Tango: updated export workflow, added sketchfab activity, added graph optimization parameters, fixed raw images kept in memory (disabled reexctract words on loop closure while updating memory to be able to create more features for transform estimation than needed in vocabulary), portrait/landscape orientation, updated to Eisa TangoSDK. DBReader: fixed high variance when node has no links (if not the first in the current map id). MainWindow: remove frustums not in the current graph.

app/android/jni/jni_interface.cpp

@@ -62,7 +62,7 @@ Java_com_introlab_rtabmap_RTABMapLib_setScreenRotation(
 	return app.setScreenRotation(displayRotation, cameraRotation);
 }
 
-JNIEXPORT void JNICALL
+JNIEXPORT int JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_openDatabase(
     JNIEnv* env, jobject, jstring databasePath, bool databaseInMemory, bool optimize)
 {
@@ -157,6 +157,12 @@ Java_com_introlab_rtabmap_RTABMapLib_setLighting(
 	return app.setLighting(enabled);
 }
 JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setBackfaceCulling(
+		JNIEnv*, jobject, bool enabled)
+{
+	return app.setBackfaceCulling(enabled);
+}
+JNIEXPORT void JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_setLocalizationMode(
 		JNIEnv*, jobject, bool enabled)
 {