diff --git a/CMakeLists.txt b/CMakeLists.txt
index 066f1b00..0f8177e7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -21,7 +21,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
 SET(RTABMAP_MINOR_VERSION 13)
-SET(RTABMAP_PATCH_VERSION 1)
+SET(RTABMAP_PATCH_VERSION 2)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
   
diff --git a/app/android/AndroidManifest.xml.in b/app/android/AndroidManifest.xml.in
index b5296ca9..66e016df 100644
--- a/app/android/AndroidManifest.xml.in
+++ b/app/android/AndroidManifest.xml.in
@@ -2,7 +2,7 @@
 <!-- BEGIN_INCLUDE(manifest) -->
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
         package="com.introlab.rtabmap"
-        android:versionCode="54"
+        android:versionCode="55"
         android:versionName="@RTABMAP_VERSION@">
 
     <uses-permission android:name="android.permission.CAMERA" />
diff --git a/app/android/jni/tango-gl/gesture_camera.cpp b/app/android/jni/tango-gl/gesture_camera.cpp
index d32f0038..2ed839e2 100644
--- a/app/android/jni/tango-gl/gesture_camera.cpp
+++ b/app/android/jni/tango-gl/gesture_camera.cpp
@@ -63,11 +63,8 @@ GestureCamera::~GestureCamera() { delete cam_parent_transform_; }
 
 void GestureCamera::OnTouchEvent(int touch_count, TouchEvent event, float x0,
 		float y0, float x1, float y1) {
-	if (camera_type_ == kFirstPerson) {
-		return;
-	}
 
-	if (touch_count == 1) {
+	if (camera_type_!=kFirstPerson && touch_count == 1) {
 		switch (event) {
 		case kTouch0Down: {
 			cam_start_angle_ = cam_cur_angle_;
@@ -100,6 +97,7 @@ void GestureCamera::OnTouchEvent(int touch_count, TouchEvent event, float x0,
 			float abs_y = y0 - y1;
 			start_touch_dist_ = std::sqrt(abs_x * abs_x + abs_y * abs_y);
 			cam_start_dist_ = GetPosition().z;
+			cam_start_fov_ = this->getFOV();
 
 			// center touch
 			touch0_start_position_.x = (x0+x1)/2.0f;
@@ -111,25 +109,31 @@ void GestureCamera::OnTouchEvent(int touch_count, TouchEvent event, float x0,
 			float abs_y = y0 - y1;
 			float dist = start_touch_dist_ - std::sqrt(abs_x * abs_x + abs_y * abs_y);
 
-			cam_cur_dist_ = tango_gl::util::Clamp(cam_start_dist_ + dist * kZoomSpeed,
-					kCamViewMinDist, kCamViewMaxDist);
-
-			this->SetOrthoMode(camera_type_ == kTopOrtho);
-			if(camera_type_ == kTopOrtho)
+			if(camera_type_ == kFirstPerson)
 			{
-				this->SetOrthoScale(cam_cur_dist_);
+				this->SetFieldOfView(tango_gl::util::Clamp(cam_start_fov_ + dist * kZoomSpeed*10.0f, 45, 90));
 			}
+			else
+			{
+				cam_cur_dist_ = tango_gl::util::Clamp(cam_start_dist_ + dist * kZoomSpeed,
+								kCamViewMinDist, kCamViewMaxDist);
 
-			glm::vec2 touch_center_position((x0+x1)/2.0f, (y0+y1)/2.0f);
-			glm::vec2 offset;
-			offset.x = (touch_center_position.x - touch0_start_position_.x) * kMoveSpeed;
-			offset.y = (touch_center_position.y - touch0_start_position_.y) * kMoveSpeed;
-			touch0_start_position_ = touch_center_position;
+				this->SetOrthoMode(camera_type_ == kTopOrtho);
+				if(camera_type_ == kTopOrtho)
+				{
+					this->SetOrthoScale(cam_cur_dist_);
+				}
 
-			StartCameraToCurrentTransform();
+				glm::vec2 touch_center_position((x0+x1)/2.0f, (y0+y1)/2.0f);
+				glm::vec2 offset;
+				offset.x = (touch_center_position.x - touch0_start_position_.x) * kMoveSpeed;
+				offset.y = (touch_center_position.y - touch0_start_position_.y) * kMoveSpeed;
+				touch0_start_position_ = touch_center_position;
 
-			anchor_offset_ += glm::rotate(cam_parent_transform_->GetRotation(), glm::vec3(-offset.x, offset.y, 0));
+				StartCameraToCurrentTransform();
 
+				anchor_offset_ += glm::rotate(cam_parent_transform_->GetRotation(), glm::vec3(-offset.x, offset.y, 0));
+			}
 			break;
 		}
 		default: { break; }
diff --git a/app/android/jni/tango-gl/include/tango-gl/gesture_camera.h b/app/android/jni/tango-gl/include/tango-gl/gesture_camera.h
index bcd487d8..19dd91ce 100644
--- a/app/android/jni/tango-gl/include/tango-gl/gesture_camera.h
+++ b/app/android/jni/tango-gl/include/tango-gl/gesture_camera.h
@@ -81,6 +81,7 @@ class GestureCamera : public Camera {
   glm::quat cam_cur_target_rot_;
 
   float cam_start_dist_;
+  float cam_start_fov_;
   float cam_cur_dist_;
   glm::vec3 anchor_offset_;
 
diff --git a/app/android/res/layout/activity_rtabmap.xml b/app/android/res/layout/activity_rtabmap.xml
index e31b2c5e..29b3b365 100644
--- a/app/android/res/layout/activity_rtabmap.xml
+++ b/app/android/res/layout/activity_rtabmap.xml
@@ -118,7 +118,7 @@
         android:text="@string/close_visualization" />
 
     <SeekBar
-        android:id="@+id/seekBar_fov"
+        android:id="@+id/seekBar_ortho_cut"
         android:layout_width="200dp"
         android:layout_height="wrap_content"
         android:rotation="270"
diff --git a/app/android/src/com/introlab/rtabmap/RTABMapActivity.java b/app/android/src/com/introlab/rtabmap/RTABMapActivity.java
index c71d2765..c3d84669 100644
--- a/app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+++ b/app/android/src/com/introlab/rtabmap/RTABMapActivity.java
@@ -193,7 +193,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 	private Button mButtonCloseVisualization;
 	private Button mButtonSaveOnDevice;
 	private Button mButtonShareOnSketchfab;
-	private SeekBar mSeekBarFov;
+	private SeekBar mSeekBarOrthoCut;
 	private SeekBar mSeekBarGrid;
 
 	private String mOpenedDatabasePath = "";
@@ -309,20 +309,13 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 		    }
 		});
 		
-		mSeekBarFov = (SeekBar)findViewById(R.id.seekBar_fov);
-		mSeekBarFov.setMax(45);
-		mSeekBarFov.setProgress(20);
-		mSeekBarFov.setOnSeekBarChangeListener(new OnSeekBarChangeListener() {
+		mSeekBarOrthoCut = (SeekBar)findViewById(R.id.seekBar_ortho_cut);
+		mSeekBarOrthoCut.setMax(120);
+		mSeekBarOrthoCut.setProgress(80);
+		mSeekBarOrthoCut.setOnSeekBarChangeListener(new OnSeekBarChangeListener() {
 			  @Override
 			  public void onProgressChanged(SeekBar seekBar, int progressValue, boolean fromUser) {
-				  if(mButtonCameraView.getSelectedItemPosition() == 0)
-				  {
-					  RTABMapLib.setFOV((float)progressValue+45.0f);
-				  }
-				  else if(mButtonCameraView.getSelectedItemPosition() == 3)
-				  {
-					  RTABMapLib.setOrthoCropFactor((float)(120-progressValue)/20.0f - 3.0f);
-				  }
+				  RTABMapLib.setOrthoCropFactor((float)(120-progressValue)/20.0f - 3.0f);
 				  resetNoTouchTimer();
 			  }
 			
@@ -743,17 +736,12 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 				
 		RTABMapLib.setCamera(type);
 		mButtonCameraView.setSelection(type, true);
-		mSeekBarFov.setVisibility(type!=0 && type!=3?View.INVISIBLE:View.VISIBLE);
+		mSeekBarOrthoCut.setVisibility(type!=3?View.INVISIBLE:View.VISIBLE);
 		mSeekBarGrid.setVisibility(mSeekBarGrid.isEnabled() && type==3?View.VISIBLE:View.INVISIBLE);
-		if(type==0)
-		{
-			mSeekBarFov.setMax(45);
-			mSeekBarFov.setProgress(20);
-		}
 		if(type==3)
 		{
-			mSeekBarFov.setMax(120);
-			mSeekBarFov.setProgress(80);
+			mSeekBarOrthoCut.setMax(120);
+			mSeekBarOrthoCut.setProgress(80);
 		}
 	}
 
@@ -761,6 +749,9 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 	public void onClick(View v) {
 		// Handle button clicks.
 		switch (v.getId()) {
+		case R.id.gl_surface_view:
+
+			break;
 		case R.id.pause_button:
 			pauseMapping();
 			break;
@@ -830,22 +821,17 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
             return true;
         }
         @Override
-        public boolean onFling(
-        		MotionEvent e1, 
-                MotionEvent e2, 
-                float velocityX, 
-                float velocityY) {
-        	if(!DISABLE_LOG) Log.i(TAG, String.format("onFling velocityY=%f", velocityY));
-        	if(velocityY < -1000)
-        	{
-	        	notouchHandler.removeCallbacks(notouchCallback);
-	            notouchHandler.postDelayed(notouchCallback, 0);
-        	}
-        	else if(velocityY > 1000)
-        	{
-        		resetNoTouchTimer(true);
-        	}
-            
+        public boolean onSingleTapConfirmed(MotionEvent event) {
+        	if(!DISABLE_LOG) Log.i(TAG, "onSingleTapConfirmed");
+        	if(mHudVisible)
+			{
+				notouchHandler.removeCallbacks(notouchCallback);
+				notouchHandler.postDelayed(notouchCallback, 0);
+			}
+			else
+			{
+				resetNoTouchTimer(true);
+			}
             return true;
         }
     }
@@ -1484,7 +1470,7 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 		}
 		mButtonCameraView.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
 		mButtonBackfaceShown.setVisibility(mHudVisible && (mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked())?View.VISIBLE:View.INVISIBLE);
-		mSeekBarFov.setVisibility(mHudVisible && (mButtonCameraView.getSelectedItemPosition() == 0 || mButtonCameraView.getSelectedItemPosition() == 3)?View.VISIBLE:View.INVISIBLE);
+		mSeekBarOrthoCut.setVisibility(mHudVisible && mButtonCameraView.getSelectedItemPosition() == 3?View.VISIBLE:View.INVISIBLE);
 		mSeekBarGrid.setVisibility(mHudVisible && mSeekBarGrid.isEnabled() && mButtonCameraView.getSelectedItemPosition() == 3?View.VISIBLE:View.INVISIBLE);
 	}