diff --git a/app/android/jni/CameraTango.cpp b/app/android/jni/CameraTango.cpp
index 75c76833..523d976a 100644
--- a/app/android/jni/CameraTango.cpp
+++ b/app/android/jni/CameraTango.cpp
@@ -879,7 +879,7 @@ void CameraTango::mainLoop()
 				info.interval = data.stamp()-previousStamp_;
 				info.transform = previousPose_.inverse() * pose;
 			}
-			info.covariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.000001);
+			info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1) * (firstFrame?9999.0:0.000001);
 			LOGI("Publish odometry message (variance=%f)", firstFrame?9999:0.000001);
 			this->post(new OdometryEvent(data, pose, info));
 			previousPose_ = pose;
diff --git a/app/android/jni/RTABMapApp.cpp b/app/android/jni/RTABMapApp.cpp
index 1de180bc..6c2a9656 100644
--- a/app/android/jni/RTABMapApp.cpp
+++ b/app/android/jni/RTABMapApp.cpp
@@ -2193,7 +2193,7 @@ bool RTABMapApp::exportMesh(
 							}
 
 							Eigen::Vector3f viewpoint( iter->second.x(),  iter->second.y(),  iter->second.z());
-							pcl::PointCloud<pcl::Normal>::Ptr normals = rtabmap::util3d::computeNormals(transformedCloud, normalK, viewpoint);
+							pcl::PointCloud<pcl::Normal>::Ptr normals = rtabmap::util3d::computeNormals(transformedCloud, normalK, 0.0f, viewpoint);
 
 							pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
 							pcl::concatenateFields(*transformedCloud, *normals, *cloudWithNormals);