/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/

#include <tango-gl/conversions.h>

#include "RTABMapApp.h"
#ifdef __ANDROID__
#include "CameraAvailability.h"
#endif
#ifdef RTABMAP_TANGO
#include "CameraTango.h"
#endif
#ifdef RTABMAP_ARCORE
#include "CameraARCore.h"
#include <media/NdkImage.h>
#endif
#ifdef RTABMAP_ARENGINE
#include "CameraAREngine.h"
#endif

#include <rtabmap/core/Rtabmap.h>
#include <rtabmap/core/util2d.h>
#include <rtabmap/core/util3d.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/util3d_surface.h>
#include <rtabmap/core/Graph.h>
#include <rtabmap/utilite/UEventsManager.h>
#include <rtabmap/utilite/UStl.h>
#include <rtabmap/utilite/UDirectory.h>
#include <rtabmap/utilite/UFile.h>
#include <opencv2/opencv_modules.hpp>
#include <rtabmap/core/util3d_surface.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/core/ParamEvent.h>
#include <rtabmap/core/Compression.h>
#include <rtabmap/core/Optimizer.h>
#include <rtabmap/core/VWDictionary.h>
#include <rtabmap/core/Memory.h>
#include <rtabmap/core/GainCompensator.h>
#include <rtabmap/core/DBDriver.h>
#include <rtabmap/core/Recovery.h>
#include <pcl/common/common.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/io/ply_io.h>
#include <pcl/io/obj_io.h>
#include <pcl/surface/poisson.h>
#include <pcl/surface/vtk_smoothing/vtk_mesh_quadric_decimation.h>


#define LOW_RES_PIX 2
//#define DEBUG_RENDERING_PERFORMANCE

const int g_optMeshId = -100;

#ifdef __ANDROID__
static JavaVM *jvm;
static jobject RTABMapActivity = 0;
#endif

#ifdef __ANDROID__
#ifndef DISABLE_LOG
//ref: https://codelab.wordpress.com/2014/11/03/how-to-use-standard-output-streams-for-logging-in-android-apps/
static int pfd[2];
static pthread_t thr;
static void *thread_func(void*)
{
    ssize_t rdsz;
    char buf[128];
    while((rdsz = read(pfd[0], buf, sizeof buf - 1)) > 0) {
        if(buf[rdsz - 1] == '\n') --rdsz;
        buf[rdsz] = 0;  /* add null-terminator */
        __android_log_write(ANDROID_LOG_DEBUG, LOG_TAG, buf);
    }
    return 0;
}

int start_logger()
{
    /* make stdout line-buffered and stderr unbuffered */
    setvbuf(stdout, 0, _IOLBF, 0);
    setvbuf(stderr, 0, _IONBF, 0);

    /* create the pipe and redirect stdout and stderr */
    pipe(pfd);
    dup2(pfd[1], 1);
    dup2(pfd[1], 2);

    /* spawn the logging thread */
    if(pthread_create(&thr, 0, thread_func, 0) == -1)
        return -1;
    pthread_detach(thr);
    return 0;
}
#endif
#endif

rtabmap::ParametersMap RTABMapApp::getRtabmapParameters()
{
	rtabmap::ParametersMap parameters;

	parameters.insert(mappingParameters_.begin(), mappingParameters_.end());

	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpMaxFeatures(), std::string("200")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kGFTTQualityLevel(), std::string("0.0001")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemImagePreDecimation(), std::string(cameraColor_&&fullResolution_?"2":"1")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kBRIEFBytes(), std::string("64")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapTimeThr(), std::string("800")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapPublishLikelihood(), std::string("false")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapPublishPdf(), std::string("false")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapStartNewMapOnLoopClosure(), uBool2Str(!localizationMode_ && appendMode_)));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemBinDataKept(), uBool2Str(!trajectoryMode_)));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "10"));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), uBool2Str(!localizationMode_)));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapMaxRetrieved(), "1"));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDMaxLocalRetrieved(), "0"));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemCompressionParallelized(), std::string("false")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpParallelized(), std::string("false")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDOptimizeFromGraphEnd(), std::string("true")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kVisMinInliers(), std::string("25")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDProximityPathMaxNeighbors(), std::string("0"))); // disable scan matching to merged nodes
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDProximityBySpace(), std::string("false"))); // just keep loop closure detection
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDLinearUpdate(), std::string("0.05")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDAngularUpdate(), std::string("0.05")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMarkerLength(), std::string("0.0")));

	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemUseOdomGravity(), "true"));
	if(parameters.find(rtabmap::Parameters::kOptimizerStrategy()) != parameters.end())
	{
		if(parameters.at(rtabmap::Parameters::kOptimizerStrategy()).compare("2") == 0) // GTSAM
		{
			parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0.00001"));
			parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "10"));
			parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerGravitySigma(), "0.2"));
		}
		else if(parameters.at(rtabmap::Parameters::kOptimizerStrategy()).compare("1") == 0) // g2o
		{
			parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0.0"));
			parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "10"));
			parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerGravitySigma(), "0.2"));
		}
		else // TORO
		{
			parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0.00001"));
			parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "100"));
			parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerGravitySigma(), "0"));
		}
	}

	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpPointToPlane(), std::string("true")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemLaserScanNormalK(), std::string("0")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpIterations(), std::string("10")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpEpsilon(), std::string("0.001")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxRotation(), std::string("0.17"))); // 10 degrees
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxTranslation(), std::string("0.05")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpCorrespondenceRatio(), std::string("0.49")));
	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kIcpMaxCorrespondenceDistance(), std::string("0.05")));

	parameters.insert(*rtabmap::Parameters::getDefaultParameters().find(rtabmap::Parameters::kKpMaxFeatures()));
	parameters.insert(*rtabmap::Parameters::getDefaultParameters().find(rtabmap::Parameters::kMemRehearsalSimilarity()));
	parameters.insert(*rtabmap::Parameters::getDefaultParameters().find(rtabmap::Parameters::kMemMapLabelsAdded()));
	if(dataRecorderMode_)
	{
		uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kKpMaxFeatures(), std::string("-1")));
		uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kMemRehearsalSimilarity(), std::string("1.0"))); // deactivate rehearsal
		uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kMemMapLabelsAdded(), "false")); // don't create map labels
		uInsert(parameters, rtabmap::ParametersPair(rtabmap::Parameters::kMemNotLinkedNodesKept(), std::string("true")));
	}

	return parameters;
}

#ifdef __ANDROID__
RTABMapApp::RTABMapApp(JNIEnv* env, jobject caller_activity) :
#else //__APPLE__
RTABMapApp::RTABMapApp() :
#endif
		cameraDriver_(0),
		camera_(0),
		rtabmapThread_(0),
		rtabmap_(0),
		logHandler_(0),
		odomCloudShown_(true),
		graphOptimization_(true),
		nodesFiltering_(false),
		localizationMode_(false),
		trajectoryMode_(false),
		rawScanSaved_(false),
		smoothing_(true),
		depthFromMotion_(false),
		cameraColor_(true),
		fullResolution_(false),
		appendMode_(true),
		maxCloudDepth_(2.5),
		minCloudDepth_(0.0),
		cloudDensityLevel_(1),
		meshTrianglePix_(2),
		meshAngleToleranceDeg_(20.0),
        meshDecimationFactor_(0),
		clusterRatio_(0.1),
		maxGainRadius_(0.02f),
		renderingTextureDecimation_(4),
		backgroundColor_(0.2f),
        depthConfidence_(2),
		dataRecorderMode_(false),
		clearSceneOnNextRender_(false),
		openingDatabase_(false),
		exporting_(false),
		postProcessing_(false),
		filterPolygonsOnNextRender_(false),
		gainCompensationOnNextRender_(0),
		bilateralFilteringOnNextRender_(false),
		takeScreenshotOnNextRender_(false),
		cameraJustInitialized_(false),
		totalPoints_(0),
		totalPolygons_(0),
		lastDrawnCloudsCount_(0),
		renderingTime_(0.0f),
		lastPostRenderEventTime_(0.0),
		lastPoseEventTime_(0.0),
		visualizingMesh_(false),
		exportedMeshUpdated_(false),
		optMesh_(new pcl::TextureMesh),
		optRefId_(0),
		optRefPose_(0),
		mapToOdom_(rtabmap::Transform::getIdentity())

{
	mappingParameters_.insert(rtabmap::ParametersPair(rtabmap::Parameters::kKpDetectorStrategy(), "5")); // GFTT/FREAK

#ifdef __ANDROID__
	env->GetJavaVM(&jvm);
	RTABMapActivity = env->NewGlobalRef(caller_activity);
#endif
    
	LOGI("RTABMapApp::RTABMapApp()");
	createdMeshes_.clear();
	rawPoses_.clear();
	clearSceneOnNextRender_ = true;
	openingDatabase_ = false;
	exporting_ = false;
	postProcessing_=false;
	totalPoints_ = 0;
	totalPolygons_ = 0;
	lastDrawnCloudsCount_ = 0;
	renderingTime_ = 0.0f;
	lastPostRenderEventTime_ = 0.0;
	lastPoseEventTime_ = 0.0;
	bufferedStatsData_.clear();
#ifdef __ANDROID__
	progressionStatus_.setJavaObjects(jvm, RTABMapActivity);
#endif
	main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);

	logHandler_ = new rtabmap::LogHandler();

	this->registerToEventsManager();
	LOGI("RTABMapApp::RTABMapApp() end");

#ifdef __ANDROID__
#ifndef DISABLE_LOG
	start_logger();
#endif
#endif
}

#ifndef __ANDROID__ // __APPLE__
void RTABMapApp::setupSwiftCallbacks(void * classPtr,
                                     void(*progressCallback)(void *, int, int),
                                     void(*initCallback)(void *, int, const char*),
                                     void(*statsUpdatedCallback)(void *,
                                                              int, int, int, int,
                                                              float,
                                                              int, int, int, int, int ,int,
                                                              float,
                                                              int,
                                                              float,
                                                              int,
                                                              float, float, float, float,
                                                              int, int,
                                                              float, float, float, float, float, float))
{
    swiftClassPtr_ = classPtr;
    progressionStatus_.setSwiftCallback(classPtr, progressCallback);
    swiftInitCallback = initCallback;
    swiftStatsUpdatedCallback = statsUpdatedCallback;
}
#endif

RTABMapApp::~RTABMapApp() {
	LOGI("~RTABMapApp() begin");
	stopCamera();
	if(rtabmapThread_)
	{
		rtabmapThread_->close(false);
	}
	delete rtabmapThread_;
	delete logHandler_;
	delete optRefPose_;
	{
		boost::mutex::scoped_lock  lock(rtabmapMutex_);
		if(rtabmapEvents_.size())
		{
			for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents_.begin(); iter!=rtabmapEvents_.end(); ++iter)
			{
				delete *iter;
			}
		}
		rtabmapEvents_.clear();
	}
	LOGI("~RTABMapApp() end");
}

void RTABMapApp::setScreenRotation(int displayRotation, int cameraRotation)
{
	rtabmap::ScreenRotation rotation = rtabmap::GetAndroidRotationFromColorCameraToDisplay(displayRotation, cameraRotation);
	//LOGI("Set orientation: display=%d camera=%d -> %d", displayRotation, cameraRotation, (int)rotation);
	main_scene_.setScreenRotation(rotation);

	boost::mutex::scoped_lock  lock(cameraMutex_);
	if(camera_)
	{
		camera_->setScreenRotationAndSize(main_scene_.getScreenRotation(), main_scene_.getViewPortWidth(), main_scene_.getViewPortHeight());
	}
}

int RTABMapApp::openDatabase(const std::string & databasePath, bool databaseInMemory, bool optimize, bool clearDatabase)
{
	LOGW("Opening database %s (inMemory=%d, optimize=%d, clearDatabase=%d)", databasePath.c_str(), databaseInMemory?1:0, optimize?1:0, clearDatabase?1:0);
	this->unregisterFromEventsManager(); // to ignore published init events when closing rtabmap
	status_.first = rtabmap::RtabmapEventInit::kInitializing;
	rtabmapMutex_.lock();
	if(rtabmapEvents_.size())
	{
		for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents_.begin(); iter!=rtabmapEvents_.end(); ++iter)
		{
			delete *iter;
		}
	}
	rtabmapEvents_.clear();
	openingDatabase_ = true;
	bool restartThread = false;
	if(rtabmapThread_)
	{
		restartThread = rtabmapThread_->isRunning();

		rtabmapThread_->close(false);
		delete rtabmapThread_;
		rtabmapThread_ = 0;
		rtabmap_ = 0;
	}
    
    totalPoints_ = 0;
    totalPolygons_ = 0;
    lastDrawnCloudsCount_ = 0;
    renderingTime_ = 0.0f;
    lastPostRenderEventTime_ = 0.0;
    lastPoseEventTime_ = 0.0;
    bufferedStatsData_.clear();

	this->registerToEventsManager();

	int status = 0;

	// Open visualization while we load (if there is an optimized mesh saved in database)
	optMesh_.reset(new pcl::TextureMesh);
	optTexture_ = cv::Mat();
	optRefId_ = 0;
	if(optRefPose_)
	{
		delete optRefPose_;
		optRefPose_ = 0;
	}
	cv::Mat cloudMat;
	std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > 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;
	if(!databasePath.empty() && UFile::exists(databasePath) && !clearDatabase)
	{
		UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading optimized cloud/mesh..."));
		rtabmap::DBDriver * driver = rtabmap::DBDriver::create();
		if(driver->openConnection(databasePath))
		{
			cloudMat = driver->loadOptimizedMesh(&polygons, &texCoords, &textures);
			if(!cloudMat.empty())
			{
				LOGI("Open: Found optimized mesh! Visualizing it.");
				optMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true);
				optTexture_ = textures;
				if(!optTexture_.empty())
				{
					LOGI("Open: Texture mesh: %dx%d.", optTexture_.cols, optTexture_.rows);
					status=3;
				}
				else if(optMesh_->tex_polygons.size())
				{
					LOGI("Open: Polygon mesh");
					status=2;
				}
				else if(!optMesh_->cloud.data.empty())
				{
					LOGI("Open: Point cloud");
					status=1;
				}
			}
			else
			{
				LOGI("Open: No optimized mesh found.");
			}
			delete driver;
		}
	}

	if(status > 0)
	{
		if(status==1)
		{
			UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading optimized cloud...done!"));
		}
		else if(status==2)
		{
			UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading optimized mesh...done!"));
		}
		else
		{
			UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading optimized texture mesh...done!"));
		}
		boost::mutex::scoped_lock  lockRender(renderingMutex_);
		visualizingMesh_ = true;
		exportedMeshUpdated_ = true;
	}

	UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading database..."));
	if(clearDatabase)
    {
        LOGI("Erasing database \"%s\"...", databasePath.c_str());
        UFile::erase(databasePath);
    }

	//Rtabmap
	mapToOdom_.setIdentity();
	rtabmap_ = new rtabmap::Rtabmap();
	rtabmap::ParametersMap parameters = getRtabmapParameters();

	parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kDbSqlite3InMemory(), uBool2Str(databaseInMemory)));
	LOGI("Initializing database...");
	rtabmap_->init(parameters, databasePath);
	rtabmapThread_ = new rtabmap::RtabmapThread(rtabmap_);
	if(parameters.find(rtabmap::Parameters::kRtabmapDetectionRate()) != parameters.end())
	{
		rtabmapThread_->setDetectorRate(uStr2Float(parameters.at(rtabmap::Parameters::kRtabmapDetectionRate())));
	}

	// Generate all meshes
	std::map<int, rtabmap::Signature> signatures;
	std::map<int, rtabmap::Transform> poses;
	std::multimap<int, rtabmap::Link> links;
	LOGI("Loading full map from database...");
	UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Loading data from database..."));
	rtabmap_->getGraph(
			poses,
			links,
			true,
			false, // Make sure poses are the same than optimized mesh (in case we switched RGBD/OptimizedFromGraphEnd)
			&signatures,
			true,
			true,
			true,
			true);

	if(signatures.size() && poses.empty())
	{
		LOGE("Failed to optimize the graph!");
		status = -1;
	}

	{
		LOGI("Creating the meshes (%d)....", (int)poses.size());
		boost::mutex::scoped_lock  lock(meshesMutex_);
		createdMeshes_.clear();
		int i=0;
		UTimer addTime;
        rawPoses_.clear();
		for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin(); iter!=poses.end() && status>=0; ++iter)
		{
			try
			{
				int id = iter->first;
				if(!iter->second.isNull())
				{
					if(uContains(signatures, id))
					{
						UTimer timer;
						rtabmap::SensorData data = signatures.at(id).sensorData();
                        rawPoses_.insert(std::make_pair(id, signatures.at(id).getPose()));

						cv::Mat tmpA, depth;
						data.uncompressData(&tmpA, &depth);

						if(!(!data.imageRaw().empty() && !data.depthRaw().empty()) && !data.laserScanCompressed().isEmpty())
						{
							rtabmap::LaserScan scan;
							data.uncompressData(0, 0, &scan);
						}

						if((!data.imageRaw().empty() && !data.depthRaw().empty()) || !data.laserScanRaw().isEmpty())
						{
							// Voxelize and filter depending on the previous cloud?
							pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
							pcl::IndicesPtr indices(new std::vector<int>);
							if(!data.imageRaw().empty() && !data.depthRaw().empty())
							{
                                int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
                                
								cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get());
							}
							else
							{
								//scan
								cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(data.laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), data.laserScanRaw().localTransform(), 255, 255, 255);
								indices->resize(cloud->size());
								for(unsigned int i=0; i<cloud->size(); ++i)
								{
									indices->at(i) = i;
								}
							}

							if(cloud->size() && indices->size())
							{
								std::vector<pcl::Vertices> polygons;
								std::vector<pcl::Vertices> polygonsLowRes;
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
                                std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > texCoords;
#else
                                std::vector<Eigen::Vector2f> texCoords;
#endif
								if(cloud->isOrganized() && main_scene_.isMeshRendering() && main_scene_.isMapRendering())
								{
									polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
#ifndef DISABLE_VTK
                                    if(meshDecimationFactor_ > 0.0f && !polygons.empty())
                                    {
                                        pcl::PolygonMesh::Ptr tmpMesh(new pcl::PolygonMesh);
                                        pcl::toPCLPointCloud2(*cloud, tmpMesh->cloud);
                                        tmpMesh->polygons = polygons;
                                        rtabmap::util3d::denseMeshPostProcessing<pcl::PointXYZRGB>(tmpMesh, meshDecimationFactor_, 0, cloud, 0);
                                        if(!tmpMesh->polygons.empty())
                                        {
                                            if(main_scene_.isMeshTexturing() && main_scene_.isMapRendering())
                                            {
                                                std::map<int, rtabmap::Transform> cameraPoses;
                                                std::map<int, rtabmap::CameraModel> cameraModels;
                                                cameraPoses.insert(std::make_pair(0, rtabmap::Transform::getIdentity()));
                                                cameraModels.insert(std::make_pair(0, data.cameraModels()[0]));
                                                pcl::TextureMesh::Ptr textureMesh = rtabmap::util3d::createTextureMesh(
                                                        tmpMesh,
                                                        cameraPoses,
                                                        cameraModels,
                                                        std::map<int, cv::Mat>());
                                                pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
                                                polygons = textureMesh->tex_polygons[0];
                                                texCoords = textureMesh->tex_coordinates[0];
                                            }
                                            else
                                            {
                                                pcl::fromPCLPointCloud2(tmpMesh->cloud, *cloud);
                                                polygons = tmpMesh->polygons;
                                            }
                                            
                                            indices->resize(cloud->size());
                                            for(unsigned int i=0; i<cloud->size(); ++i)
                                            {
                                                indices->at(i) = i;
                                            }
                                        }
                                        else
                                        {
                                            LOGE("Mesh decimation factor is too high (%f), returning full mesh (id=%d).", meshDecimationFactor_, data.id());
                                            polygonsLowRes = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_+LOW_RES_PIX);
                                        }
#ifdef DEBUG_RENDERING_PERFORMANCE
                                        LOGW("Mesh simplication, %d polygons, %d points (%fs)", (int)polygons.size(), (int)cloud->size(), timer.ticks());
#endif
                                    }
                                    else
#endif
                                    {
                                        polygonsLowRes = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_+LOW_RES_PIX);
                                    }
								}
                                
                                std::pair<std::map<int, rtabmap::Mesh>::iterator, bool> inserted = createdMeshes_.insert(std::make_pair(id, rtabmap::Mesh()));
                                UASSERT(inserted.second);
                                inserted.first->second.cloud = cloud;
                                inserted.first->second.indices = indices;
                                inserted.first->second.polygons = polygons;
                                inserted.first->second.polygonsLowRes = polygonsLowRes;
                                inserted.first->second.visible = true;
                                inserted.first->second.cameraModel = data.cameraModels()[0];
                                inserted.first->second.gains[0] = 1.0;
                                inserted.first->second.gains[1] = 1.0;
                                inserted.first->second.gains[2] = 1.0;
                                if((cloud->isOrganized() || !texCoords.empty()) && main_scene_.isMeshTexturing() && main_scene_.isMapRendering())
                                {
                                    inserted.first->second.texCoords = texCoords;
                                    if(renderingTextureDecimation_>1)
                                    {
                                        cv::Size reducedSize(data.imageRaw().cols/renderingTextureDecimation_, data.imageRaw().rows/renderingTextureDecimation_);
                                        cv::resize(data.imageRaw(), inserted.first->second.texture, reducedSize, 0, 0, cv::INTER_LINEAR);
                                    }
                                    else
                                    {
                                        inserted.first->second.texture = data.imageRaw();
                                    }
                                }
                                LOGI("Created cloud %d (%fs, %d points)", id, timer.ticks(), (int)cloud->size());
							}
							else
							{
								UWARN("Cloud %d is empty", id);
							}
						}
						else if(!data.depthOrRightCompressed().empty() || !data.laserScanCompressed().isEmpty())
						{
							UERROR("Failed to uncompress data! (rgb=%d, depth=%d, scan=%d)", data.imageCompressed().cols, data.depthOrRightCompressed().cols, data.laserScanCompressed().size());
							status=-2;
						}
					}
					else
					{
						UWARN("Data for node %d not found", id);
					}
				}
				else
				{
					UWARN("Pose %d is null !?", id);
				}
				++i;
				if(addTime.elapsed() >= 4.0f)
				{
					UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, uFormat("Created clouds %d/%d", i, (int)poses.size())));
					addTime.restart();
				}
			}
			catch(const UException & e)
			{
				UERROR("Exception! msg=\"%s\"", e.what());
				status = -2;
			}
			catch (const cv::Exception & e)
			{
				UERROR("Exception! msg=\"%s\"", e.what());
				status = -2;
			}
			catch (const std::exception & e)
			{
				UERROR("Exception! msg=\"%s\"", e.what());
				status = -2;
			}
		}
		if(status < 0)
		{
			createdMeshes_.clear();
            rawPoses_.clear();
		}
		else
		{
			LOGI("Created %d meshes...", (int)createdMeshes_.size());
		}
	}



	if(optimize && status>=0)
	{
		UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Visual optimization..."));
		gainCompensation();

		LOGI("Polygon filtering...");
		boost::mutex::scoped_lock  lock(meshesMutex_);
		UTimer time;
		for(std::map<int, rtabmap::Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
		{
			if(iter->second.polygons.size())
			{
				// filter polygons
				iter->second.polygons = filterOrganizedPolygons(iter->second.polygons, iter->second.cloud->size());
			}
		}
	}

	UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInfo, "Updating scene..."));
	LOGI("Open: add rtabmap event to update the scene");
	rtabmap::Statistics stats;
	stats.addStatistic(rtabmap::Statistics::kMemoryWorking_memory_size(), (float)rtabmap_->getWMSize());
	stats.addStatistic(rtabmap::Statistics::kKeypointDictionary_size(), (float)rtabmap_->getMemory()->getVWDictionary()->getVisualWords().size());
	stats.addStatistic(rtabmap::Statistics::kMemoryDatabase_memory_used(), (float)rtabmap_->getMemory()->getDatabaseMemoryUsed());
	stats.setPoses(poses);
	stats.setConstraints(links);
	rtabmapEvents_.push_back(new rtabmap::RtabmapEvent(stats));

	rtabmap_->setOptimizedPoses(poses, links);

	// for optimized mesh
	if(poses.size())
	{
		// just take the last as reference
		optRefId_ = poses.rbegin()->first;
		optRefPose_ = new rtabmap::Transform(poses.rbegin()->second);
	}

	{
		boost::mutex::scoped_lock  lock(cameraMutex_);
		if(camera_)
		{
			camera_->resetOrigin();
		}
	}

	UEventsManager::post(new rtabmap::RtabmapEventInit(rtabmap::RtabmapEventInit::kInitialized, ""));

	if(restartThread)
	{
		rtabmapThread_->registerToEventsManager();
		rtabmapThread_->start();
	}

	rtabmapMutex_.unlock();

	boost::mutex::scoped_lock  lockRender(renderingMutex_);
	if(poses.empty() || status>0)
	{
		openingDatabase_ = false;
	}

	clearSceneOnNextRender_ = status<=0;

	return status;
}

int RTABMapApp::updateMeshDecimation(int width, int height)
{
    int meshDecimation = 1;
    if(cloudDensityLevel_ == 3) // very low
    {
        if((height >= 480 || width >= 480) && width % 20 == 0 && height % 20 == 0)
        {
            meshDecimation = 20;
        }
        else if(width % 15 == 0 && height % 15 == 0)
        {
            meshDecimation = 15;
        }
        else if(width % 10 == 0 && height % 10 == 0)
        {
            meshDecimation = 10;
        }
        else if(width % 8 == 0 && height % 8 == 0)
        {
            meshDecimation = 8;
        }
        else
        {
            UERROR("Could not set decimation to high (size=%dx%d)", width, height);
        }
    }
    else if(cloudDensityLevel_ == 2) // low
    {
        if((height >= 480 || width >= 480) && width % 10 == 0 && height % 10 == 0)
        {
            meshDecimation = 10;
        }
        else if(width % 5 == 0 && height % 5 == 0)
        {
            meshDecimation = 5;
        }
        else if(width % 4 == 0 && height % 4 == 0)
        {
            meshDecimation = 4;
        }
        else
        {
            UERROR("Could not set decimation to medium (size=%dx%d)", width, height);
        }
    }
    else if(cloudDensityLevel_ == 1) // high
    {
        if((height >= 480 || width >= 480) && width % 5 == 0 && height % 5 == 0)
        {
            meshDecimation = 5;
        }
        else if(width % 3 == 0 && width % 3 == 0)
        {
            meshDecimation = 3;
        }
        else if(width % 2 == 0 && width % 2 == 0)
        {
            meshDecimation = 2;
        }
        else
        {
            UERROR("Could not set decimation to low (size=%dx%d)", width, height);
        }
    }
    // else maximum
    LOGI("Set decimation to %d (image=%dx%d, density level=%d)", meshDecimation, width, height, cloudDensityLevel_);
    return meshDecimation;
}

bool RTABMapApp::isBuiltWith(int cameraDriver) const
{
	if(cameraDriver == 0)
	{
#ifdef RTABMAP_TANGO
		return true;
#else
		return false;
#endif
	}

	if(cameraDriver == 1)
	{
#ifdef RTABMAP_ARCORE
		return true;
#else
		return false;
#endif
	}

	if(cameraDriver == 2)
	{
#ifdef RTABMAP_ARENGINE
		return true;
#else
		return false;
#endif
	}
	return false;
}

#ifdef __ANDROID__
bool RTABMapApp::startCamera(JNIEnv* env, jobject iBinder, jobject context, jobject activity, int driver)
#else // __APPLE__
bool RTABMapApp::startCamera()
#endif
{
    stopCamera();
    
	//ccapp = new computer_vision::ComputerVisionApplication();
	//ccapp->OnResume(env, context, activity);
	//return true;
#ifdef __ANDROID__
	cameraDriver_ = driver;
#else // __APPLE__
    cameraDriver_ = 3;
#endif
	LOGW("startCamera() camera driver=%d", cameraDriver_);
	boost::mutex::scoped_lock  lock(cameraMutex_);
    
	if(cameraDriver_ == 0) // Tango
	{
#ifdef RTABMAP_TANGO
		camera_ = new rtabmap::CameraTango(cameraColor_, !cameraColor_ || fullResolution_?1:2, rawScanSaved_, smoothing_);

		if (TangoService_setBinder(env, iBinder) != TANGO_SUCCESS) {
		    UERROR("TangoHandler::ConnectTango, TangoService_setBinder error");
		    delete camera_;
		    camera_ = 0;
		    return false;
		}
#else
		UERROR("RTAB-Map is not built with Tango support!");
#endif
	}
	else if(cameraDriver_ == 1)
	{
#ifdef RTABMAP_ARCORE
		camera_ = new rtabmap::CameraARCore(env, context, activity, depthFromMotion_, smoothing_);
#else
		UERROR("RTAB-Map is not built with ARCore support!");
#endif
	}
	else if(cameraDriver_ == 2)
	{
#ifdef RTABMAP_ARENGINE
		camera_ = new rtabmap::CameraAREngine(env, context, activity, smoothing_);
#else
		UERROR("RTAB-Map is not built with AREngine support!");
#endif
	}
	else if(cameraDriver_ == 3)
	{
		camera_ = new rtabmap::CameraMobile(smoothing_);
	}

	if(camera_ == 0)
	{
		UERROR("Unknown or not supported camera driver! %d", cameraDriver_);
		return false;
	}

	if(camera_->init())
	{
		camera_->setScreenRotationAndSize(main_scene_.getScreenRotation(), main_scene_.getViewPortWidth(), main_scene_.getViewPortHeight());

		//update mesh decimation based on camera calibration
		LOGI("Cloud density level %d", cloudDensityLevel_);

		LOGI("Start camera thread");
		cameraJustInitialized_ = true;
		return true;
	}
	UERROR("Failed camera initialization!");
	return false;
}

void RTABMapApp::stopCamera()
{
	LOGI("stopCamera()");
	{
		boost::mutex::scoped_lock  lock(cameraMutex_);
		if(camera_!=0)
		{
			camera_->join(true);
			camera_->close();
			delete camera_;
			camera_ = 0;
			poseBuffer_.clear();
		}
	}
    {
        boost::mutex::scoped_lock  lock(renderingMutex_);
        delete main_scene_.background_renderer_;
        main_scene_.background_renderer_ = 0;
    }
}

std::vector<pcl::Vertices> RTABMapApp::filterOrganizedPolygons(
		const std::vector<pcl::Vertices> & polygons,
		int cloudSize) const
{
	std::vector<int> vertexToCluster(cloudSize, 0);
	std::map<int, std::list<int> > clusters;
	int lastClusterID = 0;

	for(unsigned int i=0; i<polygons.size(); ++i)
	{
		int clusterID = 0;
		for(unsigned int j=0;j<polygons[i].vertices.size(); ++j)
		{
			if(vertexToCluster[polygons[i].vertices[j]]>0)
			{
				clusterID = vertexToCluster[polygons[i].vertices[j]];
				break;
			}
		}
		if(clusterID>0)
		{
			clusters.at(clusterID).push_back(i);
		}
		else
		{
			clusterID = ++lastClusterID;
			std::list<int> polygons;
			polygons.push_back(i);
			clusters.insert(std::make_pair(clusterID, polygons));
		}
		for(unsigned int j=0;j<polygons[i].vertices.size(); ++j)
		{
			vertexToCluster[polygons[i].vertices[j]] = clusterID;
		}
	}

	unsigned int biggestClusterSize = 0;
	for(std::map<int, std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
	{
		//LOGD("cluster %d = %d", iter->first, (int)iter->second.size());

		if(iter->second.size() > biggestClusterSize)
		{
			biggestClusterSize = iter->second.size();
		}
	}
	unsigned int minClusterSize = (unsigned int)(float(biggestClusterSize)*clusterRatio_);
	//LOGI("Biggest cluster %d -> minClusterSize(ratio=%f)=%d",
	//		biggestClusterSize, clusterRatio_, (int)minClusterSize);

	std::vector<pcl::Vertices> filteredPolygons(polygons.size());
	int oi = 0;
	for(std::map<int, std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
	{
		if(iter->second.size() >= minClusterSize)
		{
			for(std::list<int>::iterator jter=iter->second.begin(); jter!=iter->second.end(); ++jter)
			{
				filteredPolygons[oi++] = polygons[*jter];
			}
		}
	}
	filteredPolygons.resize(oi);
	return filteredPolygons;
}


std::vector<pcl::Vertices> RTABMapApp::filterPolygons(
		const std::vector<pcl::Vertices> & polygons,
		int cloudSize) const
{
	// filter polygons
	std::vector<std::set<int> > neighbors;
	std::vector<std::set<int> > vertexToPolygons;
	rtabmap::util3d::createPolygonIndexes(
			polygons,
			cloudSize,
			neighbors,
			vertexToPolygons);
	std::list<std::list<int> > clusters = rtabmap::util3d::clusterPolygons(neighbors);

	unsigned int biggestClusterSize = 0;
	for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
	{
		if(iter->size() > biggestClusterSize)
		{
			biggestClusterSize = iter->size();
		}
	}
	unsigned int minClusterSize = (unsigned int)(float(biggestClusterSize)*clusterRatio_);
	LOGI("Biggest cluster = %d -> minClusterSize(ratio=%f)=%d",
			biggestClusterSize, clusterRatio_, (int)minClusterSize);

	std::vector<pcl::Vertices> filteredPolygons(polygons.size());
	int oi=0;
	for(std::list<std::list<int> >::iterator jter=clusters.begin(); jter!=clusters.end(); ++jter)
	{
		if(jter->size() >= minClusterSize)
		{
			for(std::list<int>::iterator kter=jter->begin(); kter!=jter->end(); ++kter)
			{
				filteredPolygons[oi++] = polygons.at(*kter);
			}
		}
	}
	filteredPolygons.resize(oi);
	return filteredPolygons;
}

// OpenGL thread
void RTABMapApp::InitializeGLContent()
{
	UINFO("");
	main_scene_.InitGLContent();

	float v = backgroundColor_ == 0.5f?0.4f:1.0f-backgroundColor_;
	main_scene_.setGridColor(v, v, v);
}

// OpenGL thread
void RTABMapApp::SetViewPort(int width, int height)
{
	main_scene_.SetupViewPort(width, height);
	boost::mutex::scoped_lock  lock(cameraMutex_);
	if(camera_)
	{
		camera_->setScreenRotationAndSize(main_scene_.getScreenRotation(), main_scene_.getViewPortWidth(), main_scene_.getViewPortHeight());
	}
}

class PostRenderEvent : public UEvent
{
public:
	PostRenderEvent(rtabmap::RtabmapEvent * event = 0) :
		rtabmapEvent_(event)
	{
	}
	~PostRenderEvent()
	{
		if(rtabmapEvent_!=0)
		{
			delete rtabmapEvent_;
		}
	}
	virtual std::string getClassName() const {return "PostRenderEvent";}
	const rtabmap::RtabmapEvent * getRtabmapEvent() const {return rtabmapEvent_;}
private:
	rtabmap::RtabmapEvent * rtabmapEvent_;
};

// OpenGL thread
bool RTABMapApp::smoothMesh(int id, rtabmap::Mesh & mesh)
{
	UTimer t;
	// reconstruct depth image
	UASSERT(mesh.indices.get() && mesh.indices->size());
	cv::Mat depth = cv::Mat::zeros(mesh.cloud->height, mesh.cloud->width, CV_32FC1);
	rtabmap::Transform localTransformInv = mesh.cameraModel.localTransform().inverse();
	for(unsigned int i=0; i<mesh.indices->size(); ++i)
	{
		int index = mesh.indices->at(i);
		// FastBilateralFilter works in camera frame
		if(mesh.cloud->at(index).x > 0)
		{
			pcl::PointXYZRGB pt = rtabmap::util3d::transformPoint(mesh.cloud->at(index), localTransformInv);
			depth.at<float>(index) = pt.z;
		}
	}

	depth = rtabmap::util2d::fastBilateralFiltering(depth, 2.0f, 0.075f);
	LOGI("smoothMesh() Bilateral filtering of %d, time=%fs", id, t.ticks());

	if(!depth.empty() && mesh.indices->size())
	{
		pcl::IndicesPtr newIndices(new std::vector<int>(mesh.indices->size()));
		int oi = 0;
		for(unsigned int i=0; i<mesh.indices->size(); ++i)
		{
			int index = mesh.indices->at(i);

			 pcl::PointXYZRGB & pt = mesh.cloud->at(index);
			 pcl::PointXYZRGB newPt = rtabmap::util3d::transformPoint(mesh.cloud->at(index), localTransformInv);
			 if(depth.at<float>(index) > 0)
			 {
				 newPt.z = depth.at<float>(index);
				 newPt = rtabmap::util3d::transformPoint(newPt, mesh.cameraModel.localTransform());
				 newIndices->at(oi++) = index;
			 }
			 else
			 {
				 newPt.x = newPt.y = newPt.z = std::numeric_limits<float>::quiet_NaN();
			 }
			 pt.x = newPt.x;
			 pt.y = newPt.y;
			 pt.z = newPt.z;
		}
		newIndices->resize(oi);
		mesh.indices = newIndices;

		//reconstruct the mesh with smoothed surfaces
		std::vector<pcl::Vertices> polygons;
		if(main_scene_.isMeshRendering())
		{
			polygons = rtabmap::util3d::organizedFastMesh(mesh.cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
		}
		LOGI("smoothMesh() Reconstructing the mesh of %d, time=%fs", id, t.ticks());
		mesh.polygons = polygons;
	}
	else
	{
		UERROR("smoothMesh() Failed to smooth surface %d", id);
		return false;
	}
	return true;
}

void RTABMapApp::gainCompensation(bool full)
{
	UTimer tGainCompensation;
	LOGI("Gain compensation...");
	boost::mutex::scoped_lock  lock(meshesMutex_);

	std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > clouds;
	std::map<int, pcl::IndicesPtr> indices;
	for(std::map<int, rtabmap::Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
	{
		clouds.insert(std::make_pair(iter->first, iter->second.cloud));
		indices.insert(std::make_pair(iter->first, iter->second.indices));
	}
	std::map<int, rtabmap::Transform> poses;
	std::multimap<int, rtabmap::Link> links;
	rtabmap_->getGraph(poses, links, true, true);
	if(full)
	{
		// full compensation
		links.clear();
		for(std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr>::const_iterator iter=clouds.begin(); iter!=clouds.end(); ++iter)
		{
			int from = iter->first;
			std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr>::const_iterator jter = iter;
			++jter;
			for(;jter!=clouds.end(); ++jter)
			{
				int to = jter->first;
				links.insert(std::make_pair(from, rtabmap::Link(from, to, rtabmap::Link::kUserClosure, poses.at(from).inverse()*poses.at(to))));
			}
		}
	}

	UASSERT(maxGainRadius_>0.0f);
	rtabmap::GainCompensator compensator(maxGainRadius_, 0.0f, 0.01f, 1.0f);
	if(clouds.size() > 1 && links.size())
	{
		compensator.feed(clouds, indices, links);
		LOGI("Gain compensation... compute gain: links=%d, time=%fs", (int)links.size(), tGainCompensation.ticks());
	}

	for(std::map<int, rtabmap::Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
	{
		if(!iter->second.cloud->empty())
		{
			if(clouds.size() > 1 && links.size())
			{
				compensator.getGain(iter->first, &iter->second.gains[0], &iter->second.gains[1], &iter->second.gains[2]);
				LOGI("%d mesh has gain %f,%f,%f", iter->first, iter->second.gains[0], iter->second.gains[1], iter->second.gains[2]);
			}
		}
	}
	LOGI("Gain compensation... applying gain: meshes=%d, time=%fs", (int)createdMeshes_.size(), tGainCompensation.ticks());
}

// OpenGL thread
int RTABMapApp::Render()
{
	std::list<rtabmap::RtabmapEvent*> rtabmapEvents;
	try
	{
        if(camera_ == 0)
        {
            // We are not doing continous drawing, just measure single draw
            fpsTime_.restart();
        }
        
#ifdef DEBUG_RENDERING_PERFORMANCE
		UTimer time;
#endif
		boost::mutex::scoped_lock  lock(renderingMutex_);

		bool notifyDataLoaded = false;
		bool notifyCameraStarted = false;

		if(clearSceneOnNextRender_)
		{
			visualizingMesh_ = false;
		}

		// ARCore and AREngine capture should be done in opengl thread!
		const float* uvsTransformed = 0;
		glm::mat4 arProjectionMatrix(0);
		glm::mat4 arViewMatrix(0);
		rtabmap::Mesh occlusionMesh;

		{
			boost::mutex::scoped_lock  lock(cameraMutex_);
			if(camera_!=0)
			{
				if(cameraDriver_ <= 2)
				{
					camera_->spinOnce();
				}
#ifdef DEBUG_RENDERING_PERFORMANCE
				LOGW("Camera spinOnce %fs", time.ticks());
#endif

				if(cameraDriver_ != 2)
				{
					if(main_scene_.background_renderer_ == 0 && camera_->getTextureId() != 0)
					{
						main_scene_.background_renderer_ = new BackgroundRenderer();
						main_scene_.background_renderer_->InitializeGlContent(((rtabmap::CameraMobile*)camera_)->getTextureId(), cameraDriver_ == 0 || cameraDriver_ == 1);
					}
					if(camera_->uvsInitialized())
					{
						uvsTransformed = ((rtabmap::CameraMobile*)camera_)->uvsTransformed();
						((rtabmap::CameraMobile*)camera_)->getVPMatrices(arViewMatrix, arProjectionMatrix);
						if(graphOptimization_ && !mapToOdom_.isIdentity())
						{
							rtabmap::Transform mapCorrection = rtabmap::opengl_world_T_rtabmap_world * mapToOdom_ *rtabmap::rtabmap_world_T_opengl_world;
							arViewMatrix = glm::inverse(rtabmap::glmFromTransform(mapCorrection)*glm::inverse(arViewMatrix));
						}
					}
					if(!visualizingMesh_ && main_scene_.GetCameraType() == tango_gl::GestureCamera::kFirstPerson)
					{
						rtabmap::CameraModel occlusionModel;
						cv::Mat occlusionImage = ((rtabmap::CameraMobile*)camera_)->getOcclusionImage(&occlusionModel);

						if(occlusionModel.isValidForProjection())
						{
							pcl::IndicesPtr indices(new std::vector<int>);
							int meshDecimation = updateMeshDecimation(occlusionImage.cols, occlusionImage.rows);
							pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = rtabmap::util3d::cloudFromDepth(occlusionImage, occlusionModel, meshDecimation, 0, 0, indices.get());
							cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::opengl_world_T_rtabmap_world*mapToOdom_*occlusionModel.localTransform());
							occlusionMesh.cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>());
							pcl::copyPointCloud(*cloud, *occlusionMesh.cloud);
							occlusionMesh.indices = indices;
							occlusionMesh.polygons = rtabmap::util3d::organizedFastMesh(cloud, 1.0*M_PI/180.0, false, meshTrianglePix_);
						}
						else if(!occlusionImage.empty())
						{
							UERROR("invalid occlusionModel: %f %f %f %f %dx%d", occlusionModel.fx(), occlusionModel.fy(), occlusionModel.cx(), occlusionModel.cy(), occlusionModel.imageWidth(), occlusionModel.imageHeight());
						}
					}
				}
#ifdef DEBUG_RENDERING_PERFORMANCE
				LOGW("Update background and occlusion mesh %fs", time.ticks());
#endif
			}
		}

		// process only pose events in visualization mode
		rtabmap::Transform pose;
		{
			boost::mutex::scoped_lock lock(poseMutex_);
			if(poseEvents_.size())
			{
				pose = poseEvents_.back();
				poseEvents_.clear();
			}
		}

		rtabmap::OdometryEvent odomEvent;
		{
			boost::mutex::scoped_lock  lock(odomMutex_);
			if(odomEvents_.size())
			{
				LOGI("Process odom events");
				odomEvent = odomEvents_.back();
				odomEvents_.clear();
				if(cameraJustInitialized_)
				{
					notifyCameraStarted = true;
					cameraJustInitialized_ = false;
				}
			}
		}

		if(!pose.isNull())
		{
			// update camera pose?
			if(graphOptimization_ && !mapToOdom_.isIdentity())
			{
				main_scene_.SetCameraPose(rtabmap::opengl_world_T_rtabmap_world*mapToOdom_*pose*rtabmap::optical_T_opengl);
			}
			else
			{
				main_scene_.SetCameraPose(rtabmap::opengl_world_T_rtabmap_world*pose*rtabmap::optical_T_opengl);
			}
			if(camera_!=0 && cameraJustInitialized_)
			{
				notifyCameraStarted = true;
				cameraJustInitialized_ = false;
			}
			lastPoseEventTime_ = UTimer::now();
		}

		if(visualizingMesh_)
		{
			if(exportedMeshUpdated_)
			{
				main_scene_.clear();
				exportedMeshUpdated_ = false;
			}
			if(!main_scene_.hasCloud(g_optMeshId))
			{
				LOGI("Adding optimized mesh to opengl (%d points, %d polygons, %d tex_coords, materials=%d texture=%dx%d)...",
						optMesh_->cloud.point_step==0?0:(int)optMesh_->cloud.data.size()/optMesh_->cloud.point_step,
						optMesh_->tex_polygons.size()!=1?0:(int)optMesh_->tex_polygons[0].size(),
						optMesh_->tex_coordinates.size()!=1?0:(int)optMesh_->tex_coordinates[0].size(),
						(int)optMesh_->tex_materials.size(),
						optTexture_.cols, optTexture_.rows);
				if(optMesh_->tex_polygons.size() && optMesh_->tex_polygons[0].size())
				{
					rtabmap::Mesh mesh;
					mesh.gains[0] = mesh.gains[1] = mesh.gains[2] = 1.0;
					mesh.cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>);
					mesh.normals.reset(new pcl::PointCloud<pcl::Normal>);
					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];
						mesh.texture = optTexture_;
					}
					main_scene_.addMesh(g_optMeshId, mesh, rtabmap::opengl_world_T_rtabmap_world, true);
				}
				else
				{
					pcl::IndicesPtr indices(new std::vector<int>); // null
					pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
					pcl::fromPCLPointCloud2(optMesh_->cloud, *cloud);
					main_scene_.addCloud(g_optMeshId, cloud, indices, rtabmap::opengl_world_T_rtabmap_world);
				}
			}

			if(!openingDatabase_)
			{
				rtabmapMutex_.lock();
				rtabmapEvents = rtabmapEvents_;
				rtabmapEvents_.clear();
				rtabmapMutex_.unlock();

				if(rtabmapEvents.size())
				{
					const rtabmap::Statistics & stats = rtabmapEvents.back()->getStats();
					if(!stats.mapCorrection().isNull())
					{
						mapToOdom_ = stats.mapCorrection();
					}

					std::map<int, rtabmap::Transform>::const_iterator iter = stats.poses().find(optRefId_);
					if(iter != stats.poses().end() && !iter->second.isNull() && optRefPose_)
					{
						// adjust opt mesh pose
						main_scene_.setCloudPose(g_optMeshId, rtabmap::opengl_world_T_rtabmap_world * iter->second * (*optRefPose_).inverse());
					}
					int fastMovement = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryFast_movement(), 0.0f);
					int loopClosure = (int)uValue(stats.data(), rtabmap::Statistics::kLoopAccepted_hypothesis_id(), 0.0f);
                    int proximityClosureId = int(uValue(stats.data(), rtabmap::Statistics::kProximitySpace_last_detection_id(), 0.0f));
					int rejected = (int)uValue(stats.data(), rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f);
					int landmark = (int)uValue(stats.data(), rtabmap::Statistics::kLoopLandmark_detected(), 0.0f);
                    if(rtabmapThread_ && rtabmapThread_->isRunning() && loopClosure>0)
                    {
                        main_scene_.setBackgroundColor(0, 0.5f, 0); // green
                    }
                    else if(rtabmapThread_ && rtabmapThread_->isRunning() && proximityClosureId>0)
                    {
                        main_scene_.setBackgroundColor(0.5f, 0.5f, 0); // yellow
                    }
					else if(rtabmapThread_ && rtabmapThread_->isRunning() && landmark!=0)
					{
                        if(rejected)
                        {
                            main_scene_.setBackgroundColor(0.5, 0.325f, 0); // dark orange
                        }
                        else
                        {
                            main_scene_.setBackgroundColor(1, 0.65f, 0); // orange
                        }
					}
					else if(rtabmapThread_ && rtabmapThread_->isRunning() && rejected>0)
					{
						main_scene_.setBackgroundColor(0, 0.2f, 0); // dark green
					}
					else if(rtabmapThread_ && rtabmapThread_->isRunning() && fastMovement)
					{
						main_scene_.setBackgroundColor(0.2f, 0, 0.2f); // dark magenta
					}
					else
					{
						main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
					}
                    
                    // Update markers
                    for(std::map<int, rtabmap::Transform>::const_iterator iter=stats.poses().begin();
                        iter!=stats.poses().end() && iter->first<0;
                        ++iter)
                    {
                        int id = iter->first;
                        if(main_scene_.hasMarker(id))
                        {
                            //just update pose
                            main_scene_.setMarkerPose(id, rtabmap::opengl_world_T_rtabmap_world*iter->second);
                        }
                        else
                        {
                            main_scene_.addMarker(id, rtabmap::opengl_world_T_rtabmap_world*iter->second);
                        }
                    }
				}
			}

			//backup state
			bool isMeshRendering = main_scene_.isMeshRendering();
			bool isTextureRendering = main_scene_.isMeshTexturing();

			main_scene_.setMeshRendering(main_scene_.hasMesh(g_optMeshId), main_scene_.hasTexture(g_optMeshId));

			main_scene_.setFrustumVisible(camera_!=0);
			lastDrawnCloudsCount_ = main_scene_.Render(uvsTransformed, arViewMatrix, arProjectionMatrix);
            double fpsTime = fpsTime_.ticks();
			if(renderingTime_ < fpsTime)
			{
				renderingTime_ = fpsTime;
			}

			// revert state
			main_scene_.setMeshRendering(isMeshRendering, isTextureRendering);

			if(rtabmapEvents.size())
			{
				// send statistics to GUI
                if(rtabmapEvents.back()->getStats().refImageId()>0 ||
                   !rtabmapEvents.back()->getStats().data().empty())
                {
                    UEventsManager::post(new PostRenderEvent(rtabmapEvents.back()));
                    rtabmapEvents.pop_back();
                }

				for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
				{
					delete *iter;
				}
				rtabmapEvents.clear();
				lastPostRenderEventTime_ = UTimer::now();
			}
		}
		else
		{
			if(main_scene_.hasCloud(g_optMeshId))
			{
				main_scene_.clear();
				optMesh_.reset(new pcl::TextureMesh);
				optTexture_ = cv::Mat();
			}

			// should be before clearSceneOnNextRender_ in case database is reset
			if(!openingDatabase_)
			{
				rtabmapMutex_.lock();
				rtabmapEvents = rtabmapEvents_;
				rtabmapEvents_.clear();
				rtabmapMutex_.unlock();

				if(!clearSceneOnNextRender_ && rtabmapEvents.size())
				{
					boost::mutex::scoped_lock  lockMesh(meshesMutex_);
					if(createdMeshes_.size())
					{
						if(rtabmapEvents.front()->getStats().refImageId()>0 && rtabmapEvents.front()->getStats().refImageId() < createdMeshes_.rbegin()->first)
						{
							LOGI("Detected new database! new=%d old=%d", rtabmapEvents.front()->getStats().refImageId(), createdMeshes_.rbegin()->first);
							clearSceneOnNextRender_ = true;
						}
					}
				}
#ifdef DEBUG_RENDERING_PERFORMANCE
				if(rtabmapEvents.size())
				{
					LOGW("begin and getting rtabmap events %fs", time.ticks());
				}
#endif
			}

			if(clearSceneOnNextRender_)
			{
				LOGI("Clearing all rendering data...");
				odomMutex_.lock();
				odomEvents_.clear();
				odomMutex_.unlock();

				poseMutex_.lock();
				poseEvents_.clear();
				poseMutex_.unlock();

				main_scene_.clear();
				clearSceneOnNextRender_ = false;
				if(!openingDatabase_)
				{
					boost::mutex::scoped_lock  lock(meshesMutex_);
					LOGI("Clearing  meshes...");
					createdMeshes_.clear();
                    rawPoses_.clear();
				}
				else
				{
					notifyDataLoaded = true;
				}
				totalPoints_ = 0;
				totalPolygons_ = 0;
				lastDrawnCloudsCount_ = 0;
				renderingTime_ = 0.0f;
				lastPostRenderEventTime_ = 0.0;
				lastPoseEventTime_ = 0.0;
				bufferedStatsData_.clear();
			}

			// Did we lose OpenGL context? If so, recreate the context;
			std::set<int> added = main_scene_.getAddedClouds();
			added.erase(-1);
			if(!openingDatabase_)
			{
				boost::mutex::scoped_lock  lock(meshesMutex_);
				unsigned int meshes = (unsigned int)createdMeshes_.size();
				if(added.size() != meshes)
				{
					LOGI("added (%d) != meshes (%d)", (int)added.size(), meshes);
					boost::mutex::scoped_lock  lockRtabmap(rtabmapMutex_);
					UASSERT(rtabmap_!=0);
					for(std::map<int, rtabmap::Mesh>::iterator iter=createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
					{
						if(!main_scene_.hasCloud(iter->first) && !iter->second.pose.isNull())
						{
							LOGI("Re-add mesh %d to OpenGL context", iter->first);
							if(iter->second.cloud->isOrganized() && main_scene_.isMeshRendering() && iter->second.polygons.size() == 0)
							{
								iter->second.polygons = rtabmap::util3d::organizedFastMesh(iter->second.cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
								iter->second.polygonsLowRes = rtabmap::util3d::organizedFastMesh(iter->second.cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_+LOW_RES_PIX);
							}

							if(iter->second.cloud->isOrganized() && main_scene_.isMeshTexturing())
							{
								cv::Mat textureRaw;
								textureRaw = rtabmap::uncompressImage(rtabmap_->getMemory()->getImageCompressed(iter->first));
								if(!textureRaw.empty())
								{
									if(renderingTextureDecimation_ > 1)
									{
										cv::Size reducedSize(textureRaw.cols/renderingTextureDecimation_, textureRaw.rows/renderingTextureDecimation_);
										LOGD("resize image from %dx%d to %dx%d", textureRaw.cols, textureRaw.rows, reducedSize.width, reducedSize.height);
										cv::resize(textureRaw, iter->second.texture, reducedSize, 0, 0, cv::INTER_LINEAR);
									}
									else
									{
										iter->second.texture = textureRaw;
									}
								}
							}
							main_scene_.addMesh(iter->first, iter->second, rtabmap::opengl_world_T_rtabmap_world*iter->second.pose, true);
							main_scene_.setCloudVisible(iter->first, iter->second.visible);

							iter->second.texture = cv::Mat(); // don't keep textures in memory
						}
					}
				}
			}
			else if(notifyDataLoaded)
			{
				rtabmapMutex_.lock();
				rtabmapEvents = rtabmapEvents_;
				rtabmapEvents_.clear();
				rtabmapMutex_.unlock();
				openingDatabase_ = false;
			}

			if(rtabmapEvents.size())
			{
#ifdef DEBUG_RENDERING_PERFORMANCE
				LOGW("Process rtabmap events %fs", time.ticks());
#else
				LOGI("Process rtabmap events");
#endif

				// update buffered signatures
				std::map<int, rtabmap::SensorData> bufferedSensorData;
				if(!dataRecorderMode_)
				{
					for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
					{
						const rtabmap::Statistics & stats =  (*iter)->getStats();

						// Don't create mesh for the last node added if rehearsal happened or if discarded (small movement)
						int smallMovement = (int)uValue(stats.data(), rtabmap::Statistics::kMemorySmall_movement(), 0.0f);
						int fastMovement = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryFast_movement(), 0.0f);
						int rehearsalMerged = (int)uValue(stats.data(), rtabmap::Statistics::kMemoryRehearsal_merged(), 0.0f);
						if(!localizationMode_ && stats.getLastSignatureData().id() > 0 &&
							smallMovement == 0 && rehearsalMerged == 0 && fastMovement == 0)
						{
							int id = stats.getLastSignatureData().id();
							const rtabmap::Signature & s = stats.getLastSignatureData();

							if(!trajectoryMode_ &&
							   ((!s.sensorData().imageRaw().empty() && !s.sensorData().depthRaw().empty()) ||
							     !s.sensorData().laserScanRaw().isEmpty()))
							{
								uInsert(bufferedSensorData, std::make_pair(id, s.sensorData()));
							}

							uInsert(rawPoses_, std::make_pair(id, s.getPose()));
						}

						int loopClosure = (int)uValue(stats.data(), rtabmap::Statistics::kLoopAccepted_hypothesis_id(), 0.0f);
                        int proximityClosureId = int(uValue(stats.data(), rtabmap::Statistics::kProximitySpace_last_detection_id(), 0.0f));
						int rejected = (int)uValue(stats.data(), rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f);
						int landmark = (int)uValue(stats.data(), rtabmap::Statistics::kLoopLandmark_detected(), 0.0f);
                        if(rtabmapThread_ && rtabmapThread_->isRunning() && loopClosure>0)
                        {
                            main_scene_.setBackgroundColor(0, 0.5f, 0); // green
                        }
                        else if(rtabmapThread_ && rtabmapThread_->isRunning() && proximityClosureId>0)
                        {
                            main_scene_.setBackgroundColor(0.5f, 0.5f, 0); // yellow
                        }
						else if(rtabmapThread_ && rtabmapThread_->isRunning() && landmark!=0)
						{
							main_scene_.setBackgroundColor(1, 0.65f, 0); // orange
						}
						else if(rtabmapThread_ && rtabmapThread_->isRunning() && rejected>0)
						{
							main_scene_.setBackgroundColor(0, 0.2f, 0); // dark green
						}
						else if(rtabmapThread_ && rtabmapThread_->isRunning() && rehearsalMerged>0)
						{
							main_scene_.setBackgroundColor(0, 0, 0.2f); // blue
						}
						else if(rtabmapThread_ && rtabmapThread_->isRunning() && fastMovement)
						{
							main_scene_.setBackgroundColor(0.2f, 0, 0.2f); // dark magenta
						}
						else
						{
							main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
						}
					}
				}

#ifdef DEBUG_RENDERING_PERFORMANCE
				LOGW("Looking for data to load (%d) %fs", (int)bufferedSensorData.size(), time.ticks());
#endif

				std::map<int, rtabmap::Transform> posesWithMarkers = rtabmapEvents.back()->getStats().poses();
				if(!rtabmapEvents.back()->getStats().mapCorrection().isNull())
				{
					mapToOdom_ = rtabmapEvents.back()->getStats().mapCorrection();
				}

				// Transform pose in OpenGL world
				for(std::map<int, rtabmap::Transform>::iterator iter=posesWithMarkers.begin(); iter!=posesWithMarkers.end(); ++iter)
				{
					if(!graphOptimization_)
					{
						std::map<int, rtabmap::Transform>::iterator jter = rawPoses_.find(iter->first);
						if(jter != rawPoses_.end())
						{
							iter->second = rtabmap::opengl_world_T_rtabmap_world*jter->second;
						}
					}
					else
					{
						iter->second = rtabmap::opengl_world_T_rtabmap_world*iter->second;
					}
				}

				std::map<int, rtabmap::Transform> poses(posesWithMarkers.lower_bound(0), posesWithMarkers.end());
				const std::multimap<int, rtabmap::Link> & links = rtabmapEvents.back()->getStats().constraints();
				if(poses.size())
				{
					//update graph
					main_scene_.updateGraph(poses, links);

#ifdef DEBUG_RENDERING_PERFORMANCE
					LOGW("Update graph: %fs", time.ticks());
#endif

					// update clouds
					boost::mutex::scoped_lock  lock(meshesMutex_);
					std::set<std::string> strIds;
					for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
					{
						int id = iter->first;
						if(!iter->second.isNull())
						{
							if(main_scene_.hasCloud(id))
							{
								//just update pose
								main_scene_.setCloudPose(id, iter->second);
								main_scene_.setCloudVisible(id, true);
								std::map<int, rtabmap::Mesh>::iterator meshIter = createdMeshes_.find(id);
								UASSERT(meshIter!=createdMeshes_.end());
								meshIter->second.pose = rtabmap::opengl_world_T_rtabmap_world.inverse()*iter->second;
								meshIter->second.visible = true;
							}
							else
							{
								if(createdMeshes_.find(id) == createdMeshes_.end() &&
										bufferedSensorData.find(id) != bufferedSensorData.end())
								{
									rtabmap::SensorData data = bufferedSensorData.at(id);

									cv::Mat tmpA, depth;
									data.uncompressData(&tmpA, &depth);
									if(!(!data.imageRaw().empty() && !data.depthRaw().empty()) && !data.laserScanCompressed().isEmpty())
									{
										rtabmap::LaserScan scan;
										data.uncompressData(0, 0, &scan);
									}
#ifdef DEBUG_RENDERING_PERFORMANCE
									LOGW("Decompressing data: %fs", time.ticks());
#endif

									if((!data.imageRaw().empty() && !data.depthRaw().empty()) || !data.laserScanRaw().isEmpty())
									{
										// Voxelize and filter depending on the previous cloud?
										pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
										pcl::IndicesPtr indices(new std::vector<int>);
										if(!data.imageRaw().empty() && !data.depthRaw().empty())
										{
                                            int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
											cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get());
										}
										else
										{
											//scan
											cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(data.laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), data.laserScanRaw().localTransform(), 255, 255, 255);
											indices->resize(cloud->size());
											for(unsigned int i=0; i<cloud->size(); ++i)
											{
												indices->at(i) = i;
											}
										}
#ifdef DEBUG_RENDERING_PERFORMANCE
										LOGW("Creating node cloud %d (depth=%dx%d rgb=%dx%d, %fs)", id, data.depthRaw().cols, data.depthRaw().rows, data.imageRaw().cols, data.imageRaw().rows, time.ticks());
#endif
										if(cloud->size() && indices->size())
										{
											std::vector<pcl::Vertices> polygons;
											std::vector<pcl::Vertices> polygonsLowRes;
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
                                            std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > texCoords;
#else
                                            std::vector<Eigen::Vector2f> texCoords;
#endif
                                            pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
											if(cloud->isOrganized() && main_scene_.isMeshRendering() && main_scene_.isMapRendering())
											{
                                                polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
#ifdef DEBUG_RENDERING_PERFORMANCE
                                                LOGW("Creating mesh, %d polygons (%fs)", (int)polygons.size(), time.ticks());
#endif
#ifndef DISABLE_VTK
                                                if(meshDecimationFactor_ > 0.0f && !polygons.empty())
                                                {
                                                    pcl::PolygonMesh::Ptr tmpMesh(new pcl::PolygonMesh);
                                                    pcl::toPCLPointCloud2(*cloud, tmpMesh->cloud);
                                                    tmpMesh->polygons = polygons;
                                                    rtabmap::util3d::denseMeshPostProcessing<pcl::PointXYZRGB>(tmpMesh, meshDecimationFactor_, 0, cloud, 0);
                                                   
                                                    if(!tmpMesh->polygons.empty())
                                                    {
                                                        if(main_scene_.isMeshTexturing() && main_scene_.isMapRendering())
                                                        {
                                                            std::map<int, rtabmap::Transform> cameraPoses;
                                                            std::map<int, rtabmap::CameraModel> cameraModels;
                                                            cameraPoses.insert(std::make_pair(0, rtabmap::Transform::getIdentity()));
                                                            cameraModels.insert(std::make_pair(0, data.cameraModels()[0]));
                                                            pcl::TextureMesh::Ptr textureMesh = rtabmap::util3d::createTextureMesh(
                                                                    tmpMesh,
                                                                    cameraPoses,
                                                                    cameraModels,
                                                                    std::map<int, cv::Mat>());
                                                            pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
                                                            polygons = textureMesh->tex_polygons[0];
                                                            texCoords = textureMesh->tex_coordinates[0];
                                                        }
                                                        else
                                                        {
                                                            pcl::fromPCLPointCloud2(tmpMesh->cloud, *cloud);
                                                            polygons = tmpMesh->polygons;
                                                        }
                                                        
                                                        indices->resize(cloud->size());
                                                        for(unsigned int i=0; i<cloud->size(); ++i)
                                                        {
                                                            indices->at(i) = i;
                                                        }
                                                    }
                                                    else
                                                    {
                                                        LOGE("Mesh decimation factor is too high (%f), returning full mesh (id=%d).", meshDecimationFactor_, data.id());
                                                        polygonsLowRes = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_+LOW_RES_PIX);
#ifdef DEBUG_RENDERING_PERFORMANCE
                                                        LOGW("Creating mesh, %d polygons (%fs)", (int)polygons.size(), time.ticks());
#endif
                                                    }
#ifdef DEBUG_RENDERING_PERFORMANCE
                                                    LOGW("Mesh simplication, %d polygons, %d points (%fs)", (int)polygons.size(), (int)cloud->size(), time.ticks());
#endif
                                                }
                                                else
#endif
                                                {
                                                    polygonsLowRes = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_+LOW_RES_PIX);
#ifdef DEBUG_RENDERING_PERFORMANCE
                                                    LOGW("Creating mesh, %d polygons (%fs)", (int)polygons.size(), time.ticks());
#endif
                                                }
											}

                                            std::pair<std::map<int, rtabmap::Mesh>::iterator, bool> inserted = createdMeshes_.insert(std::make_pair(id, rtabmap::Mesh()));
                                            UASSERT(inserted.second);
                                            inserted.first->second.cloud = cloud;
                                            inserted.first->second.indices = indices;
                                            inserted.first->second.polygons = polygons;
                                            inserted.first->second.polygonsLowRes = polygonsLowRes;
                                            inserted.first->second.visible = true;
                                            inserted.first->second.cameraModel = data.cameraModels()[0];
                                            inserted.first->second.gains[0] = 1.0;
                                            inserted.first->second.gains[1] = 1.0;
                                            inserted.first->second.gains[2] = 1.0;
                                            if((cloud->isOrganized() || !texCoords.empty()) && main_scene_.isMeshTexturing() && main_scene_.isMapRendering())
                                            {
                                                inserted.first->second.texCoords = texCoords;
                                                if(renderingTextureDecimation_ > 1)
                                                {
                                                    cv::Size reducedSize(data.imageRaw().cols/renderingTextureDecimation_, data.imageRaw().rows/renderingTextureDecimation_);
                                                    cv::resize(data.imageRaw(), inserted.first->second.texture, reducedSize, 0, 0, cv::INTER_LINEAR);
#ifdef DEBUG_RENDERING_PERFORMANCE
                                                    LOGW("resize image from %dx%d to %dx%d (%fs)", data.imageRaw().cols, data.imageRaw().rows, reducedSize.width, reducedSize.height, time.ticks());
#endif
                                                }
                                                else
                                                {
                                                    inserted.first->second.texture = data.imageRaw();
                                                }
                                            }
                                        }
									}
								}
								if(createdMeshes_.find(id) != createdMeshes_.end())
								{
									rtabmap::Mesh & mesh = createdMeshes_.at(id);
									totalPoints_+=mesh.indices->size();
									totalPolygons_ += mesh.polygons.size();
									mesh.pose = rtabmap::opengl_world_T_rtabmap_world.inverse()*iter->second;
									main_scene_.addMesh(id, mesh, iter->second, true);
#ifdef DEBUG_RENDERING_PERFORMANCE
									LOGW("Adding mesh to scene: %fs", time.ticks());
#endif
									mesh.texture = cv::Mat(); // don't keep textures in memory
								}
							}
						}
					}
				}

				//filter poses?
				if(poses.size() > 2)
				{
					if(nodesFiltering_)
					{
						for(std::multimap<int, rtabmap::Link>::const_iterator iter=links.begin(); iter!=links.end(); ++iter)
						{
							if(iter->second.type() != rtabmap::Link::kNeighbor)
							{
								int oldId = iter->second.to()>iter->second.from()?iter->second.from():iter->second.to();
								poses.erase(oldId);
							}
						}
					}
				}

				if(!poses.empty())
				{
					//update cloud visibility
					boost::mutex::scoped_lock  lock(meshesMutex_);
					std::set<int> addedClouds = main_scene_.getAddedClouds();
					for(std::set<int>::const_iterator iter=addedClouds.begin();
						iter!=addedClouds.end();
						++iter)
					{
						if(*iter > 0 && poses.find(*iter) == poses.end())
						{
							main_scene_.setCloudVisible(*iter, false);
							std::map<int, rtabmap::Mesh>::iterator meshIter = createdMeshes_.find(*iter);
							UASSERT(meshIter!=createdMeshes_.end());
							meshIter->second.visible = false;
						}
					}
				}

				// Update markers
				std::set<int> addedMarkers = main_scene_.getAddedMarkers();
				for(std::set<int>::const_iterator iter=addedMarkers.begin();
					iter!=addedMarkers.end();
					++iter)
				{
					if(posesWithMarkers.find(*iter) == posesWithMarkers.end())
					{
						main_scene_.removeMarker(*iter);
					}
				}
				for(std::map<int, rtabmap::Transform>::const_iterator iter=posesWithMarkers.begin();
					iter!=posesWithMarkers.end() && iter->first<0;
					++iter)
				{
					int id = iter->first;
					if(main_scene_.hasMarker(id))
					{
						//just update pose
						main_scene_.setMarkerPose(id, iter->second);
					}
					else
					{
						main_scene_.addMarker(id, iter->second);
					}
				}
			}
			else
			{
				main_scene_.setCloudVisible(-1, odomCloudShown_ && !trajectoryMode_ && camera_!=0);

				//just process the last one
				if(!odomEvent.pose().isNull())
				{
					if(odomCloudShown_ && !trajectoryMode_)
					{
						if((!odomEvent.data().imageRaw().empty() && !odomEvent.data().depthRaw().empty()) || !odomEvent.data().laserScanRaw().isEmpty())
						{
							pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
							pcl::IndicesPtr indices(new std::vector<int>);
							if((!odomEvent.data().imageRaw().empty() && !odomEvent.data().depthRaw().empty()))
							{
                                int meshDecimation = updateMeshDecimation(odomEvent.data().depthRaw().cols, odomEvent.data().depthRaw().rows);
								cloud = rtabmap::util3d::cloudRGBFromSensorData(odomEvent.data(), meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get());
							}
							else
							{
								//scan
								cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(odomEvent.data().laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), odomEvent.data().laserScanRaw().localTransform(), 255, 255, 255);
								indices->resize(cloud->size());
								for(unsigned int i=0; i<cloud->size(); ++i)
								{
									indices->at(i) = i;
								}
							}

							if(cloud->size() && indices->size())
							{
								LOGI("Created odom cloud (rgb=%dx%d depth=%dx%d cloud=%dx%d)",
										odomEvent.data().imageRaw().cols, odomEvent.data().imageRaw().rows,
										odomEvent.data().depthRaw().cols, odomEvent.data().depthRaw().rows,
									   (int)cloud->width, (int)cloud->height);
								main_scene_.addCloud(-1, cloud, indices, rtabmap::opengl_world_T_rtabmap_world*mapToOdom_*odomEvent.pose());
								main_scene_.setCloudVisible(-1, true);
							}
							else
							{
								UERROR("Generated cloud is empty!");
							}
						}
						else
						{
							UWARN("Odom data images/scans are empty!");
						}
					}
				}
			}

			if(gainCompensationOnNextRender_>0)
			{
				gainCompensation(gainCompensationOnNextRender_==2);
				for(std::map<int, rtabmap::Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
				{
					main_scene_.updateGains(iter->first, iter->second.gains[0], iter->second.gains[1], iter->second.gains[2]);
				}
				gainCompensationOnNextRender_ = 0;
				notifyDataLoaded = true;
			}

			if(bilateralFilteringOnNextRender_)
			{
				LOGI("Bilateral filtering...");
				bilateralFilteringOnNextRender_ = false;
				boost::mutex::scoped_lock  lock(meshesMutex_);
				for(std::map<int, rtabmap::Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
				{
					if(iter->second.cloud->size() && iter->second.indices->size())
					{
						if(smoothMesh(iter->first, iter->second))
						{
							main_scene_.updateMesh(iter->first, iter->second);
						}
					}
				}
				notifyDataLoaded = true;
			}

			if(filterPolygonsOnNextRender_ && clusterRatio_>0.0f)
			{
				LOGI("Polygon filtering...");
				filterPolygonsOnNextRender_ = false;
				boost::mutex::scoped_lock  lock(meshesMutex_);
				UTimer time;
				for(std::map<int, rtabmap::Mesh>::iterator iter = createdMeshes_.begin(); iter!=createdMeshes_.end(); ++iter)
				{
					if(iter->second.polygons.size())
					{
						// filter polygons
						iter->second.polygons = filterOrganizedPolygons(iter->second.polygons, iter->second.cloud->size());
						main_scene_.updateCloudPolygons(iter->first, iter->second.polygons);
					}
				}
				notifyDataLoaded = true;
			}

            main_scene_.setFrustumVisible(camera_!=0);
			lastDrawnCloudsCount_ = main_scene_.Render(uvsTransformed, arViewMatrix, arProjectionMatrix, occlusionMesh, true);
            double fpsTime = fpsTime_.ticks();
            if(renderingTime_ < fpsTime)
			{
				renderingTime_ = fpsTime;
            }

			if(rtabmapEvents.size())
			{
				// send statistics to GUI
				LOGI("New data added to map, rendering time: %fs", renderingTime_);
                if(rtabmapEvents.back()->getStats().refImageId()>0 ||
                   !rtabmapEvents.back()->getStats().data().empty())
                {
                    UEventsManager::post(new PostRenderEvent(rtabmapEvents.back()));
                    rtabmapEvents.pop_back();
                }

				for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
				{
					delete *iter;
				}
				rtabmapEvents.clear();

				lastPostRenderEventTime_ = UTimer::now();

				if(camera_!=0 && lastPoseEventTime_>0.0 && UTimer::now()-lastPoseEventTime_ > 1.0)
				{
					UERROR("TangoPoseEventNotReceived");
					UEventsManager::post(new rtabmap::CameraInfoEvent(10, "TangoPoseEventNotReceived", uNumber2Str(UTimer::now()-lastPoseEventTime_, 6)));
				}
			}
		}

		if(takeScreenshotOnNextRender_)
		{
			takeScreenshotOnNextRender_ = false;
			int w = main_scene_.getViewPortWidth();
			int h = main_scene_.getViewPortHeight();
			cv::Mat image(h, w, CV_8UC4);
			glReadPixels(0, 0, w, h, GL_RGBA, GL_UNSIGNED_BYTE, image.data);
			cv::flip(image, image, 0);
			cv::cvtColor(image, image, cv::COLOR_RGBA2BGRA);
			cv::Mat roi;
			if(w>h)
			{
				int offset = (w-h)/2;
				roi = image(cv::Range::all(), cv::Range(offset,offset+h));
			}
			else
			{
				int offset = (h-w)/2;
				roi = image(cv::Range(offset,offset+w), cv::Range::all());
			}
			rtabmapMutex_.lock();
			LOGI("Saving screenshot %dx%d...", roi.cols, roi.rows);
			rtabmap_->getMemory()->savePreviewImage(roi);
			rtabmapMutex_.unlock();
			screenshotReady_.release();
		}

		if((rtabmapThread_==0 || !rtabmapThread_->isRunning()) && lastPostRenderEventTime_ > 0.0)
		{
			double interval = UTimer::now() - lastPostRenderEventTime_;
			double updateInterval = 1.0;
			if(!openingDatabase_ && rtabmapThread_)
			{
				boost::mutex::scoped_lock  lock(rtabmapMutex_);
				if(rtabmapThread_ && rtabmapThread_->getDetectorRate()>0.0f)
				{
					updateInterval = 1.0f/rtabmapThread_->getDetectorRate();
				}
			}

			if(interval >= updateInterval)
			{
				if(!openingDatabase_)
				{
					// don't send event when we are opening the database (init events already sent)
					UEventsManager::post(new PostRenderEvent());
				}
				lastPostRenderEventTime_ = UTimer::now();
			}
		}

		return notifyDataLoaded||notifyCameraStarted?1:0;
	}
	catch(const UException & e)
	{
		for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
		{
			delete *iter;
		}
		rtabmapEvents.clear();
		UERROR("Exception! msg=\"%s\"", e.what());
		return -2;
	}
	catch(const cv::Exception & e)
	{
		for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
		{
			delete *iter;
		}
		rtabmapEvents.clear();
		UERROR("Exception! msg=\"%s\"", e.what());
		return -1;
	}
	catch(const std::exception & e)
	{
		for(std::list<rtabmap::RtabmapEvent*>::iterator iter=rtabmapEvents.begin(); iter!=rtabmapEvents.end(); ++iter)
		{
			delete *iter;
		}
		rtabmapEvents.clear();
		UERROR("Exception! msg=\"%s\"", e.what());
		return -2;
	}
}

void RTABMapApp::SetCameraType(
    tango_gl::GestureCamera::CameraType camera_type) {
  main_scene_.SetCameraType(camera_type);
}

void RTABMapApp::OnTouchEvent(int touch_count,
                                      tango_gl::GestureCamera::TouchEvent event,
                                      float x0, float y0, float x1, float y1) {
  main_scene_.OnTouchEvent(touch_count, event, x0, y0, x1, y1);
}

void RTABMapApp::setPausedMapping(bool paused)
{
	{
		boost::mutex::scoped_lock  lock(renderingMutex_);
		main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
	}

	if(rtabmapThread_)
	{
		if(rtabmapThread_->isRunning() && paused)
		{
			LOGW("Pause!");
			rtabmapThread_->unregisterFromEventsManager();
			rtabmapThread_->join(true);
		}
		else if(!rtabmapThread_->isRunning() && !paused)
		{
			LOGW("Resume!");
			rtabmap_->triggerNewMap();
			rtabmap_->parseParameters(getRtabmapParameters());
			rtabmapThread_->registerToEventsManager();
			rtabmapThread_->start();
		}
	}
}
void RTABMapApp::setOnlineBlending(bool enabled)
{
	main_scene_.setBlending(enabled);
}
void RTABMapApp::setMapCloudShown(bool shown)
{
	main_scene_.setMapRendering(shown);
}
void RTABMapApp::setOdomCloudShown(bool shown)
{
	odomCloudShown_ = shown;
	main_scene_.setTraceVisible(shown);
}
void RTABMapApp::setMeshRendering(bool enabled, bool withTexture)
{
	main_scene_.setMeshRendering(enabled, withTexture);
}
void RTABMapApp::setPointSize(float value)
{
	main_scene_.setPointSize(value);
}
void RTABMapApp::setFOV(float angle)
{
	main_scene_.setFOV(angle);
}
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);
}
void RTABMapApp::setBackfaceCulling(bool enabled)
{
	main_scene_.setBackfaceCulling(enabled);
}
void RTABMapApp::setWireframe(bool enabled)
{
	main_scene_.setWireframe(enabled);
}

void RTABMapApp::setLocalizationMode(bool enabled)
{
	localizationMode_ = enabled;
    rtabmap::ParametersMap parameters;
    parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapStartNewMapOnLoopClosure(), uBool2Str(!localizationMode_ && appendMode_)));
    parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemIncrementalMemory(), uBool2Str(!localizationMode_)));
    this->post(new rtabmap::ParamEvent(parameters));
}
void RTABMapApp::setTrajectoryMode(bool enabled)
{
	trajectoryMode_ = enabled;
	this->post(new rtabmap::ParamEvent(rtabmap::Parameters::kMemBinDataKept(), uBool2Str(!trajectoryMode_)));
}

void RTABMapApp::setGraphOptimization(bool enabled)
{
	graphOptimization_ = enabled;
	if((camera_ == 0) && rtabmap_ && rtabmap_->getMemory()->getLastWorkingSignature()!=0)
	{
		std::map<int, rtabmap::Transform> poses;
		std::multimap<int, rtabmap::Link> links;
		rtabmap_->getGraph(poses, links, true, true);
		if(poses.size())
		{
			boost::mutex::scoped_lock  lock(rtabmapMutex_);
			rtabmap::Statistics stats = rtabmap_->getStatistics();
			stats.setPoses(poses);
			stats.setConstraints(links);

			LOGI("Send rtabmap event to update graph...");
			rtabmapEvents_.push_back(new rtabmap::RtabmapEvent(stats));

			rtabmap_->setOptimizedPoses(poses, links);
		}
	}
}
void RTABMapApp::setNodesFiltering(bool enabled)
{
	nodesFiltering_ = enabled;
	setGraphOptimization(graphOptimization_); // this will resend the graph if paused
}
void RTABMapApp::setGraphVisible(bool visible)
{
	main_scene_.setGraphVisible(visible);
	main_scene_.setTraceVisible(visible);
    setGraphOptimization(graphOptimization_); // this will republish the graph
}
void RTABMapApp::setGridVisible(bool visible)
{
	main_scene_.setGridVisible(visible);
}

void RTABMapApp::setRawScanSaved(bool enabled)
{
	if(rawScanSaved_ != enabled)
	{
		rawScanSaved_ = enabled;
	}
}

void RTABMapApp::setCameraColor(bool enabled)
{
	if(cameraColor_ != enabled)
	{
		cameraColor_ = enabled;
	}
}

void RTABMapApp::setFullResolution(bool enabled)
{
	if(fullResolution_ != enabled)
	{
		fullResolution_ = enabled;
	}
}

void RTABMapApp::setSmoothing(bool enabled)
{
	if(smoothing_ != enabled)
	{
		smoothing_ = enabled;
	}
}

void RTABMapApp::setDepthFromMotion(bool enabled)
{
	if(depthFromMotion_ != enabled)
	{
		depthFromMotion_ = enabled;
	}
}

void RTABMapApp::setAppendMode(bool enabled)
{
	if(appendMode_ != enabled)
	{
		appendMode_ = enabled;
		rtabmap::ParametersMap parameters;
		parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapStartNewMapOnLoopClosure(), uBool2Str(!localizationMode_ && appendMode_)));
		this->post(new rtabmap::ParamEvent(parameters));
	}
}

void RTABMapApp::setDataRecorderMode(bool enabled)
{
	if(dataRecorderMode_ != enabled)
	{
		dataRecorderMode_ = enabled; // parameters will be set when resuming (we assume we are paused)
		if(localizationMode_ && enabled)
		{
			localizationMode_ = false;
		}
	}
}

void RTABMapApp::setMaxCloudDepth(float value)
{
	maxCloudDepth_ = value;
}

void RTABMapApp::setMinCloudDepth(float value)
{
	minCloudDepth_ = value;
}

void RTABMapApp::setCloudDensityLevel(int value)
{
	cloudDensityLevel_ = value;
}

void RTABMapApp::setMeshAngleTolerance(float value)
{
	meshAngleToleranceDeg_ = value;
}

void RTABMapApp::setMeshDecimationFactor(float value)
{
    meshDecimationFactor_ = value;
}

void RTABMapApp::setMeshTriangleSize(int value)
{
	meshTrianglePix_ = value;
}

void RTABMapApp::setClusterRatio(float value)
{
	clusterRatio_ = value;
}

void RTABMapApp::setMaxGainRadius(float value)
{
	maxGainRadius_ = value;
}

void RTABMapApp::setRenderingTextureDecimation(int value)
{
	UASSERT(value>=1);
	renderingTextureDecimation_ = value;
}

void RTABMapApp::setBackgroundColor(float gray)
{
	backgroundColor_ = gray;
	float v = backgroundColor_ == 0.5f?0.4f:1.0f-backgroundColor_;
	main_scene_.setGridColor(v, v, v);
	main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
}

void RTABMapApp::setDepthConfidence(int value)
{
    depthConfidence_ = value;
    if(depthConfidence_>2)
    {
        depthConfidence_ = 2;
    }
}

int RTABMapApp::setMappingParameter(const std::string & key, const std::string & value)
{
	std::string compatibleKey = key;

	// Backward compatibility
	std::map<std::string, std::pair<bool, std::string> >::const_iterator iter=rtabmap::Parameters::getRemovedParameters().find(key);
	if(iter != rtabmap::Parameters::getRemovedParameters().end())
	{
		if(iter->second.first)
		{
			// can be migrated
			compatibleKey = iter->second.second;
			LOGW("Parameter name changed: \"%s\" -> \"%s\". Please update the code accordingly. Value \"%s\" is still set to the new parameter name.",
					iter->first.c_str(), iter->second.second.c_str(), value.c_str());
		}
		else
		{
			if(iter->second.second.empty())
			{
				UERROR("Parameter \"%s\" doesn't exist anymore!",
						iter->first.c_str());
			}
			else
			{
				UERROR("Parameter \"%s\" doesn't exist anymore! You may look at this similar parameter: \"%s\"",
						iter->first.c_str(), iter->second.second.c_str());
			}
		}
	}

	if(rtabmap::Parameters::getDefaultParameters().find(compatibleKey) != rtabmap::Parameters::getDefaultParameters().end())
	{
		LOGI("%s", uFormat("Setting param \"%s\"  to \"%s\"", compatibleKey.c_str(), value.c_str()).c_str());
		uInsert(mappingParameters_, rtabmap::ParametersPair(compatibleKey, value));
		UEventsManager::post(new rtabmap::ParamEvent(this->getRtabmapParameters()));
		return 0;
	}
	else
	{
		UERROR(uFormat("Key \"%s\" doesn't exist!", compatibleKey.c_str()).c_str());
		return -1;
	}
}

void RTABMapApp::setGPS(const rtabmap::GPS & gps)
{
	boost::mutex::scoped_lock  lock(cameraMutex_);
	if(camera_!=0)
	{
		camera_->setGPS(gps);
	}
}

void RTABMapApp::addEnvSensor(int type, float value)
{
	boost::mutex::scoped_lock  lock(cameraMutex_);
	if(camera_!=0)
	{
		camera_->addEnvSensor(type, value);
	}
}

void RTABMapApp::save(const std::string & databasePath)
{
	LOGI("Saving database to %s", databasePath.c_str());
	rtabmapThread_->unregisterFromEventsManager();
	rtabmapThread_->join(true);

	LOGI("Taking screenshot...");
	takeScreenshotOnNextRender_ = true;
	if(!screenshotReady_.acquire(1, 2000))
	{
		UERROR("Failed to take a screenshot after 2 sec!");
	}

	// save mapping parameters in the database
	bool appendModeBackup = appendMode_;
	if(appendMode_)
	{
		appendMode_ = false;
	}

	bool dataRecorderModeBackup = dataRecorderMode_;
	if(dataRecorderMode_)
	{
		dataRecorderMode_ = false;
	}

	bool localizationModeBackup = localizationMode_;
	if(localizationMode_)
	{
		localizationMode_ = false;
	}

	if(appendModeBackup || dataRecorderModeBackup || localizationModeBackup)
	{
		rtabmap::ParametersMap parameters = getRtabmapParameters();
		rtabmap_->parseParameters(parameters);
		appendMode_ = appendModeBackup;
		dataRecorderMode_ = dataRecorderModeBackup;
		localizationMode_ = localizationModeBackup;
	}

	std::map<int, rtabmap::Transform> poses = rtabmap_->getLocalOptimizedPoses();
    std::multimap<int, rtabmap::Link> links = rtabmap_->getLocalConstraints();
	rtabmap_->close(true, databasePath);
	rtabmap_->init(getRtabmapParameters(), dataRecorderMode_?"":databasePath);
	rtabmap_->setOptimizedPoses(poses, links);
	if(dataRecorderMode_)
	{
		clearSceneOnNextRender_ = true;
	}
}

bool RTABMapApp::recover(const std::string & from, const std::string & to)
{
    std::string errorMsg;
    if(!databaseRecovery(from, false, &errorMsg, &progressionStatus_))
    {
        LOGE("Recovery Error: %s", errorMsg.c_str());
        return false;
    }
    else
    {
        LOGI("Renaming %s to %s", from.c_str(), to.c_str());
        if(UFile::rename(from, to) != 0)
        {
            LOGE("Failed renaming %s to %s", from.c_str(), to.c_str());
            return false;
        }
        return true;
    }
}

void RTABMapApp::cancelProcessing()
{
	UWARN("Processing canceled!");
	progressionStatus_.setCanceled(true);
}

bool RTABMapApp::exportMesh(
		float cloudVoxelSize,
		bool regenerateCloud,
		bool meshing,
		int textureSize,
		int textureCount,
		int normalK,
		bool optimized,
		float optimizedVoxelSize,
		int optimizedDepth,
		int optimizedMaxPolygons,
		float optimizedColorRadius,
		bool optimizedCleanWhitePolygons,
		int optimizedMinClusterSize,
		float optimizedMaxTextureDistance,
		int optimizedMinTextureClusterSize,
		bool blockRendering)
{
	// make sure createdMeshes_ is not modified while exporting! We don't
	// lock the meshesMutex_ because we want to continue rendering.

	std::map<int, rtabmap::Transform> poses = rtabmap_->getLocalOptimizedPoses();
	if(poses.empty())
	{
		// look if we just triggered new map without localizing afterward (pause/resume in append Mode)
		std::multimap<int, rtabmap::Link> links;
		rtabmap_->getGraph(
				poses,
				links,
				true,
				false);
		if(poses.empty())
		{
			UERROR("Empty optimized poses!");
			return false;
		}
		rtabmap_->setOptimizedPoses(poses, links);
	}

	if(blockRendering)
	{
		renderingMutex_.lock();
		main_scene_.clear();
	}

	exporting_ = true;

	bool success = false;

	try
	{
		int totalSteps = 0;
		totalSteps+=poses.size(); // assemble
		if(meshing)
		{
			if(optimized)
			{
				totalSteps += poses.size(); // meshing
				if(textureSize > 0)
				{
					totalSteps += 1; // gain
					totalSteps += 1; // blending

					if(optimizedMaxPolygons > 0)
					{
						totalSteps += 1; // decimation
					}
				}

				totalSteps += 1; // texture/coloring

				if(textureSize > 0)
				{
					totalSteps+=poses.size()+1; // texture cameras + apply polygons
				}
			}
			if(textureSize>0)
			{
				totalSteps += poses.size()+1; // uncompress and merge textures
			}
		}
		totalSteps += 1; // save file

		progressionStatus_.reset(totalSteps);

		//Assemble the meshes
		if(meshing) // Mesh or  Texture Mesh
		{
			pcl::PolygonMesh::Ptr polygonMesh(new pcl::PolygonMesh);
			pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
			std::vector<std::map<int, pcl::PointXY> > vertexToPixels;
			cv::Mat globalTextures;
			int totalPolygons = 0;
			{
				if(optimized)
				{
					std::map<int, rtabmap::Transform> cameraPoses;
					std::map<int, rtabmap::CameraModel> cameraModels;
					std::map<int, cv::Mat> cameraDepths;

					UTimer timer;
					LOGI("Assemble clouds (%d)...", (int)poses.size());
#ifndef DISABLE_LOG
					int cloudCount=0;
#endif
					pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr mergedClouds(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
					for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin();
						iter!= poses.end();
						++iter)
					{
						std::map<int, rtabmap::Mesh>::iterator jter = createdMeshes_.find(iter->first);
						pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
						pcl::IndicesPtr indices(new std::vector<int>);
						rtabmap::CameraModel model;
						cv::Mat depth;
						float gains[3];
						gains[0] = gains[1] = gains[2] = 1.0f;
						if(jter != createdMeshes_.end() && (jter->second.polygons.empty() || meshDecimationFactor_ == 0.0f))
						{
							cloud = jter->second.cloud;
							indices = jter->second.indices;
							model = jter->second.cameraModel;
							gains[0] = jter->second.gains[0];
							gains[1] = jter->second.gains[1];
							gains[2] = jter->second.gains[2];

							rtabmap::SensorData data = rtabmap_->getMemory()->getNodeData(iter->first, true, false, false, false);
							data.uncompressData(0, &depth);
						}
						else
						{
							rtabmap::SensorData data = rtabmap_->getMemory()->getNodeData(iter->first, true, false, false, false);
							data.uncompressData();
							if(!data.imageRaw().empty() && !data.depthRaw().empty() && data.cameraModels().size() == 1)
							{
                                int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
								cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get());
								model = data.cameraModels()[0];
								depth = data.depthRaw();
							}
						}
						if(cloud->size() && indices->size() && model.isValidForProjection())
						{
							pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformedCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
							if(optimizedVoxelSize > 0.0f)
							{
								transformedCloud = rtabmap::util3d::voxelize(cloud, indices, optimizedVoxelSize);
								transformedCloud = rtabmap::util3d::transformPointCloud(transformedCloud, iter->second);
							}
							else
							{
								// it looks like that using only transformPointCloud with indices
								// flushes the colors, so we should extract points before... maybe a too old PCL version
								pcl::copyPointCloud(*cloud, *indices, *transformedCloud);
								transformedCloud = rtabmap::util3d::transformPointCloud(transformedCloud, iter->second);
							}

							Eigen::Vector3f viewpoint( iter->second.x(),  iter->second.y(),  iter->second.z());
							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);

							if(textureSize == 0 && (gains[0] != 1.0 || gains[1] != 1.0 || gains[2] != 1.0))
							{
								for(unsigned int i=0; i<cloudWithNormals->size(); ++i)
								{
									pcl::PointXYZRGBNormal & pt = cloudWithNormals->at(i);
									pt.r = uchar(std::max(0.0, std::min(255.0, double(pt.r) * gains[0])));
									pt.g = uchar(std::max(0.0, std::min(255.0, double(pt.g) * gains[1])));
									pt.b = uchar(std::max(0.0, std::min(255.0, double(pt.b) * gains[2])));
								}
							}


							if(mergedClouds->size() == 0)
							{
								*mergedClouds = *cloudWithNormals;
							}
							else
							{
								*mergedClouds += *cloudWithNormals;
							}

							cameraPoses.insert(std::make_pair(iter->first, iter->second));
							cameraModels.insert(std::make_pair(iter->first, model));
							if(!depth.empty())
							{
								cameraDepths.insert(std::make_pair(iter->first, depth));
							}

							LOGI("Assembled %d points (%d/%d total=%d)", (int)cloudWithNormals->size(), ++cloudCount, (int)poses.size(), (int)mergedClouds->size());
						}
						else
						{
							UERROR("Cloud %d not found or empty", iter->first);
						}

						if(progressionStatus_.isCanceled())
						{
							if(blockRendering)
							{
								renderingMutex_.unlock();
							}
							exporting_ = false;
							return false;
						}
						progressionStatus_.increment();
					}
					LOGI("Assembled clouds (%d)... done! %fs (total points=%d)", (int)cameraPoses.size(), timer.ticks(), (int)mergedClouds->size());
                    
					if(mergedClouds->size()>=3)
					{
						if(optimizedDepth == 0)
						{
							Eigen::Vector4f min,max;
							pcl::getMinMax3D(*mergedClouds, min, max);
							float mapLength = uMax3(max[0]-min[0], max[1]-min[1], max[2]-min[2]);
							optimizedDepth = 12;
							for(int i=6; i<12; ++i)
							{
								if(mapLength/float(1<<i) < 0.03f)
								{
									optimizedDepth = i;
									break;
								}
							}
							LOGI("optimizedDepth=%d (map length=%f)", optimizedDepth, mapLength);
						}

						// Mesh reconstruction
						LOGI("Mesh reconstruction...");
						pcl::PolygonMesh::Ptr mesh(new pcl::PolygonMesh);
						pcl::Poisson<pcl::PointXYZRGBNormal> poisson;
						poisson.setDepth(optimizedDepth);
						poisson.setInputCloud(mergedClouds);
						poisson.reconstruct(*mesh);
						LOGI("Mesh reconstruction... done! %fs (%d polygons)", timer.ticks(), (int)mesh->polygons.size());

						if(progressionStatus_.isCanceled())
						{
							if(blockRendering)
							{
								renderingMutex_.unlock();
							}
							exporting_ = false;
							return false;
						}

						progressionStatus_.increment(poses.size());

						if(mesh->polygons.size())
						{
							totalPolygons=(int)mesh->polygons.size();

							if(optimizedMaxPolygons > 0 && optimizedMaxPolygons < (int)mesh->polygons.size())
							{
#ifndef DISABLE_VTK
								unsigned int count = mesh->polygons.size();
								float factor = 1.0f-float(optimizedMaxPolygons)/float(count);
								LOGI("Mesh decimation (max polygons %d/%d -> factor=%f)...", optimizedMaxPolygons, (int)count, factor);

								progressionStatus_.setMax(progressionStatus_.getMax() + optimizedMaxPolygons/10000);

								pcl::PolygonMesh::Ptr output(new pcl::PolygonMesh);
								pcl::MeshQuadricDecimationVTK mqd;
								mqd.setTargetReductionFactor(factor);
								mqd.setInputMesh(mesh);
								mqd.process (*output);
								mesh = output;

								//mesh = rtabmap::util3d::meshDecimation(mesh, decimationFactor);
								// use direct instantiation above to this fix some linker errors on android like:
								// pcl::MeshQuadricDecimationVTK::performProcessing(pcl::PolygonMesh&): error: undefined reference to 'vtkQuadricDecimation::New()'
								// pcl::VTKUtils::mesh2vtk(pcl::PolygonMesh const&, vtkSmartPointer<vtkPolyData>&): error: undefined reference to 'vtkFloatArray::New()'

								LOGI("Mesh decimated (factor=%f) from %d to %d polygons (%fs)", factor, count, (int)mesh->polygons.size(), timer.ticks());
								if(count < mesh->polygons.size())
								{
									UWARN("Decimated mesh has more polygons than before!");
								}
#else
								UWARN("RTAB-Map is not built with PCL-VTK module so mesh decimation cannot be used!");
#endif
							}

							if(progressionStatus_.isCanceled())
							{
								if(blockRendering)
								{
									renderingMutex_.unlock();
								}
								exporting_ = false;
								return false;
							}

							progressionStatus_.increment();

							rtabmap::util3d::denseMeshPostProcessing<pcl::PointXYZRGBNormal>(
									mesh,
									0.0f,
									0,
									mergedClouds,
									optimizedColorRadius,
									textureSize == 0,
									optimizedCleanWhitePolygons,
									optimizedMinClusterSize);

							if(textureSize>0)
							{
								LOGI("Texturing... cameraPoses=%d, cameraDepths=%d", (int)cameraPoses.size(), (int)cameraDepths.size());
								textureMesh = rtabmap::util3d::createTextureMesh(
										mesh,
										cameraPoses,
										cameraModels,
										cameraDepths,
										optimizedMaxTextureDistance,
										0.0f,
										0.0f,
										optimizedMinTextureClusterSize,
										std::vector<float>(),
										&progressionStatus_,
										&vertexToPixels);
								LOGI("Texturing... done! %fs", timer.ticks());

								if(progressionStatus_.isCanceled())
								{
									if(blockRendering)
									{
										renderingMutex_.unlock();
									}
									exporting_ = false;
									return false;
								}

								// Remove occluded polygons (polygons with no texture)
								if(textureMesh->tex_coordinates.size() && optimizedCleanWhitePolygons)
								{
									LOGI("Cleanup mesh...");
									rtabmap::util3d::cleanTextureMesh(*textureMesh, 0);
									LOGI("Cleanup mesh... done! %fs", timer.ticks());
								}

								totalPolygons = 0;
								for(unsigned int t=0; t<textureMesh->tex_polygons.size(); ++t)
								{
									totalPolygons+=textureMesh->tex_polygons[t].size();
								}
							}
							else
							{
								totalPolygons = (int)mesh->polygons.size();
								polygonMesh = mesh;
							}
						}
					}
					else
					{
						UERROR("Merged cloud too small (%d points) to create polygons!", (int)mergedClouds->size());
					}
				}
				else // organized meshes
				{
					pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr mergedClouds(new pcl::PointCloud<pcl::PointXYZRGBNormal>);

					if(textureSize > 0)
					{
						textureMesh->tex_materials.resize(poses.size());
						textureMesh->tex_polygons.resize(poses.size());
						textureMesh->tex_coordinates.resize(poses.size());
					}

					int polygonsStep = 0;
					int oi = 0;
					for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin();
						iter!= poses.end();
						++iter)
					{
						LOGI("Assembling cloud %d (total=%d)...", iter->first, (int)poses.size());

						std::map<int, rtabmap::Mesh>::iterator jter = createdMeshes_.find(iter->first);
						pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
						std::vector<pcl::Vertices> polygons;
						float gains[3] = {1.0f};
						if(jter != createdMeshes_.end())
						{
							cloud = jter->second.cloud;
							polygons= jter->second.polygons;
							if(cloud->size() && polygons.size() == 0)
							{
								polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
							}
							gains[0] = jter->second.gains[0];
							gains[1] = jter->second.gains[1];
							gains[2] = jter->second.gains[2];
						}
						else
						{
							rtabmap::SensorData data = rtabmap_->getMemory()->getNodeData(iter->first, true, false, false, false);
							data.uncompressData();
							if(!data.imageRaw().empty() && !data.depthRaw().empty() && data.cameraModels().size() == 1)
							{
                                int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
								cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_);
								polygons = rtabmap::util3d::organizedFastMesh(cloud, meshAngleToleranceDeg_*M_PI/180.0, false, meshTrianglePix_);
							}
						}

						if(cloud->size() && polygons.size())
						{
							// Convert organized to dense cloud
							pcl::PointCloud<pcl::PointXYZRGB>::Ptr outputCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
							std::vector<pcl::Vertices> outputPolygons;
							std::vector<int> denseToOrganizedIndices = rtabmap::util3d::filterNaNPointsFromMesh(*cloud, polygons, *outputCloud, outputPolygons);

							pcl::PointCloud<pcl::Normal>::Ptr normals = rtabmap::util3d::computeNormals(outputCloud, normalK);

							pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloudWithNormals(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
							pcl::concatenateFields(*outputCloud, *normals, *cloudWithNormals);

							UASSERT(outputPolygons.size());

							totalPolygons+=outputPolygons.size();

							if(textureSize == 0)
							{
								// colored mesh
								cloudWithNormals = rtabmap::util3d::transformPointCloud(cloudWithNormals, iter->second);

								if(gains[0] != 1.0f || gains[1] != 1.0f || gains[2] != 1.0f)
								{
									for(unsigned int i=0; i<cloudWithNormals->size(); ++i)
									{
										pcl::PointXYZRGBNormal & pt = cloudWithNormals->at(i);
										pt.r = uchar(std::max(0.0, std::min(255.0, double(pt.r) * gains[0])));
										pt.g = uchar(std::max(0.0, std::min(255.0, double(pt.g) * gains[1])));
										pt.b = uchar(std::max(0.0, std::min(255.0, double(pt.b) * gains[2])));
									}
								}

								if(mergedClouds->size() == 0)
								{
									*mergedClouds = *cloudWithNormals;
									polygonMesh->polygons = outputPolygons;
								}
								else
								{
									rtabmap::util3d::appendMesh(*mergedClouds, polygonMesh->polygons, *cloudWithNormals, outputPolygons);
								}
							}
							else
							{
								// texture mesh
								size_t polygonSize = outputPolygons.front().vertices.size();
								textureMesh->tex_polygons[oi].resize(outputPolygons.size());
								textureMesh->tex_coordinates[oi].resize(outputPolygons.size() * polygonSize);
								for(unsigned int j=0; j<outputPolygons.size(); ++j)
								{
									pcl::Vertices vertices = outputPolygons[j];
									UASSERT(polygonSize == vertices.vertices.size());
									for(unsigned int k=0; k<vertices.vertices.size(); ++k)
									{
										//uv
										UASSERT(vertices.vertices[k] < denseToOrganizedIndices.size());
										int originalVertex = denseToOrganizedIndices[vertices.vertices[k]];
										textureMesh->tex_coordinates[oi][j*vertices.vertices.size()+k] = Eigen::Vector2f(
												float(originalVertex % cloud->width) / float(cloud->width),   // u
												float(cloud->height - originalVertex / cloud->width) / float(cloud->height)); // v

										vertices.vertices[k] += polygonsStep;
									}
									textureMesh->tex_polygons[oi][j] = vertices;

								}
								polygonsStep += outputCloud->size();

								pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformedCloud = rtabmap::util3d::transformPointCloud(cloudWithNormals, iter->second);
								if(mergedClouds->size() == 0)
								{
									*mergedClouds = *transformedCloud;
								}
								else
								{
									*mergedClouds += *transformedCloud;
								}

								textureMesh->tex_materials[oi].tex_illum = 1;
								textureMesh->tex_materials[oi].tex_name = uFormat("material_%d", iter->first);
								textureMesh->tex_materials[oi].tex_file = uNumber2Str(iter->first);
								++oi;
							}
						}
						else
						{
							UERROR("Mesh not found for mesh %d", iter->first);
						}

						if(progressionStatus_.isCanceled())
						{
							if(blockRendering)
							{
								renderingMutex_.unlock();
							}
							exporting_ = false;
							return false;
						}
						progressionStatus_.increment();
					}
					if(textureSize == 0)
					{
						if(mergedClouds->size())
						{
							pcl::toPCLPointCloud2(*mergedClouds, polygonMesh->cloud);
						}
						else
						{
							polygonMesh->polygons.clear();
						}
					}
					else
					{
						textureMesh->tex_materials.resize(oi);
						textureMesh->tex_polygons.resize(oi);

						if(mergedClouds->size())
						{
							pcl::toPCLPointCloud2(*mergedClouds, textureMesh->cloud);
						}
					}
				}

				// end optimized or organized

				if(textureSize>0 && totalPolygons && textureMesh->tex_materials.size())
				{
					LOGI("Merging %d textures...", (int)textureMesh->tex_materials.size());
					globalTextures = rtabmap::util3d::mergeTextures(
							*textureMesh,
							std::map<int, cv::Mat>(),
							std::map<int, std::vector<rtabmap::CameraModel> >(),
							rtabmap_->getMemory(),
							0,
							textureSize,
							textureCount,
							vertexToPixels,
							true, 10.0f, true ,true, 0, 0, 0, false,
							&progressionStatus_);
                    LOGI("Merging %d textures... globalTextures=%dx%d", (int)textureMesh->tex_materials.size(),
                         globalTextures.cols, globalTextures.rows);
				}
				if(progressionStatus_.isCanceled())
				{
					if(blockRendering)
					{
						renderingMutex_.unlock();
					}
					exporting_ = false;
					return false;
				}

				progressionStatus_.increment();
			}
			if(totalPolygons)
			{
				if(textureSize == 0)
				{
					UASSERT((int)polygonMesh->polygons.size() == totalPolygons);
					if(polygonMesh->polygons.size())
					{
						// save in database
						pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
						pcl::fromPCLPointCloud2(polygonMesh->cloud, *cloud);
						cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud, rtabmap::Transform(), false).data()); // for database
						std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons(1);
						polygons[0].resize(polygonMesh->polygons.size());
						for(unsigned int p=0; p<polygonMesh->polygons.size(); ++p)
						{
							polygons[0][p] = polygonMesh->polygons[p].vertices;
						}
						boost::mutex::scoped_lock  lock(rtabmapMutex_);

						rtabmap_->getMemory()->saveOptimizedMesh(cloudMat, polygons);
						success = true;
					}
				}
				else if(textureMesh->tex_materials.size())
				{
					pcl::PointCloud<pcl::PointNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointNormal>);
					pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
					cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*cloud, rtabmap::Transform(), false).data()); // for database

					// save in database
					std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > polygons(textureMesh->tex_polygons.size());
					for(unsigned int t=0; t<textureMesh->tex_polygons.size(); ++t)
					{
						polygons[t].resize(textureMesh->tex_polygons[t].size());
						for(unsigned int p=0; p<textureMesh->tex_polygons[t].size(); ++p)
						{
							polygons[t][p] = textureMesh->tex_polygons[t][p].vertices;
						}
					}
					boost::mutex::scoped_lock  lock(rtabmapMutex_);
					rtabmap_->getMemory()->saveOptimizedMesh(cloudMat, polygons, textureMesh->tex_coordinates, globalTextures);
					success = true;
				}
				else
				{
					UERROR("Failed exporting texture mesh! There are no textures!");
				}
			}
			else
			{
				UERROR("Failed exporting mesh! There are no polygons!");
			}
		}
		else // Point cloud
		{
			pcl::PointCloud<pcl::PointXYZRGB>::Ptr mergedClouds(new pcl::PointCloud<pcl::PointXYZRGB>);
			for(std::map<int, rtabmap::Transform>::iterator iter=poses.begin();
				iter!= poses.end();
				++iter)
			{
				std::map<int, rtabmap::Mesh>::iterator jter=createdMeshes_.find(iter->first);
				pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
				pcl::IndicesPtr indices(new std::vector<int>);
				float gains[3];
				gains[0] = gains[1] = gains[2] = 1.0f;
				if(regenerateCloud)
				{
					if(jter != createdMeshes_.end())
					{
						gains[0] = jter->second.gains[0];
						gains[1] = jter->second.gains[1];
						gains[2] = jter->second.gains[2];
					}
					rtabmap::SensorData data = rtabmap_->getMemory()->getNodeData(iter->first, true, true, false, false);
					data.uncompressData();
					if(!data.imageRaw().empty() && !data.depthRaw().empty())
					{
						// full resolution
						cloud = rtabmap::util3d::cloudRGBFromSensorData(data, 1, maxCloudDepth_, minCloudDepth_, indices.get());
					}
                    else if(!data.laserScanRaw().empty())
                    {
                        //scan
                        cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(data.laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), data.laserScanRaw().localTransform(), 255, 255, 255);
                        indices->resize(cloud->size());
                        for(unsigned int i=0; i<cloud->size(); ++i)
                        {
                            indices->at(i) = i;
                        }
                    }
				}
				else
				{
					if(jter != createdMeshes_.end())
					{
						cloud = jter->second.cloud;
						indices = jter->second.indices;
						gains[0] = jter->second.gains[0];
						gains[1] = jter->second.gains[1];
						gains[2] = jter->second.gains[2];
					}
					else
					{
						rtabmap::SensorData data = rtabmap_->getMemory()->getNodeData(iter->first, true, true, false, false);
						data.uncompressData();
						if(!data.imageRaw().empty() && !data.depthRaw().empty())
						{
                            int meshDecimation = updateMeshDecimation(data.depthRaw().cols, data.depthRaw().rows);
							cloud = rtabmap::util3d::cloudRGBFromSensorData(data, meshDecimation, maxCloudDepth_, minCloudDepth_, indices.get());
						}
                        else if(!data.laserScanRaw().empty())
                        {
                            //scan
                            cloud = rtabmap::util3d::laserScanToPointCloudRGB(rtabmap::util3d::commonFiltering(data.laserScanRaw(), 1, minCloudDepth_, maxCloudDepth_), data.laserScanRaw().localTransform(), 255, 255, 255);
                            indices->resize(cloud->size());
                            for(unsigned int i=0; i<cloud->size(); ++i)
                            {
                                indices->at(i) = i;
                            }
                        }
					}
				}
				if(cloud->size() && indices->size())
				{
					// Convert organized to dense cloud
					pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformedCloud(new pcl::PointCloud<pcl::PointXYZRGB>);
					if(cloudVoxelSize > 0.0f)
					{
						transformedCloud = rtabmap::util3d::voxelize(cloud, indices, cloudVoxelSize);
						transformedCloud = rtabmap::util3d::transformPointCloud(transformedCloud, iter->second);
					}
					else
					{
						// it looks like that using only transformPointCloud with indices
						// flushes the colors, so we should extract points before... maybe a too old PCL version
						pcl::copyPointCloud(*cloud, *indices, *transformedCloud);
						transformedCloud = rtabmap::util3d::transformPointCloud(transformedCloud, iter->second);
					}

					if(gains[0] != 1.0f || gains[1] != 1.0f || gains[2] != 1.0f)
					{
						//LOGD("cloud %d, gain=%f", iter->first, gain);
						for(unsigned int i=0; i<transformedCloud->size(); ++i)
						{
							pcl::PointXYZRGB & pt = transformedCloud->at(i);
							//LOGI("color %d = %d %d %d", i, (int)pt.r, (int)pt.g, (int)pt.b);
							pt.r = uchar(std::max(0.0, std::min(255.0, double(pt.r) * gains[0])));
							pt.g = uchar(std::max(0.0, std::min(255.0, double(pt.g) * gains[1])));
							pt.b = uchar(std::max(0.0, std::min(255.0, double(pt.b) * gains[2])));

						}
					}

					if(mergedClouds->size() == 0)
					{
						*mergedClouds = *transformedCloud;
					}
					else
					{
						*mergedClouds += *transformedCloud;
					}
				}

				if(progressionStatus_.isCanceled())
				{
					if(blockRendering)
					{
						renderingMutex_.unlock();
					}
					exporting_ = false;
					return false;
				}
				progressionStatus_.increment();
			}

			if(mergedClouds->size())
			{
				if(cloudVoxelSize > 0.0f)
				{
					mergedClouds = rtabmap::util3d::voxelize(mergedClouds, cloudVoxelSize);
				}

				// save in database
				{
					cv::Mat cloudMat = rtabmap::compressData2(rtabmap::util3d::laserScanFromPointCloud(*mergedClouds).data()); // for database
					boost::mutex::scoped_lock  lock(rtabmapMutex_);
					rtabmap_->getMemory()->saveOptimizedMesh(cloudMat);
					success = true;
				}
			}
			else
			{
				UERROR("Merged cloud is empty!");
			}
		}

		progressionStatus_.finish();

		if(blockRendering)
		{
			renderingMutex_.unlock();
		}
	}
	catch (std::exception & e)
	{
		UERROR("Out of memory! %s", e.what());

		if(blockRendering)
		{
			renderingMutex_.unlock();
		}

		success = false;
	}
	exporting_ = false;

	optRefId_ = 0;
	if(optRefPose_)
	{
		delete optRefPose_;
		optRefPose_ = 0;
	}
	if(success && poses.size())
	{
		// for optimized mesh
		// just take the last as reference
		optRefId_ = poses.rbegin()->first;
		optRefPose_ = new rtabmap::Transform(poses.rbegin()->second);
	}

	return success;
}

bool RTABMapApp::postExportation(bool visualize)
{
	LOGI("postExportation(visualize=%d)", visualize?1:0);
	optMesh_.reset(new pcl::TextureMesh);
	optTexture_ = cv::Mat();
	exportedMeshUpdated_ = false;

	if(visualize)
	{
		visualizingMesh_ = false;
		cv::Mat cloudMat;
		std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > 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;
		if(rtabmap_ && rtabmap_->getMemory())
		{
			cloudMat = rtabmap_->getMemory()->loadOptimizedMesh(&polygons, &texCoords, &textures);
			if(!cloudMat.empty())
			{
				LOGI("postExportation: Found optimized mesh! Visualizing it.");
				optMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true);
				optTexture_ = textures;

				boost::mutex::scoped_lock  lock(renderingMutex_);
				visualizingMesh_ = true;
				exportedMeshUpdated_ = true;
			}
			else
			{
				LOGI("postExportation: No optimized mesh found.");
			}
		}
	}
	else if(visualizingMesh_)
	{
		rtabmapMutex_.lock();
        std::map<int, rtabmap::Transform> poses = rtabmap_->getLocalOptimizedPoses();
        std::multimap<int, rtabmap::Link> links = rtabmap_->getLocalConstraints();
        if(poses.empty())
        {
            rtabmap_->getGraph(
                    poses,
                    links,
                    true,
                    true,
                    0,
                    false,
                    false,
                    false,
                    false,
                    false,
                    false);
        }
		if(!poses.empty())
		{
			rtabmap::Statistics stats;
			for(std::map<std::string, float>::iterator iter=bufferedStatsData_.begin(); iter!=bufferedStatsData_.end(); ++iter)
			{
				stats.addStatistic(iter->first, iter->second);
			}
			stats.setPoses(poses);
            stats.setConstraints(links);
			rtabmapEvents_.push_back(new rtabmap::RtabmapEvent(stats));
		}
		rtabmapMutex_.unlock();

		visualizingMesh_ = false;
	}

	return visualizingMesh_;
}

bool RTABMapApp::writeExportedMesh(const std::string & directory, const std::string & name)
{
	LOGI("writeExportedMesh: dir=%s name=%s", directory.c_str(), name.c_str());
	exporting_ = true;

	bool success = false;

	pcl::PolygonMesh::Ptr polygonMesh(new pcl::PolygonMesh);
	pcl::TextureMesh::Ptr textureMesh(new pcl::TextureMesh);
	cv::Mat cloudMat;
	std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > 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;
	if(rtabmap_ && rtabmap_->getMemory())
	{
		cloudMat = rtabmap_->getMemory()->loadOptimizedMesh(&polygons, &texCoords, &textures);
		if(!cloudMat.empty())
		{
			LOGI("writeExportedMesh: Found optimized mesh!");
			if(textures.empty())
			{
				polygonMesh = rtabmap::util3d::assemblePolygonMesh(cloudMat, polygons.size() == 1?polygons[0]:std::vector<std::vector<RTABMAP_PCL_INDEX> >());
			}
			else
			{
				textureMesh = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, false);
			}
		}
		else
		{
			LOGI("writeExportedMesh: No optimized mesh found.");
		}
	}

	if(polygonMesh->cloud.data.size())
	{
		// Point cloud PLY
		std::string filePath = directory + UDirectory::separator() + name + ".ply";
		LOGI("Saving ply (%d vertices, %d polygons) to %s.", (int)polygonMesh->cloud.data.size()/polygonMesh->cloud.point_step, (int)polygonMesh->polygons.size(), filePath.c_str());
		success = pcl::io::savePLYFileBinary(filePath, *polygonMesh) == 0;
		if(success)
		{
			LOGI("Saved ply to %s!", filePath.c_str());
		}
		else
		{
			UERROR("Failed saving ply to %s!", filePath.c_str());
		}
	}
	else if(textureMesh->cloud.data.size())
	{
		// TextureMesh OBJ
		LOGD("Saving texture(s) (%d)", textures.empty()?0:textures.cols/textures.rows);
		UASSERT(textures.empty() || textures.cols % textures.rows == 0);
		UASSERT((int)textureMesh->tex_materials.size() == textures.cols/textures.rows);
		for(unsigned int i=0; i<textureMesh->tex_materials.size(); ++i)
		{
			std::string baseNameNum = name;
			if(textureMesh->tex_materials.size()>1)
			{
				baseNameNum+=uNumber2Str(i);
			}
			std::string fullPath = directory+UDirectory::separator()+baseNameNum+".jpg";
			textureMesh->tex_materials[i].tex_file = baseNameNum+".jpg";
			LOGI("Saving texture to %s.", fullPath.c_str());
			success = cv::imwrite(fullPath, textures(cv::Range::all(), cv::Range(i*textures.rows, (i+1)*textures.rows)));
			if(!success)
			{
				LOGI("Failed saving %s!", fullPath.c_str());
			}
			else
			{
				LOGI("Saved %s.", fullPath.c_str());
			}
		}

		if(success)
		{
			// With Sketchfab, the OBJ models are rotated 90 degrees on x axis, so rotate -90 to have model in right position
			//pcl::PointCloud<pcl::PointNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointNormal>);
			//pcl::fromPCLPointCloud2(textureMesh->cloud, *cloud);
			//cloud = rtabmap::util3d::transformPointCloud(cloud, rtabmap::Transform(1,0,0,0, 0,0,1,0, 0,-1,0,0));
			//pcl::toPCLPointCloud2(*cloud, textureMesh->cloud);
			std::string filePath = directory + UDirectory::separator() + name + ".obj";
			int totalPolygons = 0;
			for(unsigned int i=0;i<textureMesh->tex_polygons.size(); ++i)
			{
				totalPolygons += textureMesh->tex_polygons[i].size();
			}
			LOGI("Saving obj (%d vertices, %d polygons) to %s.", (int)textureMesh->cloud.data.size()/textureMesh->cloud.point_step, totalPolygons, filePath.c_str());
			success = pcl::io::saveOBJFile(filePath, *textureMesh) == 0;

			if(success)
			{
				LOGI("Saved obj to %s!", filePath.c_str());
			}
			else
			{
				UERROR("Failed saving obj to %s!", filePath.c_str());
			}
		}
	}
	exporting_ = false;
	return success;
}

int RTABMapApp::postProcessing(int approach)
{
	postProcessing_ = true;
	LOGI("postProcessing begin(%d)", approach);
	int returnedValue = 0;
	if(rtabmap_)
	{
		std::map<int, rtabmap::Transform> poses;
		std::multimap<int, rtabmap::Link> links;

		// detect more loop closures
		if(approach == -1 || approach == 2)
		{
			if(approach == -1)
			{
				progressionStatus_.reset(6);
			}
			returnedValue = rtabmap_->detectMoreLoopClosures(1.0f, M_PI/6.0f, approach == -1?5:1, true, true, approach==-1?&progressionStatus_:0);
			if(approach == -1 && progressionStatus_.isCanceled())
			{
				postProcessing_ = false;
				return -1;
			}
		}

		// graph optimization
		if(returnedValue >=0)
		{
			if (approach == 1)
			{
				if(rtabmap::Optimizer::isAvailable(rtabmap::Optimizer::kTypeG2O))
				{
					std::map<int, rtabmap::Signature> signatures;
					rtabmap_->getGraph(poses, links, true, true, &signatures);

					rtabmap::ParametersMap param;
					param.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerIterations(), "30"));
					param.insert(rtabmap::ParametersPair(rtabmap::Parameters::kOptimizerEpsilon(), "0"));
					rtabmap::Optimizer * sba = rtabmap::Optimizer::create(rtabmap::Optimizer::kTypeG2O, param);
					poses = sba->optimizeBA(poses.rbegin()->first, poses, links, signatures);
					delete sba;
				}
				else
				{
					UERROR("g2o not available!");
				}
			}
			else if(approach!=4 && approach!=5 && approach != 7)
			{
				// simple graph optmimization
				rtabmap_->getGraph(poses, links, true, true);
			}
		}

		if(poses.size())
		{
			boost::mutex::scoped_lock  lock(rtabmapMutex_);
			rtabmap::Statistics stats = rtabmap_->getStatistics();
			stats.setPoses(poses);
			stats.setConstraints(links);

			LOGI("PostProcessing, sending rtabmap event to update graph...");
			rtabmapEvents_.push_back(new rtabmap::RtabmapEvent(stats));

			rtabmap_->setOptimizedPoses(poses, links);
		}
		else if(approach!=4 && approach!=5 && approach != 7)
		{
			returnedValue = -1;
		}

		if(returnedValue >=0)
		{
			boost::mutex::scoped_lock  lock(renderingMutex_);
			// filter polygons
			if(approach == -1 || approach == 4)
			{
				filterPolygonsOnNextRender_ = true;
			}

			// gain compensation
			if(approach == -1 || approach == 5 || approach == 6)
			{
				gainCompensationOnNextRender_ = approach == 6 ? 2 : 1; // 2 = full, 1 = fast
			}

			// bilateral filtering
			if(approach == 7)
			{
				bilateralFilteringOnNextRender_ = true;
			}
		}
	}

	postProcessing_ = false;
    LOGI("postProcessing end(%d) -> %d", approach, returnedValue);
	return returnedValue;
}

void RTABMapApp::postCameraPoseEvent(
		float x, float y, float z, float qx, float qy, float qz, float qw, double stamp)
{
	boost::mutex::scoped_lock  lock(cameraMutex_);
	if(cameraDriver_ == 3 && camera_)
	{
		if(qx==0 && qy==0 && qz==0 && qw==0)
		{
			// Lost! clear buffer
			poseBuffer_.clear();
			camera_->resetOrigin(); // we are lost, create new session on next valid frame
			return;
		}
		rtabmap::Transform pose(x,y,z,qx,qy,qz,qw);
		pose = rtabmap::rtabmap_world_T_opengl_world * pose * rtabmap::opengl_world_T_rtabmap_world;
		camera_->poseReceived(pose);

		poseBuffer_.insert(std::make_pair(stamp, pose));
		if(poseBuffer_.size() > 1000)
		{
			poseBuffer_.erase(poseBuffer_.begin());
		}
	}
}

void RTABMapApp::postOdometryEvent(
		rtabmap::Transform pose,
		float rgb_fx, float rgb_fy, float rgb_cx, float rgb_cy,
		float depth_fx, float depth_fy, float depth_cx, float depth_cy,
		const rtabmap::Transform & rgbFrame,
		const rtabmap::Transform & depthFrame,
		double stamp,
		double depthStamp,
        const void * yPlane, const void * uPlane, const void * vPlane, int yPlaneLen, int rgbWidth, int rgbHeight, int rgbFormat,
        const void * depth, int depthLen, int depthWidth, int depthHeight, int depthFormat,
        const void * conf, int confLen, int confWidth, int confHeight, int confFormat,
        const float * points, int pointsLen, int pointsChannels,
        const rtabmap::Transform & viewMatrix,
        float p00, float p11, float p02, float p12, float p22, float p32, float p23,
        float t0, float t1, float t2, float t3, float t4, float t5, float t6, float t7)
{
#if defined(RTABMAP_ARCORE) || defined(__APPLE__)
	boost::mutex::scoped_lock  lock(cameraMutex_);
	if(cameraDriver_ == 3 && camera_)
	{
		if(rgb_fx > 0.0f && rgb_fy > 0.0f && rgb_cx > 0.0f && rgb_cy > 0.0f && stamp > 0.0f && yPlane && vPlane && yPlaneLen == rgbWidth*rgbHeight)
		{
#ifndef DISABLE_LOG
            //LOGD("rgb format = %d depth format =%d ", rgbFormat, depthFormat);
#endif
#if defined(RTABMAP_ARCORE)
			if(rgbFormat == AR_IMAGE_FORMAT_YUV_420_888 &&
			   (depth==0 || depthFormat == AIMAGE_FORMAT_DEPTH16))
#else //__APPLE__
            if(rgbFormat == 875704422 &&
               (depth==0 || depthFormat == 1717855600))
#endif
			{
				cv::Mat outputRGB;
#ifndef DISABLE_LOG
				//LOGD("y=%p u=%p v=%p yLen=%d y->v=%ld", yPlane, uPlane, vPlane, yPlaneLen,  (long)vPlane-(long)yPlane);
#endif
				if((long)vPlane-(long)yPlane != yPlaneLen)
				{
					// The uv-plane is not concatenated to y plane in memory, so concatenate them
					cv::Mat yuv(rgbHeight+rgbHeight/2, rgbWidth, CV_8UC1);
					memcpy(yuv.data, yPlane, yPlaneLen);
					memcpy(yuv.data+yPlaneLen, vPlane, rgbHeight/2*rgbWidth);
					cv::cvtColor(yuv, outputRGB, cv::COLOR_YUV2BGR_NV21);
				}
				else
				{
#ifdef __ANDROID__
					cv::cvtColor(cv::Mat(rgbHeight+rgbHeight/2, rgbWidth, CV_8UC1, (void*)yPlane), outputRGB, cv::COLOR_YUV2BGR_NV21);
#else // __APPLE__
					cv::cvtColor(cv::Mat(rgbHeight+rgbHeight/2, rgbWidth, CV_8UC1, (void*)yPlane), outputRGB, cv::COLOR_YUV2RGB_NV21);
#endif
				}


				cv::Mat outputDepth;
				if(depth && depthHeight>0 && depthWidth>0)
				{
#ifndef DISABLE_LOG
                    //LOGD("depth %dx%d len=%d", depthWidth, depthHeight, depthLen);
#endif
                    if(depthLen == 4*depthWidth*depthHeight)
                    {
                        // IOS
                        outputDepth = cv::Mat(depthHeight, depthWidth, CV_32FC1, (void*)depth).clone();
                        if(conf && confWidth == depthWidth && confHeight == depthHeight && confFormat == 1278226488 && depthConfidence_>0)
                        {
                            const unsigned char * confPtr = (const unsigned char *)conf;
                            float * depthPtr = outputDepth.ptr<float>();
                            int i=0;
                            for (int y = 0; y < outputDepth.rows; ++y)
                            {
                                for (int x = 0; x < outputDepth.cols; ++x)
                                {
                                    // https://developer.apple.com/documentation/arkit/arconfidencelevel
                                    // 0 = low
                                    // 1 = medium
                                    // 2 = high
                                    if(confPtr[y*outputDepth.cols + x] < depthConfidence_)
                                    {
                                        depthPtr[y*outputDepth.cols + x] = 0.0f;
                                        ++i;
                                    }
                                }
                            }
                        }
                    }
                    else if(depthLen == 2*depthWidth*depthHeight)
                    {
                        // ANDROID
                        outputDepth = cv::Mat(depthHeight, depthWidth, CV_16UC1);
                        uint16_t *dataShort = (uint16_t *)depth;
                        for (int y = 0; y < outputDepth.rows; ++y)
                        {
                            for (int x = 0; x < outputDepth.cols; ++x)
                            {
                                uint16_t depthSample = dataShort[y*outputDepth.cols + x];
                                uint16_t depthRange = (depthSample & 0x1FFF); // first 3 bits are confidence
                                outputDepth.at<uint16_t>(y,x) = depthRange;
                            }
                        }
                    }
				}

				if(!outputRGB.empty())
				{
					pose = rtabmap::rtabmap_world_T_opengl_world * pose * rtabmap::opengl_world_T_rtabmap_world;

					// Registration depth to rgb
					if(!outputDepth.empty() && !depthFrame.isNull() && depth_fx!=0 && (rgbFrame != depthFrame || depthStamp!=stamp))
					{
						UTimer time;
						rtabmap::Transform motion = rtabmap::Transform::getIdentity();
						if(depthStamp != stamp && !poseBuffer_.empty())
						{
							// Interpolate pose
							if(!poseBuffer_.empty())
							{
								if(poseBuffer_.rbegin()->first < depthStamp)
								{
									UWARN("Could not find poses to interpolate at time %f (last is %f)...", depthStamp, poseBuffer_.rbegin()->first);
								}
								else
								{
									std::map<double, rtabmap::Transform >::const_iterator iterB = poseBuffer_.lower_bound(depthStamp);
									std::map<double, rtabmap::Transform >::const_iterator iterA = iterB;
									rtabmap::Transform poseDepth;
									if(iterA != poseBuffer_.begin())
									{
										iterA = --iterA;
									}
									if(iterB == poseBuffer_.end())
									{
										iterB = --iterB;
									}
									if(iterA == iterB && depthStamp == iterA->first)
									{
										poseDepth = iterA->second;
									}
									else if(depthStamp >= iterA->first && depthStamp <= iterB->first)
									{
										poseDepth = iterA->second.interpolate((depthStamp-iterA->first) / (iterB->first-iterA->first), iterB->second);
									}
									else if(depthStamp < iterA->first)
									{
										UERROR("Could not find poses to interpolate at image time %f (earliest is %f). Are sensors synchronized?", depthStamp, iterA->first);
									}
									else
									{
										UERROR("Could not find poses to interpolate at image time %f (between %f and %f), Are sensors synchronized?", depthStamp, iterA->first, iterB->first);
									}
									if(!poseDepth.isNull())
									{
#ifndef DISABLE_LOG
										UDEBUG("poseRGB  =%s (stamp=%f)", pose.prettyPrint().c_str(), depthStamp);
										UDEBUG("poseDepth=%s (stamp=%f)", poseDepth.prettyPrint().c_str(), depthStamp);
#endif
										motion = pose.inverse()*poseDepth;
										// transform in camera frame
#ifndef DISABLE_LOG
										UDEBUG("motion=%s", motion.prettyPrint().c_str());
#endif
										motion = rtabmap::CameraModel::opticalRotation().inverse() * motion * rtabmap::CameraModel::opticalRotation();
#ifndef DISABLE_LOG
										UDEBUG("motion=%s", motion.prettyPrint().c_str());
#endif
									}
								}
							}
						}
						rtabmap::Transform rgbToDepth = motion*rgbFrame.inverse()*depthFrame;
						float scale = (float)outputDepth.cols/(float)outputRGB.cols;
						cv::Mat colorK = (cv::Mat_<double>(3,3) <<
								rgb_fx*scale, 0, rgb_cx*scale,
								0, rgb_fy*scale, rgb_cy*scale,
								0, 0, 1);
						cv::Mat depthK = (cv::Mat_<double>(3,3) <<
								depth_fx, 0, depth_cx,
								0, depth_fy, depth_cy,
								0, 0, 1);
						outputDepth = rtabmap::util2d::registerDepth(outputDepth, depthK, outputDepth.size(), colorK, rgbToDepth);
#ifndef DISABLE_LOG
						UDEBUG("Depth registration time: %fs", time.elapsed());
#endif
					}

					rtabmap::CameraModel model = rtabmap::CameraModel(rgb_fx, rgb_fy, rgb_cx, rgb_cy, camera_->getDeviceTColorCamera(), 0, cv::Size(rgbWidth, rgbHeight));
#ifndef DISABLE_LOG
					//LOGI("pointCloudData size=%d", pointsLen);
#endif
                    if(!fullResolution_)
                    {
                        outputRGB = rtabmap::util2d::decimate(outputRGB, 2);
                        model = model.scaled(1.0/double(2));
                    }
                    
					std::vector<cv::KeyPoint> kpts;
					std::vector<cv::Point3f> kpts3;
					rtabmap::LaserScan scan;
					if(points && pointsLen>0)
					{
                        cv::Mat pointsMat(1, pointsLen, CV_32FC(pointsChannels), (void*)points);
						if(outputDepth.empty())
						{
                            int kptsSize = fullResolution_ ? 12 : 6;
							scan = rtabmap::CameraMobile::scanFromPointCloudData(pointsMat, pointsLen, pose, model, outputRGB, &kpts, &kpts3, kptsSize);
						}
						else
						{
							// We will recompute features if depth is available
							scan = rtabmap::CameraMobile::scanFromPointCloudData(pointsMat, pointsLen, pose, model, outputRGB);
						}
					}
                    
                    if(!outputDepth.empty())
                    {
                    	rtabmap::Transform poseWithOriginOffset = pose;
                    	if(!camera_->getOriginOffset().isNull())
                    	{
                    		poseWithOriginOffset = camera_->getOriginOffset() * pose;
                    	}
                        rtabmap::CameraModel depthModel = model.scaled(float(outputDepth.cols) / float(model.imageWidth()));
                        depthModel.setLocalTransform(poseWithOriginOffset*model.localTransform());
                        camera_->setOcclusionImage(outputDepth, depthModel);
                    }
                    
					rtabmap::SensorData data(scan, outputRGB, outputDepth, model, 0, stamp);
					data.setFeatures(kpts,  kpts3, cv::Mat());
                    glm::mat4 projectionMatrix(0);
                    projectionMatrix[0][0] = p00;
                    projectionMatrix[1][1] = p11;
                    projectionMatrix[2][0] = p02;
                    projectionMatrix[2][1] = p12;
                    projectionMatrix[2][2] = p22;
                    projectionMatrix[2][3] = p32;
                    projectionMatrix[3][2] = p23;
                    glm::mat4 viewMatrixMat = rtabmap::glmFromTransform(viewMatrix);
                    float texCoords[8];
                    texCoords[0] = t0;
                    texCoords[1] = t1;
                    texCoords[2] = t2;
                    texCoords[3] = t3;
                    texCoords[4] = t4;
                    texCoords[5] = t5;
                    texCoords[6] = t6;
                    texCoords[7] = t7;
					camera_->setData(data, pose, viewMatrixMat, projectionMatrix, main_scene_.GetCameraType() == tango_gl::GestureCamera::kFirstPerson?texCoords:0);
					camera_->spinOnce();
				}
			}
		}
		else
		{
			UERROR("Missing image information! fx=%f fy=%f cx=%f cy=%f stamp=%f yPlane=%d vPlane=%d yPlaneLen=%d rgbWidth=%d rgbHeight=%d",
                   rgb_fx, rgb_fy, rgb_cx, rgb_cy, stamp, yPlane?1:0, vPlane?1:0, yPlaneLen, rgbWidth, rgbHeight);
		}
	}
#else
	UERROR("Not built with ARCore or iOS!");
#endif
}

bool RTABMapApp::handleEvent(UEvent * event)
{
	if(camera_!=0)
	{
		// called from events manager thread, so protect the data
		if(event->getClassName().compare("OdometryEvent") == 0)
		{
			LOGI("Received OdometryEvent!");
			if(odomMutex_.try_lock())
			{
				odomEvents_.clear();
				odomEvents_.push_back(*((rtabmap::OdometryEvent*)(event)));
				odomMutex_.unlock();
			}
		}
		if(event->getClassName().compare("RtabmapEvent") == 0)
		{
			LOGI("Received RtabmapEvent event! status=%d", status_.first);
			if(status_.first == rtabmap::RtabmapEventInit::kInitialized)
			{
				boost::mutex::scoped_lock lock(rtabmapMutex_);
				rtabmapEvents_.push_back((rtabmap::RtabmapEvent*)event);
				return true;
			}
			else
			{
				LOGW("Received RtabmapEvent event but ignoring it while we are initializing...status=%d", status_.first);
			}
		}
	}

	if(event->getClassName().compare("PoseEvent") == 0)
	{
		if(poseMutex_.try_lock())
		{
			poseEvents_.clear();
			poseEvents_.push_back(((rtabmap::PoseEvent*)event)->pose());
			poseMutex_.unlock();
		}
	}

	if(event->getClassName().compare("CameraInfoEvent") == 0)
	{
		rtabmap::CameraInfoEvent * tangoEvent = (rtabmap::CameraInfoEvent*)event;

		// Call JAVA callback with tango event msg
		bool success = false;
#ifdef __ANDROID__
		if(jvm && RTABMapActivity)
		{
			JNIEnv *env = 0;
			jint rs = jvm->AttachCurrentThread(&env, NULL);
			if(rs == JNI_OK && env)
			{
				jclass clazz = env->GetObjectClass(RTABMapActivity);
				if(clazz)
				{
					jmethodID methodID = env->GetMethodID(clazz, "cameraEventCallback", "(ILjava/lang/String;Ljava/lang/String;)V" );
					if(methodID)
					{
						env->CallVoidMethod(RTABMapActivity, methodID,
								tangoEvent->type(),
								env->NewStringUTF(tangoEvent->key().c_str()),
								env->NewStringUTF(tangoEvent->value().c_str()));
						success = true;
					}
				}
			}
			jvm->DetachCurrentThread();
		}
#endif
		if(!success)
		{
			UERROR("Failed to call RTABMapActivity::tangoEventCallback");
		}
	}

	if(event->getClassName().compare("RtabmapEventInit") == 0)
	{
		status_.first = ((rtabmap::RtabmapEventInit*)event)->getStatus();
		status_.second = ((rtabmap::RtabmapEventInit*)event)->getInfo();
		LOGI("Received RtabmapEventInit! Status=%d info=%s", (int)status_.first, status_.second.c_str());

		// Call JAVA callback with init msg
		bool success = false;
#ifdef __ANDROID__
		if(jvm && RTABMapActivity)
		{
			JNIEnv *env = 0;
			jint rs = jvm->AttachCurrentThread(&env, NULL);
			if(rs == JNI_OK && env)
			{
				jclass clazz = env->GetObjectClass(RTABMapActivity);
				if(clazz)
				{
					jmethodID methodID = env->GetMethodID(clazz, "rtabmapInitEventCallback", "(ILjava/lang/String;)V" );
					if(methodID)
					{
						env->CallVoidMethod(RTABMapActivity, methodID,
								status_.first,
								env->NewStringUTF(status_.second.c_str()));
						success = true;
					}
				}
			}
			jvm->DetachCurrentThread();
		}
#else
        if(swiftClassPtr_)
        {
            std::function<void()> actualCallback = [&](){
                swiftInitCallback(swiftClassPtr_, status_.first, status_.second.c_str());
            };
            actualCallback();
            success = true;
        }
#endif
		if(!success)
		{
			UERROR("Failed to call RTABMapActivity::rtabmapInitEventsCallback");
		}
	}

	if(event->getClassName().compare("PostRenderEvent") == 0)
	{
		LOGI("Received PostRenderEvent!");

		int loopClosureId = 0;
		int featuresExtracted = 0;
		if(((PostRenderEvent*)event)->getRtabmapEvent())
		{
            LOGI("Received PostRenderEvent! has getRtabmapEvent");
            
			const rtabmap::Statistics & stats = ((PostRenderEvent*)event)->getRtabmapEvent()->getStats();
			loopClosureId = stats.loopClosureId()>0?stats.loopClosureId():stats.proximityDetectionId()>0?stats.proximityDetectionId():0;
			featuresExtracted = stats.getLastSignatureData().getWords().size();

			uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryWorking_memory_size(), uValue(stats.data(), rtabmap::Statistics::kMemoryWorking_memory_size(), 0.0f)));
			uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryShort_time_memory_size(), uValue(stats.data(), rtabmap::Statistics::kMemoryShort_time_memory_size(), 0.0f)));
			uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kKeypointDictionary_size(), uValue(stats.data(), rtabmap::Statistics::kKeypointDictionary_size(), 0.0f)));
			uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kTimingTotal(), uValue(stats.data(), rtabmap::Statistics::kTimingTotal(), 0.0f)));
			uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopHighest_hypothesis_id(), uValue(stats.data(), rtabmap::Statistics::kLoopHighest_hypothesis_id(), 0.0f)));
			uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryDatabase_memory_used(), uValue(stats.data(), rtabmap::Statistics::kMemoryDatabase_memory_used(), 0.0f)));
			uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopVisual_inliers(), uValue(stats.data(), rtabmap::Statistics::kLoopVisual_inliers(), 0.0f)));
			uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopVisual_matches(), uValue(stats.data(), rtabmap::Statistics::kLoopVisual_matches(), 0.0f)));
			uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopRejectedHypothesis(), uValue(stats.data(), rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f)));
			uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopOptimization_max_error(), uValue(stats.data(), rtabmap::Statistics::kLoopOptimization_max_error(), 0.0f)));
			uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopOptimization_max_error_ratio(), uValue(stats.data(), rtabmap::Statistics::kLoopOptimization_max_error_ratio(), 0.0f)));
			uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryRehearsal_sim(), uValue(stats.data(), rtabmap::Statistics::kMemoryRehearsal_sim(), 0.0f)));
			uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopHighest_hypothesis_value(), uValue(stats.data(), rtabmap::Statistics::kLoopHighest_hypothesis_value(), 0.0f)));
			uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryDistance_travelled(), uValue(stats.data(), rtabmap::Statistics::kMemoryDistance_travelled(), 0.0f)));
			uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kMemoryFast_movement(), uValue(stats.data(), rtabmap::Statistics::kMemoryFast_movement(), 0.0f)));
			uInsert(bufferedStatsData_, std::make_pair<std::string, float>(rtabmap::Statistics::kLoopLandmark_detected(), uValue(stats.data(), rtabmap::Statistics::kLoopLandmark_detected(), 0.0f)));
		}
		// else use last data

		int nodes = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryWorking_memory_size(), 0.0f) +
				uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryShort_time_memory_size(), 0.0f);
		int words = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kKeypointDictionary_size(), 0.0f);
		float updateTime = uValue(bufferedStatsData_, rtabmap::Statistics::kTimingTotal(), 0.0f);
		int highestHypId = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kLoopHighest_hypothesis_id(), 0.0f);
		int databaseMemoryUsed = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryDatabase_memory_used(), 0.0f);
		int inliers = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kLoopVisual_inliers(), 0.0f);
		int matches = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kLoopVisual_matches(), 0.0f);
		int rejected = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kLoopRejectedHypothesis(), 0.0f);
		float optimizationMaxError = uValue(bufferedStatsData_, rtabmap::Statistics::kLoopOptimization_max_error(), 0.0f);
		float optimizationMaxErrorRatio = uValue(bufferedStatsData_, rtabmap::Statistics::kLoopOptimization_max_error_ratio(), 0.0f);
		float rehearsalValue = uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryRehearsal_sim(), 0.0f);
		float hypothesis = uValue(bufferedStatsData_, rtabmap::Statistics::kLoopHighest_hypothesis_value(), 0.0f);
		float distanceTravelled = uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryDistance_travelled(), 0.0f);
		int fastMovement = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kMemoryFast_movement(), 0.0f);
		int landmarkDetected = (int)uValue(bufferedStatsData_, rtabmap::Statistics::kLoopLandmark_detected(), 0.0f);
		rtabmap::Transform currentPose = main_scene_.GetCameraPose();
		float x=0.0f,y=0.0f,z=0.0f,roll=0.0f,pitch=0.0f,yaw=0.0f;
		if(!currentPose.isNull())
		{
			currentPose.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
		}

		// Call JAVA callback with some stats
		UINFO("Send statistics to GUI");
		bool success = false;
#ifdef __ANDROID__
		if(jvm && RTABMapActivity)
		{
			JNIEnv *env = 0;
			jint rs = jvm->AttachCurrentThread(&env, NULL);
			if(rs == JNI_OK && env)
			{
				jclass clazz = env->GetObjectClass(RTABMapActivity);
				if(clazz)
				{
					jmethodID methodID = env->GetMethodID(clazz, "updateStatsCallback", "(IIIIFIIIIIIFIFIFFFFIIFFFFFF)V" );
					if(methodID)
					{
						env->CallVoidMethod(RTABMapActivity, methodID,
								nodes,
								words,
								totalPoints_,
								totalPolygons_,
								updateTime,
								loopClosureId,
								highestHypId,
								databaseMemoryUsed,
								inliers,
								matches,
								featuresExtracted,
								hypothesis,
								lastDrawnCloudsCount_,
								renderingTime_>0.0f?1.0f/renderingTime_:0.0f,
								rejected,
								rehearsalValue,
								optimizationMaxError,
								optimizationMaxErrorRatio,
								distanceTravelled,
								fastMovement,
								landmarkDetected,
								x,
								y,
								z,
								roll,
								pitch,
								yaw);
						success = true;
					}
				}
			}
			jvm->DetachCurrentThread();
		}
#else // __APPLE__
        if(swiftClassPtr_)
        {
            std::function<void()> actualCallback = [&](){
                swiftStatsUpdatedCallback(swiftClassPtr_,
                                          nodes,
                                          words,
                                          totalPoints_,
                                          totalPolygons_,
                                          updateTime,
                                          loopClosureId,
                                          highestHypId,
                                          databaseMemoryUsed,
                                          inliers,
                                          matches,
                                          featuresExtracted,
                                          hypothesis,
                                          lastDrawnCloudsCount_,
                                          renderingTime_>0.0f?1.0f/renderingTime_:0.0f,
                                          rejected,
                                          rehearsalValue,
                                          optimizationMaxError,
                                          optimizationMaxErrorRatio,
                                          distanceTravelled,
                                          fastMovement,
                                          landmarkDetected,
                                          x,
                                          y,
                                          z,
                                          roll,
                                          pitch,
                                          yaw);
            };
            actualCallback();
            success = true;
        }
#endif
		if(!success)
		{
			UERROR("Failed to call RTABMapActivity::updateStatsCallback");
		}
		renderingTime_ = 0.0f;
	}
	return false;
}

