = data_.keypoints();
+            for(size_t i=0; i<keypoints.size(); ++i)
+            {
+                keypoints[i].pt.x = data_.keypoints()[i].pt.y;
+                keypoints[i].pt.y = rgb.rows - data_.keypoints()[i].pt.x;
+            }
+            data_.setFeatures(keypoints, data_.keypoints3D(), cv::Mat());
+        }
+        else if(colorCameraToDisplayRotation_ == ROTATION_180)
+        {
+            UDEBUG("ROTATION_180");
+            cv::Mat rgb, depth, confidence;
+            cv::flip(data_.imageRaw(),rgb,1);
+            cv::flip(rgb,rgb,0);
+            cv::flip(data_.depthOrRightRaw(),depth,1);
+            cv::flip(depth,depth,0);
+            if(!data_.depthConfidenceRaw().empty()) {
+                cv::flip(data_.depthConfidenceRaw(),confidence,1);
+                cv::flip(confidence,confidence,0);
+            }
+            CameraModel model = data_.cameraModels()[0];
+            cv::Size sizet(model.imageWidth(), model.imageHeight());
+            model = CameraModel(
+                                model.fx(),
+                                model.fy(),
+                                model.cx()>0?model.imageWidth()-model.cx():0,
+                                model.cy()>0?model.imageHeight()-model.cy():0,
+                                model.localTransform()*rtabmap::Transform(0,0,0,0,0,1,0));
+            model.setImageSize(sizet);
+            data_.setRGBDImage(rgb, depth, confidence, model);
+            
+            std::vector<cv::KeyPoint> keypoints = data_.keypoints();
+            for(size_t i=0; i<keypoints.size(); ++i)
+            {
+                keypoints[i].pt.x = rgb.cols - data_.keypoints()[i].pt.x;
+                keypoints[i].pt.y = rgb.rows - data_.keypoints()[i].pt.y;
+            }
+            data_.setFeatures(keypoints, data_.keypoints3D(), cv::Mat());
+        }
+        else if(colorCameraToDisplayRotation_ == ROTATION_270)
+        {
+            UDEBUG("ROTATION_270");
+            cv::Mat rgb, depth, confidence;
+            cv::transpose(data_.imageRaw(),rgb);
+            cv::flip(rgb,rgb,1);
+            cv::transpose(data_.depthOrRightRaw(),depth);
+            cv::flip(depth,depth,1);
+            if(!data_.depthConfidenceRaw().empty()) {
+                cv::transpose(data_.depthConfidenceRaw(),confidence);
+                cv::flip(confidence,confidence,1);
+            }
+            CameraModel model = data_.cameraModels()[0];
+            cv::Size sizet(model.imageHeight(), model.imageWidth());
+            model = CameraModel(
+                                model.fy(),
+                                model.fx(),
+                                model.cy()>0?model.imageHeight()-model.cy():0,
+                                model.cx(),
+                                model.localTransform()*rtabmap::Transform(0,1,0,0, -1,0,0,0, 0,0,1,0));
+            model.setImageSize(sizet);
+            data_.setRGBDImage(rgb, depth, confidence, model);
+            
+            std::vector<cv::KeyPoint> keypoints = data_.keypoints();
+            for(size_t i=0; i<keypoints.size(); ++i)
+            {
+                keypoints[i].pt.x = rgb.cols - data_.keypoints()[i].pt.y;
+                keypoints[i].pt.y = data_.keypoints()[i].pt.x;
+            }
+            data_.setFeatures(keypoints, data_.keypoints3D(), cv::Mat());
+        }
+        else
+        {
+            UDEBUG("ROTATION_0");
+        }
 	}
 }
 
-void CameraMobile::mainLoop()
+SensorData CameraMobile::captureImage(SensorCaptureInfo * info)
 {
-	CameraInfo info;
-	SensorData data = this->captureImage(&info);
-
-	if(data.isValid() && !info.odomPose.isNull())
+	SensorData data;
+    bool firstFrame = true;
+    bool dataGoodTracking = true;
+    rtabmap::Transform dataPose;
+	if(dataReady_.acquire(1, 15000))
+	{
+		UScopeMutex lock(dataMutex_);
+		data = data_;
+        dataPose = dataPose_;
+        firstFrame = firstFrame_;
+        dataGoodTracking = dataGoodTracking_;
+        firstFrame_ = false;
+        dataGoodTracking_ = true;
+		data_ = SensorData();
+        dataPose_.setNull();
+	}
+	if(data.isValid())
 	{
-		if(lastKnownGPS_.stamp() > 0.0 && data.stamp()-lastKnownGPS_.stamp()<1.0)
-		{
-			data.setGPS(lastKnownGPS_);
-		}
-		else if(lastKnownGPS_.stamp()>0.0)
-		{
-			LOGD("GPS too old (current time=%f, gps time = %f)", data.stamp(), lastKnownGPS_.stamp());
-		}
-
-		if(lastEnvSensors_.size())
-		{
-			data.setEnvSensors(lastEnvSensors_);
-			lastEnvSensors_.clear();
-		}
-
-		if(smoothing_ && !data.depthRaw().empty())
-		{
-			//UTimer t;
-			data.setDepthOrRightRaw(rtabmap::util2d::fastBilateralFiltering(data.depthRaw(), bilateralFilteringSigmaS, bilateralFilteringSigmaR));
-			//LOGD("Bilateral filtering, time=%fs", t.ticks());
-		}
-
-		// Rotate image depending on the camera orientation
-		if(colorCameraToDisplayRotation_ == ROTATION_90)
-		{
-			UDEBUG("ROTATION_90");
-			cv::Mat rgb, depth;
-			cv::Mat rgbt(data.imageRaw().cols, data.imageRaw().rows, data.imageRaw().type());
-			cv::flip(data.imageRaw(),rgb,1);
-			cv::transpose(rgb,rgbt);
-			rgb = rgbt;
-			cv::Mat deptht(data.depthRaw().cols, data.depthRaw().rows, data.depthRaw().type());
-			cv::flip(data.depthRaw(),depth,1);
-			cv::transpose(depth,deptht);
-			depth = deptht;
-			CameraModel model = data.cameraModels()[0];
-			cv::Size sizet(model.imageHeight(), model.imageWidth());
-			model = CameraModel(
-					model.fy(),
-					model.fx(),
-					model.cy(),
-					model.cx()>0?model.imageWidth()-model.cx():0,
-					model.localTransform()*rtabmap::Transform(0,-1,0,0, 1,0,0,0, 0,0,1,0));
-			model.setImageSize(sizet);
-			data.setRGBDImage(rgb, depth, model);
-
-			std::vector<cv::KeyPoint> keypoints = data.keypoints();
-			for(size_t i=0; i<keypoints.size(); ++i)
-			{
-				keypoints[i].pt.x = data.keypoints()[i].pt.y;
-				keypoints[i].pt.y = rgb.rows - data.keypoints()[i].pt.x;
-			}
-			data.setFeatures(keypoints, data.keypoints3D(), cv::Mat());
-		}
-		else if(colorCameraToDisplayRotation_ == ROTATION_180)
-		{
-			UDEBUG("ROTATION_180");
-			cv::Mat rgb, depth;
-			cv::flip(data.imageRaw(),rgb,1);
-			cv::flip(rgb,rgb,0);
-			cv::flip(data.depthOrRightRaw(),depth,1);
-			cv::flip(depth,depth,0);
-			CameraModel model = data.cameraModels()[0];
-			cv::Size sizet(model.imageWidth(), model.imageHeight());
-			model = CameraModel(
-					model.fx(),
-					model.fy(),
-					model.cx()>0?model.imageWidth()-model.cx():0,
-					model.cy()>0?model.imageHeight()-model.cy():0,
-					model.localTransform()*rtabmap::Transform(0,0,0,0,0,1,0));
-			model.setImageSize(sizet);
-			data.setRGBDImage(rgb, depth, model);
-
-			std::vector<cv::KeyPoint> keypoints = data.keypoints();
-			for(size_t i=0; i<keypoints.size(); ++i)
-			{
-				keypoints[i].pt.x = rgb.cols - data.keypoints()[i].pt.x;
-				keypoints[i].pt.y = rgb.rows - data.keypoints()[i].pt.y;
-			}
-			data.setFeatures(keypoints, data.keypoints3D(), cv::Mat());
-		}
-		else if(colorCameraToDisplayRotation_ == ROTATION_270)
-		{
-			UDEBUG("ROTATION_270");
-			cv::Mat rgb(data.imageRaw().cols, data.imageRaw().rows, data.imageRaw().type());
-			cv::transpose(data.imageRaw(),rgb);
-			cv::flip(rgb,rgb,1);
-			cv::Mat depth(data.depthOrRightRaw().cols, data.depthOrRightRaw().rows, data.depthOrRightRaw().type());
-			cv::transpose(data.depthOrRightRaw(),depth);
-			cv::flip(depth,depth,1);
-			CameraModel model = data.cameraModels()[0];
-			cv::Size sizet(model.imageHeight(), model.imageWidth());
-			model = CameraModel(
-					model.fy(),
-					model.fx(),
-					model.cy()>0?model.imageHeight()-model.cy():0,
-					model.cx(),
-					model.localTransform()*rtabmap::Transform(0,1,0,0, -1,0,0,0, 0,0,1,0));
-			model.setImageSize(sizet);
-			data.setRGBDImage(rgb, depth, model);
-
-			std::vector<cv::KeyPoint> keypoints = data.keypoints();
-			for(size_t i=0; i<keypoints.size(); ++i)
-			{
-				keypoints[i].pt.x = rgb.cols - data.keypoints()[i].pt.y;
-				keypoints[i].pt.y = data.keypoints()[i].pt.x;
-			}
-			data.setFeatures(keypoints, data.keypoints3D(), cv::Mat());
-		}
-
-		rtabmap::Transform pose = info.odomPose;
 		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)
+
+		if(info)
 		{
-			info.interval = data.stamp()-previousStamp_;
-			info.transform = previousPose_.inverse() * pose;
+			// linear cov = 0.0001
+			info->odomCovariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.00001);
+			if(!firstFrame)
+			{
+				// angular cov = 0.000001
+                // roll/pitch should be fairly accurate with VIO input
+				info->odomCovariance.at<double>(3,3) *= 0.01; // roll
+				info->odomCovariance.at<double>(4,4) *= 0.01; // pitch
+                if(!dataGoodTracking)
+                {
+                    UERROR("not good tracking!");
+                    // add slightly more error on translation
+                    // 0.001
+                    info->odomCovariance.at<double>(0,0) *= 10; // x
+                    info->odomCovariance.at<double>(1,1) *= 10; // y
+                    info->odomCovariance.at<double>(2,2) *= 10; // z
+                    info->odomCovariance.at<double>(5,5) *= 10; // yaw
+                }
+			}
+			info->odomPose = dataPose;
 		}
-		// linear cov = 0.0001
-		info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.0001);
-		if(!firstFrame)
-		{
-			// angular cov = 0.000001
-			info.reg.covariance.at<double>(3,3) *= 0.01;
-			info.reg.covariance.at<double>(4,4) *= 0.01;
-			info.reg.covariance.at<double>(5,5) *= 0.01;
-		}
-		LOGI("Publish odometry message (variance=%f)", firstFrame?9999:0.0001);
-		this->post(new OdometryEvent(data, pose, info));
-		previousPose_ = pose;
-		previousStamp_ = data.stamp();
 	}
-	else if(!this->isKilled())
+	else
 	{
-		LOGW("Odometry lost");
-		this->post(new OdometryEvent());
+		UWARN("CameraMobile::captureImage() invalid data!");
 	}
+	return data;
 }
 
-SensorData CameraMobile::captureImage(CameraInfo * info)
+LaserScan CameraMobile::scanFromPointCloudData(
+        const cv::Mat & pointCloudData,
+        const Transform & pose,
+        const CameraModel & model,
+        const cv::Mat & rgb,
+        std::vector<cv::KeyPoint> * kpts,
+        std::vector<cv::Point3f> * kpts3D,
+        int kptsSize)
 {
-	if(info)
-	{
-		info->odomPose = pose_;
-	}
-	return data_;
+    if(!pointCloudData.empty())
+    {
+        cv::Mat scanData(1, pointCloudData.cols, CV_32FC4);
+        float * ptr = scanData.ptr<float>();
+        const float * inPtr = pointCloudData.ptr<float>();
+        int ic = pointCloudData.channels();
+        UASSERT(pointCloudData.depth() == CV_32F && ic >= 3);
+        
+        int oi = 0;
+        for(unsigned int i=0;i<pointCloudData.cols; ++i)
+        {
+            cv::Point3f pt(inPtr[i*ic], inPtr[i*ic + 1], inPtr[i*ic + 2]);
+            pt = util3d::transformPoint(pt, pose.inverse()*rtabmap_world_T_opengl_world);
+            ptr[oi*4] = pt.x;
+            ptr[oi*4 + 1] = pt.y;
+            ptr[oi*4 + 2] = pt.z;
+
+            //get color from rgb image
+            cv::Point3f org= pt;
+            pt = util3d::transformPoint(pt, opticalRotationInv);
+            if(pt.z > 0)
+            {
+                int u,v;
+                model.reproject(pt.x, pt.y, pt.z, u, v);
+                unsigned char r=255,g=255,b=255;
+                if(model.inFrame(u, v))
+                {
+                    b=rgb.at<cv::Vec3b>(v,u).val[0];
+                    g=rgb.at<cv::Vec3b>(v,u).val[1];
+                    r=rgb.at<cv::Vec3b>(v,u).val[2];
+                    if(kpts)
+                        kpts->push_back(cv::KeyPoint(u,v,kptsSize));
+                    if(kpts3D)
+                        kpts3D->push_back(org);
+                    
+                    *(int*)&ptr[oi*4 + 3] = int(b) | (int(g) << 8) | (int(r) << 16);
+                    ++oi;
+                }
+            }
+            //confidence
+            //*(int*)&ptr[i*4 + 3] = (int(pointCloudData[i*4 + 3] * 255.0f) << 8) | (int(255) << 16);
+
+        }
+        return LaserScan::backwardCompatibility(scanData.colRange(0, oi), 0, 10, rtabmap::Transform::getIdentity());
+    }
+    return LaserScan();
 }
 
 } /* namespace rtabmap */

app/android/jni/CameraMobile.h

@@ -68,66 +68,101 @@ private:
 	Transform pose_;
 };
 
-class CameraMobile : public Camera, public UThread, public UEventsSender {
+class CameraMobile : public Camera, public UEventsSender {
 public:
-	static const float bilateralFilteringSigmaS;
-	static const float bilateralFilteringSigmaR;
-
 	static const rtabmap::Transform opticalRotation;
 	static const rtabmap::Transform opticalRotationInv;
+    
+public:
+    static LaserScan scanFromPointCloudData(
+            const cv::Mat & pointCloudData,
+            const Transform & pose,
+            const CameraModel & model,
+            const cv::Mat & rgb,
+            std::vector<cv::KeyPoint> * kpts = 0,
+            std::vector<cv::Point3f> * kpts3D = 0,
+            int kptsSize = 3);
 
 public:
-	CameraMobile(bool smoothing = false);
+	CameraMobile(float upstreamRelocalizationAccThr = 0.0f);
 	virtual ~CameraMobile();
 
 	// abstract functions
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
-	virtual void close(); // inherited classes should call its parent in their close().
+	virtual void close(); // inherited classes should call its parent at the end of their close().
 	virtual std::string getSerial() const {return "CameraMobile";}
 
-	const Transform & getOriginOffset() const {return originOffset_;} // in rtabmap frame
-	void resetOrigin();
+	// original pose of device in rtabmap frame (without origin offset), stamp of the device (may be not epoch), viewMatrix in opengl frame (without origin offset)
+	void update(const SensorData & data, const Transform & pose, const glm::mat4 & viewMatrix, const glm::mat4 & projectionMatrix, const float * texCoord);
+	void updateOnRender();
+
+	void resetOrigin(const rtabmap::Transform & offset = rtabmap::Transform());
 	virtual bool isCalibrated() const;
 
-	void poseReceived(const Transform & pose); // in rtabmap frame
+	virtual bool odomProvided() const { return true; }
+	virtual bool getPose(double epochStamp, Transform & pose, cv::Mat & covariance, double maxWaitTime = 0.06); // Return pose of device in rtabmap frame (with origin offset), stamp should be epoch time
+	// original pose of device in rtabmap frame (without origin offset), stamp of the device (may be not epoch)
+	void poseReceived(const Transform & pose, double deviceStamp);
+	double getStampEpochOffset() const {return stampEpochOffset_;}
 
 	const CameraModel & getCameraModel() const {return model_;}
 	const Transform & getDeviceTColorCamera() const {return deviceTColorCamera_;}
-	void setSmoothing(bool enabled) {smoothing_ = enabled;}
 	virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height) {colorCameraToDisplayRotation_ = colorCameraToDisplayRotation;}
 	void setGPS(const GPS & gps);
 	void addEnvSensor(int type, float value);
-	void setData(const SensorData & data, const Transform & pose);
 
-	void spinOnce(); // Should only be called if not thread is not running, otherwise it does nothing
+    GLuint getTextureId() {return textureId_;}
+    bool uvsInitialized() const {return uvs_initialized_;}
+    const float* uvsTransformed() const {return transformed_uvs_;}
+    void getVPMatrices(glm::mat4 & view, glm::mat4 & projection) const {view=viewMatrix_; projection=projectionMatrix_;}
+    ScreenRotation getScreenRotation() const {return colorCameraToDisplayRotation_;}
+    
+    void setOcclusionImage(const cv::Mat & image, const CameraModel & model) {occlusionModel_ = model; occlusionImage_ = image;}
+    const cv::Mat & getOcclusionImage(CameraModel * model=0) const {if(model)*model=occlusionModel_; return occlusionImage_; }
 
 protected:
-	virtual SensorData captureImage(CameraInfo * info = 0);
-	virtual void capturePoseOnly() {}
+	virtual SensorData updateDataOnRender(Transform & pose);
 
-	virtual void mainLoopBegin();
-	virtual void mainLoop();
+private:
+	virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+	void postUpdate(); // Should be called while being protected by dataMutex_
 
 protected:
 	CameraModel model_; // local transform is the device to camera optical rotation in rtabmap frame
 	Transform deviceTColorCamera_; // device to camera optical rotation in rtabmap frame
-	UTimer spinOnceFrameRateTimer_;
-	double spinOncePreviousStamp_;
+    
+    GLuint textureId_;
+    glm::mat4 viewMatrix_;
+    glm::mat4 projectionMatrix_;
+    float transformed_uvs_[8];
+    bool uvs_initialized_ = false;
 
 private:
-	Transform previousPose_;
-	double previousStamp_;
-	UTimer cameraStartedTime_;
+	bool firstFrame_;
 	double stampEpochOffset_;
-	bool smoothing_;
 	ScreenRotation colorCameraToDisplayRotation_;
 	GPS lastKnownGPS_;
 	EnvSensors lastEnvSensors_;
 	Transform originOffset_;
 	bool originUpdate_;
+    rtabmap::Transform manualOriginOffset_;
+	float upstreamRelocalizationAccThr_;
+	rtabmap::Transform previousAnchorPose_;
+	std::vector<float> previousAnchorLinearVelocity_;
+	double previousAnchorStamp_;
+    std::map<double, std::pair<rtabmap::Transform, rtabmap::Transform> > relocalizationDebugBuffer_;
 
+	USemaphore dataReady_;
+	UMutex dataMutex_;
 	SensorData data_;
-	Transform pose_;
+	Transform dataPose_;
+    bool dataGoodTracking_;
+
+	UMutex poseMutex_;
+	std::map<double, Transform> poseBuffer_; // <stamp, Pose>
+    
+    cv::Mat occlusionImage_;
+    CameraModel occlusionModel_;
 };
 
 } /* namespace rtabmap */

app/android/jni/CameraTango.cpp

@@ -33,6 +33,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/core/util2d.h"
 #include <tango_client_api.h>
 #include <tango_support_api.h>
+#include "tango-gl/camera.h"
 
 namespace rtabmap {
 
@@ -42,11 +43,22 @@ const int holeSize = 5;
 const float maxDepthError = 0.10;
 const int scanDownsampling = 1;
 
+//android phone
+//11 10 01 00 // portrait
+//01 11 00 10 // left
+//10 00 11 01 // right
+//00 01 10 11 // down
+
+const float kTextureCoords0[] = {1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0, 0.0};
+const float kTextureCoords90[] = {0.0, 1.0, 1.0, 1.0, 0.0, 0.0, 1.0, 0.0};
+const float kTextureCoords180[] = {0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0, 1.0};
+const float kTextureCoords270[] = {1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 1.0};
+
 // Callbacks
 void onPointCloudAvailableRouter(void* context, const TangoPointCloud* point_cloud)
 {
 	CameraTango* app = static_cast<CameraTango*>(context);
-	if(app->isRunning() && point_cloud->num_points>0)
+	if(point_cloud->num_points>0)
 	{
 		app->cloudReceived(cv::Mat(1, point_cloud->num_points, CV_32FC4, point_cloud->points[0]), point_cloud->timestamp);
 	}
@@ -55,34 +67,32 @@ void onPointCloudAvailableRouter(void* context, const TangoPointCloud* point_clo
 void onFrameAvailableRouter(void* context, TangoCameraId id, const TangoImageBuffer* color)
 {
 	CameraTango* app = static_cast<CameraTango*>(context);
-	if(app->isRunning())
-	{
-		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);
-		}
+	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);
 	}
 }
 
@@ -91,7 +101,7 @@ void onPoseAvailableRouter(void* context, const TangoPoseData* pose)
 	if(pose->status_code == TANGO_POSE_VALID)
 	{
 		CameraTango* app = static_cast<CameraTango*>(context);
-		app->poseReceived(rtabmap_world_T_tango_world * app->tangoPoseToTransform(pose) * tango_device_T_rtabmap_world);
+		app->poseReceived(rtabmap_world_T_tango_world * app->tangoPoseToTransform(pose) * tango_device_T_rtabmap_world, pose->timestamp);
 	}
 }
 
@@ -104,13 +114,11 @@ void onTangoEventAvailableRouter(void* context, const TangoEvent* event)
 //////////////////////////////
 // CameraTango
 //////////////////////////////
-CameraTango::CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing) :
-		CameraMobile(smoothing),
+CameraTango::CameraTango(bool colorCamera, int decimation, bool publishRawScan) :
 		tango_config_(0),
 		colorCamera_(colorCamera),
 		decimation_(decimation),
 		rawScanPublished_(publishRawScan),
-		cloudStamp_(0),
 		tangoColorType_(0),
 		tangoColorStamp_(0)
 {
@@ -185,6 +193,8 @@ bool CameraTango::init(const std::string & calibrationFolder, const std::string
 {
 	close();
 
+	CameraMobile::init(calibrationFolder, cameraName);
+
 	TangoSupport_initialize(TangoService_getPoseAtTime, TangoService_getCameraIntrinsics);
 
 	// Connect to Tango
@@ -430,12 +440,12 @@ void CameraTango::close()
 
 void CameraTango::cloudReceived(const cv::Mat & cloud, double timestamp)
 {
-	if(this->isRunning() && !cloud.empty())
+	if(!cloud.empty())
 	{
 		//LOGD("Depth received! %fs (%d points)", timestamp, cloud.cols);
 
 		UASSERT(cloud.type() == CV_32FC4);
-		boost::mutex::scoped_lock  lock(dataMutex_);
+		boost::mutex::scoped_lock  lock(tangoDataMutex_);
 
 		// From post: http://stackoverflow.com/questions/29236110/timing-issues-with-tango-image-frames
 		// "In the current version of Project Tango Tablet RGB IR camera
@@ -447,20 +457,242 @@ void CameraTango::cloudReceived(const cv::Mat & cloud, double timestamp)
 		//  So, synchronize with the last RGB frame before the Depth is acquired
 		if(!tangoColor_.empty())
 		{
+			UTimer timer;
 			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;
+				bool notify = !tangoData_.isValid();
+
+				cv::Mat tangoImage = tangoColor_;
+				cv::Mat rgb;
+				double cloudStamp = timestamp;
+				double rgbStamp = tangoColorStamp_;
+				int 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::COLOR_RGBA2BGR);
+				}
+				else if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_YV12)
+				{
+					cv::cvtColor(tangoImage, rgb, cv::COLOR_YUV2BGR_YV12);
+				}
+				else if(tangoColorType == TANGO_HAL_PIXEL_FORMAT_YCrCb_420_SP)
+				{
+					cv::cvtColor(tangoImage, rgb, cv::COLOR_YUV2BGR_NV21);
+				}
+				else if(tangoColorType == 35)
+				{
+					cv::cvtColor(tangoImage, rgb, cv::COLOR_YUV420sp2GRAY);
+				}
+				else
+				{
+					LOGE("Not supported color format : %d.", tangoColorType);
+					tangoData_ = SensorData();
+					return;
+				}
+
+				//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;
+					int closePoints = 0;
+					float closeROI[4];
+					closeROI[0] = depth.cols/4;
+					closeROI[1] = 3*(depth.cols/4);
+					closeROI[2] = depth.rows/4;
+					closeROI[3] = 3*(depth.rows/4);
+					unsigned short minDepthValue=10000;
+					for(unsigned int i=0; i<cloud.total(); ++i)
+					{
+						const 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);
+
+						if(pixel_x_l>=closeROI[0] && pixel_x_l<closeROI[1] &&
+						   pixel_y_l>closeROI[2] && pixel_y_l<closeROI[3] &&
+						   depth_value < 600)
+						{
+							++closePoints;
+							if(depth_value < minDepthValue)
+							{
+								minDepthValue = depth_value;
+							}
+						}
+
+						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(closePoints > 100)
+					{
+						this->post(new CameraInfoEvent(0, "TooClose", ""));
+					}
+
+					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 odom = 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());
+
+					// occlusion depth
+					if(!depth.empty())
+					{
+						rtabmap::CameraModel depthModel = model.scaled(float(depth.cols) / float(model.imageWidth()));
+						depthModel.setLocalTransform(odom*model.localTransform());
+						this->setOcclusionImage(depth, depthModel);
+					}
+
+					//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();
+
+					if(rawScanPublished_)
+					{
+						tangoData_ = SensorData(LaserScan::backwardCompatibility(scan, cloud.total()/scanDownsampling, 0, scanLocalTransform), rgb, depth, model, this->getNextSeqID(), rgbStamp);
+					}
+					else
+					{
+						tangoData_ = SensorData(rgb, depth, model, this->getNextSeqID(), rgbStamp);
+					}
+					tangoData_.setGroundTruth(odom);
+				}
+				else
+				{
+					LOGE("Could not get depth and rgb images!?!");
+					tangoData_ = SensorData();
+					return;
+				}
+
 				if(notify)
 				{
-					//LOGD("Cloud: Release semaphore");
-					dataReady_.release();
+					tangoDataReady_.release();
 				}
+				LOGD("process cloud received %fs", timer.ticks());
 			}
 		}
 	}
@@ -468,11 +700,11 @@ void CameraTango::cloudReceived(const cv::Mat & cloud, double timestamp)
 
 void CameraTango::rgbReceived(const cv::Mat & tangoImage, int type, double timestamp)
 {
-	if(this->isRunning() && !tangoImage.empty())
+	if(!tangoImage.empty())
 	{
 		//LOGD("RGB received! %fs", timestamp);
 
-		boost::mutex::scoped_lock  lock(dataMutex_);
+		boost::mutex::scoped_lock  lock(tangoDataMutex_);
 
 		tangoColor_ = tangoImage.clone();
 		tangoColorStamp_ = timestamp;
@@ -532,267 +764,115 @@ rtabmap::Transform CameraTango::getPoseAtTimestamp(double timestamp)
 	}
 	else
 	{
-
 		pose = rtabmap_world_T_tango_world * tangoPoseToTransform(&pose_start_service_T_device) * tango_device_T_rtabmap_world;
 	}
 
 	return pose;
 }
 
-SensorData CameraTango::captureImage(CameraInfo * info)
+SensorData CameraTango::updateDataOnRender(Transform & pose)
 {
 	//LOGI("Capturing image...");
 
-	SensorData data;
-	if(!dataReady_.acquire(1, 2000))
+	pose.setNull();
+	if(textureId_ == 0)
 	{
-		if(this->isRunning())
-		{
-			LOGE("Not received any frames since 2 seconds, try to restart the camera again.");
-			this->post(new CameraInfoEvent(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;
+		glGenTextures(1, &textureId_);
+		glBindTexture(GL_TEXTURE_EXTERNAL_OES, textureId_);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+		glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
 	}
-	else
+
+	// Update Texture (optional, just for first-view rendering)
+	if(colorCamera_ && textureId_)
 	{
-		cv::Mat cloud;
-		cv::Mat tangoImage;
-		cv::Mat rgb;
-		double cloudStamp = 0.0;
-		double rgbStamp = 0.0;
-		int tangoColorType = 0;
+		double video_overlay_timestamp;
+		TangoErrorType status = TangoService_updateTextureExternalOes(TANGO_CAMERA_COLOR, textureId_, &video_overlay_timestamp);
 
+		if (status == TANGO_SUCCESS)
 		{
-			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;
-		}
+			pose = getPoseAtTimestamp(video_overlay_timestamp);
 
-		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;
-		}
+			int rotation = static_cast<int>(getScreenRotation()) + 1; // remove 90deg camera rotation
+			  if (rotation > 3) {
+				  rotation -= 4;
+			  }
 
-		//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)
+			TangoDoubleMatrixTransformData matrix_transform;
+			status = TangoSupport_getDoubleMatrixTransformAtTime(
+					video_overlay_timestamp,
+					TANGO_COORDINATE_FRAME_CAMERA_COLOR,
+					TANGO_COORDINATE_FRAME_START_OF_SERVICE,
+					TANGO_SUPPORT_ENGINE_OPENGL,
+					TANGO_SUPPORT_ENGINE_OPENGL,
+					static_cast<TangoSupportRotation>(rotation),
+					&matrix_transform);
+			if (matrix_transform.status_code == TANGO_POSE_VALID)
 			{
-				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());
-		}
+				// Get projection matrix
+				TangoCameraIntrinsics color_camera_intrinsics;
+				int ret = TangoSupport_getCameraIntrinsicsBasedOnDisplayRotation(
+						TANGO_CAMERA_COLOR,
+						static_cast<TangoSupportRotation>(rotation),
+						&color_camera_intrinsics);
 
-		// Querying the depth image's frame transformation based on the depth image's
-		// timestamp.
-		cv::Mat depth;
+				if (ret == TANGO_SUCCESS) {
+					float image_width = static_cast<float>(color_camera_intrinsics.width);
+					float image_height = static_cast<float>(color_camera_intrinsics.height);
+					float fx = static_cast<float>(color_camera_intrinsics.fx);
+					float fy = static_cast<float>(color_camera_intrinsics.fy);
+					float cx = static_cast<float>(color_camera_intrinsics.cx);
+					float cy = static_cast<float>(color_camera_intrinsics.cy);
 
-		// 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.");
-		}
+					viewMatrix_ = glm::make_mat4(matrix_transform.matrix);
 
-		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());
+					projectionMatrix_ = tango_gl::Camera::ProjectionMatrixForCameraIntrinsics(
+							image_width, image_height, fx, fy, cx, cy, 0.3, 50);
 
-			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;
-			int closePoints = 0;
-			float closeROI[4];
-			closeROI[0] = depth.cols/4;
-			closeROI[1] = 3*(depth.cols/4);
-			closeROI[2] = depth.rows/4;
-			closeROI[3] = 3*(depth.rows/4);
-			unsigned short minDepthValue=10000;
-			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);
-
-				if(pixel_x_l>=closeROI[0] && pixel_x_l<closeROI[1] &&
-				   pixel_y_l>closeROI[2] && pixel_y_l<closeROI[3] &&
-				   depth_value < 600)
-				{
-					++closePoints;
-					if(depth_value < minDepthValue)
+					switch(rotation)
 					{
-						minDepthValue = depth_value;
+					case ROTATION_90:
+						memcpy(transformed_uvs_, kTextureCoords90, 8*sizeof(float));
+						break;
+					case ROTATION_180:
+						memcpy(transformed_uvs_, kTextureCoords180, 8*sizeof(float));
+						break;
+					case ROTATION_270:
+						memcpy(transformed_uvs_, kTextureCoords270, 8*sizeof(float));
+						break;
+					case ROTATION_0:
+					default:
+						memcpy(transformed_uvs_, kTextureCoords0, 8*sizeof(float));
 					}
+					uvs_initialized_ = true;
 				}
-
-				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)
+				else
 				{
-					unsigned short & depthPixel = depth.at<unsigned short>(pixel_y_l, pixel_x_l);
-					if(depthPixel == 0 || depthPixel > depth_value)
-					{
-						depthPixel = depth_value;
-						pixelSet = true;
-					}
+					UERROR("TangoSupport_getCameraIntrinsicsBasedOnDisplayRotation failed!");
 				}
-				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(closePoints > 100)
-			{
-				this->post(new CameraInfoEvent(0, "TooClose", ""));
-			}
-
-			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 odom = 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());
-
-			// adjust origin
-			if(!getOriginOffset().isNull())
-			{
-				odom = getOriginOffset() * odom;
-			}
-
-			//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();
-
-			if(rawScanPublished_)
-			{
-				data = SensorData(LaserScan::backwardCompatibility(scan, cloud.total()/scanDownsampling, 0, scanLocalTransform), rgb, depth, model, this->getNextSeqID(), rgbStamp);
 			}
 			else
 			{
-				data = SensorData(rgb, depth, model, this->getNextSeqID(), rgbStamp);
+				UERROR("TangoSupport_getDoubleMatrixTransformAtTime failed!");
 			}
-			info->odomPose = odom;
 		}
 		else
 		{
-			LOGE("Could not get depth and rgb images!?!");
+			UERROR("TangoService_updateTextureExternalOes failed!");
 		}
 	}
+
+	SensorData data;
+	if(tangoDataReady_.acquireTry(1))
+	{
+		boost::mutex::scoped_lock  lock(tangoDataMutex_);
+		data = tangoData_;
+		tangoData_ = SensorData();
+		pose = data.groundTruth();
+		data.setGroundTruth(Transform());
+	}
 	return data;
 
 }

app/android/jni/CameraTango.h

@@ -45,14 +45,13 @@ namespace rtabmap {
 
 class CameraTango : public CameraMobile {
 public:
-	CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing);
+	CameraTango(bool colorCamera, int decimation, bool publishRawScan);
 	virtual ~CameraTango();
 
 	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
 	virtual void close(); // close Tango connection
 	virtual std::string getSerial() const;
 	rtabmap::Transform tangoPoseToTransform(const TangoPoseData * tangoPose) const;
-	void setColorCamera(bool enabled) {if(!this->isRunning()) colorCamera_ = enabled;}
 	void setDecimation(int value) {decimation_ = value;}
 	void setRawScanPublished(bool enabled) {rawScanPublished_ = enabled;}
 
@@ -61,7 +60,7 @@ public:
 	void tangoEventReceived(int type, const char * key, const char * value);
 
 protected:
-	virtual SensorData captureImage(CameraInfo * info = 0);
+	virtual SensorData updateDataOnRender(Transform & pose);
 
 private:
 	rtabmap::Transform getPoseAtTimestamp(double timestamp);
@@ -71,13 +70,12 @@ private:
 	bool colorCamera_;
 	int decimation_;
 	bool rawScanPublished_;
-	cv::Mat cloud_;
-	double cloudStamp_;
+	SensorData tangoData_;
 	cv::Mat tangoColor_;
 	int tangoColorType_;
 	double tangoColorStamp_;
-	boost::mutex dataMutex_;
-	USemaphore dataReady_;
+	boost::mutex tangoDataMutex_;
+	USemaphore tangoDataReady_;
 	cv::Mat fisheyeRectifyMapX_;
 	cv::Mat fisheyeRectifyMapY_;
 };

app/android/jni/Measure.h

@@ -0,0 +1,65 @@
+/*
+Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef MEASURE_H_
+#define MEASURE_H_
+
+#include <opencv2/opencv.hpp>
+
+class Measure
+{
+public:
+	Measure(
+			const cv::Point3f & pt1,
+			const cv::Point3f & pt2,
+			const cv::Vec3f & n1,
+			const cv::Vec3f & n2) :
+				pt1_(pt1),
+				pt2_(pt2),
+				n1_(n1),
+				n2_(n2)
+	{
+		length_ = cv::norm(pt2_ - pt1_);
+	}
+	virtual ~Measure() {}
+
+	float length() const {return length_;}
+	const cv::Point3f & pt1() const {return pt1_;}
+	const cv::Point3f & pt2() const {return pt2_;}
+	const cv::Vec3f & n1() const {return n1_;}
+	const cv::Vec3f & n2() const {return n2_;}
+
+private:
+	cv::Point3f pt1_;
+	cv::Point3f pt2_;
+	cv::Vec3f n1_;
+	cv::Vec3f n2_;
+	float length_;
+};
+
+
+#endif /* MEASURE_H_ */

app/android/jni/ProgressionStatus.h

@@ -11,7 +11,9 @@
 #include <rtabmap/core/ProgressState.h>
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/utilite/UEventsManager.h>
+#ifdef __ANDROID__
 #include <jni.h>
+#endif
 
 namespace rtabmap {
 
@@ -27,16 +29,29 @@ public:
 class ProgressionStatus: public ProgressState, public UEventsHandler
 {
 public:
-	ProgressionStatus() : count_(0), max_(100), jvm_(0), rtabmap_(0)
+	ProgressionStatus() : count_(0), max_(100)
+#ifdef __ANDROID__
+    , jvm_(0), rtabmap_(0)
+#else
+    , swiftClassPtr_(0)
+#endif
 	{
 		registerToEventsManager();
 	}
 
+#ifdef __ANDROID__
 	void setJavaObjects(JavaVM * jvm, jobject rtabmap)
 	{
 		jvm_ = jvm;
 		rtabmap_ = rtabmap;
 	}
+#else
+    void setSwiftCallback(void * classPtr, void(*callback)(void *, int, int))
+    {
+        swiftClassPtr_ = classPtr;
+        swiftCallback = callback;
+    }
+#endif
 
 	void reset(int max)
 	{
@@ -82,6 +97,7 @@ protected:
 			count_ += ((ProgressEvent*)event)->count_;
 			// Call JAVA callback
 			bool success = false;
+#ifdef __ANDROID__
 			if(jvm_ && rtabmap_)
 			{
 				JNIEnv *env = 0;
@@ -103,6 +119,16 @@ protected:
 				}
 				jvm_->DetachCurrentThread();
 			}
+#else // APPLE
+            if(swiftClassPtr_)
+            {
+                std::function<void()> actualCallback = [&](){
+                    swiftCallback(swiftClassPtr_, count_, max_);
+                };
+                actualCallback();
+                success = true;
+            }
+#endif
 			if(!success)
 			{
 				UERROR("Failed to call rtabmap::updateProgressionCallback");
@@ -114,8 +140,13 @@ protected:
 private:
 	int count_;
 	int max_;
+#ifdef __ANDROID__
 	JavaVM *jvm_;
 	jobject rtabmap_;
+#else
+    void * swiftClassPtr_;
+    void(*swiftCallback)(void *, int, int);
+#endif
 };
 
 }

app/android/jni/RTABMapApp.h

@@ -28,7 +28,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef RTABMAP_APP_H_
 #define RTABMAP_APP_H_
 
+#ifdef __ANDROID__
 #include <jni.h>
+#endif
 #include <memory>
 
 #include <tango-gl/util.h>
@@ -38,27 +40,53 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "util.h"
 #include "ProgressionStatus.h"
 
+#include <rtabmap/core/SensorCaptureThread.h>
 #include <rtabmap/core/RtabmapThread.h>
+#include <rtabmap/core/SensorEvent.h>
 #include <rtabmap/utilite/UEventsHandler.h>
 #include <boost/thread/mutex.hpp>
 #include <pcl/pcl_base.h>
 #include <pcl/TextureMesh.h>
 
+#include "Measure.h"
 
 // RTABMapApp handles the application lifecycle and resources.
 class RTABMapApp : public UEventsHandler {
  public:
   // Constructor and deconstructor.
+#ifdef __ANDROID__
   RTABMapApp(JNIEnv* env, jobject caller_activity);
+#else // __APPLE__
+  RTABMapApp();
+  void setupSwiftCallbacks(void * classPtr,
+                           void(*progressCallback)(void *, int, int),
+                           void(*initCallback)(void *, int, const char*),
+                           void(*statsUpdatedCallback)(void *,
+                                                    int, int, int, int,
+                                                    float,
+                                                    int, int, int, int, int ,int,
+                                                    float,
+                                                    int,
+                                                    float,
+                                                    int,
+                                                    float, float, float, float,
+                                                    int, int,
+                                                    float, float, float, float, float, float),
+                           void(*cameraInfoCallback)(void *, int, const char*, const char*));
+    
+#endif
   ~RTABMapApp();
 
   void setScreenRotation(int displayRotation, int cameraRotation);
 
-  int openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, const std::string & databaseSource=std::string());
+  int openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, bool clearDatabase);
 
   bool isBuiltWith(int cameraDriver) const;
+#ifdef __ANDROID__
   bool startCamera(JNIEnv* env, jobject iBinder, jobject context, jobject activity, int driver);
-
+#else // __APPLE__
+  bool startCamera();
+#endif
   // Allocate OpenGL resources for rendering, mainly for initializing the Scene.
   void InitializeGLContent();
 
@@ -100,6 +128,7 @@ class RTABMapApp : public UEventsHandler {
   void setLighting(bool enabled);
   void setBackfaceCulling(bool enabled);
   void setWireframe(bool enabled);
+  void setTextureColorSeamsHidden(bool hidden);
   void setLocalizationMode(bool enabled);
   void setTrajectoryMode(bool enabled);
   void setGraphOptimization(bool enabled);
@@ -110,23 +139,29 @@ class RTABMapApp : public UEventsHandler {
   void setCameraColor(bool enabled);
   void setFullResolution(bool enabled);
   void setSmoothing(bool enabled);
+  void setDepthBleedingError(float value);
   void setDepthFromMotion(bool enabled);
   void setAppendMode(bool enabled);
+  void setUpstreamRelocalizationAccThr(float value);
   void setDataRecorderMode(bool enabled);
   void setMaxCloudDepth(float value);
   void setMinCloudDepth(float value);
   void setCloudDensityLevel(int value);
   void setMeshAngleTolerance(float value);
+  void setMeshDecimationFactor(float value);
   void setMeshTriangleSize(int value);
   void setClusterRatio(float value);
   void setMaxGainRadius(float value);
   void setRenderingTextureDecimation(int value);
   void setBackgroundColor(float gray);
+  void setDepthConfidence(int value);
+  void setExportPointCloudFormat(const std::string & format);
   int setMappingParameter(const std::string & key, const std::string & value);
   void setGPS(const rtabmap::GPS & gps);
   void addEnvSensor(int type, float value);
 
   void save(const std::string & databasePath);
+  bool recover(const std::string & from, const std::string & to);
   void cancelProcessing();
   bool exportMesh(
 		  float cloudVoxelSize,
@@ -144,27 +179,43 @@ class RTABMapApp : public UEventsHandler {
 		  int optimizedMinClusterSize,
 		  float optimizedMaxTextureDistance,
 		  int optimizedMinTextureClusterSize,
+      int textureVertexColorPolicy,
 		  bool blockRendering);
   bool postExportation(bool visualize);
   bool writeExportedMesh(const std::string & directory, const std::string & name);
   int postProcessing(int approach);
-
-  void postCameraPoseEvent(
-  		float x, float y, float z, float qx, float qy, float qz, float qw);
+  void clearMeasures();
+  void showMeasures(bool x, bool y, bool z, bool custom);
+  void setMeasuringMode(int mode);
+  void addMeasureButtonClicked();
+  void teleportButtonClicked();
+  void removeMeasure();
+  void setMetricSystem(bool enabled);
+  void setMeasuringTextSize(float size);
 
   void postOdometryEvent(
-  		float x, float y, float z, float qx, float qy, float qz, float qw,
-  		float fx, float fy, float cx, float cy,
-  		double stamp,
-		void * yPlane, void * uPlane, void * vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
-  		void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
-		float * points, int pointsLen);
+		rtabmap::Transform pose,
+		float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
+		float depth_fx, float depth_fy, float depth_cx, float depth_cy,
+		const rtabmap::Transform & rgbFrame,
+		const rtabmap::Transform & depthFrame,
+		double stamp,
+		double depthStamp,
+        const void * yPlane, const void * uPlane, const void * vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
+        const void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
+        const void * conf, int confLen, int confWidth, int confHeight, int confFormat,
+        const float * points, int pointsLen, int pointsChannels,
+		rtabmap::Transform viewMatrix, //view matrix
+        float p00, float p11, float p02, float p12, float p22, float p32, float p23, // projection matrix
+        float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7); // tex coord
 
  protected:
   virtual bool handleEvent(UEvent * event);
 
  private:
+  int updateMeshDecimation(int width, int height);
   rtabmap::ParametersMap getRtabmapParameters();
+  void updateMeasuringState();
   bool smoothMesh(int id, rtabmap::Mesh & mesh);
   void gainCompensation(bool full = false);
   std::vector<pcl::Vertices> filterOrganizedPolygons(const std::vector<pcl::Vertices> & polygons, int cloudSize) const;
@@ -173,6 +224,7 @@ class RTABMapApp : public UEventsHandler {
  private:
   int cameraDriver_;
   rtabmap::CameraMobile * camera_;
+  rtabmap::SensorCaptureThread * sensorCaptureThread_;
   rtabmap::RtabmapThread * rtabmapThread_;
   rtabmap::Rtabmap * rtabmap_;
   rtabmap::LogHandler * logHandler_;
@@ -184,19 +236,25 @@ class RTABMapApp : public UEventsHandler {
   bool trajectoryMode_;
   bool rawScanSaved_;
   bool smoothing_;
+  float depthBleedingError_;
   bool depthFromMotion_;
   bool cameraColor_;
   bool fullResolution_;
   bool appendMode_;
+  bool useExternalLidar_;
   float maxCloudDepth_;
   float minCloudDepth_;
   int cloudDensityLevel_;
   int meshTrianglePix_;
   float meshAngleToleranceDeg_;
+  float meshDecimationFactor_;
   float clusterRatio_;
   float maxGainRadius_;
   int renderingTextureDecimation_;
   float backgroundColor_;
+  unsigned char depthConfidence_;
+  float upstreamRelocalizationMaxAcc_;
+  std::string exportPointCloudFormat_;
 
   rtabmap::ParametersMap mappingParameters_;
 
@@ -210,7 +268,6 @@ class RTABMapApp : public UEventsHandler {
   bool bilateralFilteringOnNextRender_;
   bool takeScreenshotOnNextRender_;
   bool cameraJustInitialized_;
-  int meshDecimation_;
   int totalPoints_;
   int totalPolygons_;
   int lastDrawnCloudsCount_;
@@ -221,17 +278,34 @@ class RTABMapApp : public UEventsHandler {
 
   bool visualizingMesh_;
   bool exportedMeshUpdated_;
-  pcl::TextureMesh::Ptr optMesh_;
+  pcl::TextureMesh::Ptr optTextureMesh_;
   cv::Mat optTexture_;
+  rtabmap::Mesh optMesh_;
   int optRefId_;
   rtabmap::Transform * optRefPose_; // App crashes when loading native library if not dynamic
-
+  std::list<Measure> measures_; // In opengl frame
+  bool measuresUpdated_;
+  bool metricSystem_;
+  float measuringTextSize_;
+  float snapAxisThr_;
+  std::vector<cv::Vec3f> snapAxes_;
+  int measuringMode_;
+  bool addMeasureClicked_;
+  bool teleportClicked_;
+  bool removeMeasureClicked_;
+  std::vector<cv::Point3f> measuringTmpPts_; // In opengl frame
+  std::vector<cv::Point3f> measuringTmpNormals_; // In opengl frame
+  pcl::PointCloud<pcl::PointXYZRGB>::Ptr targetPoint_;
+  pcl::PointCloud<pcl::PointXYZ>::Ptr quadSample_;
+  std::vector<pcl::Vertices> quadSamplePolygons_;
   // main_scene_ includes all drawable object for visualizing Tango device's
   // movement and point cloud.
   Scene main_scene_;
+    
+    UTimer fpsTime_;
 
 	std::list<rtabmap::RtabmapEvent*> rtabmapEvents_;
-	std::list<rtabmap::OdometryEvent> odomEvents_;
+	std::list<rtabmap::SensorEvent> sensorEvents_;
 	std::list<rtabmap::Transform> poseEvents_;
 
 	rtabmap::Transform mapToOdom_;
@@ -239,7 +313,7 @@ class RTABMapApp : public UEventsHandler {
 	boost::mutex cameraMutex_;
 	boost::mutex rtabmapMutex_;
 	boost::mutex meshesMutex_;
-	boost::mutex odomMutex_;
+	boost::mutex sensorMutex_;
 	boost::mutex poseMutex_;
 	boost::mutex renderingMutex_;
 
@@ -251,6 +325,24 @@ class RTABMapApp : public UEventsHandler {
 	std::pair<rtabmap::RtabmapEventInit::Status, std::string> status_;
 
 	rtabmap::ProgressionStatus progressionStatus_;
+    
+#ifndef __ANDROID__
+    void * swiftClassPtr_;
+    void(*swiftInitCallback)(void *, int, const char *);
+    void(*swiftStatsUpdatedCallback)(void *,
+                             int, int, int, int,
+                             float,
+                             int, int, int, int, int ,int,
+                             float,
+                             int,
+                             float,
+                             int,
+                             float, float, float, float,
+                             int, int,
+                             float, float, float, float, float, float);
+    void(*swiftCameraInfoEventCallback)(void *, int, const char *, const char *);
+    
+#endif
 };
 
 #endif  // TANGO_POINT_CLOUD_POINT_CLOUD_APP_H_

app/android/jni/background_renderer.cc

@@ -34,55 +34,173 @@ const std::string kVertexShader =
 		"   v_TexCoord = a_TexCoord;\n"
 		"}\n";
 
-const std::string kFragmentShader =
+const std::string kFragmentShaderOES =
 	"#extension GL_OES_EGL_image_external : require\n"
-
 	"precision mediump float;\n"
 	"varying vec2 v_TexCoord;\n"
 	"uniform samplerExternalOES sTexture;\n"
+    "uniform bool uRedUnknown;\n"
+	"void main() {\n"
+	"    vec4 sample = texture2D(sTexture, v_TexCoord);\n"
+    "    float grey = 0.21 * sample.r + 0.71 * sample.g + 0.07 * sample.b;\n"
+    "    gl_FragColor = vec4(grey, uRedUnknown?0.0:grey, uRedUnknown?0.0:grey, 0.5);\n"
+	"}\n";
 
+const std::string kFragmentShaderBlendingOES =
+    "#extension GL_OES_EGL_image_external : require\n"
+    "precision mediump float;\n"
+    "varying vec2 v_TexCoord;\n"
+    "uniform samplerExternalOES sTexture;\n"
+	"uniform sampler2D uDepthTexture;\n"
+	"uniform vec2 uScreenScale;\n"
+    "uniform bool uRedUnknown;\n"
+    "void main() {\n"
+    "    vec4 sample = texture2D(sTexture, v_TexCoord);\n"
+    "    vec2 coord = uScreenScale * gl_FragCoord.xy;\n;"
+    "    vec4 depthPacked = texture2D(uDepthTexture, coord);\n"
+    "    float depth = dot(depthPacked, 1./vec4(1.,255.,65025.,16581375.));\n"
+    "    if(depth > 0.0)\n"
+    "        gl_FragColor = vec4(sample.r, sample.g, sample.b, 0.5);\n"
+    "    else {\n"
+    "        float grey = 0.21 * sample.r + 0.71 * sample.g + 0.07 * sample.b;\n"
+    "        gl_FragColor = vec4(grey, uRedUnknown?0.0:grey, uRedUnknown?0.0:grey, 0.5);\n"
+    "    }\n"
+    "}\n";
+
+const std::string kFragmentShader =
+	"precision mediump float;\n"
+	"varying vec2 v_TexCoord;\n"
+    "uniform sampler2D sTexture;\n"
+    "uniform bool uRedUnknown;\n"
 	"void main() {\n"
 	"    vec4 sample = texture2D(sTexture, v_TexCoord);\n"
 	"    float grey = 0.21 * sample.r + 0.71 * sample.g + 0.07 * sample.b;\n"
-	"    gl_FragColor = vec4(grey, grey, grey, 0.5);\n"
+	"    gl_FragColor = vec4(grey, uRedUnknown?0.0:grey, uRedUnknown?0.0:grey, 0.5);\n"
 	"}\n";
 
+const std::string kFragmentShaderBlending =
+    "precision mediump float;\n"
+    "varying vec2 v_TexCoord;\n"
+    "uniform sampler2D sTexture;\n"
+    "uniform sampler2D uDepthTexture;\n"
+    "uniform vec2 uScreenScale;\n"
+    "uniform bool uRedUnknown;\n"
+    "void main() {\n"
+    "    vec4 sample = texture2D(sTexture, v_TexCoord);\n"
+    "    vec2 coord = uScreenScale * gl_FragCoord.xy;\n;"
+    "    vec4 depthPacked = texture2D(uDepthTexture, coord);\n"
+    "    float depth = dot(depthPacked, 1./vec4(1.,255.,65025.,16581375.));\n"
+    "    if(depth > 0.0)\n"
+    "        gl_FragColor = vec4(sample.r, sample.g, sample.b, 0.5);\n"
+    "    else {\n"
+    "        float grey = 0.21 * sample.r + 0.71 * sample.g + 0.07 * sample.b;\n"
+    "        gl_FragColor = vec4(grey, uRedUnknown?0.0:grey, uRedUnknown?0.0:grey, 0.5);\n"
+    "    }\n"
+    "}\n";
+
+/* To debug depth texture
+ const std::string kFragmentShader =
+     "precision mediump float;\n"
+     "varying vec2 v_TexCoord;\n"
+     "uniform sampler2D sTexture;\n"
+
+     "void main() {\n"
+     "  float uNearZ = 0.2;\n"
+     "  float uFarZ = 1000.0;\n"
+     "  float depth = texture2D(sTexture, v_TexCoord).r;\n"
+     "  float num =  (2.0 * uNearZ * uFarZ);\n"
+     "  float diff = (uFarZ - uNearZ);\n"
+     "  float add = (uFarZ + uNearZ);\n"
+     "  float ndcDepth = depth * 2.0 - 1.0;\n" // Back to NDC
+     "  float linearDepth = num / (add - ndcDepth * diff);\n" // inverse projection matrix
+     "  float grey = linearDepth/3.0;\n"
+     "  gl_FragColor = vec4(grey, grey, grey, 0.5);\n"
+     "}\n";
+ */
+
 }  // namespace
 
-void BackgroundRenderer::InitializeGlContent(GLuint textureId)
-{
-  texture_id_ = textureId;
+std::vector<GLuint> BackgroundRenderer::shaderPrograms_;
 
-  shader_program_ = tango_gl::util::CreateProgram(kVertexShader.c_str(), kFragmentShader.c_str());
-  if (!shader_program_) {
-    LOGE("Could not create program.");
-  }
-  glUseProgram(shader_program_);
-  attribute_vertices_ = glGetAttribLocation(shader_program_, "a_Position");
-  attribute_uvs_ = glGetAttribLocation(shader_program_, "a_TexCoord");
-  glUseProgram(0);
+BackgroundRenderer::~BackgroundRenderer()
+{
+	for(unsigned int i=0; i<shaderPrograms_.size(); ++i)
+	{
+		glDeleteShader(shaderPrograms_[i]);
+	}
+	shaderPrograms_.clear();
 }
 
-void BackgroundRenderer::Draw(const float * transformed_uvs) {
-  static_assert(std::extent<decltype(BackgroundRenderer_kVertices)>::value == kNumVertices * 2, "Incorrect kVertices length");
+void BackgroundRenderer::InitializeGlContent(GLuint textureId, bool oes)
+{
+	LOGI("textureId=%d", textureId);
 
-  glUseProgram(shader_program_);
+  texture_id_ = textureId;
+#ifdef __ANDROID__
+  oes_ = oes;
+#endif
+
+    if(shaderPrograms_.empty())
+    {
+        shaderPrograms_.resize(2,0);
+        shaderPrograms_[0] = tango_gl::util::CreateProgram(
+              kVertexShader.c_str(),
+              oes_?kFragmentShaderOES.c_str():kFragmentShader.c_str());
+        UASSERT(shaderPrograms_[0]!=0);
+        shaderPrograms_[1] = tango_gl::util::CreateProgram(
+              kVertexShader.c_str(),
+              oes_?kFragmentShaderBlendingOES.c_str():kFragmentShaderBlending.c_str());
+        UASSERT(shaderPrograms_[1]!=0);
+    }
+}
+
+void BackgroundRenderer::Draw(const float * transformed_uvs, const GLuint & depthTexture, int screenWidth, int screenHeight, bool redUnknown) {
+  static_assert(std::extent<decltype(BackgroundRenderer_kVerticesDevice)>::value == kNumVertices * 2, "Incorrect kVertices length");
+
+  GLuint program = shaderPrograms_[depthTexture>0?1:0];
+    
+  glUseProgram(program);
   glDepthMask(GL_FALSE);
   glEnable (GL_BLEND);
 
   glActiveTexture(GL_TEXTURE0);
-  glBindTexture(GL_TEXTURE_EXTERNAL_OES, texture_id_);
+#ifdef __ANDROID__
+  if(oes_)
+    glBindTexture(GL_TEXTURE_EXTERNAL_OES, texture_id_);
+  else
+#endif
+    glBindTexture(GL_TEXTURE_2D, texture_id_);
 
-  glVertexAttribPointer(attribute_vertices_, 2, GL_FLOAT, GL_FALSE, 0, BackgroundRenderer_kVertices);
-  glVertexAttribPointer(attribute_uvs_, 2, GL_FLOAT, GL_FALSE, 0, transformed_uvs);
+  if(depthTexture>0)
+  {
+    // Texture activate unit 1
+    glActiveTexture(GL_TEXTURE1);
+    // Bind the texture to this unit.
+    glBindTexture(GL_TEXTURE_2D, depthTexture);
+    // Tell the texture uniform sampler to use this texture in the shader by binding to texture unit 1.
+    GLuint depth_texture_handle = glGetUniformLocation(program, "uDepthTexture");
+    glUniform1i(depth_texture_handle, 1);
+      
+    GLuint screenScale_handle = glGetUniformLocation(program, "uScreenScale");
+    glUniform2f(screenScale_handle, 1.0f/(float)screenWidth, 1.0f/(float)screenHeight);
+  }
+    
+  GLuint screenScale_handle = glGetUniformLocation(program, "uRedUnknown");
+  glUniform1i(screenScale_handle, redUnknown);
 
-  glEnableVertexAttribArray(attribute_vertices_);
-  glEnableVertexAttribArray(attribute_uvs_);
+  GLuint attributeVertices = glGetAttribLocation(program, "a_Position");
+  GLuint attributeUvs = glGetAttribLocation(program, "a_TexCoord");
+
+  glVertexAttribPointer(attributeVertices, 2, GL_FLOAT, GL_FALSE, 0, BackgroundRenderer_kVerticesDevice);
+  glVertexAttribPointer(attributeUvs, 2, GL_FLOAT, GL_FALSE, 0, transformed_uvs?transformed_uvs:BackgroundRenderer_kTexCoord);
+
+  glEnableVertexAttribArray(attributeVertices);
+  glEnableVertexAttribArray(attributeUvs);
 
   glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
 
-  glDisableVertexAttribArray(attribute_vertices_);
-  glDisableVertexAttribArray(attribute_uvs_);
+  glDisableVertexAttribArray(attributeVertices);
+  glDisableVertexAttribArray(attributeUvs);
 
   glUseProgram(0);
   glDepthMask(GL_TRUE);

app/android/jni/background_renderer.h

@@ -17,15 +17,36 @@
 #ifndef C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_
 #define C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_
 
+#ifdef __ANDROID__
 #include <GLES2/gl2.h>
 #include <GLES2/gl2ext.h>
+#else // __APPLE__
+#include <OpenGLES/ES2/gl.h>
+#include <OpenGLES/ES2/glext.h>
+#endif
 #include <cstdlib>
 
 #include "util.h"
 
-static const GLfloat BackgroundRenderer_kVertices[] = {
+static const GLfloat BackgroundRenderer_kVerticesDevice[] = {
 	-1.0f, -1.0f, +1.0f, -1.0f, -1.0f, +1.0f, +1.0f, +1.0f,
 };
+//static const GLfloat BackgroundRenderer_kVerticesView[] = {
+//	0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 1.0f,
+//};
+static const GLfloat BackgroundRenderer_kVerticesView[] = {
+	0.0f, 1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f,
+};
+static const GLfloat BackgroundRenderer_kTexCoord[] = {
+   1.0f, 1.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
+};
+
+//android phone
+//11 10 01 00 // portrait
+//01 11 00 10 // left
+//10 00 11 01 // right
+//00 01 10 11 // down
+
 
 // This class renders the passthrough camera image into the OpenGL frame.
 class BackgroundRenderer {
@@ -36,23 +57,20 @@ public:
 
  public:
   BackgroundRenderer() = default;
-  ~BackgroundRenderer() = default;
+  ~BackgroundRenderer();
 
   // Sets up OpenGL state.  Must be called on the OpenGL thread and before any
   // other methods below.
-  void InitializeGlContent(GLuint textureId);
+  void InitializeGlContent(GLuint textureId, bool oes);
 
   // Draws the background image.  This methods must be called for every ArFrame
   // returned by ArSession_update() to catch display geometry change events.
-  void Draw(const float * transformed_uvs);
+  void Draw(const float * transformed_uvs, const GLuint & depthTexture, int screenWidth, int screenHeight, bool redUnknown);
 
- private:
-
-  GLuint shader_program_;
+private:
+  static std::vector<GLuint> shaderPrograms_;
   GLuint texture_id_;
-
-  GLuint attribute_vertices_;
-  GLuint attribute_uvs_;
+  bool oes_ = false;
 };
 
 #endif  // C_ARCORE_AUGMENTED_IMAGE_BACKGROUND_RENDERER_H_

app/android/jni/graph_drawable.cpp

@@ -31,7 +31,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/ULogger.h"
 #include "util.h"
 
+#ifdef __ANDROID__
 #include <GLES2/gl2.h>
+#else //__APPLE__
+#include <OpenGLES/ES2/gl.h>
+#endif
 
 GraphDrawable::GraphDrawable(
 		GLuint shaderProgram,

app/android/jni/graph_drawable.h

@@ -28,8 +28,9 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef GRAPH_DRAWABLE_H_
 #define GRAPH_DRAWABLE_H_
 
+#ifdef __ANDROID__
 #include <jni.h>
-
+#endif
 #include <tango-gl/util.h>
 #include <vector>
 #include <pcl/point_cloud.h>

app/android/jni/jni_interface.cpp

@@ -89,13 +89,13 @@ Java_com_introlab_rtabmap_RTABMapLib_setScreenRotation(
 
 JNIEXPORT int JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_openDatabase(
-    JNIEnv* env, jclass, jlong native_application, jstring databasePath, bool databaseInMemory, bool optimize)
+    JNIEnv* env, jclass, jlong native_application, jstring databasePath, bool databaseInMemory, bool optimize, bool clearDatabase)
 {
 	std::string databasePathC;
 	GetJStringContent(env,databasePath,databasePathC);
 	if(native_application)
 	{
-		return native(native_application)->openDatabase(databasePathC, databaseInMemory, optimize);
+		return native(native_application)->openDatabase(databasePathC, databaseInMemory, optimize, clearDatabase);
 	}
 	else
 	{
@@ -104,17 +104,17 @@ Java_com_introlab_rtabmap_RTABMapLib_openDatabase(
 	}
 }
 
-JNIEXPORT int JNICALL
-Java_com_introlab_rtabmap_RTABMapLib_openDatabase2(
-    JNIEnv* env, jclass, jlong native_application, jstring databaseSource, jstring databasePath, bool databaseInMemory, bool optimize)
+JNIEXPORT bool JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_recover(
+    JNIEnv* env, jclass, jlong native_application, jstring from, jstring to)
 {
 	if(native_application)
 	{
-		std::string databasePathC;
-		GetJStringContent(env,databasePath,databasePathC);
-		std::string databaseSourceC;
-		GetJStringContent(env,databaseSource,databaseSourceC);
-		return native(native_application)->openDatabase(databasePathC, databaseInMemory, optimize, databaseSourceC);
+		std::string toC;
+		GetJStringContent(env,to,toC);
+		std::string fromC;
+		GetJStringContent(env,from,fromC);
+		return native(native_application)->recover(fromC, toC);
 	}
 	else
 	{
@@ -512,6 +512,19 @@ Java_com_introlab_rtabmap_RTABMapLib_setSmoothing(
 	}
 }
 JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setDepthBleedingError(
+		JNIEnv*, jclass, jlong native_application, float value)
+{
+	if(native_application)
+	{
+		return native(native_application)->setDepthBleedingError(value);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+JNIEXPORT void JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_setDepthFromMotion(
 		JNIEnv*, jclass, jlong native_application, bool enabled)
 {
@@ -550,6 +563,20 @@ Java_com_introlab_rtabmap_RTABMapLib_setAppendMode(
 		UERROR("native_application is null!");
 	}
 }
+JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setUpstreamRelocalizationAccThr(
+		JNIEnv*, jclass, jlong native_application, float value)
+{
+	if(native_application)
+	{
+		return native(native_application)->setUpstreamRelocalizationAccThr(value);
+	}
+	else
+	{
+		UERROR("native_application is null!");
+	}
+}
+
 JNIEXPORT void JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_setDataRecorderMode(
 		JNIEnv*, jclass, jlong native_application, bool enabled)
@@ -807,6 +834,7 @@ Java_com_introlab_rtabmap_RTABMapLib_exportMesh(
 					optimizedMinClusterSize,
 					optimizedMaxTextureDistance,
 					optimizedMinTextureClusterSize,
+					0,
 					blockRendering);
 	}
 	else
@@ -867,13 +895,39 @@ Java_com_introlab_rtabmap_RTABMapLib_postProcessing(
 }
 
 JNIEXPORT void JNICALL
-Java_com_introlab_rtabmap_RTABMapLib_postCameraPoseEvent(
+Java_com_introlab_rtabmap_RTABMapLib_postOdometryEvent(
 		JNIEnv* env, jclass, jlong native_application,
-		float x, float y, float z, float qx, float qy, float qz, float qw)
+		float x, float y, float z, float qx, float qy, float qz, float qw,
+		float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
+		float rgbFrameX, float rgbFrameY, float rgbFrameZ, float rgbFrameQX, float rgbFrameQY, float rgbFrameQZ, float rgbFrameQW,
+		double stamp,
+		jobject yPlane, jobject uPlane, jobject vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
+		jobject points, int pointsLen,
+		float vx, float vy, float vz, float vqx, float vqy, float vqz, float vqw, //view matrix
+		float p00, float p11, float p02, float p12, float p22, float p32, float p23, // projection matrix
+		float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7) // tex coord
 {
 	if(native_application)
 	{
-		native(native_application)->postCameraPoseEvent(x,y,z,qx,qy,qz,qw);
+		void *yPtr = env->GetDirectBufferAddress(yPlane);
+		void *uPtr = env->GetDirectBufferAddress(uPlane);
+		void *vPtr = env->GetDirectBufferAddress(vPlane);
+		float *pointsPtr = (float *)env->GetDirectBufferAddress(points);
+		native(native_application)->postOdometryEvent(
+				rtabmap::Transform(x,y,z,qx,qy,qz,qw),
+				rgb_fx,rgb_fy,rgb_cx,rgb_cy,
+				0,0,0,0,
+				rtabmap::Transform(rgbFrameX, rgbFrameY, rgbFrameZ, rgbFrameQX, rgbFrameQY, rgbFrameQZ, rgbFrameQW),
+				rtabmap::Transform(),
+				stamp,
+				0,
+				yPtr, uPtr, vPtr, yPlaneLen, rgbWidth, rgbHeight, rgbFormat,
+				0,0,0,0,0, //depth
+				0,0,0,0,0, //conf
+				pointsPtr, pointsLen, 4,
+				rtabmap::Transform(vx, vy, vz, vqx, vqy, vqz, vqw),
+				p00, p11, p02, p12, p22, p32, p23,
+				t0, t1, t2, t3, t4, t5, t6, t7);
 	}
 	else
 	{
@@ -883,37 +937,43 @@ Java_com_introlab_rtabmap_RTABMapLib_postCameraPoseEvent(
 }
 
 JNIEXPORT void JNICALL
-Java_com_introlab_rtabmap_RTABMapLib_postOdometryEvent(
+Java_com_introlab_rtabmap_RTABMapLib_postOdometryEventDepth(
 		JNIEnv* env, jclass, jlong native_application,
 		float x, float y, float z, float qx, float qy, float qz, float qw,
-		float fx, float fy, float cx, float cy,
-		double stamp,
+		float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
+		float depth_fx, float depth_fy, float depth_cx, float depth_cy,
+		float rgbFrameX, float rgbFrameY, float rgbFrameZ, float rgbFrameQX, float rgbFrameQY, float rgbFrameQZ, float rgbFrameQW,
+		float depthFrameX, float depthFrameY, float depthFrameZ, float depthFrameQX, float depthFrameQY, float depthFrameQZ, float depthFrameQW,
+		double rgbStamp,
+		double depthStamp,
 		jobject yPlane, jobject uPlane, jobject vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
-		jobject depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
-		jobject points, int pointsLen)
-{
-	if(native_application)
-	{
+ 		jobject depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
+ 		jobject points, int pointsLen,
+		float vx, float vy, float vz, float vqx, float vqy, float vqz, float vqw, //view matrix
+		float p00, float p11, float p02, float p12, float p22, float p32, float p23, // projection matrix
+		float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7) // tex coord)
+ {
 		void *yPtr = env->GetDirectBufferAddress(yPlane);
 		void *uPtr = env->GetDirectBufferAddress(uPlane);
 		void *vPtr = env->GetDirectBufferAddress(vPlane);
-		void *depthPtr = env->GetDirectBufferAddress(depth);
-		float *pointsPtr = (float *)env->GetDirectBufferAddress(points);
-		native(native_application)->postOdometryEvent(
-				x,y,z,qx,qy,qz,qw,
-				fx,fy,cx,cy,
-				stamp,
-				yPtr, uPtr, vPtr, yPlaneLen, rgbWidth, rgbHeight, rgbFormat,
-				depthPtr, depthLen, depthWidth, depthHeight, depthFormat,
-				pointsPtr, pointsLen);
-	}
-	else
-	{
-		UERROR("native_application is null!");
-		return;
-	}
-}
-
+ 		void *depthPtr = env->GetDirectBufferAddress(depth);
+ 		float *pointsPtr = (float *)env->GetDirectBufferAddress(points);
+ 		native(native_application)->postOdometryEvent(
+				rtabmap::Transform(x,y,z,qx,qy,qz,qw),
+				rgb_fx,rgb_fy,rgb_cx,rgb_cy,
+				depth_fx,depth_fy,depth_cx,depth_cy,
+				rtabmap::Transform(rgbFrameX, rgbFrameY, rgbFrameZ, rgbFrameQX, rgbFrameQY, rgbFrameQZ, rgbFrameQW),
+				rtabmap::Transform(depthFrameX, depthFrameY, depthFrameZ, depthFrameQX, depthFrameQY, depthFrameQZ, depthFrameQW),
+				rgbStamp,
+				depthStamp,
+ 				yPtr, uPtr, vPtr, yPlaneLen, rgbWidth, rgbHeight, rgbFormat,
+ 				depthPtr, depthLen, depthWidth, depthHeight, depthFormat,
+				0,0,0,0,0, // conf
+ 				pointsPtr, pointsLen, 4,
+				rtabmap::Transform(vx, vy, vz, vqx, vqy, vqz, vqw),
+				p00, p11, p02, p12, p22, p32, p23,
+				t0, t1, t2, t3, t4, t5, t6, t7);
+ }
 
 
 #ifdef __cplusplus

app/android/jni/point_cloud_drawable.cpp

@@ -35,7 +35,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "util.h"
 #include "pcl/common/transforms.h"
 
+#ifdef __ANDROID__
 #include <GLES2/gl2.h>
+#else // __APPLE__
+#include <OpenGLES/ES2/gl.h>
+#endif
 
 #define LOW_DEC 2
 #define LOWLOW_DEC 4
@@ -57,7 +61,7 @@ enum PointCloudShaders
 
 // PointCloud shaders
 const std::string kPointCloudVertexShader =
-    "precision mediump float;\n"
+    "precision highp float;\n"
     "precision mediump int;\n"
     "attribute vec3 aVertex;\n"
     "attribute vec3 aColor;\n"
@@ -75,7 +79,7 @@ const std::string kPointCloudVertexShader =
     "  vColor = aColor;\n"
     "}\n";
 const std::string kPointCloudLightingVertexShader =
-    "precision mediump float;\n"
+    "precision highp float;\n"
     "precision mediump int;\n"
     "attribute vec3 aVertex;\n"
 	"attribute vec3 aNormal;\n"
@@ -100,7 +104,7 @@ const std::string kPointCloudLightingVertexShader =
     "}\n";
 
 const std::string kPointCloudFragmentShader =
-    "precision mediump float;\n"
+    "precision highp float;\n"
     "precision mediump int;\n"
 	"uniform float uGainR;\n"
 	"uniform float uGainG;\n"
@@ -127,7 +131,8 @@ const std::string kPointCloudBlendingFragmentShader =
     "  vec4 textureColor = vec4(vColor.z, vColor.y, vColor.x, 1.0);\n"
 	"  float alpha = 1.0;\n"
 	"  vec2 coord = uScreenScale * gl_FragCoord.xy;\n;"
-	"  float depth = texture2D(uDepthTexture, coord).r;\n"
+	"  vec4 depthPacked = texture2D(uDepthTexture, coord);\n"
+	"  float depth = dot(depthPacked, 1./vec4(1.,255.,65025.,16581375.));\n"
 	"  float num =  (2.0 * uNearZ * uFarZ);\n"
 	"  float diff = (uFarZ - uNearZ);\n"
 	"  float add = (uFarZ + uNearZ);\n"
@@ -141,7 +146,7 @@ const std::string kPointCloudBlendingFragmentShader =
     "}\n";
 
 const std::string kPointCloudDepthPackingVertexShader =
-    "precision mediump float;\n"
+    "precision highp float;\n"
     "precision mediump int;\n"
     "attribute vec3 aVertex;\n"
     "uniform mat4 uMVP;\n"
@@ -154,21 +159,23 @@ const std::string kPointCloudDepthPackingFragmentShader =
     "precision highp float;\n"
     "precision mediump int;\n"
     "void main() {\n"
-	"  float toFixed = 255.0/256.0;\n"
-	"  vec4 enc = vec4(1.0, 255.0, 65025.0, 160581375.0) * toFixed * gl_FragCoord.z;\n"
+	"  vec4 enc = vec4(1.,255.,65025.,16581375.) * gl_FragCoord.z;\n"
 	"  enc = fract(enc);\n"
+	"  enc -= enc.yzww * vec2(1./255., 0.).xxxy;\n"
 	"  gl_FragColor = enc;\n"
     "}\n";
 
 // Texture shaders
 const std::string kTextureMeshVertexShader =
-    "precision mediump float;\n"
+    "precision highp float;\n"
     "precision mediump int;\n"
     "attribute vec3 aVertex;\n"
+	"attribute vec3 aColor;\n"
     "attribute vec2 aTexCoord;\n"
 
     "uniform mat4 uMVP;\n"
 
+	"varying vec3 vColor;\n"
     "varying vec2 vTexCoord;\n"
     "varying float vLightWeighting;\n"
 
@@ -182,12 +189,14 @@ const std::string kTextureMeshVertexShader =
     "    vTexCoord = aTexCoord;\n"
     "  }\n"
 
+	"  vColor = aColor;\n"
     "  vLightWeighting = 1.0;\n"
     "}\n";
 const std::string kTextureMeshLightingVertexShader =
-    "precision mediump float;\n"
+    "precision highp float;\n"
     "precision mediump int;\n"
     "attribute vec3 aVertex;\n"
+	"attribute vec3 aColor;\n"
 	"attribute vec3 aNormal;\n"
     "attribute vec2 aTexCoord;\n"
 
@@ -195,6 +204,7 @@ const std::string kTextureMeshLightingVertexShader =
     "uniform mat3 uN;\n"
     "uniform vec3 uLightingDirection;\n"
 
+	"varying vec3 vColor;\n"
     "varying vec2 vTexCoord;\n"
     "varying float vLightWeighting;\n"
 
@@ -208,23 +218,35 @@ const std::string kTextureMeshLightingVertexShader =
     "    vTexCoord = aTexCoord;\n"
     "  }\n"
 
+	"  vColor = aColor;\n"
     "  vec3 transformedNormal = uN * aNormal;\n"
     "  vLightWeighting = max(dot(transformedNormal, uLightingDirection)*0.5+0.5, 0.0);\n"
     "  if(vLightWeighting<0.5) \n"
     "    vLightWeighting=0.5;\n"
     "}\n";
 const std::string kTextureMeshFragmentShader =
-    "precision mediump float;\n"
+    "precision highp float;\n"
     "precision mediump int;\n"
 	"uniform sampler2D uTexture;\n"
 	"uniform float uGainR;\n"
 	"uniform float uGainG;\n"
 	"uniform float uGainB;\n"
+	"uniform int uHideSeams;\n"
+	"varying vec3 vColor;\n"
     "varying vec2 vTexCoord;\n"
 	"varying float vLightWeighting;\n"
 	""
     "void main() {\n"
-    "  vec4 textureColor = texture2D(uTexture, vTexCoord);\n"
+	"  vec4 textureColor;\n"
+	"  if(uHideSeams==1) {\n"
+	"    if(vTexCoord.x>0.99 && vTexCoord.y>0.99) {\n"
+	"      textureColor = vec4(vColor.z, vColor.y, vColor.x, 1.0);\n"
+	"    } else {\n"
+    "      textureColor = texture2D(uTexture, vTexCoord);\n"
+	"    }\n"
+    "  } else {\n"
+    "    textureColor = texture2D(uTexture, vTexCoord) * vec4(vColor.z, vColor.y, vColor.x, 1.0);\n"
+    "  }\n"
 	"  gl_FragColor = vec4(textureColor.r * uGainR * vLightWeighting, textureColor.g * uGainG * vLightWeighting, textureColor.b * uGainB * vLightWeighting, textureColor.a);\n"
     "}\n";
 const std::string kTextureMeshBlendingFragmentShader =
@@ -238,14 +260,16 @@ const std::string kTextureMeshBlendingFragmentShader =
 	"uniform vec2 uScreenScale;\n"
 	"uniform float uNearZ;\n"
 	"uniform float uFarZ;\n"
+	"varying vec3 vColor;\n"
     "varying vec2 vTexCoord;\n"
 	"varying float vLightWeighting;\n"
 	""
     "void main() {\n"
-    "  vec4 textureColor = texture2D(uTexture, vTexCoord);\n"
+	"  vec4 textureColor = texture2D(uTexture, vTexCoord);\n"
     "  float alpha = 1.0;\n"
 	"  vec2 coord = uScreenScale * gl_FragCoord.xy;\n;"
-	"  float depth = texture2D(uDepthTexture, coord).r;\n"
+	"  vec4 depthPacked = texture2D(uDepthTexture, coord);\n"
+	"  float depth = dot(depthPacked, 1./vec4(1.,255.,65025.,16581375.));\n"
 	"  float num =  (2.0 * uNearZ * uFarZ);\n"
 	"  float diff = (uFarZ - uNearZ);\n"
 	"  float add = (uFarZ + uNearZ);\n"
@@ -255,7 +279,7 @@ const std::string kTextureMeshBlendingFragmentShader =
 	"  float linearFragz = num / (add - ndcFragz * diff);\n" // inverse projection matrix
 	"  if(linearFragz > linearDepth + 0.05)\n"
 	"    alpha=0.0;\n"
-	"  gl_FragColor = vec4(textureColor.r * uGainR * vLightWeighting, textureColor.g * uGainG * vLightWeighting, textureColor.b * uGainB * vLightWeighting, alpha);\n"
+    "  gl_FragColor = vec4(textureColor.r * uGainR * vLightWeighting, textureColor.g * uGainG * vLightWeighting, textureColor.b * uGainB * vLightWeighting, alpha);\n"
     "}\n";
 
 std::vector<GLuint> PointCloudDrawable::shaderPrograms_;
@@ -303,8 +327,8 @@ PointCloudDrawable::PointCloudDrawable(
 		float gainR,
 		float gainG,
 		float gainB) :
-				vertex_buffers_(0),
-				textures_(0),
+				vertex_buffer_(0),
+				texture_(0),
 				nPoints_(0),
 				pose_(rtabmap::Transform::getIdentity()),
 				poseGl_(1.0f),
@@ -314,14 +338,16 @@ PointCloudDrawable::PointCloudDrawable(
 				gainG_(gainG),
 				gainB_(gainB)
 {
+    index_buffers_.resize(6, 0);
+    index_buffers_count_.resize(6, 0);
 	updateCloud(cloud, indices);
 }
 
 PointCloudDrawable::PointCloudDrawable(
 		const rtabmap::Mesh & mesh,
 		bool createWireframe) :
-				vertex_buffers_(0),
-				textures_(0),
+				vertex_buffer_(0),
+				texture_(0),
 				nPoints_(0),
 				pose_(rtabmap::Transform::getIdentity()),
 				poseGl_(1.0f),
@@ -331,64 +357,83 @@ PointCloudDrawable::PointCloudDrawable(
 				gainG_(1.0f),
 				gainB_(1.0f)
 {
+    index_buffers_.resize(6, 0);
+    index_buffers_count_.resize(6, 0);
 	updateMesh(mesh, createWireframe);
 }
 
 PointCloudDrawable::~PointCloudDrawable()
 {
-	LOGI("Freeing cloud buffer %d", vertex_buffers_);
-	if (vertex_buffers_)
+	LOGI("Freeing cloud buffer %d", vertex_buffer_);
+	if (vertex_buffer_)
 	{
-		glDeleteBuffers(1, &vertex_buffers_);
+		glDeleteBuffers(1, &vertex_buffer_);
 		tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
-		vertex_buffers_ = 0;
+		vertex_buffer_ = 0;
 	}
 
-	if (textures_)
+	if (texture_)
 	{
-		glDeleteTextures(1, &textures_);
+		glDeleteTextures(1, &texture_);
 		tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
-		textures_ = 0;
+		texture_ = 0;
 	}
+    
+    for(size_t i=0; i<index_buffers_.size(); ++i)
+    {
+        if(index_buffers_[i])
+        {
+            glDeleteBuffers(1, &index_buffers_[i]);
+            index_buffers_[i] = 0;
+            tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
+        }
+    }
 }
 
 void PointCloudDrawable::updatePolygons(const std::vector<pcl::Vertices> & polygons, const std::vector<pcl::Vertices> & polygonsLowRes, bool createWireframe)
 {
-	LOGD("Update polygons");
-	polygons_.clear();
-	polygonLines_.clear();
-	polygonsLowRes_.clear();
-	polygonLinesLowRes_.clear();
+    for(int i=0; i<4; ++i)
+    {
+        if(index_buffers_[i])
+        {
+            glDeleteBuffers(1, &index_buffers_[i]);
+            index_buffers_[i] = 0;
+            tango_gl::util::CheckGlError("PointCloudDrawable::updatePolygons() clearing polygon buffers");
+        }
+    }
+    
+	//LOGD("Update polygons");
 	if(polygons.size() && organizedToDenseIndices_.size())
 	{
-		unsigned int polygonSize = polygons[0].vertices.size();
+		size_t polygonSize = polygons[0].vertices.size();
 		UASSERT(polygonSize == 3);
-		polygons_.resize(polygons.size() * polygonSize);
+        std::vector<std::vector<GLuint> > indexes(4);
+        indexes[0].resize(polygons.size() * polygonSize);
 		if(createWireframe)
-			polygonLines_.resize(polygons_.size()*2);
+            indexes[2].resize(indexes[0].size()*2);
 		int oi = 0;
 		int li = 0;
-		for(unsigned int i=0; i<polygons.size(); ++i)
+        for(size_t i=0; i<polygons.size(); ++i)
 		{
 			UASSERT(polygons[i].vertices.size() == polygonSize);
 			for(unsigned int j=0; j<polygonSize; ++j)
 			{
-				polygons_[oi++] = organizedToDenseIndices_.at(polygons[i].vertices[j]);
+                indexes[0][oi++] = organizedToDenseIndices_.at(polygons[i].vertices[j]);
 				if(createWireframe)
 				{
-					polygonLines_[li++] = organizedToDenseIndices_.at(polygons[i].vertices[j]);
-					polygonLines_[li++] = organizedToDenseIndices_.at(polygons[i].vertices[(j+1) % polygonSize]);
+                    indexes[2][li++] = organizedToDenseIndices_.at(polygons[i].vertices[j]);
+                    indexes[2][li++] = organizedToDenseIndices_.at(polygons[i].vertices[(j+1) % polygonSize]);
 				}
 			}
 		}
 
 		if(polygonsLowRes.size())
 		{
-			unsigned int polygonSize = polygonsLowRes[0].vertices.size();
+			size_t polygonSize = polygonsLowRes[0].vertices.size();
 			UASSERT(polygonSize == 3);
-			polygonsLowRes_.resize(polygonsLowRes.size() * polygonSize);
+            indexes[1].resize(polygonsLowRes.size() * polygonSize);
 			if(createWireframe)
-				polygonLinesLowRes_.resize(polygonsLowRes_.size()*2);
+                indexes[3].resize(indexes[1].size()*2);
 			int oi = 0;
 			int li = 0;
 			for(unsigned int i=0; i<polygonsLowRes.size(); ++i)
@@ -396,15 +441,44 @@ void PointCloudDrawable::updatePolygons(const std::vector<pcl::Vertices> & polyg
 				UASSERT(polygonsLowRes[i].vertices.size() == polygonSize);
 				for(unsigned int j=0; j<polygonSize; ++j)
 				{
-					polygonsLowRes_[oi++] = organizedToDenseIndices_.at(polygonsLowRes[i].vertices[j]);
+                    indexes[1][oi++] = organizedToDenseIndices_.at(polygonsLowRes[i].vertices[j]);
 					if(createWireframe)
 					{
-						polygonLinesLowRes_[li++] = organizedToDenseIndices_.at(polygonsLowRes[i].vertices[j]);
-						polygonLinesLowRes_[li++] = organizedToDenseIndices_.at(polygonsLowRes[i].vertices[(j+1)%polygonSize]);
+                        indexes[3][li++] = organizedToDenseIndices_.at(polygonsLowRes[i].vertices[j]);
+                        indexes[3][li++] = organizedToDenseIndices_.at(polygonsLowRes[i].vertices[(j+1)%polygonSize]);
 					}
 				}
 			}
 		}
+        
+        // Generate index buffers
+        for(size_t i=0; i<indexes.size(); ++i)
+        {
+            if(!indexes[i].empty())
+            {
+                glGenBuffers(1, &index_buffers_[i]);
+                if(!index_buffers_[i])
+                {
+                    LOGE("OpenGL: could not generate index buffer %ld\n", i);
+                    return;
+                }
+                
+                LOGD("Adding polygon index %ld size=%ld", i, indexes[i].size());
+                
+                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffers_[i]);
+                glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(uint32_t) * indexes[i].size(), indexes[i].data(), GL_STATIC_DRAW);
+                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+                index_buffers_count_[i] = (int)indexes[i].size();
+
+                GLint error = glGetError();
+                if(error != GL_NO_ERROR)
+                {
+                    LOGE("OpenGL: Could not allocate indexes (0x%x)\n", error);
+                    index_buffers_[i] = 0;
+                    return;
+                }
+            }
+        }
 	}
 }
 
@@ -412,43 +486,51 @@ void PointCloudDrawable::updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Pt
 {
 	UASSERT(cloud.get() && !cloud->empty());
 	nPoints_ = 0;
-	polygons_.clear();
-	polygonsLowRes_.clear();
-	verticesLowRes_.clear();
-	verticesLowLowRes_.clear();
 	aabbMinModel_ = aabbMinWorld_ = pcl::PointXYZ(1000,1000,1000);
 	aabbMaxModel_ = aabbMaxWorld_ = pcl::PointXYZ(-1000,-1000,-1000);
 
-	if (vertex_buffers_)
+	if (vertex_buffer_)
 	{
-		glDeleteBuffers(1, &vertex_buffers_);
-		tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
-		vertex_buffers_ = 0;
+		glDeleteBuffers(1, &vertex_buffer_);
+		tango_gl::util::CheckGlError("PointCloudDrawable::updateCloud() clear vertex buffer");
+		vertex_buffer_ = 0;
 	}
 
-	if (textures_)
+	if (texture_)
 	{
-		glDeleteTextures(1, &textures_);
-		tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
-		textures_ = 0;
+		glDeleteTextures(1, &texture_);
+		tango_gl::util::CheckGlError("PointCloudDrawable::updateCloud() clear texture buffer");
+		texture_ = 0;
 	}
+    
+    for(size_t i=0; i<index_buffers_.size(); ++i)
+    {
+        if(index_buffers_[i])
+        {
+            glDeleteBuffers(1, &index_buffers_[i]);
+            index_buffers_[i] = 0;
+            tango_gl::util::CheckGlError("PointCloudDrawable::updateCloud() clear index buffer");
+        }
+    }
 
-	glGenBuffers(1, &vertex_buffers_);
-	if(!vertex_buffers_)
+	glGenBuffers(1, &vertex_buffer_);
+	if(!vertex_buffer_)
 	{
 		LOGE("OpenGL: could not generate vertex buffers\n");
 		return;
 	}
 
-	LOGI("Creating cloud buffer %d", vertex_buffers_);
+	LOGI("Creating cloud buffer %d", vertex_buffer_);
 	std::vector<float> vertices;
-	int totalPoints = 0;
+	size_t totalPoints = 0;
+    std::vector<GLuint> verticesLowRes;
+    std::vector<GLuint> verticesLowLowRes;
 	if(indices.get() && indices->size())
 	{
 		totalPoints = indices->size();
 		vertices.resize(indices->size()*4);
-		verticesLowRes_.resize(cloud->isOrganized()?totalPoints:0);
-		verticesLowLowRes_.resize(cloud->isOrganized()?totalPoints:0);
+		verticesLowRes.resize(cloud->isOrganized()?totalPoints:0);
+		verticesLowLowRes.resize(cloud->isOrganized()?totalPoints:0);
 		int oi_low = 0;
 		int oi_lowlow = 0;
 		for(unsigned int i=0; i<indices->size(); ++i)
@@ -465,23 +547,23 @@ void PointCloudDrawable::updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Pt
 			{
 				if(indices->at(i)%LOW_DEC == 0 && (indices->at(i)/cloud->width) % LOW_DEC == 0)
 				{
-					verticesLowRes_[oi_low++] = i;
+					verticesLowRes[oi_low++] = i;
 				}
 				if(indices->at(i)%LOWLOW_DEC == 0 && (indices->at(i)/cloud->width) % LOWLOW_DEC == 0)
 				{
-					verticesLowLowRes_[oi_lowlow++] = i;
+					verticesLowLowRes[oi_lowlow++] = i;
 				}
 			}
 		}
-		verticesLowRes_.resize(oi_low);
-		verticesLowLowRes_.resize(oi_lowlow);
+		verticesLowRes.resize(oi_low);
+		verticesLowLowRes.resize(oi_lowlow);
 	}
 	else
 	{
 		totalPoints = cloud->size();
 		vertices.resize(cloud->size()*4);
-		verticesLowRes_.resize(cloud->isOrganized()?totalPoints:0);
-		verticesLowLowRes_.resize(cloud->isOrganized()?totalPoints:0);
+		verticesLowRes.resize(cloud->isOrganized()?totalPoints:0);
+		verticesLowLowRes.resize(cloud->isOrganized()?totalPoints:0);
 		int oi_low = 0;
 		int oi_lowlow = 0;
 		for(unsigned int i=0; i<cloud->size(); ++i)
@@ -498,19 +580,19 @@ void PointCloudDrawable::updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Pt
 			{
 				if(i%LOW_DEC == 0 && (i/cloud->width) % LOW_DEC == 0)
 				{
-					verticesLowRes_[oi_low++] = i;
+					verticesLowRes[oi_low++] = i;
 				}
 				if(i%LOWLOW_DEC == 0 && (i/cloud->width) % LOWLOW_DEC == 0)
 				{
-					verticesLowLowRes_[oi_lowlow++] = i;
+					verticesLowLowRes[oi_lowlow++] = i;
 				}
 			}
 		}
-		verticesLowRes_.resize(oi_low);
-		verticesLowLowRes_.resize(oi_lowlow);
+		verticesLowRes.resize(oi_low);
+		verticesLowLowRes.resize(oi_lowlow);
 	}
 
-	glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_);
+	glBindBuffer(GL_ARRAY_BUFFER, vertex_buffer_);
 	glBufferData(GL_ARRAY_BUFFER, sizeof(GLfloat) * (int)vertices.size(), (const void *)vertices.data(), GL_STATIC_DRAW);
 	glBindBuffer(GL_ARRAY_BUFFER, 0);
 
@@ -518,11 +600,40 @@ void PointCloudDrawable::updateCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Pt
 	if(error != GL_NO_ERROR)
 	{
 		LOGE("OpenGL: Could not allocate point cloud (0x%x)\n", error);
-		vertex_buffers_ = 0;
+		vertex_buffer_ = 0;
 		return;
 	}
+    
+    // vertex index buffers
+    for(size_t i=4; i<5; ++i)
+    {
+        if((i==4 && !verticesLowRes.empty()) ||
+           (i==5 && !verticesLowLowRes.empty()))
+        {
+            glGenBuffers(1, &index_buffers_[i]);
+            if(!index_buffers_[i])
+            {
+                LOGE("OpenGL: could not generate index buffer %ld\n", i);
+                return;
+            }
+            
+            index_buffers_count_[i] = i==4?(int)verticesLowRes.size():(int)verticesLowLowRes.size();
+            glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffers_[i]);
+            glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(uint32_t) * index_buffers_count_[i], i==4?verticesLowRes.data():verticesLowLowRes.data(), GL_STATIC_DRAW);
+            glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+            
 
-	nPoints_ = totalPoints;
+            GLint error = glGetError();
+            if(error != GL_NO_ERROR)
+            {
+                LOGE("OpenGL: Could not allocate indexes (0x%x)\n", error);
+                index_buffers_[i] = 0;
+                return;
+            }
+        }
+    }
+
+	nPoints_ = (int)totalPoints;
 }
 
 void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWireframe)
@@ -532,12 +643,22 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 	aabbMinModel_ = aabbMinWorld_ = pcl::PointXYZ(1000,1000,1000);
 	aabbMaxModel_ = aabbMaxWorld_ = pcl::PointXYZ(-1000,-1000,-1000);
 
-	if (vertex_buffers_)
+	if (vertex_buffer_)
 	{
-		glDeleteBuffers(1, &vertex_buffers_);
-		tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
-		vertex_buffers_ = 0;
+		glDeleteBuffers(1, &vertex_buffer_);
+		tango_gl::util::CheckGlError("PointCloudDrawable::updateMesh() clear vertex buffer");
+		vertex_buffer_ = 0;
 	}
+    
+    for(size_t i=0; i<index_buffers_.size(); ++i)
+    {
+        if(index_buffers_[i])
+        {
+            glDeleteBuffers(1, &index_buffers_[i]);
+            index_buffers_[i] = 0;
+            tango_gl::util::CheckGlError("PointCloudDrawable::updateMesh() clear index buffer");
+        }
+    }
 
 	gainR_ = mesh.gains[0];
 	gainG_ = mesh.gains[1];
@@ -546,17 +667,17 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 	bool textureUpdate = false;
 	if(!mesh.texture.empty() && mesh.texture.type() == CV_8UC3)
 	{
-		if (textures_)
+		if (texture_)
 		{
-			glDeleteTextures(1, &textures_);
-			tango_gl::util::CheckGlError("PointCloudDrawable::~PointCloudDrawable()");
-			textures_ = 0;
+			glDeleteTextures(1, &texture_);
+			tango_gl::util::CheckGlError("PointCloudDrawable::updateMesh() clear texture buffer");
+			texture_ = 0;
 		}
 		textureUpdate = true;
 	}
 
-	glGenBuffers(1, &vertex_buffers_);
-	if(!vertex_buffers_)
+	glGenBuffers(1, &vertex_buffer_);
+	if(!vertex_buffer_)
 	{
 		LOGE("OpenGL: could not generate vertex buffers\n");
 		return;
@@ -564,10 +685,10 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 
 	if(textureUpdate)
 	{
-		glGenTextures(1, &textures_);
-		if(!textures_)
+		glGenTextures(1, &texture_);
+		if(!texture_)
 		{
-			vertex_buffers_ = 0;
+			vertex_buffer_ = 0;
 			LOGE("OpenGL: could not generate texture buffers\n");
 			return;
 		}
@@ -578,18 +699,20 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 	int totalPoints = 0;
 	std::vector<pcl::Vertices> polygons = mesh.polygons;
 	std::vector<pcl::Vertices> polygonsLowRes;
-	hasNormals_ = mesh.normals.get() && mesh.normals->size() == mesh.cloud->size();
+    hasNormals_ = mesh.normals.get() && mesh.normals->size() == mesh.cloud->size();
 	UASSERT(!hasNormals_ || mesh.cloud->size() == mesh.normals->size());
 	if(mesh.cloud->isOrganized()) // assume organized mesh
 	{
 		polygonsLowRes = mesh.polygonsLowRes; // only in organized we keep the low res
 		organizedToDenseIndices_ = std::vector<unsigned int>(mesh.cloud->width*mesh.cloud->height, -1);
-		totalPoints = mesh.indices->size();
-		verticesLowRes_.resize(totalPoints);
-		verticesLowLowRes_.resize(totalPoints);
+		totalPoints = (int)mesh.indices->size();
+        std::vector<GLuint> verticesLowRes;
+        std::vector<GLuint> verticesLowLowRes;
+        verticesLowRes.resize(totalPoints);
+        verticesLowLowRes.resize(totalPoints);
 		int oi_low = 0;
 		int oi_lowlow = 0;
-		if(textures_ && polygons.size())
+		if(texture_ && polygons.size())
 		{
 			int items = hasNormals_?9:6;
 			vertices = std::vector<float>(mesh.indices->size()*items);
@@ -622,11 +745,11 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 
 				if(mesh.indices->at(i)%LOW_DEC == 0 && (mesh.indices->at(i)/mesh.cloud->width) % LOW_DEC == 0)
 				{
-					verticesLowRes_[oi_low++] = i;
+                    verticesLowRes[oi_low++] = i;
 				}
 				if(mesh.indices->at(i)%LOWLOW_DEC == 0 && (mesh.indices->at(i)/mesh.cloud->width) % LOWLOW_DEC == 0)
 				{
-					verticesLowLowRes_[oi_lowlow++] = i;
+                    verticesLowLowRes[oi_lowlow++] = i;
 				}
 			}
 		}
@@ -657,20 +780,48 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 
 				if(mesh.indices->at(i)%LOW_DEC == 0 && (mesh.indices->at(i)/mesh.cloud->width) % LOW_DEC == 0)
 				{
-					verticesLowRes_[oi_low++] = i;
+                    verticesLowRes[oi_low++] = i;
 				}
 				if(mesh.indices->at(i)%LOWLOW_DEC == 0 && (mesh.indices->at(i)/mesh.cloud->width) % LOWLOW_DEC == 0)
 				{
-					verticesLowLowRes_[oi_lowlow++] = i;
+                    verticesLowLowRes[oi_lowlow++] = i;
 				}
 			}
 		}
-		verticesLowRes_.resize(oi_low);
-		verticesLowLowRes_.resize(oi_lowlow);
+        verticesLowRes.resize(oi_low);
+        verticesLowLowRes.resize(oi_lowlow);
+        
+        // vertex index buffers
+        for(size_t i=4; i<5; ++i)
+        {
+            if((i==4 && !verticesLowRes.empty()) ||
+               (i==5 && !verticesLowLowRes.empty()))
+            {
+                glGenBuffers(1, &index_buffers_[i]);
+                if(!index_buffers_[i])
+                {
+                    LOGE("OpenGL: could not generate index buffer %ld\n", i);
+                    return;
+                }
+                
+                index_buffers_count_[i] = i==4?(int)verticesLowRes.size():(int)verticesLowLowRes.size();
+                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffers_[i]);
+                glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(uint32_t) * index_buffers_count_[i], i==4?verticesLowRes.data():verticesLowLowRes.data(), GL_STATIC_DRAW);
+                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+
+                GLint error = glGetError();
+                if(error != GL_NO_ERROR)
+                {
+                    LOGE("OpenGL: Could not allocate indexes (0x%x)\n", error);
+                    index_buffers_[i] = 0;
+                    return;
+                }
+            }
+        }
 	}
 	else // assume dense mesh with texCoords set to polygons
 	{
-		if(textures_ && polygons.size() && mesh.normals->size())
+		if(texture_ && polygons.size())
 		{
 			//LOGD("Dense mesh with texture (%d texCoords %d points %d polygons %dx%d)",
 			//		(int)mesh.texCoords.size(), (int)mesh.cloud->size(), (int)mesh.polygons.size(), texture.cols, texture.rows);
@@ -679,14 +830,14 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 			//  tex_coordinates should be linked to points, not
 			//  polygon vertices. Points linked to multiple different texCoords (different textures) should
 			//  be duplicated.
-			totalPoints = mesh.texCoords.size();
-			vertices = std::vector<float>(mesh.texCoords.size()*9);
+			totalPoints = (int)mesh.texCoords.size();
+            int items = hasNormals_?9:6;
+			vertices = std::vector<float>(mesh.texCoords.size()*items);
 			organizedToDenseIndices_ = std::vector<unsigned int>(totalPoints, -1);
 
 			UASSERT_MSG(mesh.texCoords.size() == polygons[0].vertices.size()*polygons.size(),
 					uFormat("%d vs %d x %d", (int)mesh.texCoords.size(), (int)polygons[0].vertices.size(), (int)polygons.size()).c_str());
 
-			int items = hasNormals_?9:6;
 			unsigned int oi=0;
 			for(unsigned int i=0; i<polygons.size(); ++i)
 			{
@@ -737,7 +888,7 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 		}
 		else
 		{
-			totalPoints = mesh.cloud->size();
+			totalPoints = (int)mesh.cloud->size();
 			//LOGD("Dense mesh");
 			int items = hasNormals_?7:4;
 			organizedToDenseIndices_ = std::vector<unsigned int>(totalPoints, -1);
@@ -765,7 +916,7 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 		}
 	}
 
-	glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_);
+	glBindBuffer(GL_ARRAY_BUFFER, vertex_buffer_);
 	glBufferData(GL_ARRAY_BUFFER, sizeof(GLfloat) * (int)vertices.size(), (const void *)vertices.data(), GL_STATIC_DRAW);
 	glBindBuffer(GL_ARRAY_BUFFER, 0);
 
@@ -773,11 +924,11 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 	if(error != GL_NO_ERROR)
 	{
 		LOGE("OpenGL: Could not allocate point cloud (0x%x)\n", error);
-		vertex_buffers_ = 0;
+		vertex_buffer_ = 0;
 		return;
 	}
 
-	if(textures_ && textureUpdate)
+	if(texture_ && textureUpdate)
 	{
 		//GLint maxTextureSize = 0;
 		//glGetIntegerv(GL_MAX_TEXTURE_SIZE, &maxTextureSize);
@@ -787,13 +938,13 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 		//LOGW("maxTextureUnits=%d", maxTextureUnits);
 
 		// gen texture from image
-		glBindTexture(GL_TEXTURE_2D, textures_);
+		glBindTexture(GL_TEXTURE_2D, texture_);
 		glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
 		glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
 		glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
 		glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
 		cv::Mat rgbImage;
-		cv::cvtColor(mesh.texture, rgbImage, CV_BGR2RGBA);
+		cv::cvtColor(mesh.texture, rgbImage, cv::COLOR_BGR2RGBA);
 
 		glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
 		//glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
@@ -805,20 +956,17 @@ void PointCloudDrawable::updateMesh(const rtabmap::Mesh & mesh, bool createWiref
 		if(error != GL_NO_ERROR)
 		{
 			LOGE("OpenGL: Could not allocate texture (0x%x)\n", error);
-			textures_ = 0;
+			texture_ = 0;
 
-			glDeleteBuffers(1, &vertex_buffers_);
-			vertex_buffers_ = 0;
+			glDeleteBuffers(1, &vertex_buffer_);
+			vertex_buffer_ = 0;
 			return;
 		}
 	}
 
 	nPoints_ = totalPoints;
 
-	if(polygons_.size() != polygons.size())
-	{
-		updatePolygons(polygons, polygonsLowRes, createWireframe);
-	}
+    updatePolygons(polygons, polygonsLowRes, createWireframe);
 
 	if(!pose_.isNull())
 	{
@@ -878,16 +1026,17 @@ void PointCloudDrawable::Render(
 		float nearClipPlane,
 	    float farClipPlane,
 		bool packDepthToColorChannel,
-		bool wireFrame) const
+		bool wireFrame,
+        bool hideSeams) const
 {
-	if(vertex_buffers_ && nPoints_ && visible_ && !shaderPrograms_.empty())
+	if(vertex_buffer_ && nPoints_ && visible_ && !shaderPrograms_.empty())
 	{
 		if(packDepthToColorChannel || !hasNormals_)
 		{
 			lighting = false;
 		}
 
-		if(packDepthToColorChannel || !(meshRendering && textureRendering && textures_))
+		if(packDepthToColorChannel || !(meshRendering && textureRendering && texture_))
 		{
 			textureRendering = false;
 		}
@@ -990,31 +1139,35 @@ void PointCloudDrawable::Render(
 				// Texture activate unit 0
 				glActiveTexture(GL_TEXTURE0);
 				// Bind the texture to this unit.
-				glBindTexture(GL_TEXTURE_2D, textures_);
+				glBindTexture(GL_TEXTURE_2D, texture_);
 				// Tell the texture uniform sampler to use this texture in the shader by binding to texture unit 0.
 				GLuint texture_handle = glGetUniformLocation(program, "uTexture");
 				glUniform1i(texture_handle, 0);
 
 				attribute_texture = glGetAttribLocation(program, "aTexCoord");
 				glEnableVertexAttribArray(attribute_texture);
+                
+                if(depthTexture == 0)
+                {
+                    GLuint hideSeams_handle = glGetUniformLocation(program, "uHideSeams");
+                    glUniform1i(hideSeams_handle, hideSeams?1:0);
+                }
 			}
-			else
-			{
-				attribute_color = glGetAttribLocation(program, "aColor");
-				glEnableVertexAttribArray(attribute_color);
-			}
+
+            attribute_color = glGetAttribLocation(program, "aColor");
+            glEnableVertexAttribArray(attribute_color);
 		}
 		tango_gl::util::CheckGlError("Pointcloud::Render() common");
 
-		glBindBuffer(GL_ARRAY_BUFFER, vertex_buffers_);
-		if(textures_)
+		glBindBuffer(GL_ARRAY_BUFFER, vertex_buffer_);
+		if(texture_)
 		{
 			glVertexAttribPointer(attribute_vertex, 3, GL_FLOAT, GL_FALSE, (hasNormals_?9:6)*sizeof(GLfloat), 0);
 			if(textureRendering)
 			{
 				glVertexAttribPointer(attribute_texture, 2, GL_FLOAT, GL_FALSE, (hasNormals_?9:6)*sizeof(GLfloat), (GLvoid*) (4 * sizeof(GLfloat)));
 			}
-			else if(!packDepthToColorChannel)
+			if(!packDepthToColorChannel)
 			{
 				glVertexAttribPointer(attribute_color, 3, GL_UNSIGNED_BYTE, GL_TRUE,  (hasNormals_?9:6)*sizeof(GLfloat), (GLvoid*) (3 * sizeof(GLfloat)));
 			}
@@ -1038,53 +1191,49 @@ void PointCloudDrawable::Render(
 		tango_gl::util::CheckGlError("Pointcloud::Render() set attribute pointer");
 
 		UTimer drawTime;
-		if(textureRendering)
+		if((textureRendering || meshRendering) && index_buffers_[0])
 		{
-			if(distanceToCameraSqr<16.0f || polygonsLowRes_.empty())
+            float dist = meshRendering?50.0f:16.0f;
+			if(distanceToCameraSqr<dist || index_buffers_[1]==0)
 			{
-				wireFrame = wireFrame && polygonLines_.size();
+				wireFrame = wireFrame && index_buffers_[2];
 				if(wireFrame)
-					glDrawElements(GL_LINES, polygonLines_.size(), GL_UNSIGNED_INT, polygonLines_.data());
+                {
+                    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffers_[2]);
+                    glDrawElements(GL_LINES, index_buffers_count_[2], GL_UNSIGNED_INT, 0);
+                }
 				else
-					glDrawElements(GL_TRIANGLES, polygons_.size(), GL_UNSIGNED_INT, polygons_.data());
+                {
+                    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffers_[0]);
+                    glDrawElements(GL_TRIANGLES, index_buffers_count_[0], GL_UNSIGNED_INT, 0);
+                }
 			}
 			else
 			{
-				wireFrame = wireFrame && polygonLinesLowRes_.size();
+				wireFrame = wireFrame && index_buffers_[3];
 				if(wireFrame)
-					glDrawElements(GL_LINES, polygonLinesLowRes_.size(), GL_UNSIGNED_INT, polygonLinesLowRes_.data());
+                {
+                    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffers_[3]);
+                    glDrawElements(GL_LINES, index_buffers_count_[3], GL_UNSIGNED_INT, 0);
+                }
 				else
-					glDrawElements(GL_TRIANGLES, polygonsLowRes_.size(), GL_UNSIGNED_INT, polygonsLowRes_.data());
+                {
+                    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffers_[1]);
+                    glDrawElements(GL_TRIANGLES, index_buffers_count_[1], GL_UNSIGNED_INT, 0);
+                }
 			}
 		}
-		else if(meshRendering && polygons_.size())
+		else if(index_buffers_[4])
 		{
-			if(distanceToCameraSqr<50.0f || polygonsLowRes_.empty())
+			if(distanceToCameraSqr>600.0f && index_buffers_[5])
 			{
-				wireFrame = wireFrame && polygonLines_.size();
-				if(wireFrame)
-					glDrawElements(GL_LINES, polygonLines_.size(), GL_UNSIGNED_INT, polygonLines_.data());
-				else
-					glDrawElements(GL_TRIANGLES, polygons_.size(), GL_UNSIGNED_INT, polygons_.data());
-			}
-			else
-			{
-				wireFrame = wireFrame && polygonLinesLowRes_.size();
-				if(wireFrame)
-					glDrawElements(GL_LINES, polygonLinesLowRes_.size(), GL_UNSIGNED_INT, polygonLinesLowRes_.data());
-				else
-					glDrawElements(GL_TRIANGLES, polygonsLowRes_.size(), GL_UNSIGNED_INT, polygonsLowRes_.data());
-			}
-		}
-		else if(!verticesLowRes_.empty())
-		{
-			if(distanceToCameraSqr>600.0f)
-			{
-				glDrawElements(GL_POINTS, verticesLowLowRes_.size(), GL_UNSIGNED_INT, verticesLowLowRes_.data());
+                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffers_[5]);
+                glDrawElements(GL_POINTS, index_buffers_count_[5], GL_UNSIGNED_INT, 0);
 			}
 			else if(distanceToCameraSqr>150.0f)
 			{
-				glDrawElements(GL_POINTS, verticesLowRes_.size(), GL_UNSIGNED_INT, verticesLowRes_.data());
+                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, index_buffers_[4]);
+                glDrawElements(GL_POINTS, index_buffers_count_[4], GL_UNSIGNED_INT, 0);
 			}
 			else
 			{
@@ -1100,6 +1249,7 @@ void PointCloudDrawable::Render(
 
 		glDisableVertexAttribArray(0);
 		glBindBuffer(GL_ARRAY_BUFFER, 0);
+        glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
 
 		glUseProgram(0);
 		tango_gl::util::CheckGlError("Pointcloud::Render() cleaning");

app/android/jni/point_cloud_drawable.h

@@ -28,7 +28,9 @@ 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_
 
+#ifdef __ANDROID__
 #include <jni.h>
+#endif
 
 #include <tango-gl/util.h>
 #include <vector>
@@ -68,8 +70,8 @@ private:
   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;}
+  bool hasMesh() const {return index_buffers_[0] != 0;}
+  bool hasTexture() const {return texture_ != 0;}
   float getMinHeight() const {return minHeight_;}
   const pcl::PointXYZ & aabbMinModel() const {return aabbMinModel_;}
   const pcl::PointXYZ & aabbMaxModel() const {return aabbMaxModel_;}
@@ -96,7 +98,8 @@ private:
 		  float nearClipPlane = 0, // nonnull if depthTexture>0
 		  float farClipPlane = 0,  // nonnull if depthTexture>0
 		  bool packDepthToColorChannel = false,
-		  bool wireFrame = false) const;
+		  bool wireFrame = false,
+          bool hideSeams = false) const;
 
  private:
   template<class PointT>
@@ -113,14 +116,10 @@ private:
 
  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_;
+  GLuint vertex_buffer_;
+  GLuint texture_;
+  std::vector<GLuint> index_buffers_;
+  std::vector<int> index_buffers_count_;
   int nPoints_;
   rtabmap::Transform pose_;
   glm::mat4 poseGl_;

app/android/jni/quad_color.cpp

@@ -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.
+ */
+
+#include "quad_color.h"
+#include "tango-gl/util.h"
+
+static const float vertices[] = {-1.0f, -1.0f, 1.0f, -1.0f,
+                                 -1.0f, 1.0f,  1.0f, 1.0f};
+
+QuadColor::QuadColor(float size) {
+	SetShader();
+
+	vertices_.resize(8);
+	for(int i=0; i<8; ++i)
+	{
+		vertices_[i] = vertices[i]*size;
+	}
+}
+
+QuadColor::QuadColor(
+		float widthLeft,
+		float widthRight,
+		float heightBottom,
+		float heightTop) {
+	SetShader();
+
+	vertices_.resize(8);
+	vertices_[0] = vertices[0]*widthLeft;
+	vertices_[1] = vertices[1]*heightBottom;
+	vertices_[2] = vertices[2]*widthRight;
+	vertices_[3] = vertices[3]*heightBottom;
+	vertices_[4] = vertices[4]*widthLeft;
+	vertices_[5] = vertices[5]*heightTop;
+	vertices_[6] = vertices[6]*widthRight;
+	vertices_[7] = vertices[7]*heightTop;
+}
+
+void QuadColor::Render(const glm::mat4& projection_mat,
+                  const glm::mat4& view_mat) const {
+  glUseProgram(shader_program_);
+
+  // 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));
+
+  glUniform4f(uniform_color_, red_, green_, blue_, alpha_);
+
+  // Vertice binding
+  glEnableVertexAttribArray(attrib_vertices_);
+  glVertexAttribPointer(attrib_vertices_, 2, GL_FLOAT, GL_FALSE, 0, &vertices_[0]);
+  glBindBuffer(GL_ARRAY_BUFFER, 0);
+
+  glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
+  glUseProgram(0);
+}

app/android/jni/quad_color.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_QUADCOLOR_H_
+#define TANGO_GL_QUADCOLOR_H_
+
+#include "tango-gl/drawable_object.h"
+
+class QuadColor : public tango_gl::DrawableObject {
+ public:
+	QuadColor(float size);
+	QuadColor(float widthLeft,
+			float widthRight,
+			float heightBottom,
+			float heightTop);
+	QuadColor(const QuadColor& other) = delete;
+	QuadColor& operator=(const QuadColor&) = delete;
+	virtual ~QuadColor() {}
+
+	void Render(const glm::mat4& projection_mat, const glm::mat4& view_mat) const;
+};
+#endif  // TANGO_GL_QUADCOLOR_H_

app/android/jni/scene.cpp

@@ -36,7 +36,7 @@
 // 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);
+const glm::vec3 Scene::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);
@@ -88,20 +88,22 @@ Scene::Scene() :
 		mapRendering_(true),
 		meshRendering_(true),
 		meshRenderingTexture_(true),
-		pointSize_(5.0f),
+		pointSize_(10.0f),
 		boundingBoxRendering_(false),
 		lighting_(false),
 		backfaceCulling_(true),
 		wireFrame_(false),
+		textureColorSeamsHidden_(true),
 		r_(0.0f),
 		g_(0.0f),
 		b_(0.0f),
 		fboId_(0),
-		depthTexture_(0),
+		rboId_(0),
 		screenWidth_(0),
 		screenHeight_(0),
 		doubleTapOn_(false)
 {
+    depthTexture_ = 0;
 	gesture_camera_ = new tango_gl::GestureCamera();
 	gesture_camera_->SetCameraType(
 	      tango_gl::GestureCamera::kThirdPersonFollow);
@@ -123,6 +125,7 @@ void Scene::InitGLContent()
 
 	UASSERT(axis_ == 0);
 
+    TextDrawable::createShaderProgram();
 
 	axis_ = new tango_gl::Axis();
 	frustum_ = new tango_gl::Frustum();
@@ -165,6 +168,7 @@ void Scene::DeleteResources() {
 		background_renderer_ = 0;
 	}
 
+    TextDrawable::releaseShaderProgram();
 	PointCloudDrawable::releaseShaderPrograms();
 
 	if (graph_shader_program_) {
@@ -176,8 +180,10 @@ void Scene::DeleteResources() {
 	{
 		glDeleteFramebuffers(1, &fboId_);
 		fboId_ = 0;
-		glDeleteTextures(1, &depthTexture_);
-		depthTexture_ = 0;
+		glDeleteRenderbuffers(1, &rboId_);
+		rboId_ = 0;
+        glDeleteTextures(1, &depthTexture_);
+        depthTexture_ = 0;
 	}
 
 	clear();
@@ -195,6 +201,10 @@ void Scene::clear()
 	{
 		delete iter->second;
 	}
+    clearLines();
+    clearQuads();
+    clearTexts();
+    clearCircles();
 	if(trace_)
 	{
 		trace_->ClearVertexArray();
@@ -212,24 +222,70 @@ void Scene::clear()
 	}
 }
 
+void Scene::clearLines()
+{
+    for(std::map<int, tango_gl::Line*>::iterator iter=lines_.begin(); iter!=lines_.end(); ++iter)
+    {
+        delete iter->second;
+    }
+    lines_.clear();
+}
+void Scene::clearTexts()
+{
+    for(std::map<int, TextDrawable*>::iterator iter=texts_.begin(); iter!=texts_.end(); ++iter)
+    {
+        delete iter->second;
+    }
+    texts_.clear();
+}
+void Scene::clearQuads()
+{
+    for(std::map<int, QuadColor*>::iterator iter=quads_.begin(); iter!=quads_.end(); ++iter)
+    {
+        delete iter->second;
+    }
+    quads_.clear();
+}
+void Scene::clearCircles()
+{
+    for(std::map<int, tango_gl::Circle*>::iterator iter=circles_.begin(); iter!=circles_.end(); ++iter)
+    {
+        delete iter->second;
+    }
+    circles_.clear();
+}
+
 //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(screenWidth_ != w || screenHeight_ != h || fboId_ == 0)
 	{
+        UINFO("Setup viewport OpenGL: %dx%d", w, h);
+        
 		if(fboId_>0)
 		{
 			glDeleteFramebuffers(1, &fboId_);
 			fboId_ = 0;
+			glDeleteRenderbuffers(1, &rboId_);
+			rboId_ = 0;
 			glDeleteTextures(1, &depthTexture_);
-			depthTexture_ = 0;
+            depthTexture_ = 0;
 		}
 
+        GLint originid = 0;
+        glGetIntegerv(GL_FRAMEBUFFER_BINDING, &originid);
+        
+		// regenerate fbo texture
+		// create a framebuffer object, you need to delete them when program exits.
+		glGenFramebuffers(1, &fboId_);
+		glBindFramebuffer(GL_FRAMEBUFFER, fboId_);
+
 		// Create depth texture
 		glGenTextures(1, &depthTexture_);
 		glBindTexture(GL_TEXTURE_2D, depthTexture_);
@@ -237,24 +293,22 @@ void Scene::SetupViewPort(int w, int h) {
 		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);
+		glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, w, h, 0, GL_RGBA, GL_UNSIGNED_BYTE, NULL);
 		glBindTexture(GL_TEXTURE_2D, 0);
+        
+		glGenRenderbuffers(1, &rboId_);
+		glBindRenderbuffer(GL_RENDERBUFFER, rboId_);
+		glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH_COMPONENT16, w, h);
+		glBindRenderbuffer(GL_RENDERBUFFER, 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);
+		// Set the texture to be at the color attachment point of the FBO (we pack depth 32 bits in color)
+		glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, depthTexture_, 0);
+		glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, rboId_);
 
 		GLuint status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
-		if ( status != GL_FRAMEBUFFER_COMPLETE)
-		{
-			LOGE("Frame buffer cannot be generated! Status: %in", status);
-		}
-		glBindFramebuffer(GL_FRAMEBUFFER,0);
-	}
+        UASSERT ( status == GL_FRAMEBUFFER_COMPLETE);
+		glBindFramebuffer(GL_FRAMEBUFFER, originid);
+    }
 	screenWidth_ = w;
 	screenHeight_ = h;
 }
@@ -327,8 +381,9 @@ std::vector<glm::vec4> computeFrustumPlanes(const glm::mat4 & mat, bool normaliz
 /**
  * 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.
+ * @param planes Viewing frustum.
+ * @param boxMin The axis aligned bounding box min.
+ * @param boxMax The axis aligned bounding box max.
  * @return True if b intersects f, false otherwise.
  */
 bool intersectFrustumAABB(
@@ -367,7 +422,8 @@ bool intersectFrustumAABB(
 }
 
 //Should only be called in OpenGL thread!
-int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat4 arProjectionMatrix, const rtabmap::Mesh & occlusionMesh) {
+int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat4 arProjectionMatrix, const rtabmap::Mesh & occlusionMesh, bool mapping)
+{
 	UASSERT(gesture_camera_ != 0);
 
 	if(currentPose_ == 0)
@@ -400,13 +456,21 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 
 	bool renderBackgroundCamera =
 			background_renderer_ &&
-			gesture_camera_->GetCameraType() == tango_gl::GestureCamera::kFirstPerson &&
-			!rtabmap::glmToTransform(arProjectionMatrix).isNull() &&
-			uvsTransformed;
+            gesture_camera_->GetCameraType() == tango_gl::GestureCamera::kFirstPerson &&
+            !rtabmap::glmToTransform(arProjectionMatrix).isNull() &&
+            uvsTransformed;
+
 	if(renderBackgroundCamera)
 	{
-		projectionMatrix = arProjectionMatrix;
-		viewMatrix = arViewMatrix;
+        if(projectionMatrix[0][0] > arProjectionMatrix[0][0]-0.3)
+        {
+            projectionMatrix = arProjectionMatrix;
+            viewMatrix = arViewMatrix;
+        }
+        else
+        {
+            renderBackgroundCamera = false;
+        }
 	}
 
 	rtabmap::Transform openglCamera = GetOpenGLCameraPose();//*rtabmap::Transform(0.0f, 0.0f, 3.0f, 0.0f, 0.0f, 0.0f);
@@ -420,8 +484,14 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 	std::vector<glm::vec4> planes = computeFrustumPlanes(projectionMatrix*viewMatrix, true);
 	std::vector<PointCloudDrawable*> cloudsToDraw(pointClouds_.size());
 	int oi=0;
+    int positiveCloudIds = 0;
 	for(std::map<int, PointCloudDrawable*>::const_iterator iter=pointClouds_.begin(); iter!=pointClouds_.end(); ++iter)
 	{
+        if(iter->first > 0)
+        {
+            positiveCloudIds++;
+        }
+        
 		if(!mapRendering_ && iter->first > 0)
 		{
 			break;
@@ -456,36 +526,45 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 		glDisable(GL_CULL_FACE);
 	}
 
-	UTimer timer;
+	bool onlineBlending =
+        (!meshRendering_ &&
+         occlusionMesh.cloud.get() &&
+         occlusionMesh.cloud->size()) ||
+        (blending_ &&
+         gesture_camera_->GetCameraType()!=tango_gl::GestureCamera::kTopOrtho &&
+         mapRendering_ && meshRendering_ &&
+         (positiveCloudIds > 1 || (renderBackgroundCamera && wireFrame_)));
 
-	bool onlineBlending = (renderBackgroundCamera && occlusionMesh.cloud.get() && occlusionMesh.cloud->size()) || (blending_ && gesture_camera_->GetCameraType()!=tango_gl::GestureCamera::kTopOrtho && mapRendering_ && meshRendering_ && cloudsToDraw.size()>1);
 	if(onlineBlending && fboId_)
 	{
+        GLint originid = 0;
+        glGetIntegerv(GL_FRAMEBUFFER_BINDING, &originid);
+        
 		// set the rendering destination to FBO
 		glBindFramebuffer(GL_FRAMEBUFFER, fboId_);
 
-		glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE);
-		glClearColor(1, 1, 1, 1);
+		glClearColor(0, 0, 0, 0);
 		glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
-
-		if(renderBackgroundCamera)
-		{
-			PointCloudDrawable drawable(occlusionMesh);
-			drawable.Render(projectionMatrix, viewMatrix, true, pointSize_, false, false, 999.0f);
-		}
-		else
-		{
-			// 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);
-			}
-		}
-
+        
+        // Draw scene
+        for(std::vector<PointCloudDrawable*>::const_iterator iter=cloudsToDraw.begin(); iter!=cloudsToDraw.end(); ++iter)
+        {
+            Eigen::Vector3f cloudToCamera(
+                      (*iter)->getPose().x() - openglCamera.x(),
+                      (*iter)->getPose().y() - openglCamera.y(),
+                      (*iter)->getPose().z() - openglCamera.z());
+            float distanceToCameraSqr = cloudToCamera[0]*cloudToCamera[0] + cloudToCamera[1]*cloudToCamera[1] + cloudToCamera[2]*cloudToCamera[2];
+            (*iter)->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, false, false, distanceToCameraSqr, 0, 0, 0, 0, 0, true);
+        }
+        
+        if(!meshRendering_ && occlusionMesh.cloud.get() && occlusionMesh.cloud->size())
+        {
+            PointCloudDrawable drawable(occlusionMesh);
+            drawable.Render(projectionMatrix, viewMatrix, true, pointSize_, false, false, 0, 0, 0, 0, 0, 0, true);
+        }
+        
 		// back to normal window-system-provided framebuffer
-		glBindFramebuffer(GL_FRAMEBUFFER, 0); // unbind
-		glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
+		glBindFramebuffer(GL_FRAMEBUFFER, originid); // unbind
 	}
 
 	if(doubleTapOn_ && gesture_camera_->GetCameraType() != tango_gl::GestureCamera::kFirstPerson)
@@ -493,16 +572,21 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 		glClearColor(0, 0, 0, 0);
 		glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 
+        // FIXME: we could use the depthTexture if already computed!
 		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);
+            Eigen::Vector3f cloudToCamera(
+                      (*iter)->getPose().x() - openglCamera.x(),
+                      (*iter)->getPose().y() - openglCamera.y(),
+                      (*iter)->getPose().z() - openglCamera.z());
+            float distanceToCameraSqr = cloudToCamera[0]*cloudToCamera[0] + cloudToCamera[1]*cloudToCamera[1] + cloudToCamera[2]*cloudToCamera[2];
+            
+            (*iter)->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_*10.0f, false, false, distanceToCameraSqr, 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;
+		float zValueF = float(zValue[0]/255.0f) + float(zValue[1]/255.0f)/255.0f + float(zValue[2]/255.0f)/65025.0f + float(zValue[3]/255.0f)/160581375.0f;
 
 		if(zValueF != 0.0f)
 		{
@@ -516,15 +600,15 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 
 	glClearColor(r_, g_, b_, 1.0f);
 	glClear(GL_DEPTH_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
+    
+    if(renderBackgroundCamera && (!onlineBlending || !meshRendering_))
+    {
+        background_renderer_->Draw(uvsTransformed, 0, screenWidth_, screenHeight_, false);
 
-	if(renderBackgroundCamera)
-	{
-		background_renderer_->Draw(uvsTransformed);
-
-		//To debug occlusion image:
-		//PointCloudDrawable drawable(occlusionMesh);
-		//drawable.Render(projectionMatrix, viewMatrix, true, pointSize_, false, false, 999.0f);
-	}
+        //To debug occlusion image:
+        //PointCloudDrawable drawable(occlusionMesh);
+        //drawable.Render(projectionMatrix, viewMatrix, true, pointSize_, false, false, 999.0f);
+    }
 
 	if(!currentPose_->isNull())
 	{
@@ -552,6 +636,10 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 		{
 			trace_->Render(projectionMatrix, viewMatrix);
 		}
+        else
+        {
+            trace_->ClearVertexArray();
+        }
 	}
 
 	if(gridVisible_ && !renderBackgroundCamera)
@@ -587,15 +675,80 @@ int Scene::Render(const float * uvsTransformed, glm::mat4 arViewMatrix, glm::mat
 				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_);
+		cloud->Render(projectionMatrix, viewMatrix, meshRendering_, pointSize_, meshRenderingTexture_, lighting_, distanceToCameraSqr, onlineBlending?depthTexture_:0, screenWidth_, screenHeight_, gesture_camera_->getNearClipPlane(), gesture_camera_->getFarClipPlane(), false, wireFrame_, textureColorSeamsHidden_);
 	}
+    
+    if(quads_.find(55556)!=quads_.end())
+    {
+        glEnable(GL_BLEND);
+        glDisable(GL_CULL_FACE);
+        const QuadColor * quad = quads_.at(55556);
+        quad->Render(projectionMatrix, viewMatrix);
+        glEnable(GL_CULL_FACE);
+    }
 
 	if(onlineBlending)
 	{
+        if(renderBackgroundCamera && meshRendering_)
+        {
+            background_renderer_->Draw(uvsTransformed, depthTexture_, screenWidth_, screenHeight_, mapping);
+        }
+        
 		glDisable (GL_BLEND);
 		glDepthMask(GL_TRUE);
 	}
+    
+    ///////
+    glDisable (GL_DEPTH_TEST);
+    if(lines_.size())
+    {
+        for(std::map<int, tango_gl::Line*>::const_iterator iter=lines_.begin(); iter!=lines_.end(); ++iter)
+        {
+            const tango_gl::Line * line = iter->second;
+            line->Render(projectionMatrix, viewMatrix);
+        }
+    }
 
+    if(quads_.size())
+    {
+        glEnable(GL_BLEND);
+        glDisable(GL_CULL_FACE);
+        for(std::map<int, QuadColor*>::const_iterator iter=quads_.begin(); iter!=quads_.end(); ++iter)
+        {
+            if(iter->first!=55556)
+            {
+                const QuadColor * quad = iter->second;
+                quad->Render(projectionMatrix, viewMatrix);
+            }
+        }
+    }
+    if(circles_.size())
+    {
+        glEnable(GL_BLEND);
+        glDisable(GL_CULL_FACE);
+        for(std::map<int, tango_gl::Circle*>::const_iterator iter=circles_.begin(); iter!=circles_.end(); ++iter)
+        {
+            const tango_gl::Circle * circle = iter->second;
+            circle->Render(projectionMatrix, viewMatrix);
+        }
+    }
+    if(texts_.size())
+    {
+        glDisable(GL_CULL_FACE);
+        glEnable(GL_BLEND);
+
+        glm::mat4 viewMatrixRotInv = viewMatrix;
+        viewMatrixRotInv[3][0] = 0;
+        viewMatrixRotInv[3][1] = 0;
+        viewMatrixRotInv[3][2] = 0;
+        viewMatrixRotInv = glm::inverse(viewMatrixRotInv);
+        for(std::map<int, TextDrawable*>::const_iterator iter=texts_.begin(); iter!=texts_.end(); ++iter)
+        {
+            const TextDrawable * text = iter->second;
+            text->Render(projectionMatrix, viewMatrix, viewMatrixRotInv);
+        }
+    }
+    
 	//draw markers on foreground
 	for(std::map<int, tango_gl::Axis*>::const_iterator iter=markers_.begin(); iter!=markers_.end(); ++iter)
 	{
@@ -672,18 +825,10 @@ void Scene::updateGraph(
 		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);
-	}
+    UASSERT(graph_shader_program_ != 0);
+    delete graph_;
+    graph_ = new GraphDrawable(graph_shader_program_, poses, links);
 }
 
 void Scene::setGraphVisible(bool visible)
@@ -761,12 +906,7 @@ void Scene::addCloud(
 		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);
-	}
+    removeCloudOrMesh(id);
 
 	//create
 	PointCloudDrawable * drawable = new PointCloudDrawable(cloud, indices);
@@ -774,6 +914,16 @@ void Scene::addCloud(
 	pointClouds_.insert(std::make_pair(id, drawable));
 }
 
+void Scene::removeCloudOrMesh(int id)
+{
+    std::map<int, PointCloudDrawable*>::iterator iter=pointClouds_.find(id);
+    if(iter != pointClouds_.end())
+    {
+        delete iter->second;
+        pointClouds_.erase(iter);
+    }
+}
+
 void Scene::addMesh(
 		int id,
 		const rtabmap::Mesh & mesh,
@@ -781,12 +931,7 @@ void Scene::addMesh(
 		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);
-	}
+    removeCloudOrMesh(id);
 
 	//create
 	PointCloudDrawable * drawable = new PointCloudDrawable(mesh, createWireframe);
@@ -846,6 +991,160 @@ void Scene::addMesh(
 	}
 }
 
+void Scene::addLine(
+        int id,
+        const cv::Point3f & pt1,
+        const cv::Point3f & pt2,
+        const tango_gl::Color & color)
+{
+    LOGI("add line %d", id);
+    removeLine(id);
+
+    //create
+    tango_gl::Line * line = new tango_gl::Line(2.0f, GL_LINES);
+    line->SetShader();
+    std::vector<glm::vec3> vertices(2);
+    vertices[0].x = pt1.x;
+    vertices[0].y = pt1.y;
+    vertices[0].z = pt1.z;
+    vertices[1].x = pt2.x;
+    vertices[1].y = pt2.y;
+    vertices[1].z = pt2.z;
+    line->UpdateLineVertices(vertices);
+    line->SetColor(color);
+    lines_.insert(std::make_pair(id, line));
+}
+
+void Scene::removeLine(int id)
+{
+    std::map<int, tango_gl::Line*>::iterator iter=lines_.find(id);
+    if(iter != lines_.end())
+    {
+        delete iter->second;
+        lines_.erase(iter);
+    }
+}
+
+void Scene::addText(
+        int id,
+        const std::string & text,
+        const rtabmap::Transform & pose,
+        float size,
+        const tango_gl::Color & color)
+{
+    LOGI("add text %d", id);
+    removeText(id);
+
+    //create
+    TextDrawable * textD = new TextDrawable(text, pose, size, color);
+    texts_.insert(std::make_pair(id, textD));
+}
+void Scene::removeText(int id)
+{
+    std::map<int, TextDrawable*>::iterator iter=texts_.find(id);
+    if(iter != texts_.end())
+    {
+        delete iter->second;
+        texts_.erase(iter);
+    }
+}
+
+void Scene::addQuad(
+        int id,
+        float size,
+        const rtabmap::Transform & pose,
+        const tango_gl::Color & color,
+        float alpha)
+{
+    //LOGI("add quad %d", id);
+    std::map<int, QuadColor*>::iterator iter=quads_.find(id);
+    if(iter != quads_.end())
+    {
+        delete iter->second;
+        quads_.erase(iter);
+    }
+
+    //create
+    QuadColor * quad = new QuadColor(size);
+    quad->SetTransformationMatrix(glmFromTransform(pose));
+    quad->SetColor(color);
+    quad->SetAlpha(alpha);
+    quads_.insert(std::make_pair(id, quad));
+}
+
+void Scene::addQuad(
+        int id,
+        float widthLeft,
+        float widthRight,
+        float heightBottom,
+        float heightTop,
+        const rtabmap::Transform & pose,
+        const tango_gl::Color & color,
+        float alpha)
+{
+    //LOGI("add quad %d", id);
+    removeQuad(id);
+
+    //create
+    QuadColor * quad = new QuadColor(widthLeft, widthRight, heightBottom, heightTop);
+    quad->SetTransformationMatrix(glmFromTransform(pose));
+    quad->SetColor(color);
+    quad->SetAlpha(alpha);
+    quads_.insert(std::make_pair(id, quad));
+}
+
+void Scene::removeQuad(int id)
+{
+    std::map<int, QuadColor*>::iterator iter=quads_.find(id);
+    if(iter != quads_.end())
+    {
+        delete iter->second;
+        quads_.erase(iter);
+    }
+}
+
+bool Scene::hasQuad(int id) const
+{
+    return quads_.find(id) != quads_.end();
+}
+
+void Scene::addCircle(
+        int id,
+        float radius,
+        const rtabmap::Transform & pose,
+        const tango_gl::Color & color,
+        float alpha)
+{
+    //LOGI("add quad %d", id);
+    std::map<int, tango_gl::Circle*>::iterator iter=circles_.find(id);
+    if(iter != circles_.end())
+    {
+        delete iter->second;
+        circles_.erase(iter);
+    }
+
+    //create
+    tango_gl::Circle * circle = new tango_gl::Circle(radius, 12);
+    circle->SetTransformationMatrix(glmFromTransform(pose));
+    circle->SetColor(color);
+    circle->SetAlpha(alpha);
+    circles_.insert(std::make_pair(id, circle));
+}
+
+void Scene::removeCircle(int id)
+{
+    std::map<int, tango_gl::Circle*>::iterator iter=circles_.find(id);
+    if(iter != circles_.end())
+    {
+        delete iter->second;
+        circles_.erase(iter);
+    }
+}
+
+bool Scene::hasCircle(int id) const
+{
+    return circles_.find(id) != circles_.end();
+}
 
 void Scene::setCloudPose(int id, const rtabmap::Transform & pose)
 {

app/android/jni/scene.h

@@ -17,7 +17,9 @@
 #ifndef TANGO_POINT_CLOUD_SCENE_H_
 #define TANGO_POINT_CLOUD_SCENE_H_
 
+#ifdef __ANDROID__
 #include <jni.h>
+#endif
 #include <memory>
 #include <set>
 
@@ -31,20 +33,25 @@
 #include <tango-gl/trace.h>
 #include <tango-gl/transform.h>
 #include <tango-gl/util.h>
+#include <tango-gl/circle.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 <background_renderer.h>
+#include "point_cloud_drawable.h"
+#include "graph_drawable.h"
+#include "bounding_box_drawable.h"
+#include "background_renderer.h"
+#include "text_drawable.h"
+#include "quad_color.h"
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 
 // Scene provides OpenGL drawable objects and renders them for visualization.
 class Scene {
+ public:
+    static const glm::vec3 kHeightOffset;
  public:
   // Constructor and destructor.
   Scene();
@@ -65,6 +72,10 @@ class Scene {
   void setScreenRotation(rtabmap::ScreenRotation colorCameraToDisplayRotation) {color_camera_to_display_rotation_ = colorCameraToDisplayRotation;}
 
   void clear(); // removed all point clouds
+  void clearLines();
+  void clearTexts();
+  void clearQuads();
+  void clearCircles();
 
   // Render loop.
   // @param: cur_pose_transformation, latest pose's transformation.
@@ -72,7 +83,7 @@ class Scene {
   //         frame's timestamp.
   // @param: point_cloud_vertices, point cloud's vertices of the current point
   //         frame.
-  int Render(const float * uvsTransformed = 0, glm::mat4 arViewMatrix = glm::mat4(0), glm::mat4 arProjectionMatrix=glm::mat4(0), const rtabmap::Mesh & occlusionMesh=rtabmap::Mesh());
+  int Render(const float * uvsTransformed = 0, glm::mat4 arViewMatrix = glm::mat4(0), glm::mat4 arProjectionMatrix=glm::mat4(0), const rtabmap::Mesh & occlusionMesh=rtabmap::Mesh(), bool mapping=false);
 
   // Set render camera's viewing angle, first person, third person or top down.
   //
@@ -117,11 +128,50 @@ class Scene {
   		  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
 		  const pcl::IndicesPtr & indices,
   		  const rtabmap::Transform & pose);
+  void removeCloudOrMesh(int id);
   void addMesh(
   		int id,
   		const rtabmap::Mesh & mesh,
   		const rtabmap::Transform & pose,
 		bool createWireframe = false);
+  void addLine(
+        int id,
+        const cv::Point3f & pt1,
+        const cv::Point3f & pt2,
+        const tango_gl::Color & color = tango_gl::Color(1.0f, 1.0f, 1.0f));
+  void removeLine(int id);
+  void addText(
+        int id,
+        const std::string & text,
+        const rtabmap::Transform & pose,
+        float size,
+        const tango_gl::Color & color);
+  void removeText(int id);
+  void addQuad(
+        int id,
+        float size,
+        const rtabmap::Transform & pose,
+        const tango_gl::Color & color,
+        float alpha = 1.0f);
+  void addQuad(
+        int id,
+        float widthLeft,
+        float widthRight,
+        float heightBottom,
+        float heightTop,
+        const rtabmap::Transform & pose,
+        const tango_gl::Color & color,
+        float alpha =1.0f);
+  void removeQuad(int id);
+  bool hasQuad(int id) const;
+  void addCircle(
+          int id,
+          float radius,
+          const rtabmap::Transform & pose,
+          const tango_gl::Color & color,
+          float alpha = 1.0f);
+  void removeCircle(int id);
+  bool hasCircle(int id) const;
 
   void setCloudPose(int id, const rtabmap::Transform & pose);
   void setCloudVisible(int id, bool visible);
@@ -143,6 +193,7 @@ class Scene {
   void setLighting(bool enabled) {lighting_ = enabled;}
   void setBackfaceCulling(bool enabled) {backfaceCulling_ = enabled;}
   void setWireframe(bool enabled) {wireFrame_ = enabled;}
+  void setTextureColorSeamsHidden(bool hidden) {textureColorSeamsHidden_ = hidden;}
   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);
 
@@ -153,6 +204,7 @@ class Scene {
   float getPointSize() const {return pointSize_;}
   bool isLighting() const {return lighting_;}
   bool isBackfaceCulling() const {return backfaceCulling_;}
+  bool isWireframe() const {return wireFrame_;}
 
   BackgroundRenderer * background_renderer_;
 
@@ -185,6 +237,10 @@ class Scene {
   rtabmap::ScreenRotation color_camera_to_display_rotation_;
 
   std::map<int, PointCloudDrawable*> pointClouds_;
+  std::map<int, tango_gl::Line*> lines_;
+  std::map<int, TextDrawable*> texts_;
+  std::map<int, QuadColor*> quads_;
+  std::map<int, tango_gl::Circle*> circles_;
 
   rtabmap::Transform * currentPose_;
 
@@ -200,11 +256,13 @@ class Scene {
   bool lighting_;
   bool backfaceCulling_;
   bool wireFrame_;
+  bool textureColorSeamsHidden_;
   float r_;
   float g_;
   float b_;
   GLuint fboId_;
-  GLuint depthTexture_;
+  GLuint rboId_;
+  GLuint depthTexture_; // 0=objects+occlusion
   GLsizei screenWidth_;
   GLsizei screenHeight_;
   bool doubleTapOn_;

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

@@ -24,8 +24,8 @@ Camera::Camera() {
   aspect_ratio_ = 4.0f / 3.0f;
   width_ = 800.0f;
   height_ = 600.0f;
-  near_clip_plane_ = 0.2f;
-  far_clip_plane_ = 1000.0f;
+  near_clip_plane_ = 0.5f;
+  far_clip_plane_ = 50.0f;
   ortho_ = false;
   orthoScale_ = 2.0f;
   orthoCropFactor_ = -1.0f;

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

@@ -28,8 +28,8 @@ Circle::Circle(float radius, int resolution) : Mesh(GL_TRIANGLE_FAN){
   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);
+    vertices.push_back(0);
   }
   SetVertices(vertices);
 }

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

@@ -43,9 +43,11 @@ 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;
+// First person camera's FOV is 85 degrees.
+const float kHighestFov = 120.0f;
+const float kHighFov = 85.0f;
 const float kLowFov = 65.0f;
+const float kLowestFov = 40.0f;
 }
 
 namespace tango_gl {
@@ -111,7 +113,7 @@ void GestureCamera::OnTouchEvent(int touch_count, TouchEvent event, float x0,
 
 			if(camera_type_ == kFirstPerson)
 			{
-				this->SetFieldOfView(tango_gl::util::Clamp(cam_start_fov_ + dist * kZoomSpeed*10.0f, 45, 90));
+				this->SetFieldOfView(tango_gl::util::Clamp(cam_start_fov_ + dist * kZoomSpeed*10.0f, kLowestFov, kHighestFov));
 			}
 			else
 			{
@@ -179,8 +181,9 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
   camera_type_ = camera_index;
   switch (camera_index) {
     case kFirstPerson:
-    	SetOrthoMode(false);
-      SetFieldOfView(kLowFov);
+      SetOrthoMode(false);
+      SetFieldOfView(kLowestFov);
+      SetNearFarClipPlanes(0.25, 25);
       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;
@@ -193,11 +196,12 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
       break;
     case kThirdPerson:
     case kThirdPersonFollow:
-    	SetOrthoMode(false);
-    	SetFieldOfView(kHighFov);
+      SetOrthoMode(false);
+      SetFieldOfView(kLowFov);
+      SetNearFarClipPlanes(1, 50);
       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;
+      cam_cur_dist_ = camera_index==kThirdPersonFollow?kThirdPersonFollowCameraDist:kThirdPersonCameraDist;
       anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
       cam_cur_angle_.x = -M_PI / 12.0f;
       cam_cur_angle_.y = kThirdPersonFollow?0:M_PI / 2.0f;
@@ -208,7 +212,8 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
       SetPosition(glm::vec3(0.0f, 0.0f, 0.0f));
       SetRotation(glm::quat(1.0f, 0.0f, 0.0f, 0.0f));
       SetOrthoMode(false);
-      SetFieldOfView(kHighFov);
+      SetFieldOfView(kLowFov);
+      SetNearFarClipPlanes(1, 50);
       cam_cur_dist_ = kTopDownCameraDist;
       anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
       cam_cur_angle_.x = -M_PI / 2.0f;
@@ -222,6 +227,8 @@ void GestureCamera::SetCameraType(CameraType camera_index) {
 	  SetOrthoMode(true);
 	  SetOrthoScale(kTopDownCameraDist);
 	  SetOrthoCropFactor(-1.0f);
+      SetFieldOfView(kLowFov);
+      SetNearFarClipPlanes(1, 50);
 	  cam_cur_dist_ = kTopDownCameraDist;
 	  anchor_offset_ = glm::vec3(0.0f,0.0f,0.0f);
 	  cam_cur_angle_.x = -M_PI / 2.0f;

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

@@ -18,7 +18,10 @@
 #define TANGO_GL_TEXTURE_H_
 
 #include <errno.h>
+
+#ifdef __ANDROID__
 #include <png.h>
+#endif
 
 #include "tango-gl/util.h"
 
@@ -30,11 +33,15 @@ class Texture {
   Texture& operator=(const Texture&) = delete;
   ~Texture();
 
+#ifdef __ANDROID__
   bool LoadFromPNG(const char* file_path);
+#endif
   GLuint GetTextureID() const;
 
  private:
+#ifdef __ANDROID__
   png_uint_32 width_, height_;
+#endif
   int bit_depth_, color_type_;
   char* byte_data_;
   GLuint texture_id_;

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

@@ -21,10 +21,16 @@
 #define GL_VERTEX_PROGRAM_POINT_SIZE 0x8642
 
 #include <stdlib.h>
+#ifdef __ANDROID__
 #include <jni.h>
 #include <android/log.h>
 #include <GLES2/gl2.h>
 #include <GLES2/gl2ext.h>
+#else // __APPLE__
+#include <OpenGLES/ES2/gl.h>
+#include <OpenGLES/ES2/glext.h>
+#include <syslog.h>
+#endif
 
 #include "glm/glm.hpp"
 #include "glm/gtc/matrix_transform.hpp"
@@ -33,17 +39,28 @@
 #include "glm/gtx/matrix_decompose.hpp"
 
 #define LOG_TAG "rtabmap"
-#ifdef DISABLE_LOG
+#if defined(DISABLE_LOG)
 #define LOGD(...) ;
 #define LOGI(...) ;
 #define LOGW(...) ;
 #else
+#ifdef __APPLE__
+#define LOGD(...) fprintf(stderr, __VA_ARGS__); fprintf(stderr, "\n")
+#define LOGI(...) fprintf(stderr, __VA_ARGS__); fprintf(stderr, "\n")
+#define LOGW(...) fprintf(stderr, __VA_ARGS__); fprintf(stderr, "\n")
+#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
+#endif
+#ifdef __APPLE__
+#define LOGE(...) fprintf(stderr, __VA_ARGS__); fprintf(stderr, "\n")
+#define LOGF(...) fprintf(stderr, __VA_ARGS__); fprintf(stderr, "\n")
+#else
 #define LOGE(...) __android_log_print(ANDROID_LOG_ERROR,LOG_TAG,__VA_ARGS__)
 #define LOGF(...) __android_log_print(ANDROID_LOG_FATAL,LOG_TAG,__VA_ARGS__)
+#endif
 
 #ifndef M_PI
 #define M_PI 3.1415926f

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

@@ -57,7 +57,7 @@ Quad::Quad() {
 
 Quad::~Quad() { glDeleteShader(shader_program_); }
 
-void Quat::SetTextureId(GLuint texture_id) { texture_id_ = texture_id; }
+void Quad::SetTextureId(GLuint texture_id) { texture_id_ = texture_id; }
 
 void Quad::Render(const glm::mat4& projection_mat,
                   const glm::mat4& view_mat) const {

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

@@ -34,11 +34,13 @@ static int RoundUpPowerOfTwo(int w) {
 }
 
 Texture::Texture(const char* file_path) {
+#ifdef __ANDROID__
   if (!LoadFromPNG(file_path)) {
     LOGE("Texture initialing error");
   }
+#endif
 }
-
+#ifdef __ANDROID__
 bool Texture::LoadFromPNG(const char* file_path) {
   FILE* file = fopen(file_path, "rb");
 
@@ -94,7 +96,7 @@ bool Texture::LoadFromPNG(const char* file_path) {
 
   return true;
 }
-
+#endif
 GLuint Texture::GetTextureID() const { return texture_id_; }
 
 Texture::~Texture() {

app/android/jni/text_drawable.cpp

@@ -0,0 +1,366 @@
+/*
+Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifdef __ANDROID__
+#include <jni.h>
+#endif
+
+#include <tango-gl/util.h>
+#include <vector>
+#include <rtabmap/core/Transform.h>
+#include "util.h"
+#include "text_drawable.h"
+#include "text_atlas_png.h"
+#include <rtabmap/utilite/UConversion.h>
+
+const std::string kTextVertexShader =
+	"uniform mat4 uMVPMatrix;"
+	"attribute vec4 vPosition;"
+	"attribute vec2 a_texCoord;"
+	"varying vec2 v_texCoord;"
+	"void main() {"
+	"  gl_Position = uMVPMatrix * vPosition;"
+	"  v_texCoord = a_texCoord;"
+	"}";
+const std::string kTextFragmentShader =
+	"precision mediump float;"
+	"uniform vec3 uColor;"
+	"varying vec2 v_texCoord;"
+	"uniform sampler2D s_texture;"
+	"void main() {"
+	"  gl_FragColor = texture2D( s_texture, v_texCoord );"
+	"  gl_FragColor.rgb = uColor;"
+	"}";
+
+const int RI_TEXT_TEXTURE_SIZE = 512; // 512
+const float RI_TEXT_HEIGHT_BASE = 32.0f;
+const char RI_TEXT_START = ' ';
+const char RI_TEXT_STOP = '~'+1;
+
+GLuint TextDrawable::textProgram_ = 0;
+GLuint TextDrawable::textTextureId_ = 0;
+float TextDrawable::textUVWidth_ = 0;
+float TextDrawable::textUVHeight_ = 0;
+float TextDrawable::textHeight_ = 0;
+std::vector<float> TextDrawable::textCharacterWidths_;
+
+void TextDrawable::createShaderProgram()
+{
+	releaseShaderProgram();
+
+	// hard-coded with text_atlas.png resource
+	textCharacterWidths_.resize(95);
+	textCharacterWidths_[0]=8;
+	textCharacterWidths_[1]=9.000000;
+	textCharacterWidths_[2]=10.000000;
+	textCharacterWidths_[3]=19.000000;
+	textCharacterWidths_[4]=18.000000;
+	textCharacterWidths_[5]=24.000000;
+	textCharacterWidths_[6]=21.000000;
+	textCharacterWidths_[7]=5.000000;
+	textCharacterWidths_[8]=11.000000;
+	textCharacterWidths_[9]=11.000000;
+	textCharacterWidths_[10]=15.000000;
+	textCharacterWidths_[11]=17.000000;
+	textCharacterWidths_[12]=8.000000;
+	textCharacterWidths_[13]=12.000000;
+	textCharacterWidths_[14]=9.000000;
+	textCharacterWidths_[15]=12.000000;
+	textCharacterWidths_[16]=18.000000;
+	textCharacterWidths_[17]=18.000000;
+	textCharacterWidths_[18]=18.000000;
+	textCharacterWidths_[19]=18.000000;
+	textCharacterWidths_[20]=18.000000;
+	textCharacterWidths_[21]=18.000000;
+	textCharacterWidths_[22]=18.000000;
+	textCharacterWidths_[23]=18.000000;
+	textCharacterWidths_[24]=18.000000;
+	textCharacterWidths_[25]=18.000000;
+	textCharacterWidths_[26]=9.000000;
+	textCharacterWidths_[27]=8.000000;
+	textCharacterWidths_[28]=16.000000;
+	textCharacterWidths_[29]=18.000000;
+	textCharacterWidths_[30]=17.000000;
+	textCharacterWidths_[31]=16.000000;
+	textCharacterWidths_[32]=29.000000;
+	textCharacterWidths_[33]=22.000000;
+	textCharacterWidths_[34]=20.000000;
+	textCharacterWidths_[35]=21.000000;
+	textCharacterWidths_[36]=21.000000;
+	textCharacterWidths_[37]=18.000000;
+	textCharacterWidths_[38]=18.000000;
+	textCharacterWidths_[39]=22.000000;
+	textCharacterWidths_[40]=23.000000;
+	textCharacterWidths_[41]=9.000000;
+	textCharacterWidths_[42]=18.000000;
+	textCharacterWidths_[43]=20.000000;
+	textCharacterWidths_[44]=17.000000;
+	textCharacterWidths_[45]=28.000000;
+	textCharacterWidths_[46]=23.000000;
+	textCharacterWidths_[47]=22.000000;
+	textCharacterWidths_[48]=21.000000;
+	textCharacterWidths_[49]=22.000000;
+	textCharacterWidths_[50]=20.000000;
+	textCharacterWidths_[51]=20.000000;
+	textCharacterWidths_[52]=20.000000;
+	textCharacterWidths_[53]=21.000000;
+	textCharacterWidths_[54]=21.000000;
+	textCharacterWidths_[55]=28.000000;
+	textCharacterWidths_[56]=20.000000;
+	textCharacterWidths_[57]=20.000000;
+	textCharacterWidths_[58]=19.000000;
+	textCharacterWidths_[59]=9.000000;
+	textCharacterWidths_[60]=14.000000;
+	textCharacterWidths_[61]=9.000000;
+	textCharacterWidths_[62]=14.000000;
+	textCharacterWidths_[63]=14.000000;
+	textCharacterWidths_[64]=11.000000;
+	textCharacterWidths_[65]=17.000000;
+	textCharacterWidths_[66]=18.000000;
+	textCharacterWidths_[67]=17.000000;
+	textCharacterWidths_[68]=18.000000;
+	textCharacterWidths_[69]=17.000000;
+	textCharacterWidths_[70]=11.000000;
+	textCharacterWidths_[71]=18.000000;
+	textCharacterWidths_[72]=18.000000;
+	textCharacterWidths_[73]=8.000000;
+	textCharacterWidths_[74]=8.000000;
+	textCharacterWidths_[75]=17.000000;
+	textCharacterWidths_[76]=8.000000;
+	textCharacterWidths_[77]=28.000000;
+	textCharacterWidths_[78]=18.000000;
+	textCharacterWidths_[79]=18.000000;
+	textCharacterWidths_[80]=18.000000;
+	textCharacterWidths_[81]=18.000000;
+	textCharacterWidths_[82]=12.000000;
+	textCharacterWidths_[83]=16.000000;
+	textCharacterWidths_[84]=11.000000;
+	textCharacterWidths_[85]=18.000000;
+	textCharacterWidths_[86]=16.000000;
+	textCharacterWidths_[87]=24.000000;
+	textCharacterWidths_[88]=16.000000;
+	textCharacterWidths_[89]=16.000000;
+	textCharacterWidths_[90]=16.000000;
+	textCharacterWidths_[91]=11.000000;
+	textCharacterWidths_[92]=8.000000;
+	textCharacterWidths_[93]=11.000000;
+	textCharacterWidths_[94]=21.000000;
+	textUVWidth_=0.062500;
+	textUVHeight_=0.082031;
+	textHeight_=42.000000;
+
+	textProgram_ = tango_gl::util::CreateProgram(kTextVertexShader.c_str(), kTextFragmentShader.c_str());
+	UASSERT(textProgram_ != 0);
+
+	glGenTextures(1, &textTextureId_);
+	UASSERT(textTextureId_);
+
+	// gen texture from image
+	glBindTexture(GL_TEXTURE_2D, textTextureId_);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+	glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+
+	std::vector<char> data = uHex2Bytes(rtabmap::TEXT_ATLAS_PNG);
+
+	cv::Mat rgbImage = cv::imdecode(data, cv::IMREAD_UNCHANGED);
+
+	glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
+	glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, rgbImage.cols, rgbImage.rows, 0, GL_RGBA, GL_UNSIGNED_BYTE, rgbImage.data);
+
+	GLint error = glGetError();
+	UASSERT(error == GL_NO_ERROR);
+}
+
+void TextDrawable::releaseShaderProgram()
+{
+	if(textProgram_)
+	{
+		glDeleteShader(textProgram_);
+		textProgram_ = 0;
+	}
+}
+
+TextDrawable::TextDrawable(
+		const std::string & text,
+		const rtabmap::Transform & pose,
+		float textSize, // meters
+		const tango_gl::Color & color) :
+		poseGl_(glmFromTransform(pose)),
+		color_(color)
+{
+	if(textProgram_ > 0)
+	{
+		vertexBuffer_ = std::vector<float>(text.size() * 12);
+		textureBuffer_ = std::vector<float>(text.size() * 8);
+		drawListBuffer_ = std::vector<unsigned short>(text.size() * 6);
+
+		int index_vecs = 0;
+		int index_indices = 0;
+		int index_uvs = 0;
+		float x=0.0f;
+		float y=0.0f;
+		float uniformscale = textSize/textHeight_;
+		for(unsigned int i=0; i<text.size(); ++i)
+		{
+			// get ascii value
+			char c = text[i];
+			int c_val = (int)c;
+
+			int indx = c_val-RI_TEXT_START;
+
+			if(indx<0 || indx>=textCharacterWidths_.size()) {
+				// unknown character, we will add a space for it to be save.
+				indx = 0;
+			}
+
+			int colCount = RI_TEXT_TEXTURE_SIZE/(int)RI_TEXT_HEIGHT_BASE;
+
+			// Calculate the uv parts
+			int row = indx / colCount;
+			int col = indx % colCount;
+
+			float v = row * textUVHeight_;
+			float v2 = v + textUVHeight_;
+			float u = col * textUVWidth_;
+			float u2 = u + textCharacterWidths_[indx]/(float)RI_TEXT_TEXTURE_SIZE;
+
+			// Creating the triangle information
+			std::vector<float> vec(12);
+			std::vector<float> uv(8);
+
+			vec[0] = x;
+			vec[1] = y + (textHeight_ * uniformscale);
+			vec[2] = 0;
+			vec[3] = x;
+			vec[4] = y;
+			vec[5] = 0;
+			vec[6] = x + (textCharacterWidths_[indx] * uniformscale);
+			vec[7] = y;
+			vec[8] = 0;
+			vec[9] = x + (textCharacterWidths_[indx] * uniformscale);
+			vec[10] = y + (textHeight_ * uniformscale);
+			vec[11] = 0;
+
+			// 0.001f = texture bleeding hack/fix
+			uv[0] = u+0.001f;
+			uv[1] = v+0.001f;
+			uv[2] = u+0.001f;
+			uv[3] = v2-0.001f;
+			uv[4] = u2-0.001f;
+			uv[5] = v2-0.001f;
+			uv[6] = u2-0.001f;
+			uv[7] = v+0.001f;
+
+			unsigned short inds[6] = {0, 1, 2, 0, 2, 3};
+
+			// We need a base value because the object has indices related to
+			// that object and not to this collection so basicly we need to
+			// translate the indices to align with the vertexlocation in ou
+			// vecs array of vectors.
+			short base = (short) (index_vecs / 3);
+
+			// We should add the vec, translating the indices to our saved vector
+			for(int i=0;i<vec.size();i++)
+			{
+				vertexBuffer_[index_vecs] = vec[i];
+				index_vecs++;
+			}
+
+			// We should add the uvs
+			for(int i=0;i<uv.size();i++)
+			{
+				textureBuffer_[index_uvs] = uv[i];
+				index_uvs++;
+			}
+
+			// We handle the indices
+			for(int j=0;j<6;j++)
+			{
+				drawListBuffer_[index_indices] = (unsigned short) (base + inds[j]);
+				index_indices++;
+			}
+
+			// Calculate the new position
+			x += (textCharacterWidths_[indx]  * uniformscale);
+		}
+	}
+}
+
+void TextDrawable::Render(
+		const glm::mat4 & projectionMatrix,
+		const glm::mat4 & viewMatrix,
+		const glm::mat4 & viewMatrixRotInv) const
+{
+	glUseProgram(textProgram_);
+
+	// get handle to vertex shader's vPosition member
+	int mPositionHandle = glGetAttribLocation(textProgram_, "vPosition");
+
+	// Enable a handle to the triangle vertices
+	glEnableVertexAttribArray(mPositionHandle);
+
+	// Prepare the background coordinate data
+	glVertexAttribPointer(mPositionHandle, 3, GL_FLOAT, false, 0, &vertexBuffer_[0]);
+
+	int mTexCoordLoc = glGetAttribLocation(textProgram_, "a_texCoord" );
+
+	// Prepare the texturecoordinates
+	glVertexAttribPointer ( mTexCoordLoc, 2, GL_FLOAT, false, 0, &textureBuffer_[0]);
+
+	glEnableVertexAttribArray ( mPositionHandle );
+	glEnableVertexAttribArray ( mTexCoordLoc );
+
+	// get handle to shape's transformation matrix
+	int mtrxhandle = glGetUniformLocation(textProgram_, "uMVPMatrix");
+
+	// Apply the projection and view transformation
+	//glUniformMatrix4fv(mtrxhandle, 1, false, m, 0);
+	glm::mat4 mvp_mat = projectionMatrix * viewMatrix * poseGl_ * viewMatrixRotInv;//glm::toMat4(gesture_camera_->GetParent()->GetRotation());
+	glUniformMatrix4fv(mtrxhandle, 1, GL_FALSE, glm::value_ptr(mvp_mat));
+
+	// get handle to color value
+	int colorhandle = glGetUniformLocation(textProgram_, "uColor");
+	glUniform3f(colorhandle, color_.r, color_.g, color_.b);
+
+	int mSamplerLoc = glGetUniformLocation (textProgram_, "s_texture" );
+
+	// Texture activate unit 0
+	glActiveTexture(GL_TEXTURE0);
+	// Bind the texture to this unit.
+	glBindTexture(GL_TEXTURE_2D, textTextureId_);
+	// Set the sampler texture unit to our selected id
+	glUniform1i ( mSamplerLoc, 0);
+
+	// Draw the triangle
+	glDrawElements(GL_TRIANGLES, drawListBuffer_.size(), GL_UNSIGNED_SHORT, &drawListBuffer_[0]);
+
+	// Disable vertex array
+	glDisableVertexAttribArray(mPositionHandle);
+	glDisableVertexAttribArray(mTexCoordLoc);
+}

app/android/jni/text_drawable.h

@@ -0,0 +1,71 @@
+/*
+Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef TANGO_TEXT_DRAWABLE_H_
+#define TANGO_TEXT_DRAWABLE_H_
+
+#include <vector>
+#include <rtabmap/core/Transform.h>
+#include <tango-gl/color.h>
+
+// PointCloudDrawable is responsible for the point cloud rendering.
+class TextDrawable {
+private:
+	static GLuint textProgram_;
+	static GLuint textTextureId_;
+	static float textUVWidth_;
+	static float textUVHeight_;
+	static float textHeight_;
+	static std::vector<float> textCharacterWidths_;
+
+public:
+	static void createShaderProgram();
+	static void releaseShaderProgram();
+
+public:
+	TextDrawable(
+			const std::string & text,
+			const rtabmap::Transform & pose,
+			float textSize = 0.1f, // meters
+			const tango_gl::Color & color = tango_gl::Color(1,0,0));
+
+  virtual ~TextDrawable() {}
+
+  void Render(
+		  const glm::mat4 & projectionMatrix,
+		  const glm::mat4 & viewMatrix,
+		  const glm::mat4 & viewMatrixRotInv) const;
+
+ private:
+	std::vector<float> vertexBuffer_;
+	std::vector<float> textureBuffer_;
+	std::vector<unsigned short> drawListBuffer_;
+	glm::mat4 poseGl_;
+	tango_gl::Color color_;
+};
+
+#endif  // TANGO_POINT_CLOUD_POINT_CLOUD_DRAWABLE_H_

app/android/jni/util.h

@@ -28,8 +28,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #ifndef UTIL_H_
 #define UTIL_H_
 
-
-#include <android/log.h>
 #include <rtabmap/utilite/UEventsHandler.h>
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/core/CameraModel.h>
@@ -46,8 +44,13 @@ class LogHandler : public UEventsHandler
 public:
 	LogHandler()
 	{
-		ULogger::setLevel(ULogger::kDebug);
-		ULogger::setEventLevel(ULogger::kDebug);
+#ifdef DISABLE_LOG
+		ULogger::setLevel(ULogger::kWarning);
+		ULogger::setEventLevel(ULogger::kWarning);
+#else
+        ULogger::setLevel(ULogger::kDebug);
+        ULogger::setEventLevel(ULogger::kDebug);
+#endif
 		ULogger::setPrintThreadId(true);
 
 		registerToEventsManager();
@@ -55,7 +58,7 @@ public:
 protected:
 	virtual bool handleEvent(UEvent * event)
 	{
-		if(event->getClassName().compare("ULogEvent") == 0)
+        if(event->getClassName().compare("ULogEvent") == 0)
 		{
 			ULogEvent * logEvent = (ULogEvent*)event;
 			if(logEvent->getCode() == ULogger::kDebug)
@@ -78,7 +81,6 @@ protected:
 			{
 				LOGF("%s", logEvent->getMsg().c_str());
 			}
-
 		}
 		return false;
 	}

app/android/libs/.gitignore

@@ -1 +1,4 @@
-*.jar
+# Ignore everything in this directory
+*
+# Except this file
+!.gitignore

app/android/res/layout/activity_settings.xml

@@ -97,16 +97,30 @@
 	            android:title="@string/pref_title_resolution"
 	            android:summary="@string/pref_summary_resolution"
 	            android:defaultValue="@string/pref_default_resolution"/>
-		     <com.introlab.rtabmap.CustomSwitchPreference
+		    <com.introlab.rtabmap.CustomSwitchPreference
                 android:key="@string/pref_key_depth_from_motion"
                 android:title="@string/pref_title_depth_from_motion"
                 android:summary="@string/pref_summary_depth_from_motion"
                 android:defaultValue="@string/pref_default_depth_from_motion"/>
+             <ListPreference
+		        android:key="@string/pref_key_arcore_relocalization_acc_thr"
+		        android:title="@string/pref_title_arcore_relocalization_acc_thr"
+		        android:summary="@string/pref_summary_arcore_relocalization_acc_thr"
+		        android:entries="@array/pref_arcore_relocalization_acc_thr_keys"
+		   	    android:entryValues="@array/pref_arcore_relocalization_acc_thr_values"
+		   		android:defaultValue="@string/pref_default_arcore_relocalization_acc_thr"/>
 		    <com.introlab.rtabmap.CustomSwitchPreference
 		        android:key="@string/pref_key_smoothing"
 		        android:title="@string/pref_title_smoothing"
 		        android:summary="@string/pref_summary_smoothing"
 		        android:defaultValue="@string/pref_default_smoothing"/>
+			<ListPreference
+		        android:key="@string/pref_key_depth_bleeding_error"
+		        android:title="@string/pref_title_depth_bleeding_error"
+		        android:summary="@string/pref_summary_depth_bleeding_error"
+		        android:entries="@array/pref_depth_bleeding_error_keys"
+		   	    android:entryValues="@array/pref_depth_bleeding_error_values"
+		   		android:defaultValue="@string/pref_default_depth_bleeding_error"/>
 		    <com.introlab.rtabmap.CustomSwitchPreference
 		        android:key="@string/pref_key_fisheye"
 		        android:title="@string/pref_title_fisheye"

app/android/res/menu/optionmenu.xml

@@ -11,23 +11,6 @@
        <item android:id="@+id/new_scan" android:title="New Scan"/>
        <item android:id="@+id/open" android:title="Library" android:showAsAction="ifRoom"/>
 	   <item android:id="@+id/save" android:title="Save"/>
-                     
-       <item android:id="@+id/export" android:title="Export">
-          <menu>
-              <item android:id="@+id/export_point_cloud_menu" android:title="Point Cloud">
-                  <menu>
-                  	<item android:id="@+id/export_point_cloud" android:title="Current Density" />
-                  	<item android:id="@+id/export_point_cloud_highrez" android:title="Max Density" />
-                  </menu>
-              </item>
-	          <item android:id="@+id/export_optimized_mesh_menu" android:title="Optimized Mesh..." >
-	              <menu>
-		              <item android:id="@+id/export_optimized_mesh" android:title="Colored Mesh" />
-			          <item android:id="@+id/export_optimized_mesh_texture" android:title="Textured Mesh" />
-		          </menu>
-	          </item>
-          </menu>
-       </item>
        
         <item android:id="@+id/post_processing" android:title="Optimize">
           <menu>
@@ -46,6 +29,23 @@
           </menu>
        </item>
        
+       <item android:id="@+id/export" android:title="Assemble">
+          <menu>
+              <item android:id="@+id/export_point_cloud_menu" android:title="Point Cloud">
+                  <menu>
+                  	<item android:id="@+id/export_point_cloud" android:title="Current Density" />
+                  	<item android:id="@+id/export_point_cloud_highrez" android:title="Max Density" />
+                  </menu>
+              </item>
+	          <item android:id="@+id/export_optimized_mesh_menu" android:title="Optimized Mesh..." >
+	              <menu>
+		              <item android:id="@+id/export_optimized_mesh" android:title="Colored Mesh" />
+			          <item android:id="@+id/export_optimized_mesh_texture" android:title="Textured Mesh" />
+		          </menu>
+	          </item>
+          </menu>
+       </item>
+       
        <item android:id="@+id/menu_rendering_settings" android:title="Visibility...">
         <menu >
         <group android:id="@+id/group_rendering_visibility" android:checkableBehavior="all">

app/android/res/values/strings.xml

@@ -19,7 +19,7 @@
     <string name="light_off">Lighting</string>
     <string name="wireframe">Wireframe</string>
     <string name="close_visualization">Close Visualization</string>
-    <string name="save_to_file">Export to File&#8230;</string>
+    <string name="save_to_file">Export OBJ/PLY&#8230;</string>
     <string name="share_to_sketchfab">Share to Sketchfab&#8230;</string>
     <string name="start">Start</string>
     <string name="nodes">"Nodes (WM): "</string>
@@ -51,7 +51,7 @@
     <string name="pref_key_remove_button">pref_key_remove_button</string>
     <string name="pref_key_reset_button">pref_key_reset_button</string>
     <string name="pref_key_density">pref_key_density</string>
-    <string name="pref_default_density">1</string>
+    <string name="pref_default_density">2</string>
     <string name="pref_key_min_depth">pref_key_min_depth</string>
     <string name="pref_default_min_depth">0</string>
     <string name="pref_key_depth">pref_key_depth</string>
@@ -65,7 +65,7 @@
     <string name="pref_key_rendering_texture_decimation">pref_key_rendering_texture_decimation</string>
     <string name="pref_default_rendering_texture_decimation">4</string>
     <string name="pref_key_blending">pref_key_blending</string>
-    <string name="pref_default_blending">false</string>
+    <string name="pref_default_blending">true</string>
     <string name="pref_key_background_color">pref_key_background_color</string>
     <string name="pref_default_background_color">0.2</string>
     <string name="pref_key_nodes_filtering">pref_key_nodes_filtering</string>
@@ -75,20 +75,24 @@
     <string name="pref_key_resolution">pref_key_resolution</string>
     <string name="pref_default_resolution">false</string>
     <string name="pref_key_smoothing">pref_key_smoothing</string>
-    <string name="pref_default_smoothing">true</string>
+    <string name="pref_default_smoothing">false</string>
+    <string name="pref_key_depth_bleeding_error">pref_key_depth_bleeding_error</string>
+    <string name="pref_default_depth_bleeding_error">0.0</string>
     <string name="pref_key_fisheye">pref_key_fisheye</string>
     <string name="pref_default_fisheye">false</string>
     
     <string name="pref_key_camera_driver">pref_key_camera_driver</string>
-    <string name="pref_default_camera_driver">0</string>
+    <string name="pref_default_camera_driver">-1</string>
     <string name="pref_key_depth_from_motion">pref_key_depth_from_motion</string>
     <string name="pref_default_depth_from_motion">false</string>
+    <string name="pref_key_arcore_relocalization_acc_thr">pref_key_arcore_relocalization_acc_thr</string>
+    <string name="pref_default_arcore_relocalization_acc_thr">58.8399</string>
     <string name="pref_key_update_rate">pref_key_update_rate</string>
     <string name="pref_default_update_rate">1</string>
     <string name="pref_key_max_speed">pref_key_max_speed</string>
     <string name="pref_default_max_speed">0</string>
     <string name="pref_key_time_thr">pref_key_time_thr</string>
-    <string name="pref_default_time_thr">1000</string>
+    <string name="pref_default_time_thr">0</string>
     <string name="pref_key_mem_thr">pref_key_mem_thr</string>
     <string name="pref_default_mem_thr">0</string>
     <string name="pref_key_loop_thr">pref_key_loop_thr</string>
@@ -98,7 +102,7 @@
     <string name="pref_key_min_inliers">pref_key_min_inliers</string>
     <string name="pref_default_min_inliers">25</string>
     <string name="pref_key_opt_error">pref_key_opt_error</string>
-    <string name="pref_default_opt_error">3</string>
+    <string name="pref_default_opt_error">2</string>
     <string name="pref_key_features_voc">pref_key_features_voc</string>
     <string name="pref_default_features_voc">200</string>
     <string name="pref_key_features">pref_key_features</string>
@@ -162,7 +166,7 @@
     <string name="pref_title_triangle">Mesh Triangle Size</string>
     <string name="pref_summary_triangle">Size in pixels of the polygons created from the depth image.</string>
     <string name="pref_title_rendering_texture_decimation">Texture Resolution</string>
-    <string name="pref_summary_rendering_texture_decimation">Resolution of the texture for online rendering. This doesn\'t affect Export results.</string>
+    <string name="pref_summary_rendering_texture_decimation">Resolution of the texture for online rendering. This doesn\'t affect Assembling results.</string>
     <string name="pref_title_min_depth">Min Depth</string>
     <string name="pref_summary_min_depth">Points under the minimum depth are not rendered.</string>
     <string name="pref_title_depth">Max Depth</string>
@@ -324,15 +328,19 @@
     <string name="pref_title_mapping_core">Core</string>
     <string name="pref_title_mapping_database">Database</string>
     <string name="pref_title_camera_driver">Camera Driver</string>
-    <string name="pref_summary_camera_driver">AR sdk use for capturing 6DoF poses and images. A TOF camera is required to record a 3D model.</string>
+    <string name="pref_summary_camera_driver">AR sdk used for capturing 6DoF poses and images. A TOF camera is required to record a 3D model.</string>
     <string name="pref_title_depth_from_motion">Depth From Motion</string>
     <string name="pref_summary_depth_from_motion">Use ARCore\'s depth API to compute depth image from motion. If the phone has a TOF camera and is supported by ARCore, results should be better. Currently supported only with ARCore NDK driver.</string>
+    <string name="pref_title_arcore_relocalization_acc_thr">ARCore Re-Localization Acceleration Threshold</string>
+    <string name="pref_summary_arcore_relocalization_acc_thr">Filter ARCore\'s re-localizations to avoid jumps in odometry when creating a map with RTAB-Map, which would cause large drift errors that are difficult to correct. Set an acceleration threshold to detect those events.</string>
     <string name="pref_title_append">Append Mode</string>
     <string name="pref_summary_append">When resuming mapping, wait for a relocalization on the current map before starting a new map.</string>
     <string name="pref_title_resolution">HD Mode</string>
     <string name="pref_summary_resolution">Save HD images of the color camera if you want very detailed textures. More memory will be required.</string>
     <string name="pref_title_smoothing">Smoothing</string>
     <string name="pref_summary_smoothing">Smooth the point clouds.</string>
+    <string name="pref_title_depth_bleeding_error">Depth Bleeding Filtering Error</string>
+    <string name="pref_summary_depth_bleeding_error">Filter noisy depth points on the edges.</string>
     <string name="pref_title_fisheye">Fish Eye Camera</string>
     <string name="pref_summary_fisheye">Use fish eye camera instead of the color camera. May not work on some devices.</string>
     <string name="pref_title_update_rate">Update Rate</string>
@@ -373,16 +381,18 @@
     <string name="pref_summary_gps_saved">Save GPS to database.</string>
     <string name="pref_title_env_sensors_saved">Save Environmental Sensors</string>
     <string name="pref_summary_env_sensors_saved">Save Wifi strength, temperature, air pressure, light intensity and relative humidity to database.</string>
-    <string name="pref_title_db_in_memory">Database In Memory</string>
+    <string name="pref_title_db_in_memory">Database in Memory</string>
     <string name="pref_summary_db_in_memory">The database is kept in RAM for fast access. Set to false to reduce RAM used at the cost of slower access. This parameter is applied on reset or when a database is opened.</string>
 
     <string-array name="pref_camera_driver_keys">
+        <item>"Auto"</item>
         <item>"Google Tango NDK"</item>
         <item>"ARCore NDK"</item>
         <item>"AREngine NDK"</item>
         <item>"ARCore Java"</item>
     </string-array>
     <string-array name="pref_camera_driver_values">
+        <item>"-1"</item>
         <item>"0"</item>
         <item>"1"</item>
         <item>"2"</item>
@@ -406,6 +416,50 @@
         <item>"1"</item>
         <item>"0.5"</item>
     </string-array>
+    <string-array name="pref_arcore_relocalization_acc_thr_keys">
+        <item>"Disabled"</item>
+        <item>"10 g"</item>
+        <item>"9 g"</item>
+        <item>"8 g"</item>
+        <item>"7 g"</item>
+        <item>"6 g"</item>
+        <item>"5 g"</item>
+        <item>"4 g"</item>
+        <item>"3 g"</item>
+        <item>"2 g"</item>
+    </string-array>
+    <string-array name="pref_arcore_relocalization_acc_thr_values">
+        <item>"0"</item>
+        <item>"98.0665"</item>
+        <item>"88.25985"</item>
+        <item>"78.4532"</item>
+        <item>"68.64655"</item>
+        <item>"58.8399"</item>
+        <item>"49.03325"</item>
+        <item>"39.2266"</item>
+        <item>"29.41995"</item>
+        <item>"19.6133"</item>
+    </string-array>
+    <string-array name="pref_depth_bleeding_error_keys">
+        <item>"Disabled"</item>
+        <item>"2.5 cm"</item>
+        <item>"5 cm"</item>
+        <item>"10 cm"</item>
+        <item>"15 cm"</item>
+        <item>"20 cm"</item>
+        <item>"25 cm"</item>
+        <item>"30 cm"</item>
+    </string-array>
+    <string-array name="pref_depth_bleeding_error_values">
+        <item>"0"</item>
+        <item>"0.025"</item>
+        <item>"0.05"</item>
+        <item>"0.10"</item>
+        <item>"0.15"</item>
+        <item>"0.20"</item>
+        <item>"0.25"</item>
+        <item>"0.30"</item>
+    </string-array>
     <string-array name="pref_max_speed_keys">
         <item>"No Limit"</item>
         <item>"High"</item>
@@ -433,7 +487,7 @@
         <item>"700 ms"</item>
         <item>"600 ms"</item>
         <item>"500 ms"</item>
-        <item>"400"</item>
+        <item>"400 ms"</item>
     </string-array>
     <string-array name="pref_time_thr_values">
         <item>"0"</item>
@@ -529,29 +583,25 @@
         <item>"10"</item>
     </string-array>
     <string-array name="pref_opt_error_keys">
-        <item>"10x"</item>
-        <item>"9x"</item>
-        <item>"8x"</item>
-        <item>"7x"</item>
-        <item>"6x"</item>
-        <item>"5x"</item>
         <item>"4x"</item>
+        <item>"3.5x"</item>
         <item>"3x"</item>
+        <item>"2.5x"</item>
         <item>"2x"</item>
+        <item>"1.5x"</item>
         <item>"1x"</item>
+        <item>"0.5x"</item>
         <item>"Disabled"</item>
     </string-array>
     <string-array name="pref_opt_error_values">
-        <item>"10"</item>
-        <item>"9"</item>
-        <item>"8"</item>
-        <item>"7"</item>
-        <item>"6"</item>
-        <item>"5"</item>
         <item>"4"</item>
+        <item>"3.5"</item>
         <item>"3"</item>
+        <item>"2.5"</item>
         <item>"2"</item>
+        <item>"1.5"</item>
         <item>"1"</item>
+        <item>"0.5"</item>
         <item>"0"</item>
     </string-array>
     <string-array name="pref_features_voc_keys">
@@ -712,9 +762,9 @@
         <item>"1"</item>
     </string-array>
 
-    <string name="pref_title_export_sub">Exporting&#8230;</string>
-    <string name="pref_title_export">Exporting</string>
-    <string name="pref_summary_export">Advanced parameters used when exporting the map.</string>
+    <string name="pref_title_export_sub">Assembling&#8230;</string>
+    <string name="pref_title_export">Assembling</string>
+    <string name="pref_summary_export">Advanced parameters used when assembling the map.</string>
     <string name="pref_title_cloud_voxel">Voxel Size</string>
     <string name="pref_summary_cloud_voxel">If you don\'t need a very precise point cloud, you can set this to reduce the output point cloud size. This is also used for optimized mesh.</string>
     <string name="pref_title_texture_size">Texture Size</string>
@@ -727,8 +777,8 @@
     <string name="pref_summary_max_texture_distance">Maximum distance from a camera for polygons to be textured by this camera.</string>
     <string name="pref_title_min_texture_cluster_size">Min Texture Cluster Size</string>
     <string name="pref_summary_min_texture_cluster_size">Minimum polygon cluster size to be textured by a camera. This helps to filter sparse textured polygons.</string>
-    <string name="pref_title_block_render">Block Rendering Thread While Exporting</string>
-    <string name="pref_summary_block_render">This decreases exporting time, but freezes rendering while exporting. This also clears temporary the rendered clouds/meshes from memory during exporting, this can be useful to avoid out of memory errors.</string>
+    <string name="pref_title_block_render">Block Rendering Thread While Assembling</string>
+    <string name="pref_summary_block_render">This decreases assembling time, but freezes rendering while assembling. This also clears temporary the rendered clouds/meshes from memory during assembling, this can be useful to avoid out of memory errors.</string>
 
     <string-array name="pref_cloud_voxel_keys">
         <item>"0.2 m"</item>
@@ -834,7 +884,7 @@
     <string name="pref_title_opt_depth">Reconstruction Depth</string>
     <string name="pref_summary_opt_depth">Lowering this parameter decreases reconstruction time, but geometry precision is lower. Minimum polygon size: map length / 2^depth). \"Auto\" means that depth is chosen so that polygon size is just under 3 cm.</string>
     <string name="pref_title_opt_color_radius">Color Radius</string>
-    <string name="pref_summary_opt_color_radius">Radius used to transfer nearest color from the point cloud to reconstructed mesh. When exporting with texture, if Clean Mesh is also enabled, this will limit the number of polygons textured in holes.</string>
+    <string name="pref_summary_opt_color_radius">Radius used to transfer nearest color from the point cloud to reconstructed mesh. When assembling with texture, if Clean Mesh is also enabled, this will limit the number of polygons textured in holes.</string>
     <string name="pref_title_opt_clean_white">Clean Mesh</string>
     <string name="pref_summary_opt_clean_white">Clean mesh from textureless or colorless reconstructed polygons.</string>
 	<string name="pref_summary_opt_min_cluster_size">This can be used to filter polygons before texturing.</string>
@@ -868,10 +918,10 @@
         <item>"0.2 m"</item>
         <item>"0.1 m"</item>
         <item>"0.05 m"</item>
-        <item>"0.025"</item>
-        <item>"0.02"</item>
-        <item>"0.015"</item>
-        <item>"0.01"</item>
+        <item>"0.025 m"</item>
+        <item>"0.02 m"</item>
+        <item>"0.015 m"</item>
+        <item>"0.01 m"</item>
         <item>"Disabled"</item>
     </string-array>
     <string-array name="pref_opt_color_radius_values">

app/android/src/com/introlab/rtabmap/ARCoreSharedCamera.java

@@ -8,11 +8,14 @@ import java.util.EnumSet;
 import java.util.List;
 import java.util.concurrent.atomic.AtomicBoolean;
 
+import com.google.ar.core.Anchor;
 import com.google.ar.core.Camera;
+import com.google.ar.core.CameraConfig;
+import com.google.ar.core.CameraConfigFilter;
 import com.google.ar.core.CameraIntrinsics;
 import com.google.ar.core.Config;
+import com.google.ar.core.Coordinates2d;
 import com.google.ar.core.Frame;
-import com.google.ar.core.ImageMetadata;
 import com.google.ar.core.PointCloud;
 import com.google.ar.core.Pose;
 import com.google.ar.core.Session;
@@ -29,6 +32,7 @@ import android.hardware.camera2.CameraCaptureSession;
 import android.hardware.camera2.CameraCharacteristics;
 import android.hardware.camera2.CameraDevice;
 import android.hardware.camera2.CameraManager;
+import android.hardware.camera2.CameraMetadata;
 import android.hardware.camera2.CaptureFailure;
 import android.hardware.camera2.CaptureRequest;
 import android.hardware.camera2.TotalCaptureResult;
@@ -40,12 +44,17 @@ import android.os.HandlerThread;
 import android.support.annotation.NonNull;
 import android.util.Log;
 import android.view.Surface;
+import android.widget.Toast;
 
 public class ARCoreSharedCamera {
 
 	public static final String TAG = ARCoreSharedCamera.class.getSimpleName();
 
-
+	private static final float[] QUAD_COORDS =
+      new float[] {
+        -1.0f, -1.0f, +1.0f, -1.0f, -1.0f, +1.0f, +1.0f, +1.0f,
+      };
+	
 	private static RTABMapActivity mActivity;
 	public ARCoreSharedCamera(RTABMapActivity c) {
 		mActivity = c;
@@ -53,14 +62,16 @@ public class ARCoreSharedCamera {
 
 	// Depth TOF Image.
 	// Use 240 * 180 for now, hardcoded for Huawei P30 Pro
-	private static final int DEPTH_WIDTH = 240;
-	private static final int DEPTH_HEIGHT = 180;
+	private int depthWidth = 640;
+	private int depthHeight = 480;
 
 	// GL Surface used to draw camera preview image.
 	public GLSurfaceView surfaceView;
 
 	// ARCore session that supports camera sharing.
 	private Session sharedSession;
+	
+	private Pose odomPose = Pose.IDENTITY;
 
 	// Camera capture session. Used by both non-AR and AR modes.
 	private CameraCaptureSession captureSession;
@@ -78,9 +89,16 @@ public class ARCoreSharedCamera {
 
 	// ARCore shared camera instance, obtained from ARCore session that supports sharing.
 	private SharedCamera sharedCamera;
+	
+	private Toast mToast = null;
 
 	// Camera ID for the camera used by ARCore.
 	private String cameraId;
+	private String depthCameraId;
+	
+	private Pose rgbExtrinsics;
+	private Pose depthExtrinsics;
+	private float[] depthIntrinsics = null;
 	
 	private AtomicBoolean mReady = new AtomicBoolean(false);
 
@@ -88,13 +106,24 @@ public class ARCoreSharedCamera {
 	private CaptureRequest.Builder previewCaptureRequestBuilder;
 
 	private int cameraTextureId = -1;
+	private boolean firstFrameReceived = false;
 
 	// Image reader that continuously processes CPU images.
 	public TOF_ImageReader mTOFImageReader = new TOF_ImageReader();
 	private boolean mTOFAvailable = false;
+
+	ByteBuffer mPreviousDepth = null;
+	double mPreviousDepthStamp = 0.0;
+	ByteBuffer mPreviousDepth2 = null;
+	double mPreviousDepthStamp2 = 0.0;
 	
 	public boolean isDepthSupported() {return mTOFAvailable;}
 
+	public void setToast(Toast toast)
+	{
+		mToast = toast;
+	}
+	
 	// Camera device state callback.
 	private final CameraDevice.StateCallback cameraDeviceCallback =
 			new CameraDevice.StateCallback() {
@@ -176,7 +205,7 @@ public class ARCoreSharedCamera {
 				@NonNull CameraCaptureSession session,
 				@NonNull CaptureRequest request,
 				@NonNull TotalCaptureResult result) {
-			Log.i(TAG, "onCaptureCompleted");
+			//Log.i(TAG, "onCaptureCompleted");
 		}
 
 		//@Override // android 23 
@@ -251,7 +280,7 @@ public class ARCoreSharedCamera {
 
 			// Add a CPU image reader surface. On devices that don't support CPU image access, the image
 			// may arrive significantly later, or not arrive at all.
-			if (mTOFAvailable) surfaceList.add(mTOFImageReader.imageReader.getSurface());
+			if (mTOFAvailable && cameraId.compareTo(depthCameraId) == 0) surfaceList.add(mTOFImageReader.imageReader.getSurface());
 			// Surface list should now contain three surfacemReadymReadys:
 			// 0. sharedCamera.getSurfaceTexture()
 			// 1. …
@@ -272,8 +301,6 @@ public class ARCoreSharedCamera {
 		} catch (CameraAccessException e) {
 			Log.e(TAG, "CameraAccessException", e);
 		}
-
-
 	}
 
 	// Start background handler thread, used to run callbacks without blocking UI thread.
@@ -298,17 +325,32 @@ public class ARCoreSharedCamera {
 		}
 		mTOFImageReader.stopBackgroundThread();
 	}
-	
-	private long mPreviousTime = 0;
 
+    /**
+     * Return true if the given array contains the given integer.
+     *
+     * @param modes array to check.
+     * @param mode  integer to get for.
+     * @return true if the array contains the given integer, otherwise false.
+     */
+    private static boolean contains(int[] modes, int mode) {
+        if (modes == null) {
+            return false;
+        }
+        for (int i : modes) {
+            if (i == mode) {
+                return true;
+            }
+        }
+        return false;
+    }
+    
 	// Perform various checks, then open camera device and create CPU image reader.
 	public boolean openCamera() {
 
 		close();
 		
 		startBackgroundThread();
-		
-		mPreviousTime = System.currentTimeMillis();
 
 		if(cameraTextureId == -1)
 		{
@@ -317,7 +359,7 @@ public class ARCoreSharedCamera {
 			cameraTextureId = textures[0];
 		}
 
-		Log.v(TAG + " opencamera: ", "Perform various checks, then open camera device and create CPU image reader.");
+		Log.v(TAG, "Perform various checks, then open camera device and create CPU image reader.");
 		// Don't open camera if already opened.
 		if (cameraDevice != null) {
 			return false;
@@ -331,14 +373,40 @@ public class ARCoreSharedCamera {
 				Log.e(TAG, "Failed to create ARCore session that supports camera sharing", e);
 				return false;
 			}
+			
+			// First obtain the session handle before getting the list of various camera configs.
+			// Create filter here with desired fps filters.
+			CameraConfigFilter cameraConfigFilter = new CameraConfigFilter(sharedSession);
+			CameraConfig[] cameraConfigs = sharedSession.getSupportedCameraConfigs(cameraConfigFilter).toArray(new CameraConfig[0]);
+			Log.i(TAG, "Size of supported CameraConfigs list is " + cameraConfigs.length);
+
+			// Determine the highest and lowest CPU resolutions.
+			int highestResolutionIndex=-1;
+			int highestResolution = 0;
+			for(int i=0; i<cameraConfigs.length; ++i)
+			{
+				Log.i(TAG, "Camera ID: " + cameraConfigs[i].getCameraId());
+				Log.i(TAG, "Resolution: " + cameraConfigs[i].getImageSize().getWidth() + "x" + cameraConfigs[i].getImageSize().getHeight());
+				if(highestResolution == 0 || highestResolution < cameraConfigs[i].getImageSize().getWidth())
+				{
+					highestResolutionIndex = i;
+					highestResolution = cameraConfigs[i].getImageSize().getWidth();
+				}
+			}
+			if(highestResolutionIndex>=0)
+			{
+				//Log.i(TAG, "Setting camera resolution to " + cameraConfigs[highestResolutionIndex].getImageSize().getWidth() + "x" + cameraConfigs[highestResolutionIndex].getImageSize().getHeight());
+				//FIXME: Can we make it work to use HD rgb images? To avoid this error "CaptureRequest contains unconfigured Input/Output Surface!"
+				//sharedSession.setCameraConfig(cameraConfigs[highestResolutionIndex]);
+			}
 
 			// Enable auto focus mode while ARCore is running.
 			Config config = sharedSession.getConfig();
 			config.setFocusMode(Config.FocusMode.FIXED);
-			config.setUpdateMode(Config.UpdateMode.LATEST_CAMERA_IMAGE);
+			config.setUpdateMode(Config.UpdateMode.BLOCKING);
 			config.setPlaneFindingMode(Config.PlaneFindingMode.DISABLED);
 			config.setLightEstimationMode(Config.LightEstimationMode.DISABLED);
-			//config.setCloudAnchorMode(Config.CloudAnchorMode.ENABLED);
+			config.setCloudAnchorMode(Config.CloudAnchorMode.DISABLED);
 			sharedSession.configure(config);
 
 		}
@@ -347,27 +415,128 @@ public class ARCoreSharedCamera {
 		sharedCamera = sharedSession.getSharedCamera();
 		// Store the ID of the camera used by ARCore.
 		cameraId = sharedSession.getCameraConfig().getCameraId();
-		initCamera(mActivity, cameraId, 1);
-		ArrayList<String> resolutions;
+
+		Log.d(TAG, "Shared camera ID: " + cameraId);
 
 		mTOFAvailable = false;
 
-		resolutions = getResolutions(mActivity, cameraId, ImageFormat.DEPTH16);
-		if (resolutions != null) {
-			for( String temp : resolutions) {
-				Log.e(TAG + "DEPTH16 resolution: ", temp);
-			};
-			if (resolutions.size()>0) mTOFAvailable = true;
+		// Store a reference to the camera system service.
+		cameraManager = (CameraManager) mActivity.getSystemService(Context.CAMERA_SERVICE);
+		
+		depthCameraId = null;
+		// show all cameras
+		try {
+            // Find a CameraDevice that supports DEPTH16 captures, and configure state.
+            for (String tmpCameraId : cameraManager.getCameraIdList()) {
+                CameraCharacteristics characteristics = cameraManager.getCameraCharacteristics(tmpCameraId);
+
+                Log.i(TAG, "Camera " + tmpCameraId + " extrinsics:");
+                
+            	float[] translation = characteristics.get(CameraCharacteristics.LENS_POSE_TRANSLATION);
+                if(translation != null)
+                {
+                	 Log.i(TAG, String.format("Translation (x,y,z): %f,%f,%f", translation[0], translation[1], translation[2]));
+                }
+                float[] rotation = characteristics.get(CameraCharacteristics.LENS_POSE_ROTATION);
+                if(rotation != null)
+                {
+                	 Log.i(TAG, String.format("Rotation (qx,qy,qz,qw): %f,%f,%f,%f",  rotation[0], rotation[1], rotation[2], rotation[3]));
+                }
+                
+                if(tmpCameraId.compareTo(cameraId)==0 && translation!=null && rotation!=null)
+                {
+                	rgbExtrinsics = new Pose(translation, rotation);
+                	Log.i(TAG,"Set rgb extrinsics!");
+                }
+                
+                if (!contains(characteristics.get(CameraCharacteristics.REQUEST_AVAILABLE_CAPABILITIES), CameraCharacteristics.REQUEST_AVAILABLE_CAPABILITIES_DEPTH_OUTPUT) ||
+                		characteristics.get(CameraCharacteristics.LENS_FACING) == CameraMetadata.LENS_FACING_FRONT) {
+                    continue;
+                }
+                Log.i(TAG, "Camera " + tmpCameraId + " has depth output available");
+                
+                depthCameraId = tmpCameraId;
+                if(translation!=null && rotation != null)
+                {
+                	depthExtrinsics = new Pose(translation, rotation);
+                	Log.i(TAG,"Set depth extrinsics!");
+                }
+                depthIntrinsics = characteristics.get(CameraCharacteristics.LENS_INTRINSIC_CALIBRATION);
+                Log.i(TAG, String.format("Intrinsics (fx,fy,cx,cy,s): %f,%f,%f,%f,%f", 
+                		depthIntrinsics[0],
+                		depthIntrinsics[1],
+                		depthIntrinsics[2],
+                		depthIntrinsics[3],
+                		depthIntrinsics[4]));
+            }
+        } catch (CameraAccessException e) {
+            e.printStackTrace();
+        }
+		if(rgbExtrinsics == null)
+		{
+			float[] translation = {0,0,0};
+			float[] rotation = {0,0,0,1};
+			rgbExtrinsics = new Pose(translation, rotation);
 		}
+		if(depthExtrinsics == null)
+		{
+			depthExtrinsics = rgbExtrinsics;
+		}
+
+		if(depthCameraId != null)
+		{
+			ArrayList<String> resolutions = getResolutions(mActivity, depthCameraId, ImageFormat.DEPTH16);
+			if (resolutions != null) {
+				float[] newDepthIntrinsics = null;
+				int largestWidth = 0;
+				for( String temp : resolutions) {
+					Log.i(TAG, "DEPTH16 resolution: " + temp);
+					depthWidth = Integer.parseInt(temp.split("x")[0]);
+					depthHeight = Integer.parseInt(temp.split("x")[1]);
+					if(depthIntrinsics != null)
+					{
+						if(depthIntrinsics[0] != 0)
+						{
+							if(largestWidth == 0 && depthWidth>largestWidth)
+							{
+								largestWidth = depthWidth; // intrinsics should match this resolution
+							}
+							// Samsung Galaxy Note10+: take smallest resolution and match the intrinsics
+							if(depthWidth < largestWidth)
+							{
+								float scale = (float)depthWidth/(float)largestWidth;
+								newDepthIntrinsics = depthIntrinsics.clone();
+								newDepthIntrinsics[0] *= scale;
+								newDepthIntrinsics[1] *= scale;
+								newDepthIntrinsics[2] *= scale;
+								newDepthIntrinsics[3] *= scale;
+							}
+						}
+						else if(depthWidth ==240 && depthHeight==180)
+						{
+							// Huawei P30 Pro: only 240x180 is working
+							break;
+						}
+					}
+				}
+				if (resolutions.size()>0) {
+					mTOFAvailable = true;
+					if(newDepthIntrinsics!=null) {
+						depthIntrinsics = newDepthIntrinsics;
+					}
+				}
+			}
+		}
+		Log.i(TAG, "TOF_available: " + mTOFAvailable);
 
 		// Color CPU Image.
 		// Use the currently configured CPU image size.
 		//Size desiredCPUImageSize = sharedSession.getCameraConfig().getImageSize();
 
-		if (mTOFAvailable) mTOFImageReader.createImageReader(DEPTH_WIDTH, DEPTH_HEIGHT);
+		if (mTOFAvailable) mTOFImageReader.createImageReader(depthWidth, depthHeight);
 
 		// When ARCore is running, make sure it also updates our CPU image surface.
-		if (mTOFAvailable) {
+		if (mTOFAvailable && cameraId.compareTo(depthCameraId) == 0) {
 			sharedCamera.setAppSurfaces(this.cameraId, Arrays.asList(mTOFImageReader.imageReader.getSurface()));
 		}
 
@@ -376,15 +545,14 @@ public class ARCoreSharedCamera {
 			// Wrap our callback in a shared camera callback.
 			CameraDevice.StateCallback wrappedCallback = sharedCamera.createARDeviceStateCallback(cameraDeviceCallback, backgroundHandler);
 
-			// Store a reference to the camera system service.
-			cameraManager = (CameraManager) mActivity.getSystemService(Context.CAMERA_SERVICE);
-
-			// Get the characteristics for the ARCore camera.
-			//CameraCharacteristics characteristics = cameraManager.getCameraCharacteristics(this.cameraId);
-
 			// Open the camera device using the ARCore wrapped callback.
 			cameraManager.openCamera(cameraId, wrappedCallback, backgroundHandler);
 			
+			if(mTOFAvailable && cameraId.compareTo(depthCameraId) != 0)
+			{
+				cameraManager.openCamera(depthCameraId, mTOFImageReader.cameraDeviceCallback, mTOFImageReader.backgroundHandler);
+			}
+			
 		} catch (CameraAccessException e) {
 			Log.e(TAG, "Failed to open camera", e);
 			return false;
@@ -395,17 +563,62 @@ public class ARCoreSharedCamera {
 			Log.e(TAG, "Failed to open camera", e);
 			return false;
 		} 
-
-		Log.i(TAG, " opencamera: TOF_available: " + mTOFAvailable);
+		
 		return true;
 	}
+	
+	public static void rotationMatrixToQuaternion(float[] R, float[] q) {
+        final float m00 = R[0];
+        final float m10 = R[1];
+        final float m20 = R[2];
+        final float m01 = R[4];
+        final float m11 = R[5];
+        final float m21 = R[6];
+        final float m02 = R[8];
+        final float m12 = R[9];
+        final float m22 = R[10];
+
+        float tr = m00 + m11 + m22;
+
+        if (tr > 0) {
+            float S = (float) Math.sqrt(tr + 1.0) * 2; // S=4*qw 
+            q[0] = 0.25f * S;/* w  w  w.j ava  2s.co m*/
+            q[1] = (m21 - m12) / S;
+            q[2] = (m02 - m20) / S;
+            q[3] = (m10 - m01) / S;
+        } else if ((m00 > m11) & (m00 > m22)) {
+            float S = (float) Math.sqrt(1.0 + m00 - m11 - m22) * 2; //
+            // S=4*q[1]
+            q[0] = (m21 - m12) / S;
+            q[1] = 0.25f * S;
+            q[2] = (m01 + m10) / S;
+            q[3] = (m02 + m20) / S;
+        } else if (m11 > m22) {
+            float S = (float) Math.sqrt(1.0 + m11 - m00 - m22) * 2; //
+            // S=4*q[2]
+            q[0] = (m02 - m20) / S;
+            q[1] = (m01 + m10) / S;
+            q[2] = 0.25f * S;
+            q[3] = (m12 + m21) / S;
+        } else {
+            float S = (float) Math.sqrt(1.0 + m22 - m00 - m11) * 2; //
+            // S=4*q[3]
+            q[0] = (m10 - m01) / S;
+            q[1] = (m02 + m20) / S;
+            q[2] = (m12 + m21) / S;
+            q[3] = 0.25f * S;
+        }
+
+    }
 
 
 	// Close the camera device.
 	public void close() {
+		Log.w(TAG, "close()");
 		
 		if (sharedSession != null)  {
-			sharedSession.pause();
+			sharedSession.close();
+			sharedSession = null;
 		}
 
 		if (captureSession != null) {
@@ -414,12 +627,11 @@ public class ARCoreSharedCamera {
 		}
 		if (cameraDevice != null) {
 			cameraDevice.close();
+			cameraDevice = null;
 		}
-
-		if (mTOFImageReader.imageReader != null) {
-			mTOFImageReader.imageReader.close();
-			mTOFImageReader.imageReader = null;
-		}
+		
+		mTOFImageReader.close();
+		firstFrameReceived = false;
 
 		if(cameraTextureId>=0)
 		{
@@ -429,12 +641,17 @@ public class ARCoreSharedCamera {
 		stopBackgroundThread();
 	}
 
-	/*************************************************** ONDRAWFRAME ARCORE ************************************************************* */
-
+	public void setDisplayGeometry(int rotation, int width, int height)
+	{
+		if(sharedSession!=null)
+			sharedSession.setDisplayGeometry(rotation, width, height);
+	}
+	
+	/*************************************************** ONDRAWFRAME ARCORE ************************************************************* */	
 	// Draw frame when in AR mode. Called on the GL thread.
 	public void updateGL() throws CameraNotAvailableException {
 
-		if(!mReady.get())
+		if(!mReady.get() || sharedSession == null)
 		{
 			return;
 		}
@@ -455,29 +672,46 @@ public class ARCoreSharedCamera {
 			camera = frame.getCamera();
 		}else
 		{
+			Log.e(TAG, String.format("frame.getCamera() null!"));
 			return;
 		}
 
-		if (camera == null) return;
-		// If not tracking, don't draw 3D objects.
-		if (camera.getTrackingState() == TrackingState.PAUSED) return;
+		if (camera == null) { 
+			Log.e(TAG, String.format("camera is null!"));
+			return;
+		}
+		boolean lost = false;
+		if (camera.getTrackingState() != TrackingState.TRACKING) {
+			final String trackingState = camera.getTrackingState().toString();
+			Log.e(TAG, String.format("Tracking lost! state=%s", trackingState));
+			// This will force a new session on the next frame received
+			lost = true;
+			mActivity.runOnUiThread(new Runnable() {
+				public void run() {
+					if(mToast!=null && firstFrameReceived)
+					{
+						String msg = "Tracking lost! If you are mapping, you will need to relocalize before continuing.";
+						if(mToast.getView() == null || !mToast.getView().isShown())
+						{
+							mToast.makeText(mActivity.getApplicationContext(), 
+									msg, Toast.LENGTH_LONG).show();
+						}
+						else
+						{
+							mToast.setText(msg);
+						}
+					}
+				}
+			});
+		}
 
 		if (frame.getTimestamp() != 0) {
-			
 			Pose pose = camera.getPose();
-			if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("pose=%f %f %f q=%f %f %f %f", pose.tx(), pose.ty(), pose.tz(), pose.qx(), pose.qy(), pose.qz(), pose.qw()));
-			RTABMapLib.postCameraPoseEvent(RTABMapActivity.nativeApplication, pose.tx(), pose.ty(), pose.tz(), pose.qx(), pose.qy(), pose.qz(), pose.qw());
-			
-			int rateMs = 100; // send images at most 10 Hz
-			if(System. currentTimeMillis() - mPreviousTime < rateMs)
-			{
-				return;
-			}
-			mPreviousTime = System. currentTimeMillis();
-			
+			double stamp = (double)frame.getTimestamp()/10e8;
 			CameraIntrinsics intrinsics = camera.getImageIntrinsics();
 			try{
 				Image image = frame.acquireCameraImage();
+				if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("frame=%d vs image=%d", frame.getTimestamp(), image.getTimestamp()));
 				PointCloud cloud = frame.acquirePointCloud();
 				FloatBuffer points = cloud.getPoints();
 
@@ -502,35 +736,91 @@ public class ARCoreSharedCamera {
 				ByteBuffer u = image.getPlanes()[1].getBuffer().asReadOnlyBuffer();
 				ByteBuffer v = image.getPlanes()[2].getBuffer().asReadOnlyBuffer();
 
-				double stamp = (double)image.getTimestamp()/10e8;
-				if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("RGB %dx%d len=%dbytes format=%d =%f",
+				if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("RGB %dx%d len=%dbytes format=%d stamp=%f", 
 						image.getWidth(), image.getHeight(), y.limit(), image.getFormat(), stamp));
+				
+				float[] texCoord = new float[8];
+				frame.transformCoordinates2d(
+				        Coordinates2d.OPENGL_NORMALIZED_DEVICE_COORDINATES,
+				        QUAD_COORDS,
+				        Coordinates2d.IMAGE_NORMALIZED,
+				        texCoord);
+				
+				float[] p = new float[16];
+		        camera.getProjectionMatrix(p, 0, 0.1f, 100.0f);
+   
+		        float[] viewMatrix = new float[16];
+		        camera.getDisplayOrientedPose().inverse().toMatrix(viewMatrix, 0);
+		        float[] quat = new float[4];
+		        rotationMatrixToQuaternion(viewMatrix, quat);
 
+		        
 				if(mTOFAvailable)
 				{
-					if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("Depth %dx%d len=%dbytes format=%d stamp=%f",
-							mTOFImageReader.WIDTH, mTOFImageReader.HEIGHT, mTOFImageReader.depth16_raw.limit(), ImageFormat.DEPTH16, (double)mTOFImageReader.timestamp/10e9));
+					ByteBuffer depth;
+					double depthStamp;
+					synchronized (mTOFImageReader) {
+						depth = mTOFImageReader.depth16_raw;
+						depthStamp = (double)mTOFImageReader.timestamp/10e8;
+					}
+
+					if(mPreviousDepth == null)
+					{
+						mPreviousDepth = depth;
+						mPreviousDepthStamp = depthStamp;
+					}
+					if(mPreviousDepth2 == null)
+					{
+						mPreviousDepth2 = depth;
+						mPreviousDepthStamp2 = depthStamp;
+					}
 					
-					RTABMapLib.postOdometryEvent(
+					if(!RTABMapActivity.DISABLE_LOG) Log.d(TAG, String.format("Depth %dx%d len=%dbytes format=%d stamp=%f previous=%f rgb=%f",
+							mTOFImageReader.WIDTH, mTOFImageReader.HEIGHT, depth.limit(), ImageFormat.DEPTH16, depthStamp, mPreviousDepthStamp, stamp));
+
+					RTABMapLib.postOdometryEventDepth(
 							RTABMapActivity.nativeApplication,
-							pose.tx(), pose.ty(), pose.tz(), pose.qx(), pose.qy(), pose.qz(), pose.qw(), 
-							fl[0], fl[1], pp[0], pp[1], stamp, 
+							lost?0:pose.tx(), lost?0:pose.ty(), lost?0:pose.tz(), lost?0:pose.qx(), lost?0:pose.qy(), lost?0:pose.qz(), lost?0:pose.qw(), 
+							fl[0], fl[1], pp[0], pp[1], 
+							depthIntrinsics[0], depthIntrinsics[1], depthIntrinsics[2], depthIntrinsics[3],
+							rgbExtrinsics.tx(), rgbExtrinsics.ty(), rgbExtrinsics.tz(), rgbExtrinsics.qx(), rgbExtrinsics.qy(), rgbExtrinsics.qz(), rgbExtrinsics.qw(),
+							depthExtrinsics.tx(), depthExtrinsics.ty(), depthExtrinsics.tz(), depthExtrinsics.qx(), depthExtrinsics.qy(), depthExtrinsics.qz(), depthExtrinsics.qw(),
+							stamp,
+							depthStamp<=stamp?depthStamp:mPreviousDepthStamp<=stamp?mPreviousDepthStamp:mPreviousDepthStamp2,
 							y, u, v, y.limit(), image.getWidth(), image.getHeight(), image.getFormat(), 
-							mTOFImageReader.depth16_raw, mTOFImageReader.depth16_raw.limit(), mTOFImageReader.WIDTH, mTOFImageReader.HEIGHT, ImageFormat.DEPTH16,
-							points, points.limit()/4);
+							depthStamp<=stamp?depth:mPreviousDepthStamp<=stamp?mPreviousDepth:mPreviousDepth2,
+							depthStamp<=stamp?depth.limit():mPreviousDepthStamp<=stamp?mPreviousDepth.limit():mPreviousDepth2.limit(),
+							mTOFImageReader.WIDTH, mTOFImageReader.HEIGHT, ImageFormat.DEPTH16,
+							points, points.limit()/4,
+							viewMatrix[12], viewMatrix[13], viewMatrix[14], quat[1], quat[2], quat[3], quat[0],
+							p[0], p[5], p[8], p[9], p[10], p[11], p[14],
+                            texCoord[0],texCoord[1],texCoord[2],texCoord[3],texCoord[4],texCoord[5],texCoord[6],texCoord[7]);
+					
+					// triple buffer in case delay of rgb frame is > 60 ms
+					if(depthStamp != mPreviousDepthStamp)
+					{
+						mPreviousDepthStamp2 = mPreviousDepthStamp;
+						mPreviousDepth2 = mPreviousDepth;
+						mPreviousDepthStamp = depthStamp;
+						mPreviousDepth = depth;
+					}
 				}
 				else
 				{
-					ByteBuffer bb = ByteBuffer.allocate(0);
 					RTABMapLib.postOdometryEvent(
 							RTABMapActivity.nativeApplication,
-							pose.tx(), pose.ty(), pose.tz(), pose.qx(), pose.qy(), pose.qz(), pose.qw(), 
-							fl[0], fl[1], pp[0], pp[1], stamp, 
+							lost?0:pose.tx(), lost?0:pose.ty(), lost?0:pose.tz(), lost?0:pose.qx(), lost?0:pose.qy(), lost?0:pose.qz(), lost?0:pose.qw(), 
+							fl[0], fl[1], pp[0], pp[1], 
+							rgbExtrinsics.tx(), rgbExtrinsics.ty(), rgbExtrinsics.tz(), rgbExtrinsics.qx(), rgbExtrinsics.qy(), rgbExtrinsics.qz(), rgbExtrinsics.qw(),
+							stamp, 
 							y, u, v, y.limit(), image.getWidth(), image.getHeight(), image.getFormat(), 
-							bb, 0, 0, 0, ImageFormat.DEPTH16,
-							points, points.limit()/4);
+							points, points.limit()/4,
+							viewMatrix[12], viewMatrix[13], viewMatrix[14], quat[1], quat[2], quat[3], quat[0],
+							p[0], p[5], p[8], p[9], p[10], p[11], p[14],
+                            texCoord[0],texCoord[1],texCoord[2],texCoord[3],texCoord[4],texCoord[5],texCoord[6],texCoord[7]);
 				}
 				
+				firstFrameReceived = !lost;
 				image.close();
 				cloud.close();
 				
@@ -545,8 +835,8 @@ public class ARCoreSharedCamera {
 	/********************************************************************************************************************* */
 
 
-	public ArrayList<String> getResolutions (Context context, String cameraId,int imageFormat){
-		Log.v(TAG + "getResolutions:", " cameraId:" + cameraId + " imageFormat: " + imageFormat);
+	public ArrayList<String> getResolutions (Context context, String cameraId, int imageFormat){
+		Log.v(TAG, "getResolutions: cameraId:" + cameraId + " imageFormat: " + imageFormat);
 
 		ArrayList<String> output = new ArrayList<String>();
 		try {
@@ -562,27 +852,4 @@ public class ARCoreSharedCamera {
 		return output;
 	}
 
-
-	public void initCamera (Context context, String cameraId,int index){
-		boolean ok = false;
-		try {
-			int current = 0;
-			CameraManager manager = (CameraManager) context.getSystemService(Context.CAMERA_SERVICE);
-			CameraCharacteristics characteristics = manager.getCameraCharacteristics(cameraId);
-			for (android.util.Size s : characteristics.get(CameraCharacteristics.SCALER_STREAM_CONFIGURATION_MAP).getOutputSizes(ImageFormat.DEPTH16)) {
-				ok = true;
-				if (current == index)
-					break;
-				else ;
-				current++;
-			}
-		} catch (Exception e) {
-			e.printStackTrace();
-		}
-		if (!ok) {
-			Log.e(TAG + " initCamera", "Depth sensor not found!");
-		}
-	}
-
-
 }

app/android/src/com/introlab/rtabmap/DisplayRotationHelper.java

@@ -0,0 +1,166 @@
+package com.introlab.rtabmap;
+
+/*
+ * Copyright 2017 Google LLC
+ *
+ * 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.
+ */
+
+import android.app.Activity;
+import android.content.Context;
+import android.hardware.camera2.CameraAccessException;
+import android.hardware.camera2.CameraCharacteristics;
+import android.hardware.camera2.CameraManager;
+import android.hardware.display.DisplayManager;
+import android.hardware.display.DisplayManager.DisplayListener;
+import android.view.Display;
+import android.view.Surface;
+import android.view.WindowManager;
+import com.google.ar.core.Session;
+
+/**
+ * Helper to track the display rotations. In particular, the 180 degree rotations are not notified
+ * by the onSurfaceChanged() callback, and thus they require listening to the android display
+ * events.
+ */
+public final class DisplayRotationHelper implements DisplayListener {
+  private boolean viewportChanged;
+  private int viewportWidth;
+  private int viewportHeight;
+  private final Display display;
+  private final DisplayManager displayManager;
+  private final CameraManager cameraManager;
+
+  /**
+   * Constructs the DisplayRotationHelper but does not register the listener yet.
+   *
+   * @param context the Android {@link Context}.
+   */
+  public DisplayRotationHelper(Context context) {
+    displayManager = (DisplayManager) context.getSystemService(Context.DISPLAY_SERVICE);
+    cameraManager = (CameraManager) context.getSystemService(Context.CAMERA_SERVICE);
+    WindowManager windowManager = (WindowManager) context.getSystemService(Context.WINDOW_SERVICE);
+    display = windowManager.getDefaultDisplay();
+  }
+
+  /** Registers the display listener. Should be called from {@link Activity#onResume()}. */
+  public void onResume() {
+    displayManager.registerDisplayListener(this, null);
+  }
+
+  /** Unregisters the display listener. Should be called from {@link Activity#onPause()}. */
+  public void onPause() {
+    displayManager.unregisterDisplayListener(this);
+  }
+
+  /**
+   * Records a change in surface dimensions. This will be later used by {@link
+   * #updateSessionIfNeeded(Session)}. Should be called from {@link
+   * android.opengl.GLSurfaceView.Renderer
+   * #onSurfaceChanged(javax.microedition.khronos.opengles.GL10, int, int)}.
+   *
+   * @param width the updated width of the surface.
+   * @param height the updated height of the surface.
+   */
+  public void onSurfaceChanged(int width, int height) {
+    viewportWidth = width;
+    viewportHeight = height;
+    viewportChanged = true;
+  }
+
+  /**
+   * Updates the session display geometry if a change was posted either by {@link
+   * #onSurfaceChanged(int, int)} call or by {@link #onDisplayChanged(int)} system callback. This
+   * function should be called explicitly before each call to {@link Session#update()}. This
+   * function will also clear the 'pending update' (viewportChanged) flag.
+   *
+   * @param session the {@link Session} object to update if display geometry changed.
+   */
+  public void updateSessionIfNeeded(ARCoreSharedCamera session) {
+    if (viewportChanged) {
+      int displayRotation = display.getRotation();
+      session.setDisplayGeometry(displayRotation, viewportWidth, viewportHeight);
+      viewportChanged = false;
+    }
+  }
+
+  /**
+   *  Returns the aspect ratio of the GL surface viewport while accounting for the display rotation
+   *  relative to the device camera sensor orientation.
+   */
+  public float getCameraSensorRelativeViewportAspectRatio(String cameraId) {
+    float aspectRatio;
+    int cameraSensorToDisplayRotation = getCameraSensorToDisplayRotation(cameraId);
+    switch (cameraSensorToDisplayRotation) {
+      case 90:
+      case 270:
+        aspectRatio = (float) viewportHeight / (float) viewportWidth;
+        break;
+      case 0:
+      case 180:
+        aspectRatio = (float) viewportWidth / (float) viewportHeight;
+        break;
+      default:
+        throw new RuntimeException("Unhandled rotation: " + cameraSensorToDisplayRotation);
+    }
+    return aspectRatio;
+  }
+
+  /**
+   * Returns the rotation of the back-facing camera with respect to the display. The value is one of
+   * 0, 90, 180, 270.
+   */
+  public int getCameraSensorToDisplayRotation(String cameraId) {
+    CameraCharacteristics characteristics;
+    try {
+      characteristics = cameraManager.getCameraCharacteristics(cameraId);
+    } catch (CameraAccessException e) {
+      throw new RuntimeException("Unable to determine display orientation", e);
+    }
+
+    // Camera sensor orientation.
+    int sensorOrientation = characteristics.get(CameraCharacteristics.SENSOR_ORIENTATION);
+
+    // Current display orientation.
+    int displayOrientation = toDegrees(display.getRotation());
+
+    // Make sure we return 0, 90, 180, or 270 degrees.
+    return (sensorOrientation - displayOrientation + 360) % 360;
+  }
+
+  private int toDegrees(int rotation) {
+    switch (rotation) {
+      case Surface.ROTATION_0:
+        return 0;
+      case Surface.ROTATION_90:
+        return 90;
+      case Surface.ROTATION_180:
+        return 180;
+      case Surface.ROTATION_270:
+        return 270;
+      default:
+        throw new RuntimeException("Unknown rotation " + rotation);
+    }
+  }
+
+  @Override
+  public void onDisplayAdded(int displayId) {}
+
+  @Override
+  public void onDisplayRemoved(int displayId) {}
+
+  @Override
+  public void onDisplayChanged(int displayId) {
+    viewportChanged = true;
+  }
+}

app/android/src/com/introlab/rtabmap/RTABMapActivity.java

@@ -2,6 +2,7 @@ package com.introlab.rtabmap;
 
 import java.io.File;
 import java.io.FileInputStream;
+import java.io.FileNotFoundException;
 import java.io.FileOutputStream;
 import java.io.IOException;
 import java.io.InputStream;
@@ -25,6 +26,8 @@ import android.app.NotificationManager;
 import android.app.PendingIntent;
 import android.app.ProgressDialog;
 import android.content.ComponentName;
+import android.content.ContentResolver;
+import android.content.ContentValues;
 import android.content.Context;
 import android.content.DialogInterface;
 import android.content.DialogInterface.OnShowListener;
@@ -35,6 +38,7 @@ import android.content.pm.ApplicationInfo;
 import android.content.pm.PackageInfo;
 import android.content.pm.PackageManager;
 import android.content.pm.PackageManager.NameNotFoundException;
+import android.database.Cursor;
 import android.hardware.Camera;
 import android.hardware.Sensor;
 import android.hardware.SensorEvent;
@@ -46,6 +50,7 @@ import android.hardware.display.DisplayManager;
 import android.location.Location;
 import android.location.LocationListener;
 import android.location.LocationManager;
+import android.media.MediaScannerConnection;
 import android.net.Uri;
 import android.net.wifi.WifiInfo;
 import android.net.wifi.WifiManager;
@@ -56,6 +61,8 @@ import android.os.Handler;
 import android.os.IBinder;
 import android.os.Message;
 import android.preference.PreferenceManager;
+import android.provider.MediaStore;
+import android.provider.OpenableColumns;
 import android.support.v4.app.FragmentActivity;
 import android.support.v4.content.FileProvider;
 import android.text.InputType;
@@ -104,7 +111,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 
 	// Tag for debug logging.
 	public static final String TAG = RTABMapActivity.class.getSimpleName();
-	public static boolean DISABLE_LOG = true;
+	public static boolean DISABLE_LOG = false;
 
 	// The minimum Tango Core version required from this application.
 	private static final int  MIN_TANGO_CORE_VERSION = 9377;
@@ -118,7 +125,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 	public static final String RTABMAP_TMP_DB = "rtabmap.tmp.db";
 	public static final String RTABMAP_TMP_DIR = "tmp";
 	public static final String RTABMAP_TMP_FILENAME = "map";
-	public static final String RTABMAP_SDCARD_PATH = "/sdcard/";
+	public static final String RTABMAP_SDCARD_PATH = "/Internal storage/";
 	public static final String RTABMAP_EXPORT_DIR = "Export/";
 
 	public static final String RTABMAP_AUTH_TOKEN_KEY = "com.introlab.rtabmap.AUTH_TOKEN";
@@ -256,6 +263,8 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 
 	ARCoreSharedCamera mArCoreCamera = null;
 	int mCameraDriver = 0;
+	
+	private String mIntentDbToOpen = null;
 
 	//Tango Service connection.
 	boolean mCameraServiceConnectionUsed = false; 
@@ -314,6 +323,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		// touch point.
 		Display display = getWindowManager().getDefaultDisplay();
 		display.getSize(mScreenSize);
+		Log.i(TAG, String.format("Screen resolution: %dx%d", mScreenSize.x, mScreenSize.y));
 
 		getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
 		getWindow().addFlags(WindowManager.LayoutParams.FLAG_TRANSLUCENT_STATUS);
@@ -494,10 +504,29 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		mWorkingDirectoryHuman = "";
 		mTotalLoopClosures = 0;
 		mLastFastMovementNotificationStamp = System.currentTimeMillis()/1000;
-
-		if(Environment.getExternalStorageState().compareTo(Environment.MEDIA_MOUNTED)==0)
+		
+		
+		int targetSdkVersion= 0;
+		try {
+	        ApplicationInfo app = this.getPackageManager().getApplicationInfo("com.introlab.rtabmap", 0);        
+	        targetSdkVersion = app.targetSdkVersion;
+	    } catch (NameNotFoundException e) {
+	        e.printStackTrace();
+	    }
+	
+		if(Environment.getExternalStorageState().compareTo(Environment.MEDIA_MOUNTED)==0 && 
+			(targetSdkVersion < 30 || getActivity().getExternalFilesDirs(null).length >=1))
 		{
-			File extStore = Environment.getExternalStorageDirectory();
+			File extStore;
+			if(targetSdkVersion < 30)
+			{
+				extStore = Environment.getExternalStorageDirectory();
+			}
+			else // >= android30
+			{
+				extStore = getActivity().getExternalFilesDirs(null)[0];
+			}
+			
 			mWorkingDirectory = extStore.getAbsolutePath() + "/" + getString(R.string.app_name) + "/";
 			extStore = new File(mWorkingDirectory);
 			extStore.mkdirs();
@@ -507,7 +536,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		{
 			// show warning that data cannot be saved!
 			mToast.makeText(getApplicationContext(), 
-					String.format("Failed to get external storage path (SD-CARD, state=%s). Saving disabled.", 
+					String.format("Failed to get external storage path (state=%s). Saving disabled.", 
 							Environment.getExternalStorageState()), mToast.LENGTH_LONG).show();
 		}
 
@@ -574,33 +603,141 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 
 		DISABLE_LOG =  !( 0 != ( getApplicationInfo().flags & ApplicationInfo.FLAG_DEBUGGABLE ) );
 
-		if (!PermissionHelper.hasPermission(this, Manifest.permission.WRITE_EXTERNAL_STORAGE)) {
-			PermissionHelper.requestPermission(this, Manifest.permission.WRITE_EXTERNAL_STORAGE);
-		}
-		else
-		{
-			postCreate();
-		}
-
 		SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
 		String cameraDriverStr = sharedPref.getString(getString(R.string.pref_key_camera_driver), getString(R.string.pref_default_camera_driver));
 		mCameraDriver = Integer.parseInt(cameraDriverStr);
 		
 		isArCoreAvailable();
 		isArEngineAvailable();
+		
+		if (!PermissionHelper.hasPermission(this, Manifest.permission.WRITE_EXTERNAL_STORAGE)) {
+			PermissionHelper.requestPermission(this, Manifest.permission.WRITE_EXTERNAL_STORAGE);
+		}
+		else
+		{
+			// Get intent, action and MIME type
+		    Intent intent = getIntent();
+		    String action = intent.getAction();
+		    String type = intent.getType();
+
+		    if (Intent.ACTION_SEND.equals(action) && type != null) {
+		        if ("application/octet-stream".equals(type)) {
+		        	Uri imageUri = (Uri) intent.getParcelableExtra(Intent.EXTRA_STREAM);
+		            if (imageUri != null) {
+		               String fileName = getFileName(imageUri);
+		               Log.i(TAG, "Intent received: " + imageUri.getPath() + " Name:" + fileName);
+		               if(fileName.endsWith(".db"))
+		               {
+			               File file = new File(mWorkingDirectory+fileName);
+			               if(file.exists())
+			               {
+			            	   mToast.makeText(this, fileName + " already exists in RTAB-Map's library! Cannot be copied.", mToast.LENGTH_LONG).show();
+			               }
+			               else
+			               {
+				               copy(imageUri, file);
+				               mIntentDbToOpen = fileName;
+			               }
+		               }
+		            }
+		        }
+		    } else if (Intent.ACTION_SEND_MULTIPLE.equals(action) && type != null) {
+		    	if (type.startsWith("application/")) {
+		    		ArrayList<Uri> imageUris = intent.getParcelableArrayListExtra(Intent.EXTRA_STREAM);
+		    		if (imageUris != null) {
+		    			boolean added = false;
+		    			for(Uri imageUri: imageUris)
+		    			{
+		    				String fileName = getFileName(imageUri);
+		    				Log.i(TAG, "Intent received: " + imageUri.getPath() + " Name:" + fileName);
+		    				if(fileName.endsWith(".db"))
+		    				{
+		    					File file = new File(mWorkingDirectory+"/"+getFileName(imageUri));
+		    					if(!file.exists())
+		    					{
+			    					copy(imageUri, file);
+			    					added = true;
+		    					}
+		    					else
+		    					{
+		    						Log.e(TAG,  fileName + " already exists in RTAB-Map's library! Cannot be copied.");
+		    					}
+		    				}
+		    			}
+		    			if(added)
+		    			{
+		    				openDatabase();
+		    			}
+		    		}
+
+		    	}
+		    }
+
+			postCreate();
+		}
 	}
 	
+	public void copy(File src, File dst) throws IOException {
+		InputStream in = new FileInputStream(src);
+		OutputStream out = new FileOutputStream(dst);
+
+		// Transfer bytes from in to out
+		byte[] buf = new byte[1024];
+		int len;
+		while ((len = in.read(buf)) > 0) {
+			out.write(buf, 0, len);
+		}
+		in.close();
+		out.close();
+	}
+	
+	public void copy(Uri uri, File file)
+	{
+		InputStream in;
+		try {
+			in = getApplicationContext().getContentResolver().openInputStream(uri);
+			
+			OutputStream out = new FileOutputStream(file);
+    		byte[] buf = new byte[1024];
+    		int len;
+    		while ((len = in.read(buf)) > 0) {
+    			out.write(buf, 0, len);
+    		}
+    		in.close();
+    		out.close();
+		} catch (IOException e) {
+			Log.e(TAG, e.getMessage());
+		}
+	}
+	
+	public String getFileName(Uri uri) {
+		  String result = null;
+		  if (uri.getScheme().equals("content")) {
+		    Cursor cursor = getContentResolver().query(uri, null, null, null, null);
+		    try {
+		      if (cursor != null && cursor.moveToFirst()) {
+		        result = cursor.getString(cursor.getColumnIndex(OpenableColumns.DISPLAY_NAME));
+		      }
+		    } finally {
+		      cursor.close();
+		    }
+		  }
+		  if (result == null) {
+		    result = uri.getPath();
+		    int cut = result.lastIndexOf('/');
+		    if (cut != -1) {
+		      result = result.substring(cut + 1);
+		    }
+		  }
+		  return result;
+		}
+
+	
 	// Should be called only if read/write permissions are granted!
 	private void postCreate()
 	{
 		Log.i(TAG, "postCreate()");
 		
-		String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
-		(new File(tmpDatabase)).delete();
-		SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
-		boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
-		RTABMapLib.openDatabase(nativeApplication, tmpDatabase, databaseInMemory, false);
-		
 		final String[] files = Util.loadFileList(mWorkingDirectory, true);
 		if(files.length == 0)
 		{
@@ -613,6 +750,17 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		Log.i(TAG, String.format("updateCameraDriverSettings() mCameraDriver=%d RTABMapLib.isBuiltWith(%d)=%d", mCameraDriver, mCameraDriver, RTABMapLib.isBuiltWith(nativeApplication, mCameraDriver)?1:0));
 		
 		SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
+		String cameraDriverStr = sharedPref.getString(getString(R.string.pref_key_camera_driver), getString(R.string.pref_default_camera_driver));
+		mCameraDriver = Integer.parseInt(cameraDriverStr);
+		
+		if(mCameraDriver == -1)
+		{
+			// Prioritize tango if available
+			mCameraDriver = 0;
+			SharedPreferences.Editor editor = sharedPref.edit();
+			editor.putString(getString(R.string.pref_key_camera_driver), "0");
+			editor.commit();
+		}
 		
 		if(mCameraDriver == 0 && (!CheckTangoCoreVersion(MIN_TANGO_CORE_VERSION) || !RTABMapLib.isBuiltWith(nativeApplication, 0)))
 		{
@@ -992,9 +1140,11 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 			RTABMapLib.setRawScanSaved(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_raw_scan_saved), Boolean.parseBoolean(getString(R.string.pref_default_raw_scan_saved))));
 			RTABMapLib.setFullResolution(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_resolution), Boolean.parseBoolean(getString(R.string.pref_default_resolution))));
 			RTABMapLib.setSmoothing(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_smoothing), Boolean.parseBoolean(getString(R.string.pref_default_smoothing))));
+			RTABMapLib.setDepthBleedingError(nativeApplication, Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_depth_bleeding_error), getString(R.string.pref_default_depth_bleeding_error))));
 			RTABMapLib.setDepthFromMotion(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_depth_from_motion), Boolean.parseBoolean(getString(R.string.pref_default_depth_from_motion))));
 			RTABMapLib.setCameraColor(nativeApplication, !sharedPref.getBoolean(getString(R.string.pref_key_fisheye), Boolean.parseBoolean(getString(R.string.pref_default_fisheye))));
 			RTABMapLib.setAppendMode(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_append), Boolean.parseBoolean(getString(R.string.pref_default_append))));
+			RTABMapLib.setUpstreamRelocalizationAccThr(nativeApplication, Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_arcore_relocalization_acc_thr), getString(R.string.pref_default_arcore_relocalization_acc_thr))));
 			RTABMapLib.setMappingParameter(nativeApplication, "Rtabmap/DetectionRate", mUpdateRate);
 			RTABMapLib.setMappingParameter(nativeApplication, "Rtabmap/TimeThr", mTimeThr);
 			RTABMapLib.setMappingParameter(nativeApplication, "Rtabmap/MemoryThr", memThr);
@@ -1075,6 +1225,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 
 		setAndroidOrientation();
 
+		updateCameraDriverSettings();
 		updatePreferences();
 
 		if(mState == State.STATE_MAPPING || mState == State.STATE_CAMERA)
@@ -1166,7 +1317,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		final boolean depthFromMotion = sharedPref.getBoolean(getString(R.string.pref_key_depth_from_motion), Boolean.parseBoolean(getString(R.string.pref_default_depth_from_motion)));
 		mCameraDriver = Integer.parseInt(cameraDriverStr);
 
-		if(!DISABLE_LOG) Log.i(TAG, String.format("startCamera() driver=%d", mCameraDriver));
+		Log.i(TAG, String.format("startCamera() driver=%d", mCameraDriver));
 		if(mCameraDriver == 0) // Tango
 		{
 			// Check if the Tango Core is out dated.
@@ -1236,6 +1387,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 							{
 								synchronized (this) {
 									mArCoreCamera = new ARCoreSharedCamera(getActivity());
+									mArCoreCamera.setToast(mToast);
 									mProgressDialog.setTitle("");
 									mProgressDialog.setMessage(message);
 									mProgressDialog.show();
@@ -1486,7 +1638,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		}
 
 		updateState(mState);
-
+		
 		return true;
 	}
 
@@ -1624,16 +1776,19 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 			long currentTime = System.currentTimeMillis()/1000;
 			if(loopClosureId > 0)
 			{
+				if (mToast != null) mToast.cancel();
 				mToast.setText(String.format("Loop closure detected! (%d/%d inliers)", inliers, matches));
 				mToast.show();
 			}
 			else if(landmarkDetected != 0)
 			{
+				if (mToast != null) mToast.cancel();
 				mToast.setText(String.format("Marker %d detected!", landmarkDetected));
 				mToast.show();
 			}
 			else if(rejected > 0)
 			{
+				if (mToast != null) mToast.cancel();
 				if(inliers >= Integer.parseInt(mMinInliers))
 				{
 					if(optimizationMaxError > 0.0f)
@@ -1655,6 +1810,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 			{
 				if(currentTime - mLastFastMovementNotificationStamp > 3)
 				{
+					if (mToast != null) mToast.cancel();
 					mToast.setText("Move slower... blurry images are not added to map (\"Settings->Mapping...->Maximum Motion Speed\" is enabled).");
 					mToast.show();
 				}
@@ -1906,7 +2062,14 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		 * "Unknown"
 		 */
 		String str = null;
-		if(key.equals("TangoServiceException"))
+		if(key.equals("UpstreamRelocationFiltered"))
+		{
+			if(mItemDebugVisibility != null && mItemDebugVisibility.isChecked()) {
+				str = String.format("%s re-localization filtered because an acceleration of %s has been detected, which is over current threshold set in the settings.",
+					mCameraDriver == 2?"AREngine":"ARCore", value);
+			}
+		}
+		else if(key.equals("TangoServiceException"))
 			str = String.format("Tango service exception: %s", value);
 		else if(key.equals("FisheyeOverExposed"))
 			;//str = String.format("The fisheye image is over exposed with average pixel value %s px.", value);
@@ -1988,6 +2151,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 				final int loopDetected = RTABMapLib.postProcessing(nativeApplication, -1);
 				runOnUiThread(new Runnable() {
 					public void run() {
+						updateState(State.STATE_IDLE);
 						if(mExportProgressDialog.isShowing())
 						{
 							mExportProgressDialog.dismiss();
@@ -2020,8 +2184,6 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 							mProgressDialog.dismiss();
 							mToast.makeText(getActivity(), String.format("Optimization canceled"), mToast.LENGTH_LONG).show();
 						}
-
-						updateState(State.STATE_IDLE);
 					}
 				});
 			} 
@@ -2140,7 +2302,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 			mButtonCloseVisualization.setVisibility(mHudVisible && mState != State.STATE_VISUALIZING_CAMERA?View.VISIBLE:View.INVISIBLE);
 			mButtonCloseVisualization.setEnabled(true);
 			mButtonSaveOnDevice.setVisibility(mHudVisible && mState != State.STATE_VISUALIZING_CAMERA?View.VISIBLE:View.INVISIBLE);
-			mButtonShareOnSketchfab.setVisibility(mHudVisible && mState != State.STATE_VISUALIZING_CAMERA?View.VISIBLE:View.INVISIBLE);
+			//mButtonShareOnSketchfab.setVisibility(mHudVisible && mState != State.STATE_VISUALIZING_CAMERA?View.VISIBLE:View.INVISIBLE);
 			mButtonLibrary.setVisibility(View.INVISIBLE);
 			mButtonNewScan.setVisibility(View.INVISIBLE);
 			mItemSave.setEnabled(mState != State.STATE_VISUALIZING_CAMERA);
@@ -2213,6 +2375,12 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		{
 			mGLView.setRenderMode(GLSurfaceView.RENDERMODE_CONTINUOUSLY);
 		}
+		
+		if(mState == State.STATE_WELCOME && mIntentDbToOpen != null)
+		{
+			openDatabase(mIntentDbToOpen, false);
+			mIntentDbToOpen = null;
+		}
 	}
 
 	private void startMapping() {
@@ -2622,7 +2790,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 							SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(getActivity());
 							boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
 							String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
-							RTABMapLib.openDatabase(nativeApplication, tmpDatabase, databaseInMemory, false);
+							RTABMapLib.openDatabase(nativeApplication, tmpDatabase, databaseInMemory, false, true);
 
 							mItemLocalizationMode.setEnabled(!mItemDataRecorderMode.isChecked());		   
 
@@ -2776,16 +2944,109 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		mOpenedDatabasePath = "";
 		SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
 		boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
-		String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
-		RTABMapLib.openDatabase(nativeApplication, tmpDatabase, databaseInMemory, false);
-
-		if(!(mState == State.STATE_CAMERA || mState ==State.STATE_MAPPING))
+		final String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
+		
+		File newFile = new File(tmpDatabase);
+		final int fileSizeMB = (int)newFile.length()/(1024 * 1024);
+		if(!(mState == State.STATE_CAMERA || mState ==State.STATE_MAPPING) &&
+			newFile.exists() && 
+			fileSizeMB>1) // >1MB
 		{
-			setCamera(1);
-			startCamera(String.format("Hold Tight! Initializing Camera Service...\n"
-					+ "Tip: If the camera is still drifting just after the mapping has started, do \"Reset\"."));
+			AlertDialog d2 = new AlertDialog.Builder(getActivity())
+					.setCancelable(false)
+					.setTitle("Recovery")
+					.setMessage(String.format("The previous session (%d MB) was not correctly saved, do you want to recover it?", fileSizeMB))
+					.setNegativeButton("Ignore", new DialogInterface.OnClickListener() {
+						public void onClick(DialogInterface dialog, int which) {
+							(new File(tmpDatabase)).delete();
+							newScan();
+						}
+					})
+					.setNeutralButton("Cancel", new DialogInterface.OnClickListener() {
+						public void onClick(DialogInterface dialog, int which) {
+							// do nothing
+						}
+					})
+					.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
+						public void onClick(DialogInterface dialog, int which) {
+							final String fileName = new SimpleDateFormat("yyMMdd-HHmmss").format(new Date()) + ".db";
+							final String outputDbPath = mWorkingDirectory + fileName;
+							
+							mExportProgressDialog.setTitle("Recovering");
+							mExportProgressDialog.setMessage(String.format("Please wait while recovering data..."));
+							mExportProgressDialog.setProgress(0);
+
+							final State previousState = mState;
+
+							mExportProgressDialog.show();
+							updateState(State.STATE_PROCESSING);
+
+							Thread exportThread = new Thread(new Runnable() {
+								public void run() {
+
+									final long startTime = System.currentTimeMillis()/1000;
+
+									final boolean success = RTABMapLib.recover(
+											nativeApplication, 
+											tmpDatabase,
+											outputDbPath);
+									runOnUiThread(new Runnable() {
+										public void run() {
+											if(mExportProgressDialog.isShowing())
+											{							
+												if(success)
+												{								
+													AlertDialog d2 = new AlertDialog.Builder(getActivity())
+															.setCancelable(false)
+															.setTitle("Database saved!")
+															.setMessage(String.format("Database \"%s\" (%d MB) successfully saved!", fileName, fileSizeMB))
+															.setPositiveButton("OK", new DialogInterface.OnClickListener() {
+																public void onClick(DialogInterface dialog, int which) {
+																	openDatabase(fileName, false);
+																}
+															})
+															.create();
+													d2.setCanceledOnTouchOutside(true);
+													d2.show();
+												}
+												else
+												{
+													updateState(previousState);
+													mToast.makeText(getActivity(), String.format("Recovery failed!"), mToast.LENGTH_LONG).show();
+												}
+												mExportProgressDialog.dismiss();
+											}
+											else
+											{
+												mToast.makeText(getActivity(), String.format("Recovery canceled"), mToast.LENGTH_LONG).show();
+												updateState(previousState);
+											}
+										}
+									});
+								} 
+							});
+							exportThread.start();
+							
+							refreshSystemMediaScanDataBase(getActivity(), outputDbPath);
+						}
+					})
+					.create();
+			d2.setCanceledOnTouchOutside(false);
+			d2.show();
+		}
+		else
+		{
+			RTABMapLib.openDatabase(nativeApplication, tmpDatabase, databaseInMemory, false, true);
+	
+			if(!(mState == State.STATE_CAMERA || mState ==State.STATE_MAPPING))
+			{
+				setCamera(0);
+				startCamera(String.format("Hold Tight! Initializing Camera Service...\n"
+						+ "Tip: If the camera is still drifting just after the mapping has started, do \"Reset\"."));
+			}
 		}
 	}
+		
 
 	private void openDatabase()
 	{
@@ -3211,7 +3472,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		context.sendBroadcast(mediaScanIntent);
 	}
 
-	private void saveDatabase(String fileName)
+	private void saveDatabase(final String fileName)
 	{
 		final String newDatabasePath = mWorkingDirectory + fileName + ".db";
 		final String newDatabasePathHuman = mWorkingDirectoryHuman + fileName + ".db";
@@ -3243,7 +3504,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 							mSavedStamp = System.currentTimeMillis();
 							msg = String.format("Database saved to \"%s\".", newDatabasePathHuman);	
 						}
-
+									            
 						// build notification
 						Intent intent = new Intent(getActivity(), RTABMapActivity.class);
 						// use System.currentTimeMillis() to have a unique ID for the pending intent
@@ -3276,7 +3537,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 						AlertDialog d2 = new AlertDialog.Builder(getActivity())
 								.setCancelable(false)
 								.setTitle("Database saved!")
-								.setMessage(String.format("Database \"%s\" (%d MB) successfully saved on the SD-CARD!", newDatabasePathHuman, fileSizeMB))
+								.setMessage(String.format("Database \"%s\" (%d MB) successfully saved!", newDatabasePathHuman, fileSizeMB))
 								.setPositiveButton("OK", new DialogInterface.OnClickListener() {
 									public void onClick(DialogInterface dialog, int which) {
 										resetNoTouchTimer(true);
@@ -3330,30 +3591,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 				dialog.dismiss();
 				if(!fileName.isEmpty())
 				{
-					File newFile = new File(mWorkingDirectory + RTABMAP_EXPORT_DIR + fileName + ".zip");
-					if(newFile.exists())
-					{
-						AlertDialog ad = new AlertDialog.Builder(getActivity())
-								.setCancelable(false)
-								.setTitle("File Already Exists")
-								.setMessage("Do you want to overwrite the existing file?")
-								.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
-									public void onClick(DialogInterface dialog, int which) {
-										writeExportedFiles(fileName);
-									}
-								})
-								.setNegativeButton("No", new DialogInterface.OnClickListener() {
-									public void onClick(DialogInterface dialog, int which) {
-										saveOnDevice();
-									}
-								}).create();
-						ad.setCanceledOnTouchOutside(false);
-						ad.show();
-					}
-					else
-					{
-						writeExportedFiles(fileName);
-					}
+					writeExportedFiles(fileName);
 				}
 			}
 		});
@@ -3367,7 +3605,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 	{		
 		Log.i(TAG, String.format("Write exported mesh to \"%s\"", fileName));
 
-		mProgressDialog.setTitle("Saving to sd-card");
+		mProgressDialog.setTitle("Exporting");
 		mProgressDialog.setMessage(String.format("Compressing the files..."));
 		mProgressDialog.show();
 
@@ -3393,7 +3631,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 				}
 				File exportDir = new File(mWorkingDirectory + RTABMAP_EXPORT_DIR);
 				exportDir.mkdirs();
-
+				
 				final String pathHuman = mWorkingDirectoryHuman + RTABMAP_EXPORT_DIR + fileName + ".zip";
 				final String zipOutput = mWorkingDirectory+RTABMAP_EXPORT_DIR+fileName+".zip";
 				if(RTABMapLib.writeExportedMesh(nativeApplication, mWorkingDirectory + RTABMAP_TMP_DIR, RTABMAP_TMP_FILENAME))
@@ -3420,7 +3658,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 							final String msg = e.getMessage();
 							runOnUiThread(new Runnable() {
 								public void run() {
-									mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! Error=%s", pathHuman, msg), mToast.LENGTH_LONG).show();
+									mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! Error=%s", fileName, msg), mToast.LENGTH_LONG).show();
 								}
 							});
 						}
@@ -3439,13 +3677,14 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 							AlertDialog d = new AlertDialog.Builder(getActivity())
 									.setCancelable(false)
 									.setTitle("Mesh Saved!")
-									.setMessage(String.format("Mesh \"%s\" (%d MB) successfully exported on the SD-CARD! Share it?", pathHuman, fileSizeMB))
+									.setMessage(String.format("Mesh \"%s\" (%d MB) successfully exported! Share it?", pathHuman, fileSizeMB))
 									.setPositiveButton("Yes", new DialogInterface.OnClickListener() {
 										public void onClick(DialogInterface dialog, int which) {
 											// Send to...
 											Intent shareIntent = new Intent();
 											shareIntent.setAction(Intent.ACTION_SEND);
-											shareIntent.putExtra(Intent.EXTRA_STREAM, Uri.fromFile(f));
+											shareIntent.putExtra(Intent.EXTRA_STREAM, FileProvider.getUriForFile(getActivity(), getActivity().getApplicationContext().getPackageName() + ".provider", f));
+											shareIntent.addFlags(Intent.FLAG_GRANT_READ_URI_PERMISSION);
 											shareIntent.setType("application/zip");
 											startActivity(Intent.createChooser(shareIntent, "Sharing..."));
 
@@ -3467,7 +3706,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 					runOnUiThread(new Runnable() {
 						public void run() {
 							mProgressDialog.dismiss();
-							mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! No files found in tmp directory!? Last export may have failed or have been canceled.", pathHuman), mToast.LENGTH_LONG).show();
+							mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! No files found in tmp directory!? Last export may have failed or have been canceled.", fileName), mToast.LENGTH_LONG).show();
 							resetNoTouchTimer(true);
 						}
 					});
@@ -3494,8 +3733,7 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		Thread openThread = new Thread(new Runnable() {
 			public void run() {
 
-				final String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;				
-				final int status = RTABMapLib.openDatabase2(nativeApplication, mOpenedDatabasePath, tmpDatabase, databaseInMemory, optimize);
+				final int status = RTABMapLib.openDatabase(nativeApplication, mOpenedDatabasePath, databaseInMemory, optimize, false);
 
 				runOnUiThread(new Runnable() {
 					public void run() {
@@ -3574,20 +3812,6 @@ public class RTABMapActivity extends FragmentActivity implements OnClickListener
 		openThread.start();	
 	}
 
-	public void copy(File src, File dst) throws IOException {
-		InputStream in = new FileInputStream(src);
-		OutputStream out = new FileOutputStream(dst);
-
-		// Transfer bytes from in to out
-		byte[] buf = new byte[1024];
-		int len;
-		while ((len = in.read(buf)) > 0) {
-			out.write(buf, 0, len);
-		}
-		in.close();
-		out.close();
-	}
-
 	private void shareToSketchfab()
 	{
 		if (!PermissionHelper.hasPermission(this, Manifest.permission.INTERNET)) {

app/android/src/com/introlab/rtabmap/RTABMapLib.java

@@ -34,9 +34,10 @@ public class RTABMapLib
     
     public static native void setScreenRotation(long nativeApplication, int displayRotation, int cameraRotation);
     
-    public static native int openDatabase(long nativeApplication, String databasePath, boolean databaseInMemory, boolean optimize);
-    public static native int openDatabase2(long nativeApplication, String databaseSource, String databasePath, boolean databaseInMemory, boolean optimize);
+    public static native int openDatabase(long nativeApplication, String databasePath, boolean databaseInMemory, boolean optimize, boolean clearDatabase);
     
+    public static native boolean recover(long nativeApplication, String from, String to);
+
     public static native boolean isBuiltWith(long nativeApplication, int cameraDriver);
     public static native boolean startCamera(long nativeApplication, IBinder binder, Context context, Activity activity, int driver);
     public static native void stopCamera(long nativeApplication);
@@ -72,9 +73,11 @@ public class RTABMapLib
     public static native void setRawScanSaved(long nativeApplication, boolean enabled);
     public static native void setFullResolution(long nativeApplication, boolean enabled);
     public static native void setSmoothing(long nativeApplication, boolean enabled);
+    public static native void setDepthBleedingError(long nativeApplication, float value);
     public static native void setDepthFromMotion(long nativeApplication, boolean enabled);
     public static native void setCameraColor(long nativeApplication, boolean enabled);
     public static native void setAppendMode(long nativeApplication, boolean enabled);
+    public static native void setUpstreamRelocalizationAccThr(long nativeApplication, float value);
     public static native void setDataRecorderMode(long nativeApplication, boolean enabled);
     public static native void setMaxCloudDepth(long nativeApplication, float value);
     public static native void setMinCloudDepth(long nativeApplication, float value);
@@ -134,13 +137,29 @@ public class RTABMapLib
     public static native float getUpdateTime(long nativeApplication);
     public static native int getLoopClosureId(long nativeApplication);
     
-    public static native void postCameraPoseEvent(long nativeApplication, float x, float y, float z, float qx, float qy, float qz, float qw);
     public static native void postOdometryEvent(long nativeApplication,
     		float x, float y, float z, float qx, float qy, float qz, float qw,
-    		float fx, float fy, float cx, float cy,
+    		float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
+    		float rgbFrameX, float rgbFrameY, float rgbFrameZ, float rgbFrameQX, float rgbFrameQY, float rgbFrameQZ, float rgbFrameQW,
     		double stamp, 
     		ByteBuffer yPlane, ByteBuffer uPlane, ByteBuffer vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
+    		FloatBuffer points, int pointsLen,
+    		float vx, float vy, float vz, float vqx, float vqy, float vqz, float vqw, //view matrix
+            float p00, float p11, float p02, float p12, float p22, float p32, float p23, // projection matrix
+            float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7); // tex coord
+    public static native void postOdometryEventDepth(long nativeApplication,
+    		float x, float y, float z, float qx, float qy, float qz, float qw,
+    		float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
+    		float depth_fx, float depth_fy, float depth_cx, float depth_cy,
+    		float rgbFrameX, float rgbFrameY, float rgbFrameZ, float rgbFrameQX, float rgbFrameQY, float rgbFrameQZ, float rgbFrameQW,
+    		float depthFrameX, float depthFrameY, float depthFrameZ, float depthFrameQX, float depthFrameQY, float depthFrameQZ, float depthFrameQW,
+    		double rgbStamp,
+    		double depthStamp,
+    		ByteBuffer yPlane, ByteBuffer uPlane, ByteBuffer vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
     		ByteBuffer depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
-    		FloatBuffer points, int pointsLen);
+    		FloatBuffer points, int pointsLen,
+    		float vx, float vy, float vz, float vqx, float vqy, float vqz, float vqw, //view matrix
+            float p00, float p11, float p02, float p12, float p22, float p32, float p23, // projection matrix
+            float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7); // tex coord
     
 }

app/android/src/com/introlab/rtabmap/Renderer.java

@@ -44,12 +44,14 @@ public class Renderer implements GLSurfaceView.Renderer {
 	private float mTextColor = 1.0f;
 	private int mOffset = 0;
 	private ARCoreSharedCamera mCamera = null;
+	private DisplayRotationHelper mDisplayRotationHelper = null;
 	
 	private Vector<TextObject> mTexts;
 
 	private static RTABMapActivity mActivity;
 	public Renderer(RTABMapActivity c) {
 		mActivity = c;
+		mDisplayRotationHelper = new DisplayRotationHelper(/*context=*/ c);
 	}
 
 	private ProgressDialog mProgressDialog = null;
@@ -76,6 +78,11 @@ public class Renderer implements GLSurfaceView.Renderer {
 	public void setCamera(ARCoreSharedCamera camera)
 	{
 		mCamera = camera;
+		if(mCamera!=null)
+		{
+			mDisplayRotationHelper.onDisplayChanged(0);
+			mDisplayRotationHelper.updateSessionIfNeeded(mCamera);
+		}
 	}
 
 	// Render loop of the Gl context.
@@ -84,17 +91,23 @@ public class Renderer implements GLSurfaceView.Renderer {
 		synchronized (this) {
 			if(mActivity.nativeApplication != 0)
 			{
+				int step = 0;
 				try
 				{
 					if(mCamera!=null)
 					{
+						step=1;
 						mCamera.updateGL();
+						
 					}
 					
+					step=2;
+					
 					final int value = RTABMapLib.render(mActivity.nativeApplication);
 		
 					if(mTextManager!=null)
 					{
+						step=3;
 						if(mTextChanged)
 						{
 							mTextChanged = false;
@@ -118,7 +131,7 @@ public class Renderer implements GLSurfaceView.Renderer {
 						Matrix.translateM(mvp, 0, mtrxProjectionAndView, 0, 0, mOffset, 0);
 						mTextManager.Draw(mvp);
 					}
-		
+					step=4;
 					if(value != 0 && mProgressDialog != null && mProgressDialog.isShowing())
 					{
 						mActivity.runOnUiThread(new Runnable() {
@@ -135,7 +148,7 @@ public class Renderer implements GLSurfaceView.Renderer {
 							public void run() {
 								if(mToast!=null)
 								{
-									mToast.makeText(mActivity, String.format("Out of Memory!"), Toast.LENGTH_SHORT).show();
+									mToast.makeText(mActivity.getApplicationContext(), String.format("Out of Memory!"), Toast.LENGTH_SHORT).show();
 								}
 							}
 						});
@@ -146,7 +159,7 @@ public class Renderer implements GLSurfaceView.Renderer {
 							public void run() {
 								if(mToast!=null)
 								{
-									mToast.makeText(mActivity, String.format("Rendering Error!"), Toast.LENGTH_SHORT).show();
+									mToast.makeText(mActivity.getApplicationContext(), String.format("Rendering Error!"), Toast.LENGTH_SHORT).show();
 								}
 							}
 						});
@@ -154,11 +167,14 @@ public class Renderer implements GLSurfaceView.Renderer {
 				}
 				catch(final Exception e)
 				{
+					final int stepF = step;
 					mActivity.runOnUiThread(new Runnable() {
 						public void run() {
 							if(mToast!=null)
 							{
-								mToast.makeText(mActivity, String.format("Rendering error! %s", e.getMessage()), Toast.LENGTH_SHORT).show();
+								String msg = String.format("Rendering error! (exception=%s) step=%d", e.getMessage(), stepF);
+								Log.e("RTABMapActivity", msg);
+								mToast.makeText(mActivity.getApplicationContext(), msg, Toast.LENGTH_LONG).show();
 							}
 						}
 		
@@ -176,6 +192,12 @@ public class Renderer implements GLSurfaceView.Renderer {
 			RTABMapLib.setupGraphic(mActivity.nativeApplication, width, height);
 		}
 		
+		mDisplayRotationHelper.onSurfaceChanged(width, height);
+		if(mCamera!=null)
+		{
+			mDisplayRotationHelper.updateSessionIfNeeded(mCamera);
+		}
+		
 		mSurfaceHeight = (float)height;
 
 		// Clear our matrices

app/android/src/com/introlab/rtabmap/SettingsActivity.java

@@ -222,6 +222,8 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
         ((Preference)findPreference(getString(R.string.pref_key_background_color))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_background_color))).getEntry() + ") "+getString(R.string.pref_summary_background_color));
         ((Preference)findPreference(getString(R.string.pref_key_rendering_texture_decimation))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_rendering_texture_decimation))).getEntry() + ") "+getString(R.string.pref_summary_rendering_texture_decimation));
           
+        ((Preference)findPreference(getString(R.string.pref_key_depth_bleeding_error))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_depth_bleeding_error))).getEntry() + ") "+getString(R.string.pref_summary_depth_bleeding_error));
+		((Preference)findPreference(getString(R.string.pref_key_arcore_relocalization_acc_thr))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_arcore_relocalization_acc_thr))).getEntry() + ") "+getString(R.string.pref_summary_arcore_relocalization_acc_thr));
         ((Preference)findPreference(getString(R.string.pref_key_update_rate))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_update_rate))).getEntry() + ") "+getString(R.string.pref_summary_update_rate));
         ((Preference)findPreference(getString(R.string.pref_key_max_speed))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_max_speed))).getEntry() + ") "+getString(R.string.pref_summary_max_speed));
         ((Preference)findPreference(getString(R.string.pref_key_time_thr))).setSummary("("+((ListPreference)findPreference(getString(R.string.pref_key_time_thr))).getEntry() + ") "+getString(R.string.pref_summary_time_thr));
@@ -284,6 +286,8 @@ public class SettingsActivity extends PreferenceActivity implements OnSharedPref
         	if(key.compareTo(getString(R.string.pref_key_background_color))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_background_color));
         	if(key.compareTo(getString(R.string.pref_key_rendering_texture_decimation))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_rendering_texture_decimation));
         	
+        	if(key.compareTo(getString(R.string.pref_key_depth_bleeding_error))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_depth_bleeding_error));
+			if(key.compareTo(getString(R.string.pref_key_arcore_relocalization_acc_thr))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_arcore_relocalization_acc_thr));
         	if(key.compareTo(getString(R.string.pref_key_update_rate))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_update_rate));
         	if(key.compareTo(getString(R.string.pref_key_max_speed))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_max_speed));
         	if(key.compareTo(getString(R.string.pref_key_time_thr))==0) pref.setSummary("("+((ListPreference)pref).getEntry() + ") "+getString(R.string.pref_summary_time_thr));

app/android/src/com/introlab/rtabmap/TOF_ImageReader.java

@@ -2,18 +2,33 @@ package com.introlab.rtabmap;
 
 
 import android.graphics.ImageFormat;
+import android.hardware.camera2.CameraAccessException;
+import android.hardware.camera2.CameraCaptureSession;
+import android.hardware.camera2.CameraDevice;
+import android.hardware.camera2.CameraManager;
+import android.hardware.camera2.CaptureFailure;
+import android.hardware.camera2.CaptureRequest;
+import android.hardware.camera2.TotalCaptureResult;
 import android.media.Image;
 import android.media.ImageReader;
 import android.os.Handler;
 import android.os.HandlerThread;
+import android.support.annotation.NonNull;
 import android.util.Log;
+import android.view.Surface;
 
 import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
 
 public class TOF_ImageReader implements ImageReader.OnImageAvailableListener {
 
-    public int WIDTH;
-    public int HEIGHT;
+	public static final String TAG = TOF_ImageReader.class.getSimpleName();
+	
+	public int WIDTH;
+	public int HEIGHT;
+	
     public ImageReader imageReader;
     public int frameCount = 0;
     public long timestamp;
@@ -21,16 +36,177 @@ public class TOF_ImageReader implements ImageReader.OnImageAvailableListener {
     // Looper handler thread.
     private HandlerThread backgroundThread;
     // Looper handler.
-    private Handler backgroundHandler;
+    public Handler backgroundHandler;
 
     public ByteBuffer depth16_raw;
+    
+    // Camera capture session. 
+ 	private CameraCaptureSession captureSession = null;
+ 	// Camera device. 
+ 	private CameraDevice cameraDevice = null;
+ 	
+ // Camera preview capture request builder
+ 	private CaptureRequest.Builder previewCaptureRequestBuilder;
+
 
     TOF_ImageReader(){
     }
+    
+    public void close()
+    {
+    	Log.i(TAG, "close()");
+    	if (captureSession != null) {
+			captureSession.close();
+			captureSession = null;
+		}
+		if (cameraDevice != null) {
+			cameraDevice.close();
+			cameraDevice = null;
+		}
+		
+		if (imageReader != null) {
+			imageReader.close();
+			imageReader = null;
+		}
+    }
+    
+ // Camera device state callback.
+ 	public final CameraDevice.StateCallback cameraDeviceCallback =
+ 			new CameraDevice.StateCallback() {
+ 		@Override
+ 		public void onOpened(@NonNull CameraDevice cameraDevice) {
+ 			Log.d(TAG, "Camera depth ID " + cameraDevice.getId() + " opened.");
+ 			TOF_ImageReader.this.cameraDevice = cameraDevice;
+ 			createCameraPreviewSession();
+ 		}
+
+ 		@Override
+ 		public void onClosed(@NonNull CameraDevice cameraDevice) {
+ 			Log.d(TAG, "Camera device ID " + cameraDevice.getId() + " closed.");
+ 			TOF_ImageReader.this.cameraDevice = null;
+ 		}
+
+ 		@Override
+ 		public void onDisconnected(@NonNull CameraDevice cameraDevice) {
+ 			Log.w(TAG, "Camera depth ID " + cameraDevice.getId() + " disconnected.");
+ 			cameraDevice.close();
+ 			TOF_ImageReader.this.cameraDevice = null;
+ 		}
+
+ 		@Override
+ 		public void onError(@NonNull CameraDevice cameraDevice, int error) {
+ 			Log.e(TAG, "Camera depth ID " + cameraDevice.getId() + " error " + error);
+ 			cameraDevice.close();
+ 			TOF_ImageReader.this.cameraDevice = null;
+ 		}
+ 	};
+ 	
+ 	private CameraCaptureSession.StateCallback captureStateCallback = new CameraCaptureSession.StateCallback() {
+ 		// Called when the camera capture session is first configured after the app
+		// is initialized, and again each time the activity is resumed.
+		@Override
+		public void onConfigured(@NonNull CameraCaptureSession session) {
+			Log.d(TAG, "Camera capture session configured.");
+			captureSession = session;
+			setRepeatingCaptureRequest();
+		}
+
+		@Override
+		public void onSurfacePrepared(
+				@NonNull CameraCaptureSession session, @NonNull Surface surface) {
+			Log.d(TAG, "Camera capture surface prepared.");
+		}
+
+		@Override
+		public void onReady(@NonNull CameraCaptureSession session) {
+			Log.d(TAG, "Camera capture session ready.");
+		}
+
+		@Override
+		public void onActive(@NonNull CameraCaptureSession session) {
+			Log.d(TAG, "Camera capture session active.");
+		}
+
+		@Override
+		public void onClosed(@NonNull CameraCaptureSession session) {
+			Log.d(TAG, "Camera capture session closed.");
+		}
+
+		@Override
+		public void onConfigureFailed(@NonNull CameraCaptureSession session) {
+			Log.e(TAG, "Failed to configure camera capture session.");
+		}
+ 	};
+ 	
+ // Repeating camera capture session capture callback.
+ 	private final CameraCaptureSession.CaptureCallback captureSessionCallback =
+ 			new CameraCaptureSession.CaptureCallback() {
+
+ 		@Override
+ 		public void onCaptureCompleted(
+ 				@NonNull CameraCaptureSession session,
+ 				@NonNull CaptureRequest request,
+ 				@NonNull TotalCaptureResult result) {
+ 			//Log.i(TAG, "onCaptureCompleted");
+ 		}
+
+ 		//@Override // android 23 
+ 		public void onCaptureBufferLost(
+ 				@NonNull CameraCaptureSession session,
+ 				@NonNull CaptureRequest request,
+ 				@NonNull Surface target,
+ 				long frameNumber) {
+ 			Log.e(TAG, "onCaptureBufferLost: " + frameNumber);
+ 		}
+
+ 		@Override
+ 		public void onCaptureFailed(
+ 				@NonNull CameraCaptureSession session,
+ 				@NonNull CaptureRequest request,
+ 				@NonNull CaptureFailure failure) {
+ 			Log.e(TAG, "onCaptureFailed: " + failure.getFrameNumber() + " " + failure.getReason());
+ 		}
+
+ 		@Override
+ 		public void onCaptureSequenceAborted(
+ 				@NonNull CameraCaptureSession session, int sequenceId) {
+ 			Log.e(TAG, "onCaptureSequenceAborted: " + sequenceId + " " + session);
+ 		}
+ 	};
+ 	
+ 	// Called when starting non-AR mode or switching to non-AR mode.
+ 	// Also called when app starts in AR mode, or resumes in AR mode.
+ 	private void setRepeatingCaptureRequest() {
+ 		try {
+ 			captureSession.setRepeatingRequest(
+ 					previewCaptureRequestBuilder.build(), captureSessionCallback, backgroundHandler);
+ 		} catch (CameraAccessException e) {
+ 			Log.e(TAG, "Failed to set repeating request", e);
+ 		}
+ 	}
+ 	
+ 	private void createCameraPreviewSession() {
+		Log.e(TAG, "createCameraPreviewSession: " + "starting camera preview session.");
+		frameCount = 0;
+		try {
+			
+			// Create an ARCore compatible capture request using `TEMPLATE_RECORD`.
+			previewCaptureRequestBuilder = cameraDevice.createCaptureRequest(CameraDevice.TEMPLATE_RECORD);
+
+			previewCaptureRequestBuilder.addTarget(imageReader.getSurface());
+
+			// Create camera capture session for camera preview using callback.
+			cameraDevice.createCaptureSession(Arrays.asList(imageReader.getSurface()), captureStateCallback, backgroundHandler);
+
+		} catch (CameraAccessException e) {
+			Log.e(TAG, "CameraAccessException", e);
+		}
+	}
 
     public void createImageReader(int width, int height){
-        this.WIDTH = width;
-        this.HEIGHT = height;
+    	Log.w(TAG, String.valueOf(width) + "x" + String.valueOf(height));
+    	WIDTH = width;
+    	HEIGHT = height;
         this.imageReader =
                 ImageReader.newInstance(
                         width,
@@ -45,18 +221,20 @@ public class TOF_ImageReader implements ImageReader.OnImageAvailableListener {
     public void onImageAvailable(ImageReader imageReader) {
         Image image  = imageReader.acquireLatestImage();
         if (image == null) {
-            Log.w("RTABMapActivity", "onImageAvailable: Skipping null image.");
+            Log.w(TAG, "onImageAvailable: Skipping null image.");
             return;
         }
         else{
             if(image.getFormat() == ImageFormat.DEPTH16){
-                this.timestamp = image.getTimestamp();
-                depth16_raw = image.getPlanes()[0].getBuffer().asReadOnlyBuffer();
+                synchronized (this) {
+                	 depth16_raw = image.getPlanes()[0].getBuffer().asReadOnlyBuffer();
+                	 timestamp = image.getTimestamp();
+				}
                 // copy raw undecoded DEPTH16 format depth data to NativeBuffer
                 frameCount++;
             }
             else{
-                Log.w("RTABMapActivity", "onImageAvailable: depth image not in DEPTH16 format, skipping image");
+                Log.w(TAG, "onImageAvailable: depth image not in DEPTH16 format, skipping image");
             }
         }
         image.close();
@@ -78,7 +256,7 @@ public class TOF_ImageReader implements ImageReader.OnImageAvailableListener {
                 this.backgroundThread = null;
                 this.backgroundHandler = null;
             } catch (InterruptedException e) {
-                Log.e("RTABMapActivity", "Interrupted while trying to join depth background handler thread", e);
+                Log.e(TAG, "Interrupted while trying to join depth background handler thread", e);
             }
         }
     }

app/android/src/com/introlab/rtabmap/Util.java

@@ -7,7 +7,11 @@ import java.io.FileInputStream;
 import java.io.FileOutputStream;
 import java.io.FilenameFilter;
 import java.io.IOException;
+import java.util.ArrayList;
 import java.util.Arrays;
+import java.util.Collections;
+import java.util.Comparator;
+import java.util.List;
 import java.util.zip.ZipEntry;
 import java.util.zip.ZipOutputStream;
 
@@ -55,7 +59,7 @@ public class Util {
 		}
 	}
 
-	public static String[] loadFileList(String directory, final boolean databasesOnly) {
+	public static String[] loadFileList(final String directory, final boolean databasesOnly) {
 		File path = new File(directory); 
 		String fileList[];
 		try {
@@ -83,6 +87,25 @@ public class Util {
 			};
 			fileList = path.list(filter);
 			Arrays.sort(fileList);
+			List<String> fileListt = new ArrayList<String>(Arrays.asList(fileList));
+			Collections.sort(fileListt, new Comparator<String>() {
+
+		        @Override
+		        public int compare(String filename1, String filename2) {
+		        	File file1 = new File(directory+"/"+filename1);
+		        	File file2 = new File(directory+"/"+filename2);
+		            long k = file1.lastModified() - file2.lastModified();
+		            if(k > 0){
+		               return -1;
+		            }else if(k == 0){
+		               return 0;
+		            }else{
+		              return 1;
+		           }
+		        }
+		    });
+			fileListt.toArray(fileList);
+			
 		}
 		else {
 			fileList = new String[0];

app/ios/.gitignore

@@ -0,0 +1,68 @@
+# Xcode
+#
+# gitignore contributors: remember to update Global/Xcode.gitignore, Objective-C.gitignore & Swift.gitignore
+
+## User settings
+xcuserdata/
+
+## compatibility with Xcode 8 and earlier (ignoring not required starting Xcode 9)
+*.xcscmblueprint
+*.xccheckout
+
+## compatibility with Xcode 3 and earlier (ignoring not required starting Xcode 4)
+build/
+DerivedData/
+*.moved-aside
+*.pbxuser
+!default.pbxuser
+*.mode1v3
+!default.mode1v3
+*.mode2v3
+!default.mode2v3
+*.perspectivev3
+!default.perspectivev3
+
+## Obj-C/Swift specific
+*.hmap
+
+## App packaging
+*.ipa
+*.dSYM.zip
+*.dSYM
+
+# CocoaPods
+#
+# We recommend against adding the Pods directory to your .gitignore. However
+# you should judge for yourself, the pros and cons are mentioned at:
+# https://guides.cocoapods.org/using/using-cocoapods.html#should-i-check-the-pods-directory-into-source-control
+#
+# Pods/
+#
+# Add this line if you want to avoid checking in source code from the Xcode workspace
+# *.xcworkspace
+
+# Carthage
+#
+# Add this line if you want to avoid checking in source code from Carthage dependencies.
+# Carthage/Checkouts
+
+Carthage/Build/
+
+# fastlane
+#
+# It is recommended to not store the screenshots in the git repo.
+# Instead, use fastlane to re-generate the screenshots whenever they are needed.
+# For more information about the recommended setup visit:
+# https://docs.fastlane.tools/best-practices/source-control/#source-control
+
+fastlane/report.xml
+fastlane/Preview.html
+fastlane/screenshots/**/*.png
+fastlane/test_output
+
+# Code Injection
+#
+# After new code Injection tools there's a generated folder /iOSInjectionProject
+# https://github.com/johnno1962/injectionforxcode
+
+iOSInjectionProject/

app/ios/RTABMapApp.xcodeproj/project.xcworkspace/contents.xcworkspacedata

@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Workspace
+   version = "1.0">
+   <FileRef
+      location = "self:">
+   </FileRef>
+</Workspace>

app/ios/RTABMapApp.xcodeproj/project.xcworkspace/xcshareddata/IDEWorkspaceChecks.plist

@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>IDEDidComputeMac32BitWarning</key>
+	<true/>
+</dict>
+</plist>

app/ios/RTABMapApp.xcodeproj/project.xcworkspace/xcshareddata/swiftpm/Package.resolved

@@ -0,0 +1,16 @@
+{
+  "object": {
+    "pins": [
+      {
+        "package": "Zip",
+        "repositoryURL": "https://github.com/marmelroy/Zip.git",
+        "state": {
+          "branch": null,
+          "revision": "bd19d974e8a38cc8d3a88c90c8a107386c3b8ccf",
+          "version": "2.1.1"
+        }
+      }
+    ]
+  },
+  "version": 1
+}

app/ios/RTABMapApp.xcodeproj/xcshareddata/xcschemes/RTABMapApp.xcscheme

@@ -0,0 +1,86 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<Scheme
+   LastUpgradeVersion = "1230"
+   version = "1.3">
+   <BuildAction
+      parallelizeBuildables = "YES"
+      buildImplicitDependencies = "YES">
+      <BuildActionEntries>
+         <BuildActionEntry
+            buildForTesting = "YES"
+            buildForRunning = "YES"
+            buildForProfiling = "YES"
+            buildForArchiving = "YES"
+            buildForAnalyzing = "YES">
+            <BuildableReference
+               BuildableIdentifier = "primary"
+               BlueprintIdentifier = "4EE015C1259A2AF0008CCE65"
+               BuildableName = "RTABMapApp.app"
+               BlueprintName = "RTABMapApp"
+               ReferencedContainer = "container:RTABMapApp.xcodeproj">
+            </BuildableReference>
+         </BuildActionEntry>
+      </BuildActionEntries>
+   </BuildAction>
+   <TestAction
+      buildConfiguration = "Release"
+      selectedDebuggerIdentifier = "Xcode.DebuggerFoundation.Debugger.LLDB"
+      selectedLauncherIdentifier = "Xcode.DebuggerFoundation.Launcher.LLDB"
+      shouldUseLaunchSchemeArgsEnv = "YES">
+      <Testables>
+      </Testables>
+   </TestAction>
+   <LaunchAction
+      buildConfiguration = "Release"
+      selectedDebuggerIdentifier = "Xcode.DebuggerFoundation.Debugger.LLDB"
+      selectedLauncherIdentifier = "Xcode.DebuggerFoundation.Launcher.LLDB"
+      launchStyle = "0"
+      useCustomWorkingDirectory = "NO"
+      ignoresPersistentStateOnLaunch = "NO"
+      debugDocumentVersioning = "YES"
+      debugServiceExtension = "internal"
+      enableGPUFrameCaptureMode = "2"
+      allowLocationSimulation = "YES">
+      <BuildableProductRunnable
+         runnableDebuggingMode = "0">
+         <BuildableReference
+            BuildableIdentifier = "primary"
+            BlueprintIdentifier = "4EE015C1259A2AF0008CCE65"
+            BuildableName = "RTABMapApp.app"
+            BlueprintName = "RTABMapApp"
+            ReferencedContainer = "container:RTABMapApp.xcodeproj">
+         </BuildableReference>
+      </BuildableProductRunnable>
+      <EnvironmentVariables>
+         <EnvironmentVariable
+            key = "IDEPreferLogStreaming"
+            value = "YES"
+            isEnabled = "YES">
+         </EnvironmentVariable>
+      </EnvironmentVariables>
+   </LaunchAction>
+   <ProfileAction
+      buildConfiguration = "Release"
+      shouldUseLaunchSchemeArgsEnv = "YES"
+      savedToolIdentifier = ""
+      useCustomWorkingDirectory = "NO"
+      debugDocumentVersioning = "YES">
+      <BuildableProductRunnable
+         runnableDebuggingMode = "0">
+         <BuildableReference
+            BuildableIdentifier = "primary"
+            BlueprintIdentifier = "4EE015C1259A2AF0008CCE65"
+            BuildableName = "RTABMapApp.app"
+            BlueprintName = "RTABMapApp"
+            ReferencedContainer = "container:RTABMapApp.xcodeproj">
+         </BuildableReference>
+      </BuildableProductRunnable>
+   </ProfileAction>
+   <AnalyzeAction
+      buildConfiguration = "Release">
+   </AnalyzeAction>
+   <ArchiveAction
+      buildConfiguration = "Release"
+      revealArchiveInOrganizer = "YES">
+   </ArchiveAction>
+</Scheme>

app/ios/RTABMapApp/.gitignore

@@ -0,0 +1 @@
+Libraries

app/ios/RTABMapApp/AppDelegate.swift

@@ -0,0 +1,76 @@
+//
+//  AppDelegate.swift
+//  GLKittutorial
+//
+//  Created by Mathieu Labbe on 2020-12-28.
+//
+
+import UIKit
+import ARKit
+
+func setDefaultsFromSettingsBundle() {
+    
+    let plistFiles = ["Root", "Mapping", "Assembling"]
+    
+    for plistName in plistFiles {
+        //Read PreferenceSpecifiers from Root.plist in Settings.Bundle
+        if let settingsURL = Bundle.main.url(forResource: plistName, withExtension: "plist", subdirectory: "Settings.bundle"),
+            let settingsPlist = NSDictionary(contentsOf: settingsURL),
+            let preferences = settingsPlist["PreferenceSpecifiers"] as? [NSDictionary] {
+
+            for prefSpecification in preferences {
+
+                if let key = prefSpecification["Key"] as? String, let value = prefSpecification["DefaultValue"] {
+
+                    //If key doesn't exists in userDefaults then register it, else keep original value
+                    if UserDefaults.standard.value(forKey: key) == nil {
+
+                        UserDefaults.standard.set(value, forKey: key)
+                        NSLog("registerDefaultsFromSettingsBundle: Set following to UserDefaults - (key: \(key), value: \(value), type: \(type(of: value)))")
+                    }
+                }
+            }
+        } else {
+            NSLog("registerDefaultsFromSettingsBundle: Could not find Settings.bundle")
+        }
+    }
+}
+
+@main
+class AppDelegate: UIResponder, UIApplicationDelegate {
+
+    var window: UIWindow?
+    
+    func application(_ application: UIApplication, didFinishLaunchingWithOptions launchOptions: [UIApplication.LaunchOptionsKey: Any]?) -> Bool {
+        
+        // Always set Version to default
+        let defaults = UserDefaults.standard
+        defaults.removeObject(forKey: "Version")
+        
+        setDefaultsFromSettingsBundle()
+        
+        // Override point for customization after application launch.
+        if !ARWorldTrackingConfiguration.supportsFrameSemantics(.sceneDepth) {
+            // Ensure that the device supports scene depth and present
+            //  an error-message view controller, if not.
+            let storyboard = UIStoryboard(name: "Main", bundle: nil)
+            window?.rootViewController = storyboard.instantiateViewController(withIdentifier: "unsupportedDeviceMessage")
+        }
+        return true
+    }
+
+    // MARK: UISceneSession Lifecycle
+
+    func application(_ application: UIApplication, configurationForConnecting connectingSceneSession: UISceneSession, options: UIScene.ConnectionOptions) -> UISceneConfiguration {
+        // Called when a new scene session is being created.
+        // Use this method to select a configuration to create the new scene with.
+        return UISceneConfiguration(name: "Default Configuration", sessionRole: connectingSceneSession.role)
+    }
+
+    func application(_ application: UIApplication, didDiscardSceneSessions sceneSessions: Set<UISceneSession>) {
+        // Called when the user discards a scene session.
+        // If any sessions were discarded while the application was not running, this will be called shortly after application:didFinishLaunchingWithOptions.
+        // Use this method to release any resources that were specific to the discarded scenes, as they will not return.
+    }
+}
+

app/ios/RTABMapApp/Assets.xcassets/AccentColor.colorset/Contents.json

@@ -0,0 +1,11 @@
+{
+  "colors" : [
+    {
+      "idiom" : "universal"
+    }
+  ],
+  "info" : {
+    "author" : "xcode",
+    "version" : 1
+  }
+}

app/ios/RTABMapApp/Assets.xcassets/AppIcon.appiconset/Contents.json

@@ -0,0 +1,116 @@
+{
+  "images" : [
+    {
+      "filename" : "RTAB-Map40-1.png",
+      "idiom" : "iphone",
+      "scale" : "2x",
+      "size" : "20x20"
+    },
+    {
+      "filename" : "RTAB-Map60.png",
+      "idiom" : "iphone",
+      "scale" : "3x",
+      "size" : "20x20"
+    },
+    {
+      "filename" : "RTAB-Map58-1.png",
+      "idiom" : "iphone",
+      "scale" : "2x",
+      "size" : "29x29"
+    },
+    {
+      "filename" : "RTAB-Map87.png",
+      "idiom" : "iphone",
+      "scale" : "3x",
+      "size" : "29x29"
+    },
+    {
+      "filename" : "RTAB-Map80-1.png",
+      "idiom" : "iphone",
+      "scale" : "2x",
+      "size" : "40x40"
+    },
+    {
+      "filename" : "RTAB-Map120-1.png",
+      "idiom" : "iphone",
+      "scale" : "3x",
+      "size" : "40x40"
+    },
+    {
+      "filename" : "RTAB-Map120.png",
+      "idiom" : "iphone",
+      "scale" : "2x",
+      "size" : "60x60"
+    },
+    {
+      "filename" : "RTAB-Map180.png",
+      "idiom" : "iphone",
+      "scale" : "3x",
+      "size" : "60x60"
+    },
+    {
+      "filename" : "RTAB-Map20.png",
+      "idiom" : "ipad",
+      "scale" : "1x",
+      "size" : "20x20"
+    },
+    {
+      "filename" : "RTAB-Map40.png",
+      "idiom" : "ipad",
+      "scale" : "2x",
+      "size" : "20x20"
+    },
+    {
+      "filename" : "RTAB-Map29.png",
+      "idiom" : "ipad",
+      "scale" : "1x",
+      "size" : "29x29"
+    },
+    {
+      "filename" : "RTAB-Map58.png",
+      "idiom" : "ipad",
+      "scale" : "2x",
+      "size" : "29x29"
+    },
+    {
+      "filename" : "RTAB-Map40-2.png",
+      "idiom" : "ipad",
+      "scale" : "1x",
+      "size" : "40x40"
+    },
+    {
+      "filename" : "RTAB-Map80.png",
+      "idiom" : "ipad",
+      "scale" : "2x",
+      "size" : "40x40"
+    },
+    {
+      "filename" : "RTAB-Map76.png",
+      "idiom" : "ipad",
+      "scale" : "1x",
+      "size" : "76x76"
+    },
+    {
+      "filename" : "RTAB-Map152.png",
+      "idiom" : "ipad",
+      "scale" : "2x",
+      "size" : "76x76"
+    },
+    {
+      "filename" : "RTAB-Map167.png",
+      "idiom" : "ipad",
+      "scale" : "2x",
+      "size" : "83.5x83.5"
+    },
+    {
+      "filename" : "RTAB-Map1024.png",
+      "idiom" : "ios-marketing",
+      "scale" : "1x",
+      "size" : "1024x1024"
+    }
+  ],
+  "info" : {
+    "author" : "xcode",
+    "version" : 1
+  }
+}

app/ios/RTABMapApp/Assets.xcassets/Contents.json

@@ -0,0 +1,6 @@
+{
+  "info" : {
+    "author" : "xcode",
+    "version" : 1
+  }
+}

app/ios/RTABMapApp/Base.lproj/LaunchScreen.storyboard

@@ -0,0 +1,86 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<document type="com.apple.InterfaceBuilder3.CocoaTouch.Storyboard.XIB" version="3.0" toolsVersion="19455" targetRuntime="iOS.CocoaTouch" propertyAccessControl="none" useAutolayout="YES" launchScreen="YES" useTraitCollections="YES" useSafeAreas="YES" colorMatched="YES" initialViewController="01J-lp-oVM">
+    <device id="retina6_1" orientation="portrait" appearance="light"/>
+    <dependencies>
+        <deployment identifier="iOS"/>
+        <plugIn identifier="com.apple.InterfaceBuilder.IBCocoaTouchPlugin" version="19454"/>
+        <capability name="Safe area layout guides" minToolsVersion="9.0"/>
+        <capability name="documents saved in the Xcode 8 format" minToolsVersion="8.0"/>
+    </dependencies>
+    <scenes>
+        <!--View Controller-->
+        <scene sceneID="EHf-IW-A2E">
+            <objects>
+                <viewController id="01J-lp-oVM" sceneMemberID="viewController">
+                    <view key="view" contentMode="scaleToFill" id="Ze5-6b-2t3">
+                        <rect key="frame" x="0.0" y="0.0" width="414" height="896"/>
+                        <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
+                        <subviews>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="DqX-Vd-Tpo" userLabel="ViewButton">
+                                <rect key="frame" x="342" y="799.5" width="52" height="40.5"/>
+                                <constraints>
+                                    <constraint firstAttribute="width" constant="52" id="m5V-wG-7GI"/>
+                                    <constraint firstAttribute="height" constant="44" id="pbH-yg-ZHL"/>
+                                </constraints>
+                                <color key="tintColor" white="0.33333333333333331" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <state key="normal" backgroundImage="eye" catalog="system">
+                                    <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                </state>
+                            </button>
+                            <stackView opaque="NO" contentMode="scaleToFill" spacing="20" translatesAutoresizingMaskIntoConstraints="NO" id="Ybb-6v-Prf">
+                                <rect key="frame" x="254" y="64" width="140" height="60"/>
+                                <subviews>
+                                    <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="qpg-QD-geo" userLabel="LibraryButton">
+                                        <rect key="frame" x="0.0" y="1" width="60" height="57.5"/>
+                                        <constraints>
+                                            <constraint firstAttribute="height" constant="60" id="MMK-i4-ipl"/>
+                                            <constraint firstAttribute="width" constant="60" id="MSB-kf-WKH"/>
+                                        </constraints>
+                                        <color key="tintColor" white="0.33333333333333331" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        <state key="normal" backgroundImage="folder" catalog="system">
+                                            <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        </state>
+                                    </button>
+                                    <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="Xjn-gQ-W57" userLabel="MenuButton">
+                                        <rect key="frame" x="80" y="0.5" width="60" height="59"/>
+                                        <constraints>
+                                            <constraint firstAttribute="height" constant="60" id="h7m-oO-bNI"/>
+                                            <constraint firstAttribute="width" constant="60" id="q9I-XS-C8P"/>
+                                        </constraints>
+                                        <color key="tintColor" white="0.33333333333333331" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        <state key="normal" backgroundImage="ellipsis.circle" catalog="system"/>
+                                    </button>
+                                </subviews>
+                            </stackView>
+                            <imageView clipsSubviews="YES" userInteractionEnabled="NO" contentMode="scaleAspectFit" horizontalHuggingPriority="251" verticalHuggingPriority="251" image="RTAB-Map1024" translatesAutoresizingMaskIntoConstraints="NO" id="TNo-z5-pM0">
+                                <rect key="frame" x="177" y="418" width="60" height="60"/>
+                                <constraints>
+                                    <constraint firstAttribute="width" constant="60" id="Lio-4G-f3t"/>
+                                    <constraint firstAttribute="height" constant="60" id="Q5D-zG-PAv"/>
+                                </constraints>
+                            </imageView>
+                        </subviews>
+                        <viewLayoutGuide key="safeArea" id="6Tk-OE-BBY"/>
+                        <color key="backgroundColor" white="0.0" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                        <constraints>
+                            <constraint firstItem="TNo-z5-pM0" firstAttribute="centerY" secondItem="Ze5-6b-2t3" secondAttribute="centerY" id="4fp-du-TTg"/>
+                            <constraint firstItem="Ybb-6v-Prf" firstAttribute="top" secondItem="6Tk-OE-BBY" secondAttribute="top" constant="20" id="Dcs-0a-Uhe"/>
+                            <constraint firstItem="6Tk-OE-BBY" firstAttribute="trailing" secondItem="DqX-Vd-Tpo" secondAttribute="trailing" constant="20" id="TTR-AB-iCr"/>
+                            <constraint firstItem="6Tk-OE-BBY" firstAttribute="trailing" secondItem="Ybb-6v-Prf" secondAttribute="trailing" constant="20" id="YPK-bW-6AC"/>
+                            <constraint firstItem="6Tk-OE-BBY" firstAttribute="bottom" secondItem="DqX-Vd-Tpo" secondAttribute="bottom" constant="20" id="cnW-a0-bhz"/>
+                            <constraint firstItem="TNo-z5-pM0" firstAttribute="centerX" secondItem="Ze5-6b-2t3" secondAttribute="centerX" id="epw-Qw-hdY"/>
+                        </constraints>
+                    </view>
+                </viewController>
+                <placeholder placeholderIdentifier="IBFirstResponder" id="iYj-Kq-Ea1" userLabel="First Responder" sceneMemberID="firstResponder"/>
+            </objects>
+            <point key="canvasLocation" x="52.173913043478265" y="375"/>
+        </scene>
+    </scenes>
+    <resources>
+        <image name="RTAB-Map1024" width="591" height="649"/>
+        <image name="ellipsis.circle" catalog="system" width="128" height="121"/>
+        <image name="eye" catalog="system" width="128" height="81"/>
+        <image name="folder" catalog="system" width="128" height="97"/>
+    </resources>
+</document>

app/ios/RTABMapApp/Base.lproj/Main.storyboard

@@ -0,0 +1,354 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<document type="com.apple.InterfaceBuilder3.CocoaTouch.Storyboard.XIB" version="3.0" toolsVersion="32700.99.1234" targetRuntime="iOS.CocoaTouch" propertyAccessControl="none" useAutolayout="YES" useTraitCollections="YES" useSafeAreas="YES" colorMatched="YES" initialViewController="zah-iI-EPt">
+    <device id="retina6_12" orientation="portrait" appearance="light"/>
+    <dependencies>
+        <deployment identifier="iOS"/>
+        <plugIn identifier="com.apple.InterfaceBuilder.IBCocoaTouchPlugin" version="22684"/>
+        <capability name="Image references" minToolsVersion="12.0"/>
+        <capability name="Safe area layout guides" minToolsVersion="9.0"/>
+        <capability name="System colors in document resources" minToolsVersion="11.0"/>
+        <capability name="documents saved in the Xcode 8 format" minToolsVersion="8.0"/>
+    </dependencies>
+    <scenes>
+        <!--GLKit View Controller-->
+        <scene sceneID="1cO-Jt-3GG">
+            <objects>
+                <glkViewController preferredFramesPerSecond="30" id="zah-iI-EPt" customClass="ViewController" customModule="RTABMapApp" customModuleProvider="target" sceneMemberID="viewController">
+                    <glkView key="view" opaque="NO" clipsSubviews="YES" multipleTouchEnabled="YES" contentMode="center" drawableDepthFormat="24" enableSetNeedsDisplay="NO" id="sqF-4e-2HU">
+                        <rect key="frame" x="0.0" y="0.0" width="393" height="852"/>
+                        <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
+                        <subviews>
+                            <stackView opaque="NO" contentMode="scaleToFill" axis="vertical" spacing="30" translatesAutoresizingMaskIntoConstraints="NO" id="kPv-DO-hpd">
+                                <rect key="frame" x="323" y="261" width="60" height="330"/>
+                                <subviews>
+                                    <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="mJN-Ru-yPg" userLabel="StopButton">
+                                        <rect key="frame" x="0.0" y="1" width="60" height="58.666666666666671"/>
+                                        <constraints>
+                                            <constraint firstAttribute="height" constant="60" id="g9J-0P-CmQ"/>
+                                            <constraint firstAttribute="width" constant="60" id="m06-eJ-dIn"/>
+                                        </constraints>
+                                        <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        <state key="normal" backgroundImage="stop.circle" catalog="system"/>
+                                        <connections>
+                                            <action selector="stopAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="3iJ-xb-gzb"/>
+                                        </connections>
+                                    </button>
+                                    <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="7Lv-u6-mGh" userLabel="RecordButton">
+                                        <rect key="frame" x="0.0" y="91" width="60" height="58.666666666666686"/>
+                                        <constraints>
+                                            <constraint firstAttribute="height" constant="60" id="DQI-eQ-v3X"/>
+                                            <constraint firstAttribute="width" constant="60" id="Oeu-YT-wMz"/>
+                                        </constraints>
+                                        <fontDescription key="fontDescription" type="system" pointSize="18"/>
+                                        <color key="tintColor" systemColor="systemRedColor"/>
+                                        <inset key="imageEdgeInsets" minX="0.0" minY="0.0" maxX="0.0" maxY="20"/>
+                                        <state key="normal" backgroundImage="record.circle" catalog="system"/>
+                                        <connections>
+                                            <action selector="recordAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="dzY-yL-YBg"/>
+                                        </connections>
+                                    </button>
+                                    <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="lFB-Lm-zFS" userLabel="AddMeasureButton">
+                                        <rect key="frame" x="0.0" y="181.33333333333334" width="60" height="57.999999999999972"/>
+                                        <constraints>
+                                            <constraint firstAttribute="width" constant="60" id="Wtb-vg-lgB"/>
+                                            <constraint firstAttribute="height" constant="60" id="p0E-BN-poT"/>
+                                        </constraints>
+                                        <color key="tintColor" systemColor="systemYellowColor"/>
+                                        <inset key="imageEdgeInsets" minX="0.0" minY="0.0" maxX="2.2250738585072014e-308" maxY="0.0"/>
+                                        <state key="normal" backgroundImage="plus.viewfinder" catalog="system"/>
+                                        <connections>
+                                            <action selector="addMeasureAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="lUX-tm-SgY"/>
+                                        </connections>
+                                    </button>
+                                    <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="c1k-0i-64A" userLabel="RemoveMeasureButton">
+                                        <rect key="frame" x="0.0" y="271" width="60" height="58.666666666666686"/>
+                                        <constraints>
+                                            <constraint firstAttribute="height" constant="60" id="0gd-nd-i5y"/>
+                                            <constraint firstAttribute="width" constant="60" id="mSi-rI-NoN"/>
+                                        </constraints>
+                                        <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        <inset key="imageEdgeInsets" minX="0.0" minY="0.0" maxX="2.2250738585072014e-308" maxY="0.0"/>
+                                        <state key="normal" backgroundImage="minus.circle" catalog="system"/>
+                                        <connections>
+                                            <action selector="removeMeasureAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="2RW-qr-kvb"/>
+                                        </connections>
+                                    </button>
+                                </subviews>
+                            </stackView>
+                            <stackView opaque="NO" contentMode="scaleToFill" spacing="20" translatesAutoresizingMaskIntoConstraints="NO" id="ozY-dg-YOd">
+                                <rect key="frame" x="233" y="79" width="140" height="60"/>
+                                <subviews>
+                                    <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="9kh-4C-KyP" userLabel="LibraryButton">
+                                        <rect key="frame" x="0.0" y="1.6666666666666643" width="60" height="57"/>
+                                        <constraints>
+                                            <constraint firstAttribute="width" constant="60" id="Ekq-3J-kUL"/>
+                                            <constraint firstAttribute="height" constant="60" id="fqe-e7-0uk"/>
+                                        </constraints>
+                                        <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        <state key="normal" backgroundImage="folder" catalog="system">
+                                            <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        </state>
+                                        <connections>
+                                            <action selector="libraryAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="WOh-uA-T5h"/>
+                                        </connections>
+                                    </button>
+                                    <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="y53-OI-O76" userLabel="MenuButton">
+                                        <rect key="frame" x="80" y="1" width="60" height="58.666666666666671"/>
+                                        <constraints>
+                                            <constraint firstAttribute="height" constant="60" id="L5T-8h-ale"/>
+                                            <constraint firstAttribute="width" constant="60" id="pLI-ns-KHQ"/>
+                                        </constraints>
+                                        <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                        <state key="normal" backgroundImage="ellipsis.circle" catalog="system"/>
+                                    </button>
+                                </subviews>
+                            </stackView>
+                            <label opaque="NO" userInteractionEnabled="NO" contentMode="left" horizontalHuggingPriority="251" verticalHuggingPriority="251" text="Label" textAlignment="natural" lineBreakMode="wordWrap" baselineAdjustment="alignBaselines" adjustsFontSizeToFit="NO" translatesAutoresizingMaskIntoConstraints="NO" id="KlF-4H-k6I">
+                                <rect key="frame" x="16" y="79" width="31" height="14.333333333333329"/>
+                                <fontDescription key="fontDescription" type="system" pointSize="12"/>
+                                <color key="textColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <nil key="highlightedColor"/>
+                            </label>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="012-W3-dOS" userLabel="CloseVisualization">
+                                <rect key="frame" x="111.33333333333333" y="772" width="170.33333333333337" height="22"/>
+                                <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <state key="normal" title="Close Visualization" image="xmark.square" catalog="system">
+                                    <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                </state>
+                                <connections>
+                                    <action selector="closeVisualizationAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="DqP-oy-XPe"/>
+                                </connections>
+                            </button>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="9oq-op-NGV" userLabel="StopCamera">
+                                <rect key="frame" x="134.33333333333334" y="771" width="124.33333333333334" height="22"/>
+                                <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <state key="normal" title="Stop Camera" image="xmark.square" catalog="system">
+                                    <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                </state>
+                                <connections>
+                                    <action selector="stopCameraAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="YZq-pZ-8Te"/>
+                                </connections>
+                            </button>
+                            <button opaque="NO" contentMode="scaleAspectFit" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="Jj4-ow-MwD" userLabel="NewScanButtonLarge">
+                                <rect key="frame" x="86.333333333333329" y="407" width="220.66666666666669" height="38.333333333333314"/>
+                                <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <state key="normal" title="New Mapping Session">
+                                    <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                    <imageReference key="image" image="plus.app" catalog="system" symbolScale="large"/>
+                                    <preferredSymbolConfiguration key="preferredSymbolConfiguration" configurationType="font">
+                                        <fontDescription key="fontDescription" style="UICTFontTextStyleTitle1"/>
+                                    </preferredSymbolConfiguration>
+                                </state>
+                                <connections>
+                                    <action selector="newScanAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="jL9-xF-V9K"/>
+                                </connections>
+                            </button>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="3Sc-lx-YKH">
+                                <rect key="frame" x="234" y="155" width="149" height="23.666666666666657"/>
+                                <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <state key="normal" title="Export OBJ-PLY" image="square.and.arrow.up" catalog="system"/>
+                                <connections>
+                                    <action selector="exportOBJPLYAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="md0-pv-zlf"/>
+                                </connections>
+                            </button>
+                            <slider opaque="NO" contentMode="scaleToFill" placeholderIntrinsicWidth="114" placeholderIntrinsicHeight="30" contentHorizontalAlignment="center" contentVerticalAlignment="center" value="80" minValue="0.0" maxValue="120" translatesAutoresizingMaskIntoConstraints="NO" id="30J-Tx-NRW" userLabel="OrthoClipDistanceSlider">
+                                <rect key="frame" x="-2" y="682" width="122" height="31"/>
+                                <constraints>
+                                    <constraint firstAttribute="width" constant="118" id="dsv-im-K52"/>
+                                </constraints>
+                                <connections>
+                                    <action selector="clipDistanceAction:" destination="zah-iI-EPt" eventType="valueChanged" id="iKj-nz-0KW"/>
+                                </connections>
+                            </slider>
+                            <label opaque="NO" userInteractionEnabled="NO" contentMode="left" horizontalHuggingPriority="251" verticalHuggingPriority="251" text="Toast Label" textAlignment="center" lineBreakMode="wordWrap" numberOfLines="4" baselineAdjustment="alignBaselines" adjustsFontSizeToFit="NO" translatesAutoresizingMaskIntoConstraints="NO" id="JMv-UE-cvK" userLabel="ToastLabel">
+                                <rect key="frame" x="51" y="637.33333333333337" width="291" height="20.333333333333371"/>
+                                <accessibility key="accessibilityConfiguration">
+                                    <accessibilityTraits key="traits" staticText="YES" notEnabled="YES"/>
+                                </accessibility>
+                                <fontDescription key="fontDescription" type="system" pointSize="17"/>
+                                <color key="textColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <nil key="highlightedColor"/>
+                            </label>
+                            <slider opaque="NO" contentMode="scaleToFill" placeholderIntrinsicWidth="114" placeholderIntrinsicHeight="30" contentHorizontalAlignment="center" contentVerticalAlignment="center" value="90" minValue="0.0" maxValue="180" translatesAutoresizingMaskIntoConstraints="NO" id="Z1x-Af-hdf" userLabel="GridRotationSlider">
+                                <rect key="frame" x="132" y="727" width="122" height="31"/>
+                                <constraints>
+                                    <constraint firstAttribute="width" constant="118" id="KDl-lP-Jj7"/>
+                                </constraints>
+                                <connections>
+                                    <action selector="rotateGridAction:" destination="zah-iI-EPt" eventType="valueChanged" id="eiC-QR-TYH"/>
+                                </connections>
+                            </slider>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="aWA-YQ-w5B" userLabel="TeleportButton">
+                                <rect key="frame" x="10" y="396.66666666666669" width="62.666666666666671" height="60"/>
+                                <constraints>
+                                    <constraint firstAttribute="height" constant="60" id="fe3-pR-D97"/>
+                                    <constraint firstAttribute="width" constant="60" id="t1H-Yp-Ayy"/>
+                                </constraints>
+                                <color key="tintColor" systemColor="systemGreenColor"/>
+                                <inset key="imageEdgeInsets" minX="0.0" minY="0.0" maxX="2.2250738585072014e-308" maxY="0.0"/>
+                                <state key="normal" backgroundImage="accessibility.badge.arrow.up.right" catalog="system"/>
+                                <connections>
+                                    <action selector="teleportButtonAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="acD-kc-XA8"/>
+                                </connections>
+                            </button>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="773-n4-lob" userLabel="ViewButton">
+                                <rect key="frame" x="321" y="756.33333333333337" width="52" height="40"/>
+                                <constraints>
+                                    <constraint firstAttribute="width" constant="52" id="epT-x2-WRc"/>
+                                    <constraint firstAttribute="height" constant="44" id="wAe-I1-qhs"/>
+                                </constraints>
+                                <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <state key="normal" backgroundImage="eye" catalog="system">
+                                    <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                </state>
+                            </button>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" buttonType="system" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="Z7f-kc-Rob" userLabel="MeasuringModeButton">
+                                <rect key="frame" x="293" y="687.33333333333337" width="80" height="32.333333333333371"/>
+                                <constraints>
+                                    <constraint firstAttribute="width" secondItem="Z7f-kc-Rob" secondAttribute="height" multiplier="52:27" id="78b-kS-OdV"/>
+                                    <constraint firstAttribute="width" constant="80" id="PFZ-dH-x12"/>
+                                </constraints>
+                                <color key="tintColor" systemColor="systemYellowColor"/>
+                                <inset key="imageEdgeInsets" minX="0.0" minY="0.0" maxX="2.2250738585072014e-308" maxY="0.0"/>
+                                <state key="normal" backgroundImage="ruler" catalog="system"/>
+                                <connections>
+                                    <action selector="startMeasuring:" destination="zah-iI-EPt" eventType="touchUpInside" id="uAe-Qu-Wwb"/>
+                                </connections>
+                            </button>
+                            <button opaque="NO" contentMode="scaleToFill" contentHorizontalAlignment="center" contentVerticalAlignment="center" lineBreakMode="middleTruncation" translatesAutoresizingMaskIntoConstraints="NO" id="wOV-tT-ZlN" userLabel="StopMeasuring">
+                                <rect key="frame" x="123.33333333333333" y="771" width="146.33333333333343" height="22"/>
+                                <color key="tintColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                <state key="normal" title="Stop Measuring" image="xmark.square" catalog="system">
+                                    <color key="titleColor" white="1" alpha="1" colorSpace="custom" customColorSpace="genericGamma22GrayColorSpace"/>
+                                </state>
+                                <connections>
+                                    <action selector="stopCameraAction:" destination="zah-iI-EPt" eventType="touchUpInside" id="UY3-Dh-T9g"/>
+                                </connections>
+                            </button>
+                        </subviews>
+                        <viewLayoutGuide key="safeArea" id="qAR-pI-uT2"/>
+                        <constraints>
+                            <constraint firstItem="KlF-4H-k6I" firstAttribute="leading" secondItem="qAR-pI-uT2" secondAttribute="leading" constant="16" id="14l-HO-Yqo"/>
+                            <constraint firstItem="kPv-DO-hpd" firstAttribute="centerY" secondItem="sqF-4e-2HU" secondAttribute="centerY" id="4S8-5c-tBm"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="trailing" secondItem="773-n4-lob" secondAttribute="trailing" constant="20" id="6TZ-Iy-b1B"/>
+                            <constraint firstItem="773-n4-lob" firstAttribute="top" secondItem="Z7f-kc-Rob" secondAttribute="bottom" constant="30" id="7cF-fT-hfI"/>
+                            <constraint firstItem="JMv-UE-cvK" firstAttribute="leading" secondItem="sqF-4e-2HU" secondAttribute="leadingMargin" constant="35" id="Awg-pU-JkT"/>
+                            <constraint firstItem="KlF-4H-k6I" firstAttribute="top" secondItem="qAR-pI-uT2" secondAttribute="top" constant="20" id="CS3-Rk-Wxs"/>
+                            <constraint firstItem="012-W3-dOS" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="IsC-yB-kNs"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="bottom" secondItem="wOV-tT-ZlN" secondAttribute="bottom" constant="25" id="Kab-84-pPU"/>
+                            <constraint firstItem="JMv-UE-cvK" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="NIf-UH-gZ7"/>
+                            <constraint firstItem="Jj4-ow-MwD" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="OLx-LR-8xj"/>
+                            <constraint firstItem="aWA-YQ-w5B" firstAttribute="leading" secondItem="sqF-4e-2HU" secondAttribute="leading" constant="10" id="Rlo-Ir-NqY"/>
+                            <constraint firstItem="012-W3-dOS" firstAttribute="top" secondItem="Z1x-Af-hdf" secondAttribute="bottom" constant="15" id="RpS-k0-btM"/>
+                            <constraint firstItem="ozY-dg-YOd" firstAttribute="top" secondItem="qAR-pI-uT2" secondAttribute="top" constant="20" id="TFT-we-noh"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="trailing" secondItem="Z7f-kc-Rob" secondAttribute="trailing" constant="20" id="Tbc-4P-ryD"/>
+                            <constraint firstItem="aWA-YQ-w5B" firstAttribute="centerY" secondItem="sqF-4e-2HU" secondAttribute="centerY" id="YXX-yd-QGL"/>
+                            <constraint firstAttribute="trailingMargin" secondItem="JMv-UE-cvK" secondAttribute="trailing" constant="35" id="Ya5-GD-1rM"/>
+                            <constraint firstItem="30J-Tx-NRW" firstAttribute="leading" secondItem="sqF-4e-2HU" secondAttribute="leading" id="ZBG-GX-P1X"/>
+                            <constraint firstItem="wOV-tT-ZlN" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="aPp-NO-q0A"/>
+                            <constraint firstItem="3Sc-lx-YKH" firstAttribute="top" secondItem="ozY-dg-YOd" secondAttribute="bottom" constant="16" id="abR-Tj-Nua"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="bottom" secondItem="012-W3-dOS" secondAttribute="bottom" constant="24" id="dcl-mV-bH1"/>
+                            <constraint firstItem="9oq-op-NGV" firstAttribute="centerX" secondItem="sqF-4e-2HU" secondAttribute="centerX" id="g5b-gW-Amg"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="bottom" secondItem="773-n4-lob" secondAttribute="bottom" constant="20" id="h09-nI-8yH"/>
+                            <constraint firstItem="9oq-op-NGV" firstAttribute="top" secondItem="JMv-UE-cvK" secondAttribute="bottom" constant="113.33" id="icg-DR-ZpX"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="bottom" secondItem="9oq-op-NGV" secondAttribute="bottom" constant="25" id="lFI-66-D3N"/>
+                            <constraint firstAttribute="trailing" secondItem="kPv-DO-hpd" secondAttribute="trailing" constant="10" id="lFv-p3-LIS"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="trailing" secondItem="ozY-dg-YOd" secondAttribute="trailing" constant="20" id="ov4-d2-OMy"/>
+                            <constraint firstItem="012-W3-dOS" firstAttribute="top" secondItem="30J-Tx-NRW" secondAttribute="bottom" constant="60" id="tbj-nG-nfI"/>
+                            <constraint firstItem="Z1x-Af-hdf" firstAttribute="leading" secondItem="30J-Tx-NRW" secondAttribute="trailing" constant="16" id="uMj-kM-hlH"/>
+                            <constraint firstItem="qAR-pI-uT2" firstAttribute="trailing" secondItem="3Sc-lx-YKH" secondAttribute="trailing" constant="10" id="v2K-Dp-Kyn"/>
+                            <constraint firstItem="Jj4-ow-MwD" firstAttribute="centerY" secondItem="sqF-4e-2HU" secondAttribute="centerY" id="vmc-4u-BtF"/>
+                        </constraints>
+                        <connections>
+                            <outlet property="delegate" destination="zah-iI-EPt" id="zXM-3t-Cw4"/>
+                        </connections>
+                    </glkView>
+                    <connections>
+                        <outlet property="addMeasureButton" destination="lFB-Lm-zFS" id="iOG-iO-mMQ"/>
+                        <outlet property="closeVisualizationButton" destination="012-W3-dOS" id="qSV-q9-eOP"/>
+                        <outlet property="exportOBJPLYButton" destination="3Sc-lx-YKH" id="ZvS-VQ-nsg"/>
+                        <outlet property="libraryButton" destination="9kh-4C-KyP" id="Mvv-uQ-kmi"/>
+                        <outlet property="measuringModeButton" destination="Z7f-kc-Rob" id="C0D-Pc-wdr"/>
+                        <outlet property="menuButton" destination="y53-OI-O76" id="v3g-JB-SsY"/>
+                        <outlet property="newScanButtonLarge" destination="Jj4-ow-MwD" id="0Hv-3K-Xjh"/>
+                        <outlet property="orthoDistanceSlider" destination="30J-Tx-NRW" id="4J1-8u-tDY"/>
+                        <outlet property="orthoGridSlider" destination="Z1x-Af-hdf" id="Zsn-xz-jn0"/>
+                        <outlet property="recordButton" destination="7Lv-u6-mGh" id="xTu-EK-FH2"/>
+                        <outlet property="removeMeasureButton" destination="c1k-0i-64A" id="E9z-yH-Vye"/>
+                        <outlet property="statusLabel" destination="KlF-4H-k6I" id="NmA-K5-UOw"/>
+                        <outlet property="stopButton" destination="mJN-Ru-yPg" id="DND-gz-jLg"/>
+                        <outlet property="stopCameraButton" destination="9oq-op-NGV" id="sxO-jc-luC"/>
+                        <outlet property="stopMeasuringButton" destination="wOV-tT-ZlN" id="iK5-hG-9q0"/>
+                        <outlet property="teleportButton" destination="aWA-YQ-w5B" id="KTE-cK-RCI"/>
+                        <outlet property="toastLabel" destination="JMv-UE-cvK" id="9a7-QF-h02"/>
+                        <outlet property="viewButton" destination="773-n4-lob" id="deU-Na-mBk"/>
+                    </connections>
+                </glkViewController>
+                <placeholder placeholderIdentifier="IBFirstResponder" id="plN-WG-seA" userLabel="First Responder" customClass="UIResponder" sceneMemberID="firstResponder"/>
+            </objects>
+            <point key="canvasLocation" x="-235.87786259541983" y="-586.61971830985919"/>
+        </scene>
+        <!--Unsupported View Controller-->
+        <scene sceneID="sJB-xy-u63">
+            <objects>
+                <viewController storyboardIdentifier="unsupportedDeviceMessage" id="v3G-nW-gVc" userLabel="Unsupported View Controller" sceneMemberID="viewController">
+                    <view key="view" contentMode="scaleToFill" id="hzM-1k-POo">
+                        <rect key="frame" x="0.0" y="0.0" width="393" height="852"/>
+                        <autoresizingMask key="autoresizingMask" widthSizable="YES" heightSizable="YES"/>
+                        <subviews>
+                            <label opaque="NO" userInteractionEnabled="NO" contentMode="left" horizontalHuggingPriority="251" verticalHuggingPriority="251" text="Unsupported Device" textAlignment="center" lineBreakMode="tailTruncation" baselineAdjustment="alignBaselines" enabled="NO" adjustsFontSizeToFit="NO" translatesAutoresizingMaskIntoConstraints="NO" id="kZt-ct-4KD">
+                                <rect key="frame" x="21" y="352.33333333333331" width="351.33333333333331" height="33.666666666666686"/>
+                                <fontDescription key="fontDescription" style="UICTFontTextStyleTitle1"/>
+                                <nil key="textColor"/>
+                                <nil key="highlightedColor"/>
+                            </label>
+                            <label opaque="NO" userInteractionEnabled="NO" contentMode="left" horizontalHuggingPriority="251" verticalHuggingPriority="251" textAlignment="center" lineBreakMode="tailTruncation" numberOfLines="0" baselineAdjustment="alignBaselines" enabled="NO" adjustsFontSizeToFit="NO" translatesAutoresizingMaskIntoConstraints="NO" id="4Js-Hw-3QU">
+                                <rect key="frame" x="21" y="394" width="351.33333333333331" height="64.333333333333314"/>
+                                <string key="text">This app requires a LiDAR-capable device, such as the second-generation iPad Pro 11-inch and fourth-generation iPad Pro 12.9-inch.</string>
+                                <fontDescription key="fontDescription" style="UICTFontTextStyleBody"/>
+                                <nil key="textColor"/>
+                                <nil key="highlightedColor"/>
+                            </label>
+                        </subviews>
+                        <viewLayoutGuide key="safeArea" id="Wfl-Ts-arS"/>
+                        <color key="backgroundColor" white="1" alpha="1" colorSpace="calibratedWhite"/>
+                        <constraints>
+                            <constraint firstItem="kZt-ct-4KD" firstAttribute="centerX" secondItem="hzM-1k-POo" secondAttribute="centerX" id="5BV-Ql-eBq"/>
+                            <constraint firstAttribute="trailing" relation="greaterThanOrEqual" secondItem="4Js-Hw-3QU" secondAttribute="trailing" constant="20" symbolic="YES" id="5Sg-eL-Yhf"/>
+                            <constraint firstItem="4Js-Hw-3QU" firstAttribute="centerY" secondItem="hzM-1k-POo" secondAttribute="centerY" id="M1k-d1-BNV"/>
+                            <constraint firstItem="4Js-Hw-3QU" firstAttribute="top" secondItem="kZt-ct-4KD" secondAttribute="bottom" constant="8" symbolic="YES" id="PjQ-ik-Z1B"/>
+                            <constraint firstItem="kZt-ct-4KD" firstAttribute="width" secondItem="4Js-Hw-3QU" secondAttribute="width" id="aQe-nl-Pyq"/>
+                            <constraint firstItem="4Js-Hw-3QU" firstAttribute="centerX" secondItem="hzM-1k-POo" secondAttribute="centerX" id="cww-hm-oLb"/>
+                            <constraint firstItem="4Js-Hw-3QU" firstAttribute="leading" relation="greaterThanOrEqual" secondItem="hzM-1k-POo" secondAttribute="leading" constant="20" symbolic="YES" id="jfM-fP-rth"/>
+                        </constraints>
+                    </view>
+                </viewController>
+                <placeholder placeholderIdentifier="IBFirstResponder" id="jam-V0-csO" userLabel="First Responder" sceneMemberID="firstResponder"/>
+            </objects>
+            <point key="canvasLocation" x="476" y="-586"/>
+        </scene>
+    </scenes>
+    <resources>
+        <image name="accessibility.badge.arrow.up.right" catalog="system" width="128" height="114"/>
+        <image name="ellipsis.circle" catalog="system" width="128" height="123"/>
+        <image name="eye" catalog="system" width="128" height="79"/>
+        <image name="folder" catalog="system" width="128" height="96"/>
+        <image name="minus.circle" catalog="system" width="128" height="123"/>
+        <image name="plus.app" catalog="system" width="128" height="114"/>
+        <image name="plus.viewfinder" catalog="system" width="128" height="115"/>
+        <image name="record.circle" catalog="system" width="128" height="123"/>
+        <image name="ruler" catalog="system" width="128" height="57"/>
+        <image name="square.and.arrow.up" catalog="system" width="108" height="128"/>
+        <image name="stop.circle" catalog="system" width="128" height="123"/>
+        <image name="xmark.square" catalog="system" width="128" height="114"/>
+        <systemColor name="systemGreenColor">
+            <color red="0.20392156859999999" green="0.78039215689999997" blue="0.34901960780000002" alpha="1" colorSpace="custom" customColorSpace="sRGB"/>
+        </systemColor>
+        <systemColor name="systemRedColor">
+            <color red="1" green="0.23137254900000001" blue="0.18823529410000001" alpha="1" colorSpace="custom" customColorSpace="sRGB"/>
+        </systemColor>
+        <systemColor name="systemYellowColor">
+            <color red="1" green="0.80000000000000004" blue="0.0" alpha="1" colorSpace="custom" customColorSpace="sRGB"/>
+        </systemColor>
+    </resources>
+</document>