diff --git a/CMakeLists.txt b/CMakeLists.txt
index d2503bcf..b6b207fe 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -198,12 +198,13 @@ IF(WITH_FREENECT2)
     ENDIF(freenect2_FOUND)
 ENDIF(WITH_FREENECT2)
 
-IF(WITH_OPENNI2)
+# IF PCL depends on OpenNI2 (already found), ignore WITH_OPENNI2
+IF(WITH_OPENNI2 OR OpenNI2_FOUND)
     FIND_PACKAGE(OpenNI2 QUIET)
     IF(OpenNI2_FOUND)
        MESSAGE(STATUS "Found OpenNI2: ${OpenNI2_INCLUDE_DIRS}")
     ENDIF(OpenNI2_FOUND)
-ENDIF(WITH_OPENNI2)
+ENDIF(WITH_OPENNI2 OR OpenNI2_FOUND)
 
 IF(WITH_DC1394)
     FIND_PACKAGE(DC1394 QUIET)
diff --git a/app/src/main.cpp b/app/src/main.cpp
index 9305a1b7..0f65b76f 100644
--- a/app/src/main.cpp
+++ b/app/src/main.cpp
@@ -33,6 +33,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/gui/MainWindow.h"
 #include <QMessageBox>
 #include "rtabmap/utilite/UObjDeletionThread.h"
+#include "rtabmap/utilite/UFile.h"
+#include "rtabmap/utilite/UConversion.h"
 #include "ObjDeletionHandler.h"
 
 using namespace rtabmap;
@@ -46,6 +48,19 @@ int main(int argc, char* argv[])
 	/* Create tasks */
 	QApplication * app = new QApplication(argc, argv);
 	MainWindow * mainWindow = new MainWindow();
+    app->installEventFilter(mainWindow); // to catch FileOpen events.
+    
+    std::string database;
+    for(int i=1; i<argc; ++i)
+    {
+        std::string value = uReplaceChar(argv[i], '~', UDirectory::homeDir());
+        if(UFile::exists(value) &&
+           UFile::getExtension(value).compare("db") == 0)
+        {
+            database = value;
+            break;
+        }
+    }
 
 	UINFO("Program started...");
 
@@ -64,6 +79,11 @@ int main(int argc, char* argv[])
 	RtabmapThread * rtabmap = new RtabmapThread(new Rtabmap());
 	rtabmap->start(); // start it not initialized... will be initialized by event from the gui
 	UEventsManager::addHandler(rtabmap);
+    
+    if(!database.empty())
+    {
+    	QMetaObject::invokeMethod(mainWindow, "openDatabase", Qt::QueuedConnection, Q_ARG(QString, QString(database.c_str())));
+    }
 
 	// Now wait for application to finish
 	app->connect( app, SIGNAL( lastWindowClosed() ),
diff --git a/cmake_modules/MacOSXBundleInfo.plist.in b/cmake_modules/MacOSXBundleInfo.plist.in
new file mode 100644
index 00000000..7d5f67f8
--- /dev/null
+++ b/cmake_modules/MacOSXBundleInfo.plist.in
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple Computer//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>CFBundleDevelopmentRegion</key>
+	<string>English</string>
+	<key>CFBundleExecutable</key>
+	<string>${MACOSX_BUNDLE_EXECUTABLE_NAME}</string>
+	<key>CFBundleGetInfoString</key>
+	<string>${MACOSX_BUNDLE_INFO_STRING}</string>
+	<key>CFBundleIconFile</key>
+	<string>${MACOSX_BUNDLE_ICON_FILE}</string>
+	<key>CFBundleIdentifier</key>
+	<string>${MACOSX_BUNDLE_GUI_IDENTIFIER}</string>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleLongVersionString</key>
+	<string>${MACOSX_BUNDLE_LONG_VERSION_STRING}</string>
+	<key>CFBundleName</key>
+	<string>${MACOSX_BUNDLE_BUNDLE_NAME}</string>
+	<key>CFBundlePackageType</key>
+	<string>APPL</string>
+	<key>CFBundleShortVersionString</key>
+	<string>${MACOSX_BUNDLE_SHORT_VERSION_STRING}</string>
+	<key>CFBundleSignature</key>
+	<string>????</string>
+	<key>CFBundleVersion</key>
+	<string>${MACOSX_BUNDLE_BUNDLE_VERSION}</string>
+	<key>CSResourcesFileMapped</key>
+	<true/>
+	<key>LSRequiresCarbon</key>
+	<true/>
+	<key>NSHumanReadableCopyright</key>
+	<string>${MACOSX_BUNDLE_COPYRIGHT}</string>
+
+<!-- File type associations -->
+<key>CFBundleDocumentTypes</key>
+<array>
+	<dict>
+		<key>CFBundleTypeExtensions</key>
+		<array>
+			<string>db</string>
+		</array>
+		<!-- <key>CFBundleTypeIconFile</key> -->
+		<!-- <string>rtabmap_db.icns</string> -->
+		<key>CFBundleTypeName</key>
+		<string>RTAB-Map Database</string>
+		<key>CFBundleTypeRole</key>
+		<string>Editor</string>
+		<key>LSIsAppleDefaultForType</key>
+		<string>Yes</string>
+	</dict>
+</array>
+
+</dict>
+</plist>
diff --git a/guilib/include/rtabmap/gui/MainWindow.h b/guilib/include/rtabmap/gui/MainWindow.h
index 6aa6928e..affe36d5 100644
--- a/guilib/include/rtabmap/gui/MainWindow.h
+++ b/guilib/include/rtabmap/gui/MainWindow.h
@@ -108,6 +108,7 @@ public:
 public slots:
 	void processStats(const rtabmap::Statistics & stat);
 	void updateCacheFromDatabase(const QString & path);
+	void openDatabase(const QString & path);
 
 protected:
 	virtual void closeEvent(QCloseEvent* event);
diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index 5c53c3ec..7191773c 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -2589,6 +2589,11 @@ void MainWindow::processRtabmapEventInit(int status, const QString & info)
 	{
 		_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
 		this->changeState(MainWindow::kInitialized);
+
+		if(!_openedDatabasePath.isEmpty())
+		{
+			this->downloadAllClouds();
+		}
 	}
 	else if((RtabmapEventInit::Status)status == RtabmapEventInit::kClosing)
 	{
@@ -3152,6 +3157,10 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event)
 	{
 		this->setWindowModified(true);
 	}
+    else if(event->type() == QEvent::FileOpen )
+    {
+        openDatabase(((QFileOpenEvent*)event)->file());
+    }
 	return QWidget::eventFilter(obj, event);
 }
 
@@ -3317,23 +3326,39 @@ void MainWindow::newDatabase()
 
 void MainWindow::openDatabase()
 {
-	if(_state != MainWindow::kIdle)
-	{
-		UERROR("This method can be called only in IDLE state.");
-		return;
-	}
-	_openedDatabasePath.clear();
-	_newDatabasePath.clear();
-	_newDatabasePathOutput.clear();
-	_databaseUpdated = false;
 	QString path = QFileDialog::getOpenFileName(this, tr("Open database..."), _preferencesDialog->getWorkingDirectory(), tr("RTAB-Map database files (*.db)"));
 	if(!path.isEmpty())
 	{
+		this->openDatabase(path);
+	}
+}
+
+void MainWindow::openDatabase(const QString & path)
+{
+	if(_state != MainWindow::kIdle)
+	{
+		UERROR("Database can only be opened in IDLE state.");
+		return;
+	}
+
+	std::string value = path.toStdString();
+	if(UFile::exists(value) &&
+	   UFile::getExtension(value).compare("db") == 0)
+	{
+		_openedDatabasePath.clear();
+		_newDatabasePath.clear();
+		_newDatabasePathOutput.clear();
+		_databaseUpdated = false;
+
 		this->clearTheCache();
 		_openedDatabasePath = path;
-		this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdInit, path.toStdString(), 0, _preferencesDialog->getAllParameters()));
+		this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdInit, value, 0, _preferencesDialog->getAllParameters()));
+		applyPrefSettings(_preferencesDialog->getAllParameters(), false);
+	}
+	else
+	{
+		UERROR("File \"%s\" not valid.", value.c_str());
 	}
-	applyPrefSettings(_preferencesDialog->getAllParameters(), false);
 }
 
 bool MainWindow::closeDatabase()