Tango: updated UI

app/android/jni/RTABMapApp.cpp

@@ -298,7 +298,11 @@ int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMe
 	optTexture_ = cv::Mat();
 	cv::Mat cloudMat;
 	std::vector<std::vector<std::vector<unsigned int> > > polygons;
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+	std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > texCoords;
+#else
 	std::vector<std::vector<Eigen::Vector2f> > texCoords;
+#endif
 	cv::Mat textures;
 	std::map<int, rtabmap::Transform> optPoses;
 	if(!databaseSource.empty())
@@ -1051,6 +1055,7 @@ int RTABMapApp::Render()
 					pcl::fromPCLPointCloud2(optMesh_->cloud, *mesh.cloud);
 					pcl::fromPCLPointCloud2(optMesh_->cloud, *mesh.normals);
 					mesh.polygons = optMesh_->tex_polygons[0];
+					mesh.pose.setIdentity();
 					if(optMesh_->tex_coordinates.size())
 					{
 						mesh.texCoords = optMesh_->tex_coordinates[0];
@@ -1568,7 +1573,7 @@ int RTABMapApp::Render()
 			if(rtabmapEvents.size())
 			{
 				// send statistics to GUI
-				LOGW("Posting PostRenderEvent! %fs", renderingTime_);
+				LOGI("New data added to map, rendering time: %fs", renderingTime_);
 				UEventsManager::post(new PostRenderEvent(rtabmapEvents.back()));
 				rtabmapEvents.pop_back();
 
@@ -1740,6 +1745,10 @@ void RTABMapApp::setOrthoCropFactor(float value)
 {
 	main_scene_.setOrthoCropFactor(value);
 }
+void RTABMapApp::setGridRotation(float value)
+{
+	main_scene_.setGridRotation(value);
+}
 void RTABMapApp::setLighting(bool enabled)
 {
 	main_scene_.setLighting(enabled);
@@ -2764,7 +2773,11 @@ bool RTABMapApp::postExportation(bool visualize)
 	{
 		cv::Mat cloudMat;
 		std::vector<std::vector<std::vector<unsigned int> > > polygons;
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+		std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > texCoords;
+#else
 		std::vector<std::vector<Eigen::Vector2f> > texCoords;
+#endif
 		cv::Mat textures;
 		std::map<int, rtabmap::Transform> optPoses;
 		if(rtabmap_ && rtabmap_->getMemory())
@@ -2801,7 +2814,11 @@ bool RTABMapApp::writeExportedMesh(const std::string & directory, const std::str
 	pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
 	cv::Mat cloudMat;
 	std::vector<std::vector<std::vector<unsigned int> > > polygons;
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+	std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > texCoords;
+#else
 	std::vector<std::vector<Eigen::Vector2f> > texCoords;
+#endif
 	cv::Mat textures;
 	std::map<int, rtabmap::Transform> optPoses;
 	if(rtabmap_ && rtabmap_->getMemory())

app/android/jni/RTABMapApp.h

@@ -121,6 +121,7 @@ class RTABMapApp : public UEventsHandler {
   void setPointSize(float value);
   void setFOV(float angle);
   void setOrthoCropFactor(float value);
+  void setGridRotation(float value);
   void setLighting(bool enabled);
   void setBackfaceCulling(bool enabled);
   void setWireframe(bool enabled);

app/android/jni/jni_interface.cpp

@@ -180,6 +180,12 @@ Java_com_introlab_rtabmap_RTABMapLib_setOrthoCropFactor(
 	return app.setOrthoCropFactor(value);
 }
 JNIEXPORT void JNICALL
+Java_com_introlab_rtabmap_RTABMapLib_setGridRotation(
+		JNIEnv*, jobject, float value)
+{
+	return app.setGridRotation(value);
+}
+JNIEXPORT void JNICALL
 Java_com_introlab_rtabmap_RTABMapLib_setLighting(
 		JNIEnv*, jobject, bool enabled)
 {

app/android/jni/point_cloud_drawable.h

@@ -70,6 +70,7 @@ private:
   bool isVisible() const {return visible_;}
   bool hasMesh() const {return polygons_.size()!=0;}
   bool hasTexture() const {return textures_ != 0;}
+  float getMinHeight() const {return minHeight_;}
   const pcl::PointXYZ & aabbMinModel() const {return aabbMinModel_;}
   const pcl::PointXYZ & aabbMaxModel() const {return aabbMaxModel_;}
   const pcl::PointXYZ & aabbMinWorld() const {return aabbMinWorld_;}
@@ -126,6 +127,7 @@ private:
   bool visible_;
   bool hasNormals_;
   std::vector<unsigned int> organizedToDenseIndices_;
+  float minHeight_; // odom frame
 
   float gainR_;
   float gainG_;

app/android/jni/scene.cpp

@@ -16,12 +16,16 @@
 
 #include <tango-gl/conversions.h>
 #include <tango-gl/gesture_camera.h>
+#include <tango-gl/util.h>
 
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/utilite/UStl.h>
 #include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/core/util3d_filtering.h>
+#include <rtabmap/core/util3d_transforms.h>
+#include <rtabmap/core/util3d_surface.h>
 #include <pcl/common/transforms.h>
+#include <pcl/common/common.h>
 
 #include <glm/gtx/transform.hpp>
 
@@ -32,7 +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 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);
@@ -130,7 +134,7 @@ void Scene::InitGLContent()
 	trace_->ClearVertexArray();
 	trace_->SetColor(kTraceColor);
 	grid_->SetColor(kGridColor);
-	grid_->SetPosition(-kHeightOffset);
+	grid_->SetPosition(kHeightOffset);
 	box_->SetShader();
 	box_->SetColor(1,0,0);
 
@@ -194,6 +198,10 @@ void Scene::clear()
 		graph_ = 0;
 	}
 	pointClouds_.clear();
+	if(grid_)
+	{
+		grid_->SetPosition(kHeightOffset);
+	}
 }
 
 //Should only be called in OpenGL thread!
@@ -565,6 +573,15 @@ void Scene::setOrthoCropFactor(float value)
 {
 	gesture_camera_->SetOrthoCropFactor(value);
 }
+void Scene::setGridRotation(float angleDeg)
+{
+	float angleRad = angleDeg * DEGREE_2_RADIANS;
+	if(grid_)
+	{
+		glm::quat rot = glm::rotate(glm::quat(1,0,0,0), angleRad, glm::vec3(0, 1, 0));
+		grid_->SetRotation(rot);
+	}
+}
 
 rtabmap::Transform Scene::GetOpenGLCameraPose(float * fov) const
 {
@@ -669,6 +686,58 @@ void Scene::addMesh(
 	PointCloudDrawable * drawable = new PointCloudDrawable(mesh, createWireframe);
 	drawable->setPose(pose);
 	pointClouds_.insert(std::make_pair(id, drawable));
+
+	if(!mesh.pose.isNull() && mesh.cloud->size() && (!mesh.cloud->isOrganized() || mesh.indices->size()))
+	{
+		UTimer time;
+		float height = 0.0f;
+		Eigen::Affine3f affinePose = mesh.pose.toEigen3f();
+		if(mesh.polygons.size())
+		{
+			for(unsigned int i=0; i<mesh.polygons.size(); ++i)
+			{
+				for(unsigned int j=0; j<mesh.polygons[i].vertices.size(); ++j)
+				{
+					pcl::PointXYZRGB pt = pcl::transformPoint(mesh.cloud->at(mesh.polygons[i].vertices[j]), affinePose);
+					if(pt.z < height)
+					{
+						height = pt.z;
+					}
+				}
+			}
+		}
+		else
+		{
+			if(mesh.cloud->isOrganized())
+			{
+				for(unsigned int i=0; i<mesh.indices->size(); ++i)
+				{
+					pcl::PointXYZRGB pt = pcl::transformPoint(mesh.cloud->at(mesh.indices->at(i)), affinePose);
+					if(pt.z < height)
+					{
+						height = pt.z;
+					}
+				}
+			}
+			else
+			{
+				for(unsigned int i=0; i<mesh.cloud->size(); ++i)
+				{
+					pcl::PointXYZRGB pt = pcl::transformPoint(mesh.cloud->at(i), affinePose);
+					if(pt.z < height)
+					{
+						height = pt.z;
+					}
+				}
+			}
+		}
+
+		if(grid_->GetPosition().y == kHeightOffset.y || grid_->GetPosition().y > height)
+		{
+			grid_->SetPosition(glm::vec3(0,height,0));
+		}
+		LOGD("compute min height %f s", time.ticks());
+	}
 }
 
 

app/android/jni/scene.h

@@ -129,6 +129,7 @@ class Scene {
   void setPointSize(float size) {pointSize_ = size;}
   void setFOV(float angle);
   void setOrthoCropFactor(float value);
+  void setGridRotation(float angleDeg);
   void setLighting(bool enabled) {lighting_ = enabled;}
   void setBackfaceCulling(bool enabled) {backfaceCulling_ = enabled;}
   void setWireframe(bool enabled) {wireFrame_ = enabled;}

app/android/res/drawable/custom_seekbar.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<layer-list xmlns:android="http://schemas.android.com/apk/res/android" >
+    <item>
+        <shape>
+            <gradient
+                android:endColor="#00ffffff"
+                android:startColor="#ff686868"
+                android:useLevel="false" />
+        </shape>
+    </item>
+
+</layer-list>

app/android/res/layout/activity_rtabmap.xml

@@ -25,7 +25,7 @@
     
     <RelativeLayout 
         android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
+        android:layout_height="match_parent"
         android:fitsSystemWindows="true">
     
     <ToggleButton
@@ -35,7 +35,7 @@
         android:layout_above="@+id/light_button"
         android:layout_alignLeft="@+id/light_button"
         android:layout_alignParentRight="true"
-        android:layout_marginBottom="15dp"
+        android:layout_marginBottom="5dp"
         android:layout_marginRight="5dp"
         android:paddingRight="5dp"
         android:textOff="@string/wireframe"
@@ -48,7 +48,7 @@
         android:layout_above="@+id/backface_button"
         android:layout_alignLeft="@+id/backface_button"
         android:layout_alignParentRight="true"
-        android:layout_marginBottom="15dp"
+        android:layout_marginBottom="5dp"
         android:layout_marginRight="5dp"
         android:paddingRight="5dp"
         android:textOff="@string/light_off"
@@ -58,56 +58,33 @@
         android:id="@+id/backface_button"
         android:layout_width="100dp"
         android:layout_height="wrap_content"
-        android:layout_above="@+id/first_person_button"
+        android:layout_above="@+id/camera_button"
-        android:layout_alignLeft="@+id/first_person_button"
+        android:layout_alignRight="@+id/camera_button"
         android:layout_alignParentRight="true"
-        android:layout_marginBottom="5dp"
+        android:layout_marginBottom="15dp"
         android:layout_marginRight="5dp"
         android:paddingRight="5dp"
         android:textOff="@string/backface_off"
         android:textOn="@string/backface_on" />
-      
+ 
-    <ToggleButton
+    <com.introlab.rtabmap.NDSpinner
-        android:id="@+id/first_person_button"
+        android:id="@+id/camera_button"
-        android:layout_width="100dp"
+        android:layout_width="140dp"
-        android:layout_height="wrap_content"
+        android:layout_height="40dp"
-        android:layout_above="@+id/third_person_button"
-        android:layout_alignLeft="@+id/third_person_button"
-        android:layout_alignParentRight="true"
-        android:layout_marginBottom="5dp"
-        android:layout_marginRight="5dp"
-        android:paddingRight="5dp"
-        android:textOff="@string/first_person"
-        android:textOn="@string/first_person" />
-    
-    <ToggleButton
-        android:id="@+id/third_person_button"
-        android:layout_width="100dp"
-        android:layout_height="wrap_content"
-        android:layout_above="@+id/top_down_button"
-        android:layout_alignParentRight="true"
-        android:layout_marginBottom="5dp"
-        android:layout_marginRight="5dp"
-        android:paddingRight="5dp"
-        android:textOff="@string/third_person"
-        android:textOn="@string/third_person" />
-
-    <ToggleButton
-        android:id="@+id/top_down_button"
-        android:layout_width="100dp"
-        android:layout_height="wrap_content"
         android:layout_alignParentBottom="true"
         android:layout_alignParentRight="true"
         android:layout_marginRight="5dp"
+        android:layout_marginBottom="10dp"
         android:paddingRight="5dp"
-        android:textOff="@string/top_down"
+        android:paddingBottom="10dp"
-        android:textOn="@string/top_down" />
+        android:text="@string/camera_button"
+        android:spinnerMode="dropdown"/>
 
     <ToggleButton
         android:id="@+id/pause_button"
         android:layout_width="100dp"
         android:layout_height="wrap_content"
-        android:layout_alignLeft="@+id/first_person_button"
+		android:layout_marginRight="5dp"
         android:layout_alignParentTop="true"
         android:layout_marginTop="61dp"
         android:layout_alignParentRight="true"
@@ -135,10 +112,8 @@
         android:id="@+id/close_visualization_button"
         android:layout_width="200dp"
         android:layout_height="wrap_content"
-        android:layout_alignBaseline="@+id/top_down_button"
+        android:layout_above="@+id/camera_button"
-        android:layout_alignBottom="@+id/top_down_button"
         android:layout_centerHorizontal="true"
-        android:paddingLeft="5dp"
         android:text="@string/close_visualization" />
 
     <SeekBar
@@ -146,10 +121,23 @@
         android:layout_width="200dp"
         android:layout_height="wrap_content"
         android:rotation="270"
+        android:layout_above="@+id/light_button"
         android:layout_alignParentLeft="true"
-        android:layout_alignBaseline="@+id/first_person_button"
         android:layout_gravity="center"
-        android:layout_marginLeft="-50dp" />
+        android:layout_marginLeft="-50dp"
+        android:progressDrawable="@drawable/custom_seekbar" />
+    
+    <SeekBar
+        android:id="@+id/seekBar_grid"
+        android:layout_width="200dp"
+        android:layout_height="wrap_content"
+        android:layout_alignParentLeft="true"
+        android:layout_alignBottom="@+id/camera_button"
+        android:layout_marginLeft="35dp"
+        android:paddingBottom="10dp"
+        android:progressDrawable="@drawable/custom_seekbar" />
+
+
 
 </RelativeLayout>        
 </RelativeLayout>

app/android/res/values/arrays.xml

@@ -0,0 +1,9 @@
+
+    <resources>
+        <string-array name="camera_view_array">
+        <item>First View</item>
+        <item>Third-P. View</item>
+        <item>Top View</item>
+        <item>Ortho View</item>
+    </string-array>
+    </resources>

app/android/res/values/strings.xml

@@ -8,9 +8,7 @@
     <string name="sketchfab">Upload to Sketchfab&#8230;</string>
     <string name="status">"Status: "</string>
     <string name="words">"Words: "</string>
-    <string name="first_person">First</string>
+    <string name="camera_button">First View</string>
-    <string name="third_person">Third</string>
-    <string name="top_down">Top</string>
     <string name="pause">Pause</string>
     <string name="resume">Resume</string>
     <string name="backface_on">Backface</string>
@@ -36,7 +34,7 @@
     <string name="memory">"Used Memory (MB): "</string>
     <string name="hypothesis">"Hypothesis (%): "</string>
     <string name="fps">"FPS (rendering): "</string>
-
+    
     <!-- Preference keys: BEGIN -->
     <string name="pref_key_tags">pref_key_tags</string>
     <string name="pref_default_tags">rtabmap 3dscan tango</string>

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

@@ -0,0 +1,43 @@
+package com.introlab.rtabmap;
+
+import android.content.Context;
+import android.util.AttributeSet;
+import android.widget.Spinner;
+
+
+/** Spinner extension that calls onItemSelected even when the selection is the same as its previous value 
+Author: Mattia Ruggiero 
+https://stackoverflow.com/questions/5335306/how-can-i-get-an-event-in-android-spinner-when-the-current-selected-item-is-sele
+*/
+public class NDSpinner extends Spinner {
+
+    public NDSpinner(Context context)
+    { super(context); }
+
+    public NDSpinner(Context context, AttributeSet attrs)
+    { super(context, attrs); }
+
+    public NDSpinner(Context context, AttributeSet attrs, int defStyle)
+    { super(context, attrs, defStyle); }
+
+    @Override 
+    public void setSelection(int position, boolean animate) {
+        boolean sameSelected = position == getSelectedItemPosition();
+        super.setSelection(position, animate);
+        if (sameSelected) {
+            // Spinner does not call the OnItemSelectedListener if the same item is selected, so do it manually now
+            //getOnItemSelectedListener().onItemSelected(this, getSelectedView(), position, getSelectedItemId());
+        }
+    } 
+
+    @Override
+    public void setSelection(int position) {
+        boolean sameSelected = position == getSelectedItemPosition();
+        super.setSelection(position);
+        if (sameSelected) {
+            // Spinner does not call the OnItemSelectedListener if the same item is selected, so do it manually now
+            getOnItemSelectedListener().onItemSelected(this, getSelectedView(), position, getSelectedItemId());
+        }
+    }
+
+}

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

@@ -89,6 +89,9 @@ import android.view.WindowManager;
 import android.view.inputmethod.EditorInfo;
 import android.webkit.WebView;
 import android.webkit.WebViewClient;
+import android.widget.AdapterView;
+import android.widget.AdapterView.OnItemSelectedListener;
+import android.widget.ArrayAdapter;
 import android.widget.Button;
 import android.widget.EditText;
 import android.widget.LinearLayout;
@@ -96,6 +99,7 @@ import android.widget.NumberPicker;
 import android.widget.RelativeLayout;
 import android.widget.SeekBar;
 import android.widget.SeekBar.OnSeekBarChangeListener;
+import android.widget.Spinner;
 import android.widget.TextView;
 import android.widget.Toast;
 import android.widget.ToggleButton;
@@ -104,7 +108,7 @@ import com.google.atap.tangoservice.Tango;
 
 // The main activity of the application. This activity shows debug information
 // and a glSurfaceView that renders graphic content.
-public class RTABMapActivity extends Activity implements OnClickListener {
+public class RTABMapActivity extends Activity implements OnClickListener, OnItemSelectedListener {
 
 	// Tag for debug logging.
 	public static final String TAG = RTABMapActivity.class.getSimpleName();
@@ -134,7 +138,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 	
 	public static final long NOTOUCH_TIMEOUT = 5000; // 5 sec
 	private boolean mHudVisible = true;
-	private boolean mTipOrthoShown_ = false;
 	private int mSavedRenderingType = 0;
 	private boolean mMenuOpened = false;
 
@@ -182,9 +185,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 	private MenuItem mItemStatusVisibility;
 	private MenuItem mItemDebugVisibility;
 
-	private ToggleButton mButtonFirst;
+	private NDSpinner mButtonCameraView;
-	private ToggleButton mButtonThird;
-	private ToggleButton mButtonTop;
 	private ToggleButton mButtonPause;
 	private ToggleButton mButtonLighting;
 	private ToggleButton mButtonWireframe;
@@ -193,6 +194,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 	private Button mButtonSaveOnDevice;
 	private Button mButtonShareOnSketchfab;
 	private SeekBar mSeekBarFov;
+	private SeekBar mSeekBarGrid;
 
 	private String mOpenedDatabasePath = "";
 	private String mWorkingDirectory = "";
@@ -267,9 +269,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 		mActionBarHeight = getActionBarHeight();
 	
 		// Buttons for selecting camera view and Set up button click listeners.
-		mButtonFirst = (ToggleButton)findViewById(R.id.first_person_button);
+		mButtonCameraView = (NDSpinner)findViewById(R.id.camera_button);
-		mButtonThird = (ToggleButton)findViewById(R.id.third_person_button);
-		mButtonTop = (ToggleButton)findViewById(R.id.top_down_button);
 		mButtonPause = (ToggleButton)findViewById(R.id.pause_button);
 		mButtonLighting = (ToggleButton)findViewById(R.id.light_button);
 		mButtonWireframe = (ToggleButton)findViewById(R.id.wireframe_button);
@@ -277,9 +277,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 		mButtonCloseVisualization = (Button)findViewById(R.id.close_visualization_button);
 		mButtonSaveOnDevice = (Button)findViewById(R.id.button_saveOnDevice);
 		mButtonShareOnSketchfab = (Button)findViewById(R.id.button_shareToSketchfab);
-		mButtonFirst.setOnClickListener(this);
+		mButtonCameraView.setOnItemSelectedListener(this);
-		mButtonThird.setOnClickListener(this);
-		mButtonTop.setOnClickListener(this);
 		mButtonPause.setOnClickListener(this);
 		mButtonLighting.setOnClickListener(this);
 		mButtonWireframe.setOnClickListener(this);
@@ -287,7 +285,6 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 		mButtonCloseVisualization.setOnClickListener(this);
 		mButtonSaveOnDevice.setOnClickListener(this);
 		mButtonShareOnSketchfab.setOnClickListener(this);
-		mButtonFirst.setChecked(true);
 		mButtonLighting.setChecked(false);
 		mButtonLighting.setVisibility(View.INVISIBLE);
 		mButtonWireframe.setChecked(false);
@@ -300,17 +297,28 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 			mButtonBackfaceShown.setVisibility(mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked()?View.VISIBLE:View.INVISIBLE);
 		}
 		
+		ArrayAdapter<CharSequence> adapter = ArrayAdapter.createFromResource(this, R.array.camera_view_array, android.R.layout.simple_spinner_item);
+		adapter.setDropDownViewResource(android.R.layout.simple_spinner_dropdown_item);
+		mButtonCameraView.setAdapter(adapter);
+		mButtonCameraView.setOnTouchListener(new OnTouchListener() {
+		    @Override
+		    public boolean onTouch(View v, MotionEvent event) {
+		        resetNoTouchTimer();
+		        return false;
+		    }
+		});
+		
 		mSeekBarFov = (SeekBar)findViewById(R.id.seekBar_fov);
 		mSeekBarFov.setMax(45);
 		mSeekBarFov.setProgress(20);
 		mSeekBarFov.setOnSeekBarChangeListener(new OnSeekBarChangeListener() {
 			  @Override
 			  public void onProgressChanged(SeekBar seekBar, int progressValue, boolean fromUser) {
-				  if(mButtonFirst.isChecked())
+				  if(mButtonCameraView.getSelectedItemPosition() == 0)
 				  {
 					  RTABMapLib.setFOV((float)progressValue+45.0f);
 				  }
-				  else if(mButtonTop.isChecked())
+				  else if(mButtonCameraView.getSelectedItemPosition() == 3)
 				  {
 					  RTABMapLib.setOrthoCropFactor((float)(120-progressValue)/20.0f - 3.0f);
 				  }
@@ -325,6 +333,25 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 			  public void onStopTrackingTouch(SeekBar seekBar) {
 			  }
 		   });
+		
+		mSeekBarGrid = (SeekBar)findViewById(R.id.seekBar_grid);
+		mSeekBarGrid.setMax(180);
+		mSeekBarGrid.setProgress(90);
+		mSeekBarGrid.setOnSeekBarChangeListener(new OnSeekBarChangeListener() {
+			  @Override
+			  public void onProgressChanged(SeekBar seekBar, int progressValue, boolean fromUser) {
+				  RTABMapLib.setGridRotation(((float)progressValue-90.0f)/2.0f);
+				  resetNoTouchTimer();
+			  }
+			
+			  @Override
+			  public void onStartTrackingTouch(SeekBar seekBar) {
+			  }
+			
+			  @Override
+			  public void onStopTrackingTouch(SeekBar seekBar) {
+			  }
+		   });
 
 		mToast = Toast.makeText(getApplicationContext(), "", Toast.LENGTH_SHORT);
 
@@ -714,13 +741,9 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 		updateStatusTexts();
 				
 		RTABMapLib.setCamera(type);
-		mButtonFirst.setChecked(type==0);
+		mButtonCameraView.setSelection(type, true);
-		mButtonThird.setChecked(type==1);
-		mButtonTop.setChecked(type==2 || type==3);
-		mButtonTop.setText(type==3?"Ortho":"Top");
-		mButtonTop.setTextOn(type==3?"Ortho":"Top");
-		mButtonTop.setTextOff(type==3?"Ortho":"Top");
 		mSeekBarFov.setVisibility(type!=0 && type!=3?View.INVISIBLE:View.VISIBLE);
+		mSeekBarGrid.setVisibility(mSeekBarGrid.isEnabled() && type==3?View.VISIBLE:View.INVISIBLE);
 		if(type==0)
 		{
 			mSeekBarFov.setMax(45);
@@ -731,28 +754,12 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 			mSeekBarFov.setMax(120);
 			mSeekBarFov.setProgress(80);
 		}
-		
-		if(type==2 && !mTipOrthoShown_)
-		{
-			mToast.makeText(this, "Tip: Click again on Top to set Ortho mode.", mToast.LENGTH_LONG).show();
-			mTipOrthoShown_ = true;
-		}
 	}
 
 	@Override
 	public void onClick(View v) {
 		// Handle button clicks.
 		switch (v.getId()) {
-		case R.id.first_person_button:
-			setCamera(0);
-
-			break;
-		case R.id.third_person_button:
-			setCamera(1);
-			break;
-		case R.id.top_down_button:
-			setCamera(mButtonFirst.isChecked() || mButtonThird.isChecked() || mButtonTop.getTextOn().equals("Ortho")?2:3);
-			break;
 		case R.id.pause_button:
 			pauseMapping();
 			break;
@@ -792,6 +799,15 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 		}
 		resetNoTouchTimer();
 	}
+	
+	public void onItemSelected(AdapterView<?> parent, View view, int pos, long id) {
+		setCamera(pos);
+		resetNoTouchTimer();
+    }
+
+    public void onNothingSelected(AdapterView<?> parent) {
+    	resetNoTouchTimer();
+    }
 		
 	private void setAndroidOrientation() {
         Display display = getWindowManager().getDefaultDisplay();
@@ -1146,9 +1162,9 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 			}
 			
 			updateState(State.STATE_VISUALIZING_WHILE_LOADING);
-			if(mButtonFirst.isChecked())
+			if(mButtonCameraView.getSelectedItemPosition() == 0)
 			{
-				setCamera(1);
+				setCamera(2);
 			}
 			mToast.makeText(getActivity(), String.format("Optimized mesh detected in the database, it is shown while the database is loading..."), mToast.LENGTH_LONG).show();
 			mProgressDialog.dismiss();
@@ -1438,11 +1454,10 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 			mItemDataRecorderMode.setEnabled(mButtonPause.isChecked());
 			break;
 		}
-		mButtonFirst.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
+		mButtonCameraView.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
-		mButtonThird.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
-		mButtonTop.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
 		mButtonBackfaceShown.setVisibility(mHudVisible && (mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked())?View.VISIBLE:View.INVISIBLE);
-		mSeekBarFov.setVisibility(mHudVisible && (mButtonFirst.isChecked() || (mButtonTop.isChecked() && mButtonTop.getTextOn().equals("Ortho")))?View.VISIBLE:View.INVISIBLE);
+		mSeekBarFov.setVisibility(mHudVisible && (mButtonCameraView.getSelectedItemPosition() == 0 || mButtonCameraView.getSelectedItemPosition() == 3)?View.VISIBLE:View.INVISIBLE);
+		mSeekBarGrid.setVisibility(mHudVisible && mSeekBarGrid.isEnabled() && mButtonCameraView.getSelectedItemPosition() == 3?View.VISIBLE:View.INVISIBLE);
 	}
 
 	private void pauseMapping() {
@@ -1682,6 +1697,8 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 		else if(itemId == R.id.grid_visible)
 		{
 			item.setChecked(!item.isChecked());
+			mSeekBarGrid.setEnabled(item.isChecked());
+			mSeekBarGrid.setVisibility(mHudVisible && mSeekBarGrid.isEnabled()&&mButtonCameraView.getSelectedItemPosition() == 3?View.VISIBLE:View.INVISIBLE);
 			RTABMapLib.setGridVisible(item.isChecked());
 		}
 		else if (itemId == R.id.save)
@@ -2069,7 +2086,7 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 										}
 										updateState(State.STATE_VISUALIZING);
 										RTABMapLib.postExportation(true);
-										if(mButtonFirst.isChecked())
+										if(mButtonCameraView.getSelectedItemPosition() == 0)
 										{
 											setCamera(2);
 										}
@@ -2441,9 +2458,9 @@ public class RTABMapActivity extends Activity implements OnClickListener {
 							}
 							else if(!mItemTrajectoryMode.isChecked())
 							{
-								if(mButtonFirst.isChecked())
+								if(mButtonCameraView.getSelectedItemPosition() == 0)
 								{
-									setCamera(1);
+									setCamera(2);
 								}
 								// creating meshes...
 								updateState(State.STATE_IDLE);

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

@@ -80,6 +80,7 @@ public class RTABMapLib
     public static native void setPointSize(float value);
     public static native void setFOV(float value);
     public static native void setOrthoCropFactor(float value);
+    public static native void setGridRotation(float value);
     public static native void setLighting(boolean enabled);
     public static native void setBackfaceCulling(boolean enabled);
     public static native void setWireframe(boolean enabled);

corelib/include/rtabmap/core/DBDriver.h

@@ -104,12 +104,20 @@ public:
 			const cv::Mat & cloud,
 			const std::map<int, Transform> & poses = std::map<int, Transform>(), // if we want to do localization afterward using optimized mesh
 			const std::vector<std::vector<std::vector<unsigned int> > > & polygons = std::vector<std::vector<std::vector<unsigned int> > >(),      // Textures -> polygons -> vertices
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+			const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords = std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >(), // Textures -> uv coords for each vertex of the polygons
+#else
 			const std::vector<std::vector<Eigen::Vector2f> > & texCoords = std::vector<std::vector<Eigen::Vector2f> >(), // Textures -> uv coords for each vertex of the polygons
+#endif
 			const cv::Mat & textures = cv::Mat()) const; // concatenated textures (assuming square textures with all same size);
 	cv::Mat loadOptimizedMesh(
 			std::map<int, Transform> * poses = 0,
 			std::vector<std::vector<std::vector<unsigned int> > > * polygons = 0,
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+			std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,
+#else
 			std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,
+#endif
 			cv::Mat * textures = 0) const;
 
 public:
@@ -219,12 +227,20 @@ private:
 				const cv::Mat & cloud,
 				const std::map<int, Transform> & poses,
 				const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+				const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
+#else
 				const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
+#endif
 				const cv::Mat & textures) const = 0;
 	virtual cv::Mat loadOptimizedMeshQuery(
 				std::map<int, Transform> * poses,
 				std::vector<std::vector<std::vector<unsigned int> > > * polygons,
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+				std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,
+#else
 				std::vector<std::vector<Eigen::Vector2f> > * texCoords,
+#endif
 				cv::Mat * textures) const = 0;
 
 	// Load objects

corelib/include/rtabmap/core/Memory.h

@@ -42,6 +42,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UStl.h"
 #include <opencv2/core/core.hpp>
 #include <opencv2/features2d/features2d.hpp>
+#include <pcl/pcl_config.h>
 
 namespace rtabmap {
 
@@ -98,12 +99,20 @@ public:
 			const cv::Mat & cloud,
 			const std::map<int, Transform> & poses = std::map<int, Transform>(), // if we want to do localization afterward using optimized mesh
 			const std::vector<std::vector<std::vector<unsigned int> > > & polygons = std::vector<std::vector<std::vector<unsigned int> > >(),      // Textures -> polygons -> vertices
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+			const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords = std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >(), // Textures -> uv coords for each vertex of the polygons
+#else
 			const std::vector<std::vector<Eigen::Vector2f> > & texCoords = std::vector<std::vector<Eigen::Vector2f> >(), // Textures -> uv coords for each vertex of the polygons
+#endif
 			const cv::Mat & textures = cv::Mat()) const; // concatenated textures (assuming square textures with all same size)
 	cv::Mat loadOptimizedMesh(
 			std::map<int, Transform> * poses = 0,
 			std::vector<std::vector<std::vector<unsigned int> > > * polygons = 0,
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+			std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,
+#else
 			std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,
+#endif
 			cv::Mat * textures = 0) const;
 	void emptyTrash();
 	void joinTrashThread();

corelib/src/DBDriver.cpp

@@ -1043,7 +1043,11 @@ void DBDriver::saveOptimizedMesh(
 			const cv::Mat & cloud,
 			const std::map<int, Transform> & poses,
 			const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+			const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
+#else
 			const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
+#endif
 			const cv::Mat & textures) const
 {
 	_dbSafeAccessMutex.lock();
@@ -1054,7 +1058,11 @@ void DBDriver::saveOptimizedMesh(
 cv::Mat DBDriver::loadOptimizedMesh(
 				std::map<int, Transform> * poses,
 				std::vector<std::vector<std::vector<unsigned int> > > * polygons,
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+				std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f>> > * texCoords,
+#else
 				std::vector<std::vector<Eigen::Vector2f> > * texCoords,
+#endif
 				cv::Mat * textures) const
 {
 	_dbSafeAccessMutex.lock();

corelib/src/DBDriverSqlite3.cpp

@@ -3833,7 +3833,11 @@ void DBDriverSqlite3::saveOptimizedMeshQuery(
 			const cv::Mat & cloud,
 			const std::map<int, Transform> & poses,
 			const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+			const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
+#else
 			const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
+#endif
 			const cv::Mat & textures) const
 {
 	UDEBUG("");
@@ -4049,7 +4053,11 @@ void DBDriverSqlite3::saveOptimizedMeshQuery(
 cv::Mat DBDriverSqlite3::loadOptimizedMeshQuery(
 			std::map<int, Transform> * poses,
 			std::vector<std::vector<std::vector<unsigned int> > > * polygons,
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+			std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,
+#else
 			std::vector<std::vector<Eigen::Vector2f> > * texCoords,
+#endif
 			cv::Mat * textures) const
 {
 	UDEBUG("");
@@ -4158,7 +4166,11 @@ cv::Mat DBDriverSqlite3::loadOptimizedMeshQuery(
 						for(int t=0; t<serializedTexCoords.cols; ++t)
 						{
 							UASSERT(int(serializedTexCoords.at<float>(t)) > 0);
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+							std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > materialtexCoords(int(serializedTexCoords.at<float>(t)));
+#else
 							std::vector<Eigen::Vector2f> materialtexCoords(int(serializedTexCoords.at<float>(t)));
+#endif
 							++t;
 							UASSERT(t < serializedTexCoords.cols);
 							UDEBUG("materialtexCoords=%d", (int)materialtexCoords.size());

corelib/src/DBDriverSqlite3.h

@@ -91,8 +91,8 @@ private:
 			const cv::Point3f & viewpoint) const;
 
 	virtual void updateDepthImageQuery(
-				int nodeId,
+			int nodeId,
-				const cv::Mat & image) const;
+			const cv::Mat & image) const;
 
 	virtual void addStatisticsQuery(const Statistics & statistics) const;
 	virtual void savePreviewImageQuery(const cv::Mat & image) const;
@@ -101,12 +101,20 @@ private:
 			const cv::Mat & cloud,
 			const std::map<int, Transform> & poses,
 			const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+			const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
+#else
 			const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
+#endif
 			const cv::Mat & textures) const;
 	virtual cv::Mat loadOptimizedMeshQuery(
 			std::map<int, Transform> * poses,
 			std::vector<std::vector<std::vector<unsigned int> > > * polygons,
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+			std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,
+#else
 			std::vector<std::vector<Eigen::Vector2f> > * texCoords,
+#endif
 			cv::Mat * textures) const;
 
 	// Load objects

corelib/src/Memory.cpp

@@ -1671,7 +1671,11 @@ void Memory::saveOptimizedMesh(
 		const cv::Mat & cloud,
 		const std::map<int, Transform> & poses,
 		const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+		const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
+#else
 		const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
+#endif
 		const cv::Mat & textures) const
 {
 	if(_dbDriver)
@@ -1683,7 +1687,11 @@ void Memory::saveOptimizedMesh(
 cv::Mat Memory::loadOptimizedMesh(
 			std::map<int, Transform> * poses,
 			std::vector<std::vector<std::vector<unsigned int> > > * polygons,
+#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+			std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f>> > * texCoords,
+#else
 			std::vector<std::vector<Eigen::Vector2f> > * texCoords,
+#endif
 			cv::Mat * textures) const
 {
 	if(_dbDriver)