RTABMapActivity.java

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package com.introlab.rtabmap;

import java.io.File;
import java.io.FileInputStream;
import java.io.FileNotFoundException;
import java.io.FileOutputStream;
import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.lang.reflect.InvocationTargetException;
import java.lang.reflect.Method;
import java.text.SimpleDateFormat;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Date;
import java.util.HashMap;
import java.util.Timer;
import java.util.TimerTask;

import android.Manifest;
import android.app.ActivityManager;
import android.app.ActivityManager.MemoryInfo;
import android.app.AlertDialog;
import android.app.Notification;
import android.app.NotificationManager;
import android.app.PendingIntent;
import android.app.ProgressDialog;
import android.content.ComponentName;
import android.content.ContentResolver;
import android.content.ContentValues;
import android.content.Context;
import android.content.DialogInterface;
import android.content.DialogInterface.OnShowListener;
import android.content.Intent;
import android.content.ServiceConnection;
import android.content.SharedPreferences;
import android.content.pm.ApplicationInfo;
import android.content.pm.PackageInfo;
import android.content.pm.PackageManager;
import android.content.pm.PackageManager.NameNotFoundException;
import android.database.Cursor;
import android.hardware.Camera;
import android.hardware.Sensor;
import android.hardware.SensorEvent;
import android.hardware.SensorEventListener;
import android.hardware.SensorManager;
import android.graphics.Matrix;
import android.graphics.Point;
import android.hardware.display.DisplayManager;
import android.location.Location;
import android.location.LocationListener;
import android.location.LocationManager;
import android.media.MediaScannerConnection;
import android.net.Uri;
import android.net.wifi.WifiInfo;
import android.net.wifi.WifiManager;
import android.opengl.GLSurfaceView;
import android.os.Bundle;
import android.os.Environment;
import android.os.Handler;
import android.os.IBinder;
import android.os.Message;
import android.preference.PreferenceManager;
import android.provider.MediaStore;
import android.provider.OpenableColumns;
import android.support.v4.app.FragmentActivity;
import android.support.v4.content.FileProvider;
import android.text.InputType;
import android.util.Log;
import android.util.TypedValue;
import android.view.ContextMenu;
import android.view.Display;
import android.view.GestureDetector;
import android.view.Menu;
import android.view.MenuItem;
import android.view.MenuItem.OnMenuItemClickListener;
import android.view.MenuInflater;
import android.view.MotionEvent;
import android.view.View;
import android.view.ContextMenu.ContextMenuInfo;
import android.view.View.OnClickListener;
import android.view.View.OnCreateContextMenuListener;
import android.view.View.OnTouchListener;
import android.view.WindowManager;
import android.view.inputmethod.EditorInfo;
import android.widget.AdapterView;
import android.widget.AdapterView.OnItemSelectedListener;
import android.widget.ArrayAdapter;
import android.widget.Button;
import android.widget.EditText;
import android.widget.ImageButton;
import android.widget.ListView;
import android.widget.NumberPicker;
import android.widget.RelativeLayout;
import android.widget.SeekBar;
import android.widget.SeekBar.OnSeekBarChangeListener;
import android.widget.Toast;
import android.widget.ToggleButton;

import com.google.ar.core.ArCoreApk;
import com.google.atap.tangoservice.Tango;
import com.huawei.hiar.AREnginesApk;


// The main activity of the application. This activity shows debug information
// and a glSurfaceView that renders graphic content.
public class RTABMapActivity extends FragmentActivity implements OnClickListener, OnItemSelectedListener, SensorEventListener {

        // Opaque native pointer to the native application instance.
        public static long nativeApplication;

        // Tag for debug logging.
        public static final String TAG = RTABMapActivity.class.getSimpleName();
        public static boolean DISABLE_LOG = false;

        // The minimum Tango Core version required from this application.
        private static final int  MIN_TANGO_CORE_VERSION = 9377;

        // The package name of Tang Core, used for checking minimum Tango Core version.
        private static final String TANGO_PACKAGE_NAME = "com.google.tango";

        public static final String EXTRA_KEY_PERMISSIONTYPE = "PERMISSIONTYPE";
        public static final String EXTRA_VALUE_ADF = "ADF_LOAD_SAVE_PERMISSION";

        public static final String RTABMAP_TMP_DB = "rtabmap.tmp.db";
        public static final String RTABMAP_TMP_DIR = "tmp";
        public static final String RTABMAP_TMP_FILENAME = "map";
        public static final String RTABMAP_SDCARD_PATH = "/Internal storage/";
        public static final String RTABMAP_EXPORT_DIR = "Export/";

        public static final String RTABMAP_AUTH_TOKEN_KEY = "com.introlab.rtabmap.AUTH_TOKEN";
        public static final String RTABMAP_FILENAME_KEY = "com.introlab.rtabmap.FILENAME";
        public static final String RTABMAP_OPENED_DB_PATH_KEY = "com.introlab.rtabmap.OPENED_DB_PATH";
        public static final String RTABMAP_WORKING_DIR_KEY = "com.introlab.rtabmap.WORKING_DIR";
        public static final int SKETCHFAB_ACTIVITY_CODE = 999;
        private String mAuthToken;

        public static final long NOTOUCH_TIMEOUT = 5000; // 5 sec
        private boolean mHudVisible = true;
        private int mSavedRenderingType = 0;
        private boolean mMenuOpened = false;
        private long mSavedStamp = 0;

        // UI states
        private static enum State {
                STATE_WELCOME,         // Camera/Motion off - showing only buttons open and start new scan
                STATE_CAMERA, // Camera/Motion on - not mapping
                STATE_MAPPING,         // Camera/Motion on - mapping
                STATE_IDLE,            // Camera/Motion off
                STATE_PROCESSING,      // Camera/Motion off - post processing
                STATE_VISUALIZING,     // Camera/Motion off - Showing optimized mesh
                STATE_VISUALIZING_CAMERA,     // Camera/Motion on  - Showing optimized mesh
                STATE_VISUALIZING_WHILE_LOADING // Camera/Motion off - Loading data while showing optimized mesh
        }
        State mState = State.STATE_WELCOME;

        // GLSurfaceView and renderer, all of the graphic content is rendered
        // through OpenGL ES 2.0 in native code.
        private Renderer mRenderer = null;
        private GLSurfaceView mGLView;

        View mDecorView;
        int mStatusBarHeight = 0;
        int mActionBarHeight = 0;

        ProgressDialog mProgressDialog;
        ProgressDialog mExportProgressDialog;

        // Screen size for normalizing the touch input for orbiting the render camera.
        private Point mScreenSize = new Point();
        private Date mBackClickedTime = new Date();
        private long mOnPauseStamp = 0;
        private boolean mOnPause = false;
        private Date mDateOnPause = new Date();
        private long mLastFastMovementNotificationStamp = 0;
        private long mFreeMemoryOnStart = 0;

        private MenuItem mItemSave;
        private MenuItem mItemOpen;
        private MenuItem mItemNewScan;
        private MenuItem mItemPostProcessing;
        private MenuItem mItemExport;
        private MenuItem mItemSettings;
        private MenuItem mItemModes;
        private MenuItem mItemResume;
        private MenuItem mItemLocalizationMode;
        private MenuItem mItemTrajectoryMode;
        private MenuItem mItemRenderingPointCloud;
        private MenuItem mItemRenderingMesh;
        private MenuItem mItemRenderingTextureMesh;
        private MenuItem mItemDataRecorderMode;
        private MenuItem mItemStatusVisibility;
        private MenuItem mItemDebugVisibility;

        private NDSpinner mButtonCameraView;
        private ImageButton mButtonStart;
        private ImageButton mButtonStop;
        private ToggleButton mButtonLighting;
        private ToggleButton mButtonWireframe;
        private ToggleButton mButtonBackfaceShown;
        private Button mButtonCloseVisualization;
        private Button mButtonSaveOnDevice;
        private Button mButtonShareOnSketchfab;
        private Button mButtonLibrary;
        private Button mButtonNewScan;
        private SeekBar mSeekBarOrthoCut;
        private SeekBar mSeekBarGrid;

        private String mOpenedDatabasePath = "";
        private String mWorkingDirectory = "";
        private String mWorkingDirectoryHuman = "";

        private String mUpdateRate;
        private String mTimeThr;
        private String mMaxFeatures;
        private String mLoopThr;
        private String mMinInliers;
        private String mMaxOptimizationError;
        private boolean mGPSSaved = false;
        private boolean mEnvSensorsSaved = false;
        private boolean mIsARCoreAvailable = false;
        private boolean mIsAREngineAvailable = false;

        private LocationManager mLocationManager;
        private LocationListener mLocationListener;
        private Location mLastKnownLocation;
        private SensorManager mSensorManager;
        private WifiManager mWifiManager;
        private Timer mEnvSensorsTimer = new Timer();
        Sensor mAccelerometer;
        Sensor mMagnetometer;
        Sensor mAmbientTemperature;
        Sensor mAmbientLight;
        Sensor mAmbientAirPressure;
        Sensor mAmbientRelativeHumidity;
        private float mCompassDeg = 0.0f;
        private float[] mLastEnvSensors = new float[5];
        private boolean[] mLastEnvSensorsSet = new boolean[5];

        private float[] mLastAccelerometer = new float[3];
        private float[] mLastMagnetometer = new float[3];
        private boolean mLastAccelerometerSet = false;
        private boolean mLastMagnetometerSet = false;

        private Matrix mDeviceToCamera = new Matrix();
        private Matrix mRMat = new Matrix();
        private Matrix mNewR = new Matrix();
        private float[] mR = new float[9];
        private float[] mOrientation = new float[3];

        private int mTotalLoopClosures = 0;
        int mMapNodes = 0;

        private Toast mToast = null;

        private AlertDialog mMemoryWarningDialog = null;

        private final int STATUS_TEXTS_SIZE = 20;
        private final int STATUS_TEXTS_POSE_INDEX = 6;
        private String[] mStatusTexts = new String[STATUS_TEXTS_SIZE];

        GestureDetector mGesDetect = null;

        ARCoreSharedCamera mArCoreCamera = null;
        int mCameraDriver = 0;
        
        private String mIntentDbToOpen = null;

        //Tango Service connection.
        boolean mCameraServiceConnectionUsed = false; 
        ServiceConnection mCameraServiceConnection = new ServiceConnection() {
                public void onServiceConnected(ComponentName name, final IBinder service) {
                        Thread bindThread = new Thread(new Runnable() {
                                public void run() {
                                        final boolean cameraStartSucess = RTABMapLib.startCamera(nativeApplication, service, getApplicationContext(), getActivity(), mCameraDriver);
                                        runOnUiThread(new Runnable() {
                                                public void run() {
                                                        mProgressDialog.dismiss();
                                                        if(!cameraStartSucess)
                                                        {
                                                                mToast.makeText(getApplicationContext(), 
                                                                                String.format("Failed to intialize Tango camera! RTAB-Map may not be built with Tango support."), mToast.LENGTH_LONG).show();
                                                                if(mCameraServiceConnectionUsed)
                                                                {
                                                                        if(!DISABLE_LOG) Log.i(TAG, String.format("unbindService"));
                                                                        getActivity().unbindService(mCameraServiceConnection);
                                                                }
                                                                mCameraServiceConnectionUsed = false;
                                                        }
                                                        else
                                                        {
                                                                updateState(mState==State.STATE_VISUALIZING?State.STATE_VISUALIZING_CAMERA:State.STATE_CAMERA);
                                                                if(mState==State.STATE_VISUALIZING_CAMERA && mItemLocalizationMode.isChecked())
                                                                {
                                                                        RTABMapLib.setPausedMapping(nativeApplication, false);
                                                                }
                                                        }
                                                } 
                                        });
                                }
                        });
                        bindThread.start();
                }

                public void onServiceDisconnected(ComponentName name) {
                        // Handle this if you need to gracefully shutdown/retry
                        // in the event that Tango itself crashes/gets upgraded while running.
                        mToast.makeText(getApplicationContext(), 
                                        String.format("Tango disconnected!"), mToast.LENGTH_LONG).show();
                }
        };

        @Override
        protected void onCreate(Bundle savedInstanceState) {
                super.onCreate(savedInstanceState);
                setTitle(R.string.menu_name);

                nativeApplication = RTABMapLib.createNativeApplication(this);

                mFreeMemoryOnStart = getFreeMemory();

                // Query screen size, the screen size is used for computing the normalized
                // touch point.
                Display display = getWindowManager().getDefaultDisplay();
                display.getSize(mScreenSize);

                getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
                getWindow().addFlags(WindowManager.LayoutParams.FLAG_TRANSLUCENT_STATUS);

                // Setting content view of this activity.
                setContentView(R.layout.activity_rtabmap);

                // Make sure to initialize all default values
                SettingsActivity settings;

                mDecorView = getWindow().getDecorView();
                mStatusBarHeight = getStatusBarHeight();
                mActionBarHeight = getActionBarHeight();

                // Buttons for selecting camera view and Set up button click listeners.
                mButtonCameraView = (NDSpinner)findViewById(R.id.camera_button);
                mButtonStart = (ImageButton)findViewById(R.id.start_button);
                mButtonStop = (ImageButton)findViewById(R.id.stop_button);
                mButtonLighting = (ToggleButton)findViewById(R.id.light_button);
                mButtonWireframe = (ToggleButton)findViewById(R.id.wireframe_button);
                mButtonBackfaceShown = (ToggleButton)findViewById(R.id.backface_button);
                mButtonCloseVisualization = (Button)findViewById(R.id.close_visualization_button);
                mButtonSaveOnDevice = (Button)findViewById(R.id.button_saveOnDevice);
                mButtonShareOnSketchfab = (Button)findViewById(R.id.button_shareToSketchfab);
                mButtonLibrary = (Button)findViewById(R.id.button_library);
                mButtonNewScan = (Button)findViewById(R.id.button_new_scan);
                mButtonCameraView.setOnItemSelectedListener(this);
                mButtonStart.setOnClickListener(this);
                mButtonStop.setOnClickListener(this);
                mButtonLighting.setOnClickListener(this);
                mButtonWireframe.setOnClickListener(this);
                mButtonBackfaceShown.setOnClickListener(this);
                mButtonCloseVisualization.setOnClickListener(this);
                mButtonSaveOnDevice.setOnClickListener(this);
                mButtonShareOnSketchfab.setOnClickListener(this);
                mButtonLibrary.setOnClickListener(this);
                mButtonNewScan.setOnClickListener(this);
                mButtonLighting.setChecked(false);
                mButtonLighting.setVisibility(View.INVISIBLE);
                mButtonWireframe.setChecked(false);
                mButtonWireframe.setVisibility(View.INVISIBLE);
                mButtonCloseVisualization.setVisibility(View.INVISIBLE);
                mButtonSaveOnDevice.setVisibility(View.INVISIBLE);
                mButtonShareOnSketchfab.setVisibility(View.INVISIBLE);
                mButtonLibrary.setVisibility(View.INVISIBLE);
                mButtonNewScan.setVisibility(View.INVISIBLE);
                if(mItemRenderingMesh != null && mItemRenderingTextureMesh != null)
                {
                        mButtonBackfaceShown.setVisibility(mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked()?View.VISIBLE:View.INVISIBLE);
                }

                ArrayAdapter<CharSequence> adapter = ArrayAdapter.createFromResource(this, R.array.camera_view_array, android.R.layout.simple_spinner_item);
                adapter.setDropDownViewResource(android.R.layout.simple_spinner_dropdown_item);
                mButtonCameraView.setAdapter(adapter);
                mButtonCameraView.setOnTouchListener(new OnTouchListener() {
                        @Override
                        public boolean onTouch(View v, MotionEvent event) {
                                resetNoTouchTimer();
                                return false;
                        }
                });

                mSeekBarOrthoCut = (SeekBar)findViewById(R.id.seekBar_ortho_cut);
                mSeekBarOrthoCut.setMax(120);
                mSeekBarOrthoCut.setProgress(80);
                mSeekBarOrthoCut.setOnSeekBarChangeListener(new OnSeekBarChangeListener() {
                        @Override
                        public void onProgressChanged(SeekBar seekBar, int progressValue, boolean fromUser) {
                                RTABMapLib.setOrthoCropFactor(nativeApplication, (float)(120-progressValue)/20.0f - 3.0f);
                                resetNoTouchTimer();
                        }

                        @Override
                        public void onStartTrackingTouch(SeekBar seekBar) {
                        }

                        @Override
                        public void onStopTrackingTouch(SeekBar seekBar) {
                        }
                });

                mSeekBarGrid = (SeekBar)findViewById(R.id.seekBar_grid);
                mSeekBarGrid.setMax(180);
                mSeekBarGrid.setProgress(90);
                mSeekBarGrid.setOnSeekBarChangeListener(new OnSeekBarChangeListener() {
                        @Override
                        public void onProgressChanged(SeekBar seekBar, int progressValue, boolean fromUser) {
                                RTABMapLib.setGridRotation(nativeApplication, ((float)progressValue-90.0f)/2.0f);
                                resetNoTouchTimer();
                        }

                        @Override
                        public void onStartTrackingTouch(SeekBar seekBar) {
                        }

                        @Override
                        public void onStopTrackingTouch(SeekBar seekBar) {
                        }
                });

                mToast = Toast.makeText(getApplicationContext(), "", Toast.LENGTH_SHORT);

                // OpenGL view where all of the graphics are drawn.
                mGLView = (GLSurfaceView) findViewById(R.id.gl_surface_view);

                mGesDetect = new GestureDetector(this, new DoubleTapGestureDetector());

                // Configure OpenGL renderer
                mGLView.setEGLContextClientVersion(2);
                mGLView.setEGLConfigChooser(8, 8, 8, 8, 24, 0);
                mGLView.setOnTouchListener(new OnTouchListener() {
                        @Override
                        public boolean onTouch(View v, MotionEvent event) {

                                resetNoTouchTimer(getActionBar().isShowing() && mHudVisible == false);

                                mGesDetect.onTouchEvent(event);

                                // Pass the touch event to the native layer for camera control.
                                // Single touch to rotate the camera around the device.
                                // Two fingers to zoom in and out.
                                int pointCount = event.getPointerCount();
                                if (pointCount == 1) {
                                        float normalizedX = event.getX(0) / mScreenSize.x;
                                        float normalizedY = event.getY(0) / mScreenSize.y;
                                        RTABMapLib.onTouchEvent(nativeApplication, 1, 
                                                        event.getActionMasked(), normalizedX, normalizedY, 0.0f, 0.0f);
                                }
                                if (pointCount == 2) {
                                        if (event.getActionMasked() == MotionEvent.ACTION_POINTER_UP) {
                                                int index = event.getActionIndex() == 0 ? 1 : 0;
                                                float normalizedX = event.getX(index) / mScreenSize.x;
                                                float normalizedY = event.getY(index) / mScreenSize.y;
                                                RTABMapLib.onTouchEvent(nativeApplication, 1, 
                                                                MotionEvent.ACTION_DOWN, normalizedX, normalizedY, 0.0f, 0.0f);
                                        } else {
                                                float normalizedX0 = event.getX(0) / mScreenSize.x;
                                                float normalizedY0 = event.getY(0) / mScreenSize.y;
                                                float normalizedX1 = event.getX(1) / mScreenSize.x;
                                                float normalizedY1 = event.getY(1) / mScreenSize.y;
                                                RTABMapLib.onTouchEvent(nativeApplication, 2, event.getActionMasked(),
                                                                normalizedX0, normalizedY0, normalizedX1, normalizedY1);
                                        }
                                }
                                return true;
                        }
                });

                // Configure the OpenGL renderer.
                mRenderer = new Renderer(this);
                mGLView.setRenderer(mRenderer);

                mProgressDialog = new ProgressDialog(this);
                mProgressDialog.setCanceledOnTouchOutside(false);
                mRenderer.setProgressDialog(mProgressDialog);
                mRenderer.setToast(mToast);
                setNavVisibility(true);

                mExportProgressDialog = new ProgressDialog(this);
                mExportProgressDialog.setCanceledOnTouchOutside(false);
                mExportProgressDialog.setCancelable(false);
                mExportProgressDialog.setProgressStyle(ProgressDialog.STYLE_HORIZONTAL);
                mExportProgressDialog.setProgressNumberFormat(null);
                mExportProgressDialog.setProgressPercentFormat(null);
                mExportProgressDialog.setButton(DialogInterface.BUTTON_NEGATIVE, "Cancel", new DialogInterface.OnClickListener() {
                        @Override
                        public void onClick(DialogInterface dialog, int which) {
                                RTABMapLib.cancelProcessing(nativeApplication);

                                mProgressDialog.setTitle("");
                                mProgressDialog.setMessage(String.format("Cancelling..."));
                                mProgressDialog.show();
                        }
                });

                mOpenedDatabasePath = "";
                mWorkingDirectory = "";
                mWorkingDirectoryHuman = "";
                mTotalLoopClosures = 0;
                mLastFastMovementNotificationStamp = System.currentTimeMillis()/1000;
                
                
                int targetSdkVersion= 0;
                try {
                ApplicationInfo app = this.getPackageManager().getApplicationInfo("com.introlab.rtabmap", 0);        
                targetSdkVersion = app.targetSdkVersion;
            } catch (NameNotFoundException e) {
                e.printStackTrace();
            }
        
                if(Environment.getExternalStorageState().compareTo(Environment.MEDIA_MOUNTED)==0 && 
                        (targetSdkVersion < 30 || getActivity().getExternalFilesDirs(null).length >=1))
                {
                        File extStore;
                        if(targetSdkVersion < 30)
                        {
                                extStore = Environment.getExternalStorageDirectory();
                        }
                        else // >= android30
                        {
                                extStore = getActivity().getExternalFilesDirs(null)[0];
                        }
                        
                        mWorkingDirectory = extStore.getAbsolutePath() + "/" + getString(R.string.app_name) + "/";
                        extStore = new File(mWorkingDirectory);
                        extStore.mkdirs();
                        mWorkingDirectoryHuman = RTABMAP_SDCARD_PATH + getString(R.string.app_name) + "/";
                }
                else
                {
                        // show warning that data cannot be saved!
                        mToast.makeText(getApplicationContext(), 
                                        String.format("Failed to get external storage path (state=%s). Saving disabled.", 
                                                        Environment.getExternalStorageState()), mToast.LENGTH_LONG).show();
                }

                DisplayManager displayManager = (DisplayManager) getSystemService(DISPLAY_SERVICE);
                if (displayManager != null) {
                        displayManager.registerDisplayListener(new DisplayManager.DisplayListener() {
                                @Override
                                public void onDisplayAdded(int displayId) {

                                }

                                @Override
                                public void onDisplayChanged(int displayId) {
                                        synchronized (this) {
                                                setAndroidOrientation();
                                                Display display = getWindowManager().getDefaultDisplay();
                                                display.getSize(mScreenSize);
                                        }
                                }

                                @Override
                                public void onDisplayRemoved(int displayId) {}
                        }, null);
                }

                // Acquire a reference to the system Location Manager
                mLocationManager = (LocationManager) this.getSystemService(Context.LOCATION_SERVICE);

                // Define a listener that responds to location updates
                mLocationListener = new LocationListener() {
                        public void onLocationChanged(Location location) {
                                mLastKnownLocation = location;
                                double stamp = location.getTime()/1000.0;
                                if(!DISABLE_LOG) Log.d(TAG, String.format("GPS received at %f (%d)", stamp, location.getTime()));
                                RTABMapLib.setGPS(
                                                nativeApplication, 
                                                stamp,
                                                (double)location.getLongitude(), 
                                                (double)location.getLatitude(), 
                                                (double)location.getAltitude(),  
                                                (double)location.getAccuracy(),
                                                (double)mCompassDeg);
                        }

                        public void onStatusChanged(String provider, int status, Bundle extras) {}

                        public void onProviderEnabled(String provider) {}

                        public void onProviderDisabled(String provider) {}
                };

                mSensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);
                mAccelerometer = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
                mMagnetometer = mSensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);
                mAmbientTemperature = mSensorManager.getDefaultSensor(Sensor.TYPE_AMBIENT_TEMPERATURE);
                mAmbientLight = mSensorManager.getDefaultSensor(Sensor.TYPE_LIGHT);
                mAmbientAirPressure = mSensorManager.getDefaultSensor(Sensor.TYPE_PRESSURE);
                mAmbientRelativeHumidity = mSensorManager.getDefaultSensor(Sensor.TYPE_RELATIVE_HUMIDITY);
                float [] values = {1,0,0,0,0,1,0,-1,0};
                mDeviceToCamera.setValues(values);
                mWifiManager = (WifiManager) getSystemService(Context.WIFI_SERVICE);

                setCamera(1);

                DISABLE_LOG =  !( 0 != ( getApplicationInfo().flags & ApplicationInfo.FLAG_DEBUGGABLE ) );

                SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
                String cameraDriverStr = sharedPref.getString(getString(R.string.pref_key_camera_driver), getString(R.string.pref_default_camera_driver));
                mCameraDriver = Integer.parseInt(cameraDriverStr);
                
                isArCoreAvailable();
                isArEngineAvailable();
                
                if (!PermissionHelper.hasPermission(this, Manifest.permission.WRITE_EXTERNAL_STORAGE)) {
                        PermissionHelper.requestPermission(this, Manifest.permission.WRITE_EXTERNAL_STORAGE);
                }
                else
                {
                        // Get intent, action and MIME type
                    Intent intent = getIntent();
                    String action = intent.getAction();
                    String type = intent.getType();

                    if (Intent.ACTION_SEND.equals(action) && type != null) {
                        if ("application/octet-stream".equals(type)) {
                                Uri imageUri = (Uri) intent.getParcelableExtra(Intent.EXTRA_STREAM);
                            if (imageUri != null) {
                               String fileName = getFileName(imageUri);
                               Log.i(TAG, "Intent received: " + imageUri.getPath() + " Name:" + fileName);
                               if(fileName.endsWith(".db"))
                               {
                                       File file = new File(mWorkingDirectory+fileName);
                                       if(file.exists())
                                       {
                                           mToast.makeText(this, fileName + " already exists in RTAB-Map's library! Cannot be copied.", mToast.LENGTH_LONG).show();
                                       }
                                       else
                                       {
                                               copy(imageUri, file);
                                               mIntentDbToOpen = fileName;
                                       }
                               }
                            }
                        }
                    } else if (Intent.ACTION_SEND_MULTIPLE.equals(action) && type != null) {
                        if (type.startsWith("application/")) {
                                ArrayList<Uri> imageUris = intent.getParcelableArrayListExtra(Intent.EXTRA_STREAM);
                                if (imageUris != null) {
                                        boolean added = false;
                                        for(Uri imageUri: imageUris)
                                        {
                                                String fileName = getFileName(imageUri);
                                                Log.i(TAG, "Intent received: " + imageUri.getPath() + " Name:" + fileName);
                                                if(fileName.endsWith(".db"))
                                                {
                                                        File file = new File(mWorkingDirectory+"/"+getFileName(imageUri));
                                                        if(!file.exists())
                                                        {
                                                                copy(imageUri, file);
                                                                added = true;
                                                        }
                                                        else
                                                        {
                                                                Log.e(TAG,  fileName + " already exists in RTAB-Map's library! Cannot be copied.");
                                                        }
                                                }
                                        }
                                        if(added)
                                        {
                                                openDatabase();
                                        }
                                }

                        }
                    }

                        postCreate();
                }
        }
        
        public void copy(File src, File dst) throws IOException {
                InputStream in = new FileInputStream(src);
                OutputStream out = new FileOutputStream(dst);

                // Transfer bytes from in to out
                byte[] buf = new byte[1024];
                int len;
                while ((len = in.read(buf)) > 0) {
                        out.write(buf, 0, len);
                }
                in.close();
                out.close();
        }
        
        public void copy(Uri uri, File file)
        {
                InputStream in;
                try {
                        in = getApplicationContext().getContentResolver().openInputStream(uri);
                        
                        OutputStream out = new FileOutputStream(file);
                byte[] buf = new byte[1024];
                int len;
                while ((len = in.read(buf)) > 0) {
                        out.write(buf, 0, len);
                }
                in.close();
                out.close();
                } catch (IOException e) {
                        Log.e(TAG, e.getMessage());
                }
        }
        
        public String getFileName(Uri uri) {
                  String result = null;
                  if (uri.getScheme().equals("content")) {
                    Cursor cursor = getContentResolver().query(uri, null, null, null, null);
                    try {
                      if (cursor != null && cursor.moveToFirst()) {
                        result = cursor.getString(cursor.getColumnIndex(OpenableColumns.DISPLAY_NAME));
                      }
                    } finally {
                      cursor.close();
                    }
                  }
                  if (result == null) {
                    result = uri.getPath();
                    int cut = result.lastIndexOf('/');
                    if (cut != -1) {
                      result = result.substring(cut + 1);
                    }
                  }
                  return result;
                }

        
        // Should be called only if read/write permissions are granted!
        private void postCreate()
        {
                Log.i(TAG, "postCreate()");
                
                final String[] files = Util.loadFileList(mWorkingDirectory, true);
                if(files.length == 0)
                {
                        mButtonLibrary.setVisibility(View.INVISIBLE);
                }
        }
        
        private void updateCameraDriverSettings()
        {               
                Log.i(TAG, String.format("updateCameraDriverSettings() mCameraDriver=%d RTABMapLib.isBuiltWith(%d)=%d", mCameraDriver, mCameraDriver, RTABMapLib.isBuiltWith(nativeApplication, mCameraDriver)?1:0));
                
                SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
                String cameraDriverStr = sharedPref.getString(getString(R.string.pref_key_camera_driver), getString(R.string.pref_default_camera_driver));
                mCameraDriver = Integer.parseInt(cameraDriverStr);
                
                if(mCameraDriver == -1)
                {
                        // Prioritize tango if available
                        mCameraDriver = 0;
                        SharedPreferences.Editor editor = sharedPref.edit();
                        editor.putString(getString(R.string.pref_key_camera_driver), "0");
                        editor.commit();
                }
                
                if(mCameraDriver == 0 && (!CheckTangoCoreVersion(MIN_TANGO_CORE_VERSION) || !RTABMapLib.isBuiltWith(nativeApplication, 0)))
                {
                        if(mIsAREngineAvailable && RTABMapLib.isBuiltWith(nativeApplication, 2))
                        {               
                                SharedPreferences.Editor editor = sharedPref.edit();
                                editor.putString(getString(R.string.pref_key_camera_driver), "2");
                                editor.commit();
                        }
                        else if(mIsARCoreAvailable)
                        {               
                                SharedPreferences.Editor editor = sharedPref.edit();
                                editor.putString(getString(R.string.pref_key_camera_driver), "3");
                                editor.commit();
                        }
                }
                else if(((mCameraDriver == 1 && (!RTABMapLib.isBuiltWith(nativeApplication, 0) || !mIsARCoreAvailable)) ||
                                 (mCameraDriver == 3 && !mIsARCoreAvailable)))
                {
                        if(CheckTangoCoreVersion(MIN_TANGO_CORE_VERSION) && RTABMapLib.isBuiltWith(nativeApplication, 0))
                        {               
                                SharedPreferences.Editor editor = sharedPref.edit();
                                editor.putString(getString(R.string.pref_key_camera_driver), "0");
                                editor.commit();
                        }
                        else if(mIsAREngineAvailable && RTABMapLib.isBuiltWith(nativeApplication, 2))
                        {               
                                SharedPreferences.Editor editor = sharedPref.edit();
                                editor.putString(getString(R.string.pref_key_camera_driver), "2");
                                editor.commit();
                        }
                }
                else if(mCameraDriver == 2 && (!mIsAREngineAvailable || !RTABMapLib.isBuiltWith(nativeApplication, 2)))
                {
                        if(CheckTangoCoreVersion(MIN_TANGO_CORE_VERSION) && RTABMapLib.isBuiltWith(nativeApplication, 0))
                        {               
                                SharedPreferences.Editor editor = sharedPref.edit();
                                editor.putString(getString(R.string.pref_key_camera_driver), "0");
                                editor.commit();
                        }
                        else if(mIsARCoreAvailable)
                        {               
                                SharedPreferences.Editor editor = sharedPref.edit();
                                editor.putString(getString(R.string.pref_key_camera_driver), "3");
                                editor.commit();
                        }
                }
        }

        private void isArCoreAvailable() {
                ArCoreApk.Availability availability = ArCoreApk.getInstance().checkAvailability(this);
                if (availability.isTransient()) {
                        // Re-query at 5Hz while compatibility is checked in the background.
                        new Handler().postDelayed(new Runnable() {
                                @Override
                                public void run() {
                                        isArCoreAvailable();
                                }
                        }, 200);
                }
                if (availability.isSupported()) {
                        Log.i(TAG, "ARCore supported");
                        mIsARCoreAvailable = true;
                        updateCameraDriverSettings();
                } else { // Unsupported or unknown.
                        Log.i(TAG, "ARCore supported");
                        mIsARCoreAvailable = false;
                        updateCameraDriverSettings();
                }
        }

        private void isArEngineAvailable() {
                try {
                        AREnginesApk.ARAvailability availability = AREnginesApk.checkAvailability(this);
                        if (availability.isTransient()) {
                                // Re-query at 5Hz while compatibility is checked in the background.
                                new Handler().postDelayed(new Runnable() {
                                        @Override
                                        public void run() {
                                                isArEngineAvailable();
                                        }
                                }, 200);
                        }
                        if (availability.isSupported()) {
                                Log.i(TAG, "AREngine supported");
                                mIsAREngineAvailable = true;
                                updateCameraDriverSettings();
                        } else { // Unsupported or unknown.
                                Log.i(TAG, "AREngine not supported");
                                mIsAREngineAvailable = false;
                                updateCameraDriverSettings();
                        }
                }
                catch(UnsatisfiedLinkError e)
                {
                        Log.i(TAG, "AREngine not supported");
                        mIsAREngineAvailable = false;
                }
        }


        @Override
        public void onDestroy() {
                super.onDestroy();

                if(!DISABLE_LOG) Log.d(TAG, "onDestroy()");
                // Synchronized to avoid racing onDrawFrame.
                synchronized (this) {
                        RTABMapLib.destroyNativeApplication(nativeApplication);
                        nativeApplication = 0;
                }
        }

        @Override
        public void onSensorChanged(SensorEvent event) {
                if(event.sensor == mAccelerometer || event.sensor == mMagnetometer)
                {
                        if (event.sensor == mAccelerometer) {
                                System.arraycopy(event.values, 0, mLastAccelerometer, 0, event.values.length);
                                mLastAccelerometerSet = true;
                        } else if (event.sensor == mMagnetometer) {
                                System.arraycopy(event.values, 0, mLastMagnetometer, 0, event.values.length);
                                mLastMagnetometerSet = true;
                        }
                        if (mLastAccelerometerSet && mLastMagnetometerSet) {
                                SensorManager.getRotationMatrix(mR, null, mLastAccelerometer, mLastMagnetometer);
                                mRMat.setValues(mR);
                                mNewR.setConcat(mRMat, mDeviceToCamera) ;
                                mNewR.getValues(mR);
                                SensorManager.getOrientation(mR, mOrientation);                 
                                mCompassDeg = mOrientation[0] * 180.0f/(float)Math.PI;
                                if(mCompassDeg<0.0f)
                                {
                                        mCompassDeg += 360.0f;
                                }
                        }
                }
                else if(event.sensor == mAmbientTemperature)
                {
                        mLastEnvSensors[1] = event.values[0];
                        mLastEnvSensorsSet[1] = true;
                        RTABMapLib.addEnvSensor(nativeApplication, 2, event.values[0]);
                }
                else if(event.sensor == mAmbientAirPressure)
                {
                        mLastEnvSensors[2] = event.values[0];
                        mLastEnvSensorsSet[2] = true;
                        RTABMapLib.addEnvSensor(nativeApplication, 3, event.values[0]);
                }
                else if(event.sensor == mAmbientLight)
                {
                        mLastEnvSensors[3] = event.values[0];
                        mLastEnvSensorsSet[3] = true;
                        RTABMapLib.addEnvSensor(nativeApplication, 4, event.values[0]);
                }
                else if(event.sensor == mAmbientRelativeHumidity)
                {
                        mLastEnvSensors[4] = event.values[0];
                        mLastEnvSensorsSet[4] = true;
                        RTABMapLib.addEnvSensor(nativeApplication, 5, event.values[0]);
                }
        }

        @Override
        public void onAccuracyChanged(Sensor sensor, int accuracy) {
                // not in use
        }


        public int getStatusBarHeight() {
                int result = 0;
                int resourceId = getResources().getIdentifier("status_bar_height", "dimen", "android");
                if (resourceId > 0) {
                        result = getResources().getDimensionPixelSize(resourceId);
                }
                return result;
        }
        public int getActionBarHeight() {
                int result = 0;
                TypedValue tv = new TypedValue();
                if (getTheme().resolveAttribute(android.R.attr.actionBarSize, tv, true))
                {
                        result = TypedValue.complexToDimensionPixelSize(tv.data,getResources().getDisplayMetrics());
                }

                return result;
        }

        @Override
        public void onWindowFocusChanged(boolean hasFocus) {

                super.onWindowFocusChanged(hasFocus);

                if(!mHudVisible)
                {
                        mRenderer.setOffset(!hasFocus?-mStatusBarHeight:0);
                }
        }

        // This snippet hides the system bars.
        private void setNavVisibility(boolean visible) {
                int newVis = View.SYSTEM_UI_FLAG_LAYOUT_FULLSCREEN
                                | View.SYSTEM_UI_FLAG_LAYOUT_HIDE_NAVIGATION
                                | View.SYSTEM_UI_FLAG_LAYOUT_STABLE;
                if (!visible) {
                        newVis |= View.SYSTEM_UI_FLAG_LOW_PROFILE 
                                        | View.SYSTEM_UI_FLAG_FULLSCREEN       // hide status bar
                                        | View.SYSTEM_UI_FLAG_HIDE_NAVIGATION  // hide nav bar
                                        | View.SYSTEM_UI_FLAG_IMMERSIVE; 
                        mRenderer.setOffset(!hasWindowFocus()?-mStatusBarHeight:0);
                }
                else
                {
                        mRenderer.setOffset(-mStatusBarHeight-mActionBarHeight);
                }

                // Set the new desired visibility.
                mDecorView.setSystemUiVisibility(newVis);
        }

        @Override
        protected void onActivityResult(int requestCode, int resultCode, Intent data) {
                // Check which request we're responding to
                if (requestCode == Tango.TANGO_INTENT_ACTIVITYCODE) {
                        // Make sure the request was successful
                        if (resultCode == RESULT_CANCELED) {
                                mToast.makeText(this, "Motion Tracking Permissions Required!", mToast.LENGTH_SHORT).show();
                        }
                }
                else if (requestCode == SKETCHFAB_ACTIVITY_CODE) {
                        // Make sure the request was successful
                        if (resultCode == RESULT_OK) {
                                mAuthToken = data.getStringExtra(RTABMAP_AUTH_TOKEN_KEY);
                        }
                }
        }

        @Override
        public boolean onMenuOpened(int featureId, Menu menu) {
                mMenuOpened = true;
                return super.onMenuOpened(featureId, menu);
        }

        @Override
        public void onPanelClosed(int featureId, Menu menu) {
                mMenuOpened = false;
        }

        @Override
        public void onBackPressed() {

                Date t = new Date();
                boolean doubleBack = t.getTime() - mBackClickedTime.getTime() < 3500; // mToast.LENGTH_LONG
                mBackClickedTime = t;
                if(mState == State.STATE_MAPPING)
                {
                        stopMapping();
                }
                else if(mState == State.STATE_CAMERA || mState == State.STATE_VISUALIZING_CAMERA)
                {
                        stopCamera();
                }
                else if(mState == State.STATE_IDLE || mState == State.STATE_WELCOME)
                {
                        if(doubleBack)
                        {
                                super.onBackPressed();
                        }
                        else
                        {
                                mToast.makeText(this, "Press Back once more to exit", mToast.LENGTH_LONG).show();
                        }
                }
                else if(mState == State.STATE_VISUALIZING)
                {
                        closeVisualization();
                        RTABMapLib.postExportation(nativeApplication, false);
                }
        }

        @Override
        protected void onPause() {
                super.onPause();
                mGLView.onPause();
                stopDisconnectTimer();

                if(!DISABLE_LOG) Log.i(TAG, "onPause()");
                mOnPause = true;

                if(mState == State.STATE_VISUALIZING_CAMERA)
                {
                        stopCamera();
                }
                else if(mState == State.STATE_MAPPING || mState == State.STATE_CAMERA)
                {
                        stopMapping();
                }

                mLocationManager.removeUpdates(mLocationListener);
                mSensorManager.unregisterListener(this);
                mLastAccelerometerSet = false;
                mLastMagnetometerSet= false;
                mLastEnvSensorsSet[0] = mLastEnvSensorsSet[1]= mLastEnvSensorsSet[2]= mLastEnvSensorsSet[3]= mLastEnvSensorsSet[4]=false;

                // This deletes OpenGL context!
                mGLView.onPause();

                mOnPauseStamp = System.currentTimeMillis()/1000;
        }

        private void updatePreferences()
        {
                // update preferences
                try
                {
                        Log.i(TAG, "update preferences...");
                        SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
                        mUpdateRate = sharedPref.getString(getString(R.string.pref_key_update_rate), getString(R.string.pref_default_update_rate));
                        String maxSpeed = sharedPref.getString(getString(R.string.pref_key_max_speed), getString(R.string.pref_default_max_speed));
                        mTimeThr = sharedPref.getString(getString(R.string.pref_key_time_thr), getString(R.string.pref_default_time_thr));
                        String memThr = sharedPref.getString(getString(R.string.pref_key_mem_thr), getString(R.string.pref_default_mem_thr));
                        mLoopThr = sharedPref.getString(getString(R.string.pref_key_loop_thr), getString(R.string.pref_default_loop_thr));
                        String simThr = sharedPref.getString(getString(R.string.pref_key_sim_thr), getString(R.string.pref_default_sim_thr));
                        mMinInliers = sharedPref.getString(getString(R.string.pref_key_min_inliers), getString(R.string.pref_default_min_inliers));
                        mMaxOptimizationError = sharedPref.getString(getString(R.string.pref_key_opt_error), getString(R.string.pref_default_opt_error));
                        float maxOptimizationError = Float.parseFloat(mMaxOptimizationError);
                        if(maxOptimizationError >0 && maxOptimizationError<1) 
                        {
                                Log.w(TAG, "Migration of " + getString(R.string.pref_key_opt_error) + " from " + mMaxOptimizationError + " to " + getString(R.string.pref_default_opt_error)) ;
                                SharedPreferences.Editor editor = sharedPref.edit();
                                editor.putString(getString(R.string.pref_key_opt_error), getString(R.string.pref_default_opt_error));
                                editor.commit();
                                mMaxOptimizationError = getString(R.string.pref_default_opt_error);
                        }
                        mMaxFeatures = sharedPref.getString(getString(R.string.pref_key_features_voc), getString(R.string.pref_default_features_voc));
                        String maxFeaturesLoop = sharedPref.getString(getString(R.string.pref_key_features), getString(R.string.pref_default_features));
                        String featureType = sharedPref.getString(getString(R.string.pref_key_features_type), getString(R.string.pref_default_features_type));
                        boolean keepAllDb = sharedPref.getBoolean(getString(R.string.pref_key_keep_all_db), Boolean.parseBoolean(getString(R.string.pref_default_keep_all_db)));
                        boolean optimizeFromGraphEnd = sharedPref.getBoolean(getString(R.string.pref_key_optimize_end), Boolean.parseBoolean(getString(R.string.pref_default_optimize_end)));
                        String optimizer = sharedPref.getString(getString(R.string.pref_key_optimizer), getString(R.string.pref_default_optimizer));
                        String markerDetection = sharedPref.getString(getString(R.string.pref_key_marker_detection), getString(R.string.pref_default_marker_detection));
                        String markerDetectionDepthError = sharedPref.getString(getString(R.string.pref_key_marker_detection_depth_error), getString(R.string.pref_default_marker_detection_depth_error));
                        mGPSSaved = PermissionHelper.hasPermission(this, Manifest.permission.ACCESS_FINE_LOCATION) && sharedPref.getBoolean(getString(R.string.pref_key_gps_saved), Boolean.parseBoolean(getString(R.string.pref_default_gps_saved)));
                        if(mGPSSaved)
                        {
                                mLocationManager.requestLocationUpdates(LocationManager.GPS_PROVIDER, 0, 0, mLocationListener);
                                mSensorManager.registerListener(this, mAccelerometer, SensorManager.SENSOR_DELAY_UI);
                                mSensorManager.registerListener(this, mMagnetometer, SensorManager.SENSOR_DELAY_UI);
                        }
                        mEnvSensorsSaved = sharedPref.getBoolean(getString(R.string.pref_key_env_sensors_saved), Boolean.parseBoolean(getString(R.string.pref_default_env_sensors_saved)));
                        if(mEnvSensorsSaved)
                        {
                                mSensorManager.registerListener(this, mAmbientTemperature, SensorManager.SENSOR_DELAY_NORMAL);
                                mSensorManager.registerListener(this, mAmbientAirPressure, SensorManager.SENSOR_DELAY_NORMAL);
                                mSensorManager.registerListener(this, mAmbientLight, SensorManager.SENSOR_DELAY_NORMAL);
                                mSensorManager.registerListener(this, mAmbientRelativeHumidity, SensorManager.SENSOR_DELAY_NORMAL);
                                mEnvSensorsTimer.schedule(new TimerTask() {
                
                                        @Override
                                        public void run() {
                                                WifiInfo wifiInfo = mWifiManager.getConnectionInfo();
                                                int dbm = 0;
                                                if(wifiInfo != null && (dbm = wifiInfo.getRssi()) > -127)
                                                {
                                                        mLastEnvSensors[0] = (float)dbm;
                                                        mLastEnvSensorsSet[0] = true;
                                                        RTABMapLib.addEnvSensor(nativeApplication, 1, mLastEnvSensors[0]);
                                                }
                                        }
                
                                },0,200);
                        }
                
                        Log.i(TAG, "set mapping parameters");
                        RTABMapLib.setOnlineBlending(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_blending), Boolean.parseBoolean(getString(R.string.pref_default_blending))));
                        RTABMapLib.setNodesFiltering(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_nodes_filtering), Boolean.parseBoolean(getString(R.string.pref_default_nodes_filtering))));
                        RTABMapLib.setRawScanSaved(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_raw_scan_saved), Boolean.parseBoolean(getString(R.string.pref_default_raw_scan_saved))));
                        RTABMapLib.setFullResolution(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_resolution), Boolean.parseBoolean(getString(R.string.pref_default_resolution))));
                        RTABMapLib.setSmoothing(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_smoothing), Boolean.parseBoolean(getString(R.string.pref_default_smoothing))));
                        RTABMapLib.setDepthFromMotion(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_depth_from_motion), Boolean.parseBoolean(getString(R.string.pref_default_depth_from_motion))));
                        RTABMapLib.setCameraColor(nativeApplication, !sharedPref.getBoolean(getString(R.string.pref_key_fisheye), Boolean.parseBoolean(getString(R.string.pref_default_fisheye))));
                        RTABMapLib.setAppendMode(nativeApplication, sharedPref.getBoolean(getString(R.string.pref_key_append), Boolean.parseBoolean(getString(R.string.pref_default_append))));
                        RTABMapLib.setMappingParameter(nativeApplication, "Rtabmap/DetectionRate", mUpdateRate);
                        RTABMapLib.setMappingParameter(nativeApplication, "Rtabmap/TimeThr", mTimeThr);
                        RTABMapLib.setMappingParameter(nativeApplication, "Rtabmap/MemoryThr", memThr);
                        RTABMapLib.setMappingParameter(nativeApplication, "RGBD/LinearSpeedUpdate", maxSpeed);
                        RTABMapLib.setMappingParameter(nativeApplication, "RGBD/AngularSpeedUpdate", String.valueOf(Float.parseFloat(maxSpeed)/2.0f));
                        RTABMapLib.setMappingParameter(nativeApplication, "Mem/RehearsalSimilarity", simThr);
                        RTABMapLib.setMappingParameter(nativeApplication, "Kp/MaxFeatures", mMaxFeatures);
                        RTABMapLib.setMappingParameter(nativeApplication, "Vis/MaxFeatures", maxFeaturesLoop);
                        RTABMapLib.setMappingParameter(nativeApplication, "Vis/MinInliers", mMinInliers);
                        RTABMapLib.setMappingParameter(nativeApplication, "Rtabmap/LoopThr", mLoopThr);
                        RTABMapLib.setMappingParameter(nativeApplication, "RGBD/OptimizeMaxError", mMaxOptimizationError);
                        RTABMapLib.setMappingParameter(nativeApplication, "Kp/DetectorStrategy", featureType);
                        RTABMapLib.setMappingParameter(nativeApplication, "Vis/FeatureType", featureType);
                        RTABMapLib.setMappingParameter(nativeApplication, "Mem/NotLinkedNodesKept", String.valueOf(keepAllDb));
                        RTABMapLib.setMappingParameter(nativeApplication, "RGBD/OptimizeFromGraphEnd", String.valueOf(optimizeFromGraphEnd));
                        RTABMapLib.setMappingParameter(nativeApplication, "Optimizer/Strategy", optimizer);
                        if(Integer.parseInt(markerDetection) == -1)
                        {
                                RTABMapLib.setMappingParameter(nativeApplication, "RGBD/MarkerDetection", "false");
                        }
                        else
                        {
                                RTABMapLib.setMappingParameter(nativeApplication, "RGBD/MarkerDetection", "true");
                                RTABMapLib.setMappingParameter(nativeApplication, "Marker/Dictionary", markerDetection);
                                RTABMapLib.setMappingParameter(nativeApplication, "Marker/CornerRefinementMethod", Integer.parseInt(markerDetection) > 16?"3":"0");
                        }
                        RTABMapLib.setMappingParameter(nativeApplication, "Marker/MaxDepthError", markerDetectionDepthError);
                
                        Log.i(TAG, "set exporting parameters...");
                        RTABMapLib.setCloudDensityLevel(nativeApplication, Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_density), getString(R.string.pref_default_density))));
                        RTABMapLib.setMaxCloudDepth(nativeApplication, Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_depth), getString(R.string.pref_default_depth))));
                        RTABMapLib.setMinCloudDepth(nativeApplication, Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_min_depth), getString(R.string.pref_default_min_depth))));
                        RTABMapLib.setPointSize(nativeApplication, Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_point_size), getString(R.string.pref_default_point_size))));
                        RTABMapLib.setMeshAngleTolerance(nativeApplication, Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_angle), getString(R.string.pref_default_angle))));
                        RTABMapLib.setMeshTriangleSize(nativeApplication, Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_triangle), getString(R.string.pref_default_triangle))));
                        float bgColor = Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_background_color), getString(R.string.pref_default_background_color)));
                        RTABMapLib.setBackgroundColor(nativeApplication, bgColor);
                        mRenderer.setTextColor(bgColor>=0.6f?0.0f:1.0f);
                
                         Log.i(TAG, "set rendering parameters...");
                        RTABMapLib.setClusterRatio(nativeApplication, Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_cluster_ratio), getString(R.string.pref_default_cluster_ratio))));
                        RTABMapLib.setMaxGainRadius(nativeApplication, Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_gain_max_radius), getString(R.string.pref_default_gain_max_radius))));
                        RTABMapLib.setRenderingTextureDecimation(nativeApplication, Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_rendering_texture_decimation), getString(R.string.pref_default_rendering_texture_decimation))));
                
                        if(mItemRenderingPointCloud != null)
                        {
                                int renderingType =  sharedPref.getInt(getString(R.string.pref_key_rendering), Integer.parseInt(getString(R.string.pref_default_rendering)));
                                if(renderingType == 0)
                                {
                                        mItemRenderingPointCloud.setChecked(true);
                                }
                                else if(renderingType == 1)
                                {
                                        mItemRenderingMesh.setChecked(true);
                                }
                                else
                                {
                                        mItemRenderingTextureMesh.setChecked(true);
                                }
                                RTABMapLib.setMeshRendering(
                                                nativeApplication, 
                                                mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked(), 
                                                mItemRenderingTextureMesh.isChecked());
                
                                mButtonBackfaceShown.setVisibility(mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked()?View.VISIBLE:View.INVISIBLE);
                        }
                }
                catch(Exception e)
                {
                        Log.e(TAG, "Error parsing preferences: " + e.getMessage());
                        mToast.makeText(this, String.format("Error parsing preferences: "+e.getMessage()), mToast.LENGTH_LONG).show();
                }
        }
        
        @Override
        protected void onResume() {
                super.onResume();

                setAndroidOrientation();

                updateCameraDriverSettings();
                updatePreferences();

                if(mState == State.STATE_MAPPING || mState == State.STATE_CAMERA)
                {
                        String message = new String();
                        if(mOnPause)
                        {
                                if(System.currentTimeMillis()/1000 - mOnPauseStamp < 1)
                                {
                                        message = String.format("RTAB-Map has been interrupted by another application, Camera should be re-initialized! Set your phone/tablet in Airplane mode if this happens often.");
                                }
                                else
                                {
                                        message = String.format("Hold Tight! Initializing Camera Service...");
                                }
                                mToast.makeText(this, "Mapping is paused!", mToast.LENGTH_LONG).show();
                        }
                        else
                        {
                                message = String.format("Hold Tight! Initializing Camera Service...\nTip: If the camera is still drifting just after the mapping has started, do \"Reset\".");
                        }
                        startCamera(message);
                }
                mOnPause = false;

                if(!DISABLE_LOG) Log.i(TAG, String.format("onResume()"));
                mGLView.onResume();
        }

        @Override
        public void onRequestPermissionsResult(int requestCode, String[] permissions, int[] results) {

                switch (requestCode) {
                        case PermissionHelper.WRITE_EXTERNAL_STORAGE_CODE: {
                                // If request is cancelled, the result arrays are empty.
                                if (results.length > 0 && results[0] == PackageManager.PERMISSION_GRANTED) {
                                        // permission was granted, yay! Do the
                                        // contacts-related task you need to do.
                                        postCreate();
                                } else {
                                        // permission denied, boo! Disable the
                                        // functionality that depends on this permission.
                                        Toast.makeText(this, "Storage read/write permissions are needed to run this application", Toast.LENGTH_LONG).show();
                                        if (!PermissionHelper.shouldShowRequestPermissionRationale(this, Manifest.permission.WRITE_EXTERNAL_STORAGE)) {
                                                PermissionHelper.launchPermissionSettings(this); // Permission denied with checking "Do not ask again".
                                        }
                                        finish();
                                }
                                return;
                        }
                        case PermissionHelper.CAMERA_CODE: {
                                if (results.length > 0 && results[0] == PackageManager.PERMISSION_GRANTED) {
                                        // permission was granted, yay!
                                        startCamera(String.format("Hold Tight! Initializing Camera Service...\n"
                                                        + "Tip: If the camera is still drifting just after the mapping has started, do \"Reset\"."));
                                } else {
                                        Toast.makeText(this, "Camera permission is needed for scanning and motion tracking.", Toast.LENGTH_LONG).show();
                                        if (!PermissionHelper.shouldShowRequestPermissionRationale(this, Manifest.permission.CAMERA)) {
                                                PermissionHelper.launchPermissionSettings(this); // Permission denied with checking "Do not ask again".
                                        }
                                }
                                return;
                        }
                        case PermissionHelper.INTERNET_CODE: {
                                if (results.length > 0 && results[0] == PackageManager.PERMISSION_GRANTED) {
                                        // permission was granted, yay!
                                } else {
                                        Toast.makeText(this, "Internet permission is needed to share scans.", Toast.LENGTH_LONG).show();
                                        if (!PermissionHelper.shouldShowRequestPermissionRationale(this, Manifest.permission.CAMERA)) {
                                                PermissionHelper.launchPermissionSettings(this); // Permission denied with checking "Do not ask again".
                                        }
                                }
                                return;
                        }
                }
        }

        private void startCamera(final String message)
        {                               
                // If we did not yet obtain runtime permission on Android M and above, 
                // now is a good time to ask the user for it.
                if (!PermissionHelper.hasPermission(this, Manifest.permission.CAMERA)) {
                        PermissionHelper.requestPermission(this, Manifest.permission.CAMERA);
                        return;
                }

                SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
                String cameraDriverStr = sharedPref.getString(getString(R.string.pref_key_camera_driver), getString(R.string.pref_default_camera_driver));
                final boolean depthFromMotion = sharedPref.getBoolean(getString(R.string.pref_key_depth_from_motion), Boolean.parseBoolean(getString(R.string.pref_default_depth_from_motion)));
                mCameraDriver = Integer.parseInt(cameraDriverStr);

                Log.i(TAG, String.format("startCamera() driver=%d", mCameraDriver));
                if(mCameraDriver == 0) // Tango
                {
                        // Check if the Tango Core is out dated.
                        if (!CheckTangoCoreVersion(MIN_TANGO_CORE_VERSION)) {
                                mToast.makeText(this, "Current camera driver selected is Tango, but Tango is not available or outdated on this phone. Abort scanning...", mToast.LENGTH_LONG).show();
                                return;
                        }   

                        if (!Tango.hasPermission(this, Tango.PERMISSIONTYPE_MOTION_TRACKING)) {
                                if(!DISABLE_LOG) Log.i(TAG, String.format("Asking for motion tracking permission"));
                                startActivityForResult(
                                                Tango.getRequestPermissionIntent(Tango.PERMISSIONTYPE_MOTION_TRACKING),
                                                Tango.TANGO_INTENT_ACTIVITYCODE);
                                return;
                        }
                        else
                        {
                                mCameraServiceConnectionUsed = TangoInitializationHelper.bindTangoService(getActivity(), mCameraServiceConnection);
                                if(mCameraServiceConnectionUsed)
                                {
                                        mProgressDialog.setTitle("");
                                        mProgressDialog.setMessage(message);
                                        mProgressDialog.show();
                                        resetNoTouchTimer(true);

                                        // When the service has been connected, RTABMapLib.onCameraServiceConnected(service) should be called, see above
                                }
                                else
                                {
                                        mToast.makeText(this, "Current camera driver selected is Tango, but Tango service binding failed. Abort scanning...", mToast.LENGTH_LONG).show();
                                }
                        }
                }
                else if(mCameraDriver == 1 || mCameraDriver == 2 || mCameraDriver == 3)
                {
                        if((mCameraDriver == 1 || mCameraDriver == 3) && !mIsARCoreAvailable)
                        {
                                mToast.makeText(this, "ARCore not supported on this phone! Cannot start a new scan.", mToast.LENGTH_LONG).show();
                                return;
                        }
                        if(mCameraDriver == 2 && !mIsAREngineAvailable)
                        {
                                mToast.makeText(this, "AREngine not supported on this phone! Cannot start a new scan.", mToast.LENGTH_LONG).show();
                                return;
                        }

                        // only point cloud supported
                        if(mCameraDriver==1 && !mItemRenderingPointCloud.isChecked())
                        {
                                mItemRenderingPointCloud.setChecked(true);
                        }
                        Thread bindThread = new Thread(new Runnable() {
                                public void run() {
                                        
                                        if(mCameraDriver==1 && !depthFromMotion)
                                        {
                                                RTABMapLib.setMeshRendering(
                                                                nativeApplication, 
                                                                mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked(), 
                                                                mItemRenderingTextureMesh.isChecked());
                                        }
                                        final boolean cameraStartSucess = RTABMapLib.startCamera(nativeApplication, null, getApplicationContext(), getActivity(), mCameraDriver);
                                        runOnUiThread(new Runnable() {
                                                public void run() {     
                                                        boolean localSuccess = cameraStartSucess;
                                                        if(cameraStartSucess && mCameraDriver == 3)
                                                        {
                                                                synchronized (this) {
                                                                        SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(getActivity());
                                                                        String arCoreLocalizationFiltering = sharedPref.getString(getString(R.string.pref_key_arcore_localization_filtering_speed), getString(R.string.pref_default_arcore_localization_filtering_speed));
                                                                        mArCoreCamera = new ARCoreSharedCamera(getActivity(), Float.parseFloat(arCoreLocalizationFiltering));
                                                                        mArCoreCamera.setToast(mToast);
                                                                        mProgressDialog.setTitle("");
                                                                        mProgressDialog.setMessage(message);
                                                                        mProgressDialog.show();
                                                                        if(!mArCoreCamera.openCamera())
                                                                        {
                                                                                mToast.makeText(getActivity(), "Current camera driver selected is ARCore Java, but initialization failed. Abort scanning...", mToast.LENGTH_LONG).show();
                                                                                mArCoreCamera = null;
                                                                                localSuccess = false;
                                                                        }
                                                                        else
                                                                        {
                                                                                mRenderer.setCamera(mArCoreCamera);
                                                                                if((mState==State.STATE_IDLE || mState==State.STATE_WELCOME) && !mArCoreCamera.isDepthSupported())
                                                                                {
                                                                                        mItemRenderingPointCloud.setChecked(true);
                                                                                        RTABMapLib.setMeshRendering(nativeApplication, false, false);
                                                                                        mToast.makeText(getApplicationContext(), "Depth camera not found, only poses and RGB images can be recorded.", mToast.LENGTH_LONG).show();
                                                                                }
                                                                        }
                                                                }
                                                        }

                                                        mProgressDialog.dismiss();
                                                        if(!localSuccess)
                                                        {
                                                                mToast.makeText(getApplicationContext(), 
                                                                                String.format("Failed to intialize Camera!"), mToast.LENGTH_LONG).show();
                                                        }
                                                        else
                                                        {
                                                                if((mState==State.STATE_IDLE || mState==State.STATE_WELCOME) && mCameraDriver == 1 && !depthFromMotion)
                                                                {
                                                                        mToast.makeText(getApplicationContext(), "Currently ARCore NDK driver doesn't support depth, only poses, RGB images and 3d features can be recorded.", mToast.LENGTH_LONG).show();
                                                                }
                                                                updateState(mState==State.STATE_VISUALIZING?State.STATE_VISUALIZING_CAMERA:State.STATE_CAMERA); 
                                                                if(mState==State.STATE_VISUALIZING_CAMERA && mItemLocalizationMode.isChecked())
                                                                {
                                                                        RTABMapLib.setPausedMapping(nativeApplication, false);
                                                                }
                                                        }
                                                } 
                                        });
                                }
                        });
                        bindThread.start();
                }
                else
                {
                        mToast.makeText(this, "Supported camera driver not found! Cannot start a new scan.", mToast.LENGTH_LONG).show();
                }
        }

        private void setCamera(int type)
        {                       
                if(!DISABLE_LOG) Log.i(TAG, String.format("called setCamera(type=%d);", type));

                // for convenience, for a refresh of the memory used
                long freeMemory = getFreeMemory();
                mStatusTexts[1] = getString(R.string.memory)+String.valueOf(mFreeMemoryOnStart>freeMemory?mFreeMemoryOnStart-freeMemory:0);
                mStatusTexts[2] = getString(R.string.free_memory)+String.valueOf(freeMemory);
                updateStatusTexts();

                RTABMapLib.setCamera(nativeApplication, type);
                mButtonCameraView.setSelection(type, true);
                mSeekBarOrthoCut.setVisibility(type!=3?View.INVISIBLE:View.VISIBLE);
                mSeekBarGrid.setVisibility(mSeekBarGrid.isEnabled() && type==3?View.VISIBLE:View.INVISIBLE);
                if(type==3)
                {
                        mSeekBarOrthoCut.setMax(120);
                        mSeekBarOrthoCut.setProgress(80);
                }
        }

        @Override
        public void onClick(View v) {
                // Handle button clicks.
                switch (v.getId()) {
                case R.id.gl_surface_view:
                        break;
                case R.id.start_button:
                        startMapping();
                        break;
                case R.id.stop_button:
                        if(mState == State.STATE_VISUALIZING_CAMERA)
                        {
                                stopCamera();
                        }
                        else
                        {
                                stopMapping();
                        }
                        break;
                case R.id.light_button:
                        RTABMapLib.setLighting(nativeApplication, mButtonLighting.isChecked());
                        break;
                case R.id.backface_button:
                        RTABMapLib.setBackfaceCulling(nativeApplication, !mButtonBackfaceShown.isChecked());
                        break;
                case R.id.wireframe_button:
                        RTABMapLib.setWireframe(nativeApplication, mButtonWireframe.isChecked());
                        break;
                case R.id.close_visualization_button:
                        closeVisualization();
                        RTABMapLib.postExportation(nativeApplication, false);
                        break;
                case R.id.button_saveOnDevice:
                        saveOnDevice();
                        break;
                case R.id.button_shareToSketchfab:
                        shareToSketchfab();
                        break;
                case R.id.button_library:
                        openDatabase();
                        break;
                case R.id.button_new_scan:
                        newScan();
                        break;
                default:
                        return;
                }
                resetNoTouchTimer();
        }

        private void closeVisualization()
        {
                if(mSavedRenderingType==0)
                {
                        mItemRenderingPointCloud.setChecked(true);
                }
                else if(mSavedRenderingType==1)
                {
                        mItemRenderingMesh.setChecked(true);
                }
                else 
                {
                        mItemRenderingTextureMesh.setChecked(true);
                }
                updateState(State.STATE_IDLE);
        }

        public void onItemSelected(AdapterView<?> parent, View view, int pos, long id) {
                setCamera(pos);
                resetNoTouchTimer();
        }

        public void onNothingSelected(AdapterView<?> parent) {
                resetNoTouchTimer();
        }

        private void setAndroidOrientation() {
                Display display = getWindowManager().getDefaultDisplay();
                Camera.CameraInfo colorCameraInfo = new Camera.CameraInfo();
                SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
                boolean fisheye = sharedPref.getBoolean(getString(R.string.pref_key_fisheye), Boolean.parseBoolean(getString(R.string.pref_default_fisheye)));
                Camera.getCameraInfo(fisheye?1:0, colorCameraInfo);
                RTABMapLib.setScreenRotation(nativeApplication, display.getRotation(), colorCameraInfo.orientation);
        }

        class DoubleTapGestureDetector extends GestureDetector.SimpleOnGestureListener {

                @Override
                public boolean onDoubleTap(MotionEvent event) {
                        if(!DISABLE_LOG) Log.i(TAG, "onDoubleTap");
                        float normalizedX = event.getX(0) / mScreenSize.x;
                        float normalizedY = event.getY(0) / mScreenSize.y;
                        RTABMapLib.onTouchEvent(nativeApplication, 3, event.getActionMasked(), normalizedX, normalizedY, 0.0f, 0.0f);
                        return true;
                }
                @Override
                public boolean onSingleTapConfirmed(MotionEvent event) {
                        if(!DISABLE_LOG) Log.i(TAG, "onSingleTapConfirmed");
                        if(mHudVisible)
                        {
                                notouchHandler.removeCallbacks(notouchCallback);
                                notouchHandler.postDelayed(notouchCallback, 0);
                        }
                        else
                        {
                                resetNoTouchTimer(true);
                        }
                        return true;
                }
        }

        @Override
        public boolean onCreateOptionsMenu(Menu menu) {
                if(!DISABLE_LOG) Log.i(TAG, "called onCreateOptionsMenu;");

                MenuInflater inflater = getMenuInflater();
                inflater.inflate(R.menu.optionmenu, menu);

                getActionBar().setDisplayShowHomeEnabled(true);
                getActionBar().setIcon(R.drawable.ic_launcher);

                mItemSave = menu.findItem(R.id.save);
                mItemOpen = menu.findItem(R.id.open);
                mItemNewScan = menu.findItem(R.id.new_scan);
                mItemPostProcessing = menu.findItem(R.id.post_processing);
                mItemExport = menu.findItem(R.id.export);
                mItemSettings = menu.findItem(R.id.settings);
                mItemModes = menu.findItem(R.id.modes);
                mItemResume = menu.findItem(R.id.resume);
                mItemLocalizationMode = menu.findItem(R.id.localization_mode);
                mItemTrajectoryMode = menu.findItem(R.id.trajectory_mode);
                mItemRenderingPointCloud = menu.findItem(R.id.point_cloud);
                mItemRenderingMesh = menu.findItem(R.id.mesh);
                mItemRenderingTextureMesh = menu.findItem(R.id.texture_mesh);
                mItemDataRecorderMode = menu.findItem(R.id.data_recorder);
                mItemStatusVisibility = menu.findItem(R.id.status);
                mItemDebugVisibility = menu.findItem(R.id.debug);
                mItemSave.setEnabled(false);
                mItemNewScan.setEnabled(true);
                mItemExport.setEnabled(false);
                mItemOpen.setEnabled(true);
                mItemPostProcessing.setEnabled(false);
                mItemDataRecorderMode.setEnabled(false);

                try
                {
                        SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
                        int renderingType =  sharedPref.getInt(getString(R.string.pref_key_rendering), Integer.parseInt(getString(R.string.pref_default_rendering)));
                        if(renderingType == 0)
                        {
                                mItemRenderingPointCloud.setChecked(true);
                        }
                        else if(renderingType == 1)
                        {
                                mItemRenderingMesh.setChecked(true);
                        }
                        else
                        {
                                mItemRenderingTextureMesh.setChecked(true);
                        }
                        RTABMapLib.setMeshRendering(
                                        nativeApplication, 
                                        mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked(), 
                                        mItemRenderingTextureMesh.isChecked());

                        if(mButtonBackfaceShown != null)
                        {
                                mButtonBackfaceShown.setVisibility(mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked()?View.VISIBLE:View.INVISIBLE);
                        }
                }
                catch(Exception e)
                {
                        Log.e(TAG, "Error parsing rendering preferences: " + e.getMessage());
                        mToast.makeText(this, String.format("Error parsing rendering preferences: "+e.getMessage()), mToast.LENGTH_LONG).show();
                }

                updateState(mState);
                
                return true;
        }

        private long getFreeMemory()
        {
                MemoryInfo mi = new MemoryInfo();
                ActivityManager activityManager = (ActivityManager) getSystemService(ACTIVITY_SERVICE);
                activityManager.getMemoryInfo(mi);
                return mi.availMem / 0x100000L; // MB
        }

        private void updateStatusTexts()
        {
                if(mItemStatusVisibility != null && mItemDebugVisibility != null)
                {
                        if(mState == State.STATE_WELCOME)
                        {
                                mRenderer.updateTexts(null);
                        }
                        else if((mItemStatusVisibility.isChecked() || mState == State.STATE_VISUALIZING_WHILE_LOADING) && mItemDebugVisibility.isChecked())
                        {
                                mRenderer.updateTexts(mStatusTexts);
                        }
                        else if((mItemStatusVisibility.isChecked() || mState == State.STATE_VISUALIZING_WHILE_LOADING))
                        {
                                mRenderer.updateTexts(Arrays.copyOfRange(mStatusTexts, 0, STATUS_TEXTS_POSE_INDEX-1));
                        }
                        else if(mItemDebugVisibility.isChecked())
                        {
                                mRenderer.updateTexts(Arrays.copyOfRange(mStatusTexts, STATUS_TEXTS_POSE_INDEX-1, mStatusTexts.length));
                        }
                        else
                        {
                                mRenderer.updateTexts(null);
                        }
                }
                if(mGLView.getRenderMode() == GLSurfaceView.RENDERMODE_WHEN_DIRTY)
                {
                        mGLView.requestRender();
                }
        }

        private void updateStatsUI(
                        int loopClosureId,
                        int inliers,
                        int matches,
                        int rejected,
                        float optimizationMaxError,
                        float optimizationMaxErrorRatio,
                        boolean fastMovement,
                        int landmarkDetected,
                        String[] statusTexts)
        {
                for(int i = 1; i<mStatusTexts.length && i<statusTexts.length; ++i)
                {
                        mStatusTexts[i] = statusTexts[i];
                }
                if(mState == State.STATE_MAPPING)
                {
                        String updateValue = mUpdateRate.compareTo("0")==0?"Max":mUpdateRate;
                        mStatusTexts[0] = getString(R.string.status)+(mItemDataRecorderMode!=null&&mItemDataRecorderMode.isChecked()?String.format("Recording (%s Hz)", updateValue):mItemLocalizationMode!=null && mItemLocalizationMode.isChecked()?String.format("Localization (%s Hz)", updateValue):String.format("Mapping (%s Hz)", updateValue));
                }

                updateStatusTexts();

                if(mButtonStart!=null && mState == State.STATE_MAPPING)
                {
                        if(mButtonStart.getVisibility() != View.VISIBLE)
                        {       
                                //check if we are low in memory
                                long memoryFree = getFreeMemory();
                                long memoryUsed = mFreeMemoryOnStart>memoryFree?mFreeMemoryOnStart-memoryFree:0;

                                if(memoryFree < 400)
                                {
                                        stopMapping();

                                        if(mMemoryWarningDialog!=null)
                                        {
                                                mMemoryWarningDialog.dismiss();
                                                mMemoryWarningDialog = null;
                                        }

                                        mMemoryWarningDialog = new AlertDialog.Builder(getActivity())
                                                        .setTitle("Memory is full!")
                                                        .setCancelable(false)
                                                        .setMessage(String.format("Scanning has been paused because free memory is too "
                                                                        + "low (%d MB). You should be able to save the database but some post-processing and exporting options may fail. "
                                                                        + "\n\nNote that for large environments, you can save multiple databases and "
                                                                        + "merge them with RTAB-Map Desktop version.", memoryUsed))
                                                        .setPositiveButton("Ok", new DialogInterface.OnClickListener() {
                                                                public void onClick(DialogInterface dialog, int which) {
                                                                        mMemoryWarningDialog = null;
                                                                }
                                                        })
                                                        .setNeutralButton("Save", new DialogInterface.OnClickListener() {
                                                                public void onClick(DialogInterface dialog, int which) {
                                                                        saveOnDevice();
                                                                        mMemoryWarningDialog = null;
                                                                }
                                                        })
                                                        .create();
                                        mMemoryWarningDialog.setCanceledOnTouchOutside(false);
                                        mMemoryWarningDialog.show();
                                }
                                else if(mMemoryWarningDialog == null && memoryUsed*3 > memoryFree && (mItemDataRecorderMode == null || !mItemDataRecorderMode.isChecked()))
                                {
                                        mMemoryWarningDialog = new AlertDialog.Builder(getActivity())
                                                        .setTitle("Warning: Memory is almost full!")
                                                        .setCancelable(false)
                                                        .setMessage(String.format("Free memory (%d MB) should be at least 3 times the "
                                                                        + "memory used (%d MB) so that some post-processing and exporting options "
                                                                        + "have enough memory to work correctly. If you just want to save the database "
                                                                        + "after scanning, you can continue until the next warning.\n\n"
                                                                        + "Note that showing only point clouds reduces memory needed for rendering.", memoryFree, memoryUsed))
                                                        .setPositiveButton("Pause", new DialogInterface.OnClickListener() {
                                                                public void onClick(DialogInterface dialog, int which) {
                                                                        stopMapping();
                                                                }
                                                        })
                                                        .setNeutralButton("Continue", new DialogInterface.OnClickListener() {
                                                                public void onClick(DialogInterface dialog, int which) {
                                                                }
                                                        })
                                                        .create();
                                        mMemoryWarningDialog.setCanceledOnTouchOutside(false);
                                        mMemoryWarningDialog.show();
                                }
                        }
                }


                if(mState == State.STATE_MAPPING || mState == State.STATE_VISUALIZING_CAMERA)
                {
                        long currentTime = System.currentTimeMillis()/1000;
                        if(loopClosureId > 0)
                        {
                                mToast.setText(String.format("Loop closure detected! (%d/%d inliers)", inliers, matches));
                                mToast.show();
                        }
                        else if(landmarkDetected != 0)
                        {
                                mToast.setText(String.format("Marker %d detected!", landmarkDetected));
                                mToast.show();
                        }
                        else if(rejected > 0)
                        {
                                if(inliers >= Integer.parseInt(mMinInliers))
                                {
                                        if(optimizationMaxError > 0.0f)
                                        {
                                                mToast.setText(String.format("Loop closure rejected, too high graph optimization error (%.3fm: ratio=%.3f < factor=%sx).", optimizationMaxError, optimizationMaxErrorRatio, mMaxOptimizationError));
                                        }
                                        else
                                        {
                                                mToast.setText(String.format("Loop closure rejected, graph optimization failed! You may try a different Graph Optimizer (see Mapping options)."));
                                        }
                                }
                                else
                                {
                                        mToast.setText(String.format("Loop closure rejected, not enough inliers (%d/%d < %s).", inliers, matches, mMinInliers));
                                }
                                mToast.show();
                        }
                        else if(fastMovement)
                        {
                                if(currentTime - mLastFastMovementNotificationStamp > 3)
                                {
                                        mToast.setText("Move slower... blurry images are not added to map (\"Settings->Mapping...->Maximum Motion Speed\" is enabled).");
                                        mToast.show();
                                }
                        }

                        if(!fastMovement)
                        {
                                mLastFastMovementNotificationStamp = currentTime;
                        }
                }
        }

        // called from jni
        public void updateStatsCallback(
                        final int nodes, 
                        final int words, 
                        final int points, 
                        final int polygons,
                        final float updateTime, 
                        final int loopClosureId,
                        final int highestHypId,
                        final int databaseMemoryUsed,
                        final int inliers,
                        final int matches,
                        final int featuresExtracted,
                        final float hypothesis,
                        final int nodesDrawn,
                        final float fps,
                        final int rejected,
                        final float rehearsalValue,
                        final float optimizationMaxError,
                        final float optimizationMaxErrorRatio,
                        final float distanceTravelled,
                        final int fastMovement,
                        final int landmarkDetected,
                        final float x,
                        final float y,
                        final float z,
                        final float roll,
                        final float pitch,
                        final float yaw)
        {
                if(!DISABLE_LOG) Log.i(TAG, String.format("updateStatsCallback()"));

                final String[] statusTexts = new String[STATUS_TEXTS_SIZE];

                long memoryFree = getFreeMemory();
                statusTexts[1] = getString(R.string.memory)+(mFreeMemoryOnStart>memoryFree?mFreeMemoryOnStart-memoryFree:0); 
                statusTexts[2] = getString(R.string.free_memory)+memoryFree;

                if(loopClosureId > 0)
                {
                        ++mTotalLoopClosures;
                }

                mMapNodes = nodes;

                if(mGPSSaved)
                {
                        if(mLastKnownLocation != null)
                        {
                                long millisec = System.currentTimeMillis() - mLastKnownLocation.getTime();
                                if(millisec > 1000)
                                {
                                        statusTexts[3] = getString(R.string.gps)+String.format("[too old, %d ms]", millisec); 
                                }
                                else
                                {
                                        statusTexts[3] = getString(R.string.gps)+
                                                        String.format("%.2f %.2f %.2fm %.0fdeg %.0fm", 
                                                                        mLastKnownLocation.getLongitude(), 
                                                                        mLastKnownLocation.getLatitude(), 
                                                                        mLastKnownLocation.getAltitude(), 
                                                                        mCompassDeg, 
                                                                        mLastKnownLocation.getAccuracy());
                                }
                        }
                        else
                        {
                                statusTexts[3] = getString(R.string.gps)+String.format("[not yet available, %.0fdeg]", mCompassDeg);
                        }
                }
                if(mEnvSensorsSaved)
                {
                        statusTexts[4] = getString(R.string.env_sensors);

                        if(mLastEnvSensorsSet[0])
                        {
                                statusTexts[4] += String.format(" %.0f dbm", mLastEnvSensors[0]);
                                mLastEnvSensorsSet[0] = false;
                        }
                        if(mLastEnvSensorsSet[1])
                        {
                                statusTexts[4] += String.format(" %.1f %cC", mLastEnvSensors[1], '\u00B0');
                                mLastEnvSensorsSet[1] = false;
                        }
                        if(mLastEnvSensorsSet[2])
                        {
                                statusTexts[4] += String.format(" %.1f hPa", mLastEnvSensors[2]);
                                mLastEnvSensorsSet[2] = false;
                        }
                        if(mLastEnvSensorsSet[3])
                        {
                                statusTexts[4] += String.format(" %.0f lx", mLastEnvSensors[3]);
                                mLastEnvSensorsSet[3] = false;
                        }
                        if(mLastEnvSensorsSet[4])
                        {
                                statusTexts[4] += String.format(" %.0f %%", mLastEnvSensors[4]);
                                mLastEnvSensorsSet[4] = false;
                        }
                }

                String formattedDate = new SimpleDateFormat("HH:mm:ss.SSS").format(new Date());
                statusTexts[5] = getString(R.string.time)+formattedDate;

                int index = STATUS_TEXTS_POSE_INDEX;
                statusTexts[index++] = getString(R.string.nodes)+nodes+" (" + nodesDrawn + " shown)";
                statusTexts[index++] = getString(R.string.words)+words;
                statusTexts[index++] = getString(R.string.database_size)+databaseMemoryUsed;
                statusTexts[index++] = getString(R.string.points)+points;
                statusTexts[index++] = getString(R.string.polygons)+polygons;
                statusTexts[index++] = getString(R.string.update_time)+(int)(updateTime) + " / " + (mTimeThr.compareTo("0")==0?"No Limit":mTimeThr);
                statusTexts[index++] = getString(R.string.features)+featuresExtracted +" / " + (mMaxFeatures.compareTo("0")==0?"No Limit":mMaxFeatures.compareTo("-1")==0?"Disabled":mMaxFeatures);
                statusTexts[index++] = getString(R.string.rehearsal)+(int)(rehearsalValue*100.0f);
                statusTexts[index++] = getString(R.string.total_loop)+mTotalLoopClosures;
                statusTexts[index++] = getString(R.string.inliers)+inliers;
                statusTexts[index++] = getString(R.string.hypothesis)+(int)(hypothesis*100.0f) +" / " + (int)(Float.parseFloat(mLoopThr)*100.0f) + " (" + (loopClosureId>0?loopClosureId:highestHypId)+")";
                statusTexts[index++] = getString(R.string.fps)+(int)fps+" Hz";
                statusTexts[index++] = getString(R.string.distance)+(int)distanceTravelled+" m";
                statusTexts[index++] = String.format("Pose (x,y,z): %.2f %.2f %.2f", x,y,z);

                runOnUiThread(new Runnable() {
                        public void run() {
                                updateStatsUI(loopClosureId, inliers, matches, rejected, optimizationMaxError, optimizationMaxErrorRatio, fastMovement!=0, landmarkDetected, statusTexts);
                        } 
                });
        }

        private void rtabmapInitEventUI(
                        int status, 
                        String msg)
        {
                if(!DISABLE_LOG) Log.i(TAG, String.format("rtabmapInitEventsUI() status=%d msg=%s", status, msg));

                int optimizedMeshDetected = 0;

                if(msg.equals("Loading optimized cloud...done!"))
                {
                        optimizedMeshDetected = 1;
                }
                else if(msg.equals("Loading optimized mesh...done!"))
                {
                        optimizedMeshDetected = 2;
                }
                else if(msg.equals("Loading optimized texture mesh...done!"))
                {
                        optimizedMeshDetected = 3;
                }
                if(optimizedMeshDetected > 0)
                {
                        resetNoTouchTimer();
                        mSavedRenderingType = mItemRenderingPointCloud.isChecked()?0:mItemRenderingMesh.isChecked()?1:2;
                        if(optimizedMeshDetected==1)
                        {
                                mItemRenderingPointCloud.setChecked(true);
                        }
                        else if(optimizedMeshDetected==2)
                        {
                                mItemRenderingMesh.setChecked(true);
                        }
                        else // isOBJ
                        {
                                mItemRenderingTextureMesh.setChecked(true);
                        }

                        updateState(State.STATE_VISUALIZING_WHILE_LOADING);
                        if(mButtonCameraView.getSelectedItemPosition() == 0)
                        {
                                setCamera(2);
                        }
                        mToast.makeText(getActivity(), String.format("Optimized mesh detected in the database, it is shown while the database is loading..."), mToast.LENGTH_LONG).show();
                        mProgressDialog.dismiss();
                }

                if(mButtonStart!=null)
                {
                        mStatusTexts[0] = getString(R.string.status)+(status == 1 && msg.isEmpty()?mState == State.STATE_CAMERA?"Camera Preview":"Idle":msg);

                        long freeMemory = getFreeMemory();
                        mStatusTexts[1] = getString(R.string.memory)+String.valueOf(mFreeMemoryOnStart>freeMemory?mFreeMemoryOnStart-freeMemory:0);
                        mStatusTexts[2] = getString(R.string.free_memory)+String.valueOf(freeMemory);
                        updateStatusTexts();
                }
        }

        //called from jni
        public void rtabmapInitEventCallback(
                        final int status, 
                        final String msg)
        {
                if(!DISABLE_LOG) Log.i(TAG, String.format("rtabmapInitEventCallback()"));

                runOnUiThread(new Runnable() {
                        public void run() {
                                rtabmapInitEventUI(status, msg);
                        } 
                });
        }

        private void updateProgressionUI(
                        int count, 
                        int max)
        {
                if(!DISABLE_LOG) Log.i(TAG, String.format("updateProgressionUI() count=%d max=%s", count, max));

                mExportProgressDialog.setMax(max);
                mExportProgressDialog.setProgress(count);
        }

        //called from jni
        public void updateProgressionCallback(
                        final int count, 
                        final int max)
        {
                if(!DISABLE_LOG) Log.i(TAG, String.format("updateProgressionCallback()"));

                runOnUiThread(new Runnable() {
                        public void run() {
                                updateProgressionUI(count, max);
                        } 
                });
        }

        private void cameraEventUI(
                        int type, 
                        String key,
                        String value)
        {
                String str = null;
                if(key.equals("TangoServiceException"))
                        str = String.format("Tango service exception: %s", value);
                else if(key.equals("FisheyeOverExposed"))
                        ;//str = String.format("The fisheye image is over exposed with average pixel value %s px.", value);
                else if(key.equals("FisheyeUnderExposed"))
                        ;//str = String.format("The fisheye image is under exposed with average pixel value %s px.", value);
                else if(key.equals("ColorOverExposed")) 
                        ;//str = String.format("The color image is over exposed with average pixel value %s px.", value);
                else if(key.equals("ColorUnderExposed")) 
                        ;//str = String.format("The color image is under exposed with average pixel value %s px.", value);
                else if(key.equals("CameraTango")) 
                        str = value;
                else if(key.equals("TooFewFeaturesTracked")) 
                {
                        if(!value.equals("0"))
                        {
                                str = String.format("Too few features (%s) were tracked in the fisheye image. This may result in poor odometry!", value);
                        }
                }
                else if(key.equals("TooClose"))
                {
                        if(mState != State.STATE_VISUALIZING_CAMERA)
                        {
                                str = String.format("Too close! Tip: Scan from at least ~1 meter from surfaces.", value);
                        }
                }
                else if(key.equals("TangoPoseEventNotReceived"))
                {
                        str = String.format("No valid tango pose event received since %s sec.", value);
                }
                else    
                {
                        str = String.format("Unknown Camera event detected!? (type=%d, key=%s, value=%s)", type, key, value);
                }
                if(str!=null)
                {
                        mToast.setText(str);
                        mToast.show();
                }
        }

        //called from jni
        public void cameraEventCallback(
                        final int type, 
                        final String key,
                        final String value)
        {
                runOnUiThread(new Runnable() {
                        public void run() {
                                cameraEventUI(type, key, value);
                        } 
                });
        }

        private boolean CheckTangoCoreVersion(int minVersion) {
                int versionNumber = 0;
                String packageName = TANGO_PACKAGE_NAME;
                try {
                        PackageInfo pi = getApplicationContext().getPackageManager().getPackageInfo(packageName,
                                        PackageManager.GET_META_DATA);
                        versionNumber = pi.versionCode;
                } catch (NameNotFoundException e) {
                        e.printStackTrace();
                }
                return (minVersion <= versionNumber);
        }

        private RTABMapActivity getActivity() {return this;}

        private void standardOptimization(final boolean withStandardMeshExport) {

                mExportProgressDialog.setTitle("Post-Processing");
                mExportProgressDialog.setMessage(String.format("Please wait while optimizing..."));
                mExportProgressDialog.setProgress(0);
                mExportProgressDialog.show();

                updateState(State.STATE_PROCESSING);
                Thread workingThread = new Thread(new Runnable() {
                        public void run() {
                                final int loopDetected = RTABMapLib.postProcessing(nativeApplication, -1);
                                runOnUiThread(new Runnable() {
                                        public void run() {
                                                updateState(State.STATE_IDLE);
                                                if(mExportProgressDialog.isShowing())
                                                {
                                                        mExportProgressDialog.dismiss();
                                                        if(loopDetected >= 0)
                                                        {
                                                                mTotalLoopClosures+=loopDetected;
                                                                if(withStandardMeshExport)
                                                                {
                                                                        export(true, true, false, true, 200000);
                                                                }
                                                                else
                                                                {
                                                                        mProgressDialog.setTitle("Post-Processing");
                                                                        mProgressDialog.setMessage(String.format("Optimization done! Increasing visual appeal..."));
                                                                        mProgressDialog.show();
                                                                        
                                                                        if(mOpenedDatabasePath.isEmpty())
                                                                        {
                                                                                save();
                                                                        }
                                                                }
                                                        }
                                                        else if(loopDetected < 0)
                                                        {
                                                                mToast.makeText(getActivity(), String.format("Optimization failed!"), mToast.LENGTH_LONG).show();
                                                        }
                                                }
                                                else
                                                {
                                                        mProgressDialog.dismiss();
                                                        mToast.makeText(getActivity(), String.format("Optimization canceled"), mToast.LENGTH_LONG).show();
                                                }
                                        }
                                });
                        } 
                });     
                workingThread.start();
        }

        private Handler notouchHandler = new Handler(){
                public void handleMessage(Message msg) {
                }
        };

        private Runnable notouchCallback = new Runnable() {
                @Override
                public void run() {
                        if(!mProgressDialog.isShowing() && !mMenuOpened)
                        {
                                setNavVisibility(false);
                                mHudVisible = false;
                                updateState(mState);
                        }
                        else
                        {
                                resetNoTouchTimer();
                        }
                }
        };

        public void resetNoTouchTimer(){
                resetNoTouchTimer(false);
        }

        public void resetNoTouchTimer(boolean showHud){
                if(showHud)
                {
                        mHudVisible = true;
                        setNavVisibility(true);
                        if(mItemSave != null)
                        {
                                updateState(mState);
                        }
                }

                notouchHandler.removeCallbacks(notouchCallback);
                notouchHandler.postDelayed(notouchCallback, NOTOUCH_TIMEOUT);

                if(mGLView.getRenderMode() == GLSurfaceView.RENDERMODE_WHEN_DIRTY)
                {
                        mGLView.requestRender();
                }
        }

        public void stopDisconnectTimer(){
                notouchHandler.removeCallbacks(notouchCallback);
                Timer timer = new Timer();
                timer.cancel();
        }

        private void updateState(State state)
        {       
                if(mState == State.STATE_VISUALIZING && state == State.STATE_IDLE && mMapNodes > 100)
                {
                        mToast.makeText(getActivity(), String.format("Re-adding %d online clouds, this may take some time...", mMapNodes), mToast.LENGTH_LONG).show();
                }
                mState = state;
                if(!DISABLE_LOG) Log.i(TAG, String.format("updateState() state=%s hud=%d", state.toString(), mHudVisible?1:0));
                mStatusTexts[0] = state.toString();
                switch(state)
                {
                case STATE_MAPPING:
                case STATE_CAMERA:
                        mButtonLighting.setVisibility(View.INVISIBLE);
                        mButtonWireframe.setVisibility(View.INVISIBLE);
                        mButtonCloseVisualization.setVisibility(View.INVISIBLE);
                        mButtonSaveOnDevice.setVisibility(View.INVISIBLE);
                        mButtonShareOnSketchfab.setVisibility(View.INVISIBLE);
                        mButtonLibrary.setVisibility(View.INVISIBLE);
                        mButtonNewScan.setVisibility(View.INVISIBLE);
                        mItemSave.setEnabled(false);
                        mItemExport.setEnabled(false);
                        mItemOpen.setEnabled(false);
                        mItemNewScan.setEnabled(true);
                        mItemPostProcessing.setEnabled(false);
                        mItemSettings.setEnabled(false);
                        mItemResume.setEnabled(false);
                        mItemModes.setEnabled(mState == State.STATE_CAMERA);
                        mItemLocalizationMode.setEnabled(true);
                        mItemTrajectoryMode.setEnabled(true);
                        mItemDataRecorderMode.setEnabled(true);
                        mButtonStart.setVisibility(mState == State.STATE_CAMERA?View.VISIBLE:View.INVISIBLE);
                        mButtonStop.setVisibility(mHudVisible && mState == State.STATE_MAPPING?View.VISIBLE:View.INVISIBLE);
                        break;
                case STATE_PROCESSING:
                        mButtonLighting.setVisibility(View.INVISIBLE);
                        mButtonWireframe.setVisibility(View.INVISIBLE);
                        mButtonCloseVisualization.setVisibility(View.INVISIBLE);
                        mButtonSaveOnDevice.setVisibility(View.INVISIBLE);
                        mButtonShareOnSketchfab.setVisibility(View.INVISIBLE);
                        mButtonLibrary.setVisibility(View.INVISIBLE);
                        mButtonNewScan.setVisibility(View.INVISIBLE);
                        mItemSave.setEnabled(false);
                        mItemExport.setEnabled(false);
                        mItemOpen.setEnabled(false);
                        mItemNewScan.setEnabled(false);
                        mItemPostProcessing.setEnabled(false);
                        mItemSettings.setEnabled(false);
                        mItemResume.setEnabled(false);
                        mItemModes.setEnabled(false);
                        mButtonStart.setVisibility(View.INVISIBLE);
                        mButtonStop.setVisibility(View.INVISIBLE);
                        break;
                case STATE_VISUALIZING:
                case STATE_VISUALIZING_CAMERA:
                        mButtonLighting.setVisibility(mHudVisible && !mItemRenderingPointCloud.isChecked()?View.VISIBLE:View.INVISIBLE);
                        mButtonWireframe.setVisibility(mHudVisible && !mItemRenderingPointCloud.isChecked()?View.VISIBLE:View.INVISIBLE);
                        mButtonCloseVisualization.setVisibility(mHudVisible && mState != State.STATE_VISUALIZING_CAMERA?View.VISIBLE:View.INVISIBLE);
                        mButtonCloseVisualization.setEnabled(true);
                        mButtonSaveOnDevice.setVisibility(mHudVisible && mState != State.STATE_VISUALIZING_CAMERA?View.VISIBLE:View.INVISIBLE);
                        //mButtonShareOnSketchfab.setVisibility(mHudVisible && mState != State.STATE_VISUALIZING_CAMERA?View.VISIBLE:View.INVISIBLE);
                        mButtonLibrary.setVisibility(View.INVISIBLE);
                        mButtonNewScan.setVisibility(View.INVISIBLE);
                        mItemSave.setEnabled(mState != State.STATE_VISUALIZING_CAMERA);
                        mItemExport.setEnabled(!mItemDataRecorderMode.isChecked() && mState != State.STATE_VISUALIZING_CAMERA);
                        mItemOpen.setEnabled(mState != State.STATE_VISUALIZING_CAMERA);
                        mItemNewScan.setEnabled(mState != State.STATE_VISUALIZING_CAMERA);
                        mItemPostProcessing.setEnabled(false);
                        mItemSettings.setEnabled(mState != State.STATE_VISUALIZING_CAMERA);
                        mItemResume.setEnabled(mMapNodes>0 && mState == State.STATE_VISUALIZING);
                        mItemModes.setEnabled(mState == State.STATE_VISUALIZING);
                        mItemLocalizationMode.setEnabled(true);
                        mItemTrajectoryMode.setEnabled(false);
                        mItemDataRecorderMode.setEnabled(false);
                        mButtonStart.setVisibility(View.INVISIBLE);
                        mButtonStop.setVisibility(mHudVisible && mState == State.STATE_VISUALIZING_CAMERA?View.VISIBLE:View.INVISIBLE);
                        break;
                case STATE_VISUALIZING_WHILE_LOADING:
                        mButtonLighting.setVisibility(mHudVisible && !mItemRenderingPointCloud.isChecked()?View.VISIBLE:View.INVISIBLE);
                        mButtonWireframe.setVisibility(mHudVisible && !mItemRenderingPointCloud.isChecked()?View.VISIBLE:View.INVISIBLE);
                        mButtonCloseVisualization.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
                        mButtonCloseVisualization.setEnabled(false);
                        mButtonSaveOnDevice.setVisibility(View.INVISIBLE);
                        mButtonShareOnSketchfab.setVisibility(View.INVISIBLE);
                        mButtonLibrary.setVisibility(View.INVISIBLE);
                        mButtonNewScan.setVisibility(View.INVISIBLE);
                        mItemSave.setEnabled(false);
                        mItemExport.setEnabled(false);
                        mItemOpen.setEnabled(false);
                        mItemPostProcessing.setEnabled(false);
                        mItemSettings.setEnabled(false);
                        mItemResume.setEnabled(false);
                        mItemModes.setEnabled(false);
                        mButtonStart.setVisibility(View.INVISIBLE);
                        mButtonStop.setVisibility(View.INVISIBLE);
                        break;
                default: // IDLE // WELCOME
                        mButtonLighting.setVisibility(View.INVISIBLE);
                        mButtonWireframe.setVisibility(View.INVISIBLE);
                        mButtonCloseVisualization.setVisibility(View.INVISIBLE);
                        mButtonSaveOnDevice.setVisibility(View.INVISIBLE);
                        mButtonShareOnSketchfab.setVisibility(View.INVISIBLE);
                        mButtonLibrary.setVisibility(mState==State.STATE_WELCOME?View.VISIBLE:View.INVISIBLE);
                        mButtonNewScan.setVisibility(mState==State.STATE_WELCOME?View.VISIBLE:View.INVISIBLE);
                        mItemSave.setEnabled(mMapNodes>0);
                        mItemExport.setEnabled(mMapNodes>0);
                        mItemOpen.setEnabled(true);
                        mItemNewScan.setEnabled(true);
                        mItemPostProcessing.setEnabled(mMapNodes>0);
                        mItemSettings.setEnabled(true);
                        mItemResume.setEnabled(mMapNodes>0);
                        mItemModes.setEnabled(true);
                        mButtonStart.setVisibility(View.INVISIBLE);
                        mButtonStop.setVisibility(View.INVISIBLE);
                        mItemLocalizationMode.setEnabled(true);
                        mItemDataRecorderMode.setEnabled(true);
                        mItemTrajectoryMode.setEnabled(true);
                        break;
                }
                mButtonCameraView.setVisibility(mHudVisible?View.VISIBLE:View.INVISIBLE);
                mButtonBackfaceShown.setVisibility(mHudVisible && (mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked())?View.VISIBLE:View.INVISIBLE);
                mSeekBarOrthoCut.setVisibility(mHudVisible && mButtonCameraView.getSelectedItemPosition() == 3?View.VISIBLE:View.INVISIBLE);
                mSeekBarGrid.setVisibility(mHudVisible && mSeekBarGrid.isEnabled() && mButtonCameraView.getSelectedItemPosition() == 3?View.VISIBLE:View.INVISIBLE);

                if(mState != State.STATE_MAPPING && mState != State.STATE_CAMERA && mState!=State.STATE_VISUALIZING_CAMERA)
                {
                        mGLView.setRenderMode(GLSurfaceView.RENDERMODE_WHEN_DIRTY);
                        mGLView.requestRender();
                }
                else
                {
                        mGLView.setRenderMode(GLSurfaceView.RENDERMODE_CONTINUOUSLY);
                }
                
                if(mState == State.STATE_WELCOME && mIntentDbToOpen != null)
                {
                        openDatabase(mIntentDbToOpen, false);
                        mIntentDbToOpen = null;
                }
        }

        private void startMapping() {
                if(!DISABLE_LOG) Log.i(TAG, String.format("startMapping()"));

                updateState(State.STATE_MAPPING);

                if(mMemoryWarningDialog != null)
                {
                        mMemoryWarningDialog.dismiss();
                        mMemoryWarningDialog=null;
                }
                RTABMapLib.setPausedMapping(nativeApplication, false);
                mLastFastMovementNotificationStamp = System.currentTimeMillis()/1000;

                if(mItemDataRecorderMode.isChecked())
                {
                        mToast.makeText(getActivity(), String.format("Data Recorder Mode: no map is created, only raw data is recorded."), mToast.LENGTH_LONG).show();
                }
                else if(mMapNodes>0)
                {
                        if(mItemLocalizationMode!=null && mItemLocalizationMode.isChecked())
                        {
                                mToast.makeText(getActivity(), String.format("Localization mode"), mToast.LENGTH_LONG).show();
                        }
                        else
                        {
                                mToast.makeText(getActivity(), String.format("On resume, a new map is created. Tip: Try relocalizing in the previous area."), mToast.LENGTH_LONG).show();
                        }
                }
                else if(mMapNodes==0 && mItemLocalizationMode!=null && mItemLocalizationMode.isChecked())
                {
                        mItemLocalizationMode.setChecked(false);
                        RTABMapLib.setLocalizationMode(nativeApplication, false);
                        mToast.makeText(getActivity(), String.format("Disabled localization mode as the map is empty, now mapping..."), mToast.LENGTH_LONG).show();
                }
        }

        private void stopCamera() {

                mProgressDialog.setTitle("");
                mProgressDialog.setMessage("Stopping camera...");
                mProgressDialog.show();

                if(mState == State.STATE_VISUALIZING_CAMERA)
                {
                        RTABMapLib.setPausedMapping(nativeApplication, true);
                        updateState(State.STATE_VISUALIZING);
                }
                else
                {
                        if(mMapNodes==0)        
                        {
                                updateState(State.STATE_WELCOME);
                        }
                        else
                        {
                                updateState(State.STATE_IDLE);
                        }
                }

                if(mArCoreCamera != null)
                {
                        synchronized (this) {
                                mRenderer.setCamera(null);
                                mArCoreCamera.close();
                                mArCoreCamera = null;
                        }
                }

                Thread stopThread = new Thread(new Runnable() {
                        public void run() {
                                if(!DISABLE_LOG) Log.i(TAG, String.format("stopCamera()"));
                                RTABMapLib.stopCamera(nativeApplication);
                                if(mCameraServiceConnectionUsed)
                                {
                                        if(!DISABLE_LOG) Log.i(TAG, String.format("unbindService"));
                                        getActivity().unbindService(mCameraServiceConnection);
                                }
                                mCameraServiceConnectionUsed = false;

                                runOnUiThread(new Runnable() {
                                        public void run() {
                                                setCamera(2);
                                                if(!DISABLE_LOG) Log.i(TAG, String.format("stopMapping(): runOnUiThread"));
                                                mProgressDialog.dismiss();
                                        }
                                });
                        }
                });
                stopThread.start();
        }

        private void stopMapping() {

                mProgressDialog.setTitle("");
                mProgressDialog.setMessage("Stopping camera...");
                mProgressDialog.show();

                updateState(State.STATE_IDLE);

                if(mArCoreCamera != null)
                {
                        synchronized (this) {
                                mRenderer.setCamera(null);
                                mArCoreCamera.close();
                                mArCoreCamera = null;
                        }
                }
                
                Thread stopThread = new Thread(new Runnable() {
                        public void run() {
                                if(!DISABLE_LOG) Log.i(TAG, String.format("setPausedMapping()"));
                                RTABMapLib.setPausedMapping(nativeApplication, true);
                                if(!DISABLE_LOG) Log.i(TAG, String.format("stopCamera()"));
                                RTABMapLib.stopCamera(nativeApplication);
                                if(mCameraServiceConnectionUsed)
                                {
                                        if(!DISABLE_LOG) Log.i(TAG, String.format("unbindService"));
                                        getActivity().unbindService(mCameraServiceConnection);
                                }
                                mCameraServiceConnectionUsed = false;

                                runOnUiThread(new Runnable() {
                                        public void run() {
                                                if(!DISABLE_LOG) Log.i(TAG, String.format("stopMapping(): runOnUiThread"));
                                                mProgressDialog.dismiss();

                                                setCamera(2);

                                                long freeMemory = getFreeMemory();
                                                mStatusTexts[1] = getString(R.string.memory)+String.valueOf(mFreeMemoryOnStart>freeMemory?mFreeMemoryOnStart-freeMemory:0);
                                                mStatusTexts[2] = getString(R.string.free_memory)+String.valueOf(freeMemory);
                                                updateStatusTexts();

                                                mDateOnPause = new Date();

                                                long memoryFree = getFreeMemory();
                                                if(!mOnPause && !mItemLocalizationMode.isChecked() && !mItemDataRecorderMode.isChecked() && memoryFree >= 100 && mMapNodes>2)
                                                {
                                                        if(!DISABLE_LOG) Log.i(TAG, String.format("Do standard processing>?"));
                                                        // Do standard post processing?
                                                        AlertDialog d2 = new AlertDialog.Builder(getActivity())
                                                                        .setCancelable(false)
                                                                        .setTitle("Mapping Stopped! Optimize Now?")
                                                                        .setMessage("Do you want to do standard graph and mesh optimizations now? This can be also done later using \"Optimize\" and \"Export\" menus.")
                                                                        .setNeutralButton("Only Graph", new DialogInterface.OnClickListener() {
                                                                                public void onClick(DialogInterface dialog, int which) {
                                                                                        standardOptimization(false);
                                                                                }
                                                                        })
                                                                        .setPositiveButton("Yes", new DialogInterface.OnClickListener() {
                                                                                public void onClick(DialogInterface dialog, int which) {
                                                                                        standardOptimization(true);
                                                                                }
                                                                        })
                                                                        .setNegativeButton("No", new DialogInterface.OnClickListener() {
                                                                                public void onClick(DialogInterface dialog, int which) {
                                                                                        if(mOpenedDatabasePath.isEmpty())
                                                                                        {
                                                                                                save();
                                                                                        }
                                                                                }
                                                                        })
                                                                        .create();
                                                        d2.setCanceledOnTouchOutside(false);
                                                        d2.show();
                                                } 
                                        }
                                });
                        }
                });
                stopThread.start();
        }

        public boolean onOptionsItemSelected(MenuItem item) {
                resetNoTouchTimer();
                if(!DISABLE_LOG) Log.i(TAG, "called onOptionsItemSelected; selected item: " + item);
                int itemId = item.getItemId();
                if (itemId == R.id.post_processing_standard)
                {
                        standardOptimization(false);
                }
                else if (itemId == R.id.detect_more_loop_closures)
                {
                        mProgressDialog.setTitle("Post-Processing");
                        mProgressDialog.setMessage(String.format("Please wait while detecting more loop closures..."));
                        mProgressDialog.show();
                        updateState(State.STATE_PROCESSING);
                        Thread workingThread = new Thread(new Runnable() {
                                public void run() {
                                        final int loopDetected = RTABMapLib.postProcessing(nativeApplication, 2);
                                        runOnUiThread(new Runnable() {
                                                public void run() {
                                                        mProgressDialog.dismiss();
                                                        if(loopDetected >= 0)
                                                        {
                                                                mTotalLoopClosures+=loopDetected;
                                                                mToast.makeText(getActivity(), String.format("Detection done! %d new loop closure(s) added.", loopDetected), mToast.LENGTH_SHORT).show();
                                                        }
                                                        else if(loopDetected < 0)
                                                        {
                                                                mToast.makeText(getActivity(), String.format("Detection failed!"), mToast.LENGTH_SHORT).show();
                                                        }
                                                        updateState(State.STATE_IDLE);
                                                }
                                        });
                                } 
                        });
                        workingThread.start();
                }
                else if (itemId == R.id.global_graph_optimization)
                {
                        mProgressDialog.setTitle("Post-Processing");
                        mProgressDialog.setMessage(String.format("Global graph optimization..."));
                        mProgressDialog.show();
                        updateState(State.STATE_PROCESSING);
                        Thread workingThread = new Thread(new Runnable() {
                                public void run() {
                                        final int value = RTABMapLib.postProcessing(nativeApplication, 0);
                                        runOnUiThread(new Runnable() {
                                                public void run() {
                                                        mProgressDialog.dismiss();
                                                        if(value >= 0)
                                                        {
                                                                mToast.makeText(getActivity(), String.format("Optimization done!"), mToast.LENGTH_SHORT).show();
                                                        }
                                                        else if(value < 0)
                                                        {
                                                                mToast.makeText(getActivity(), String.format("Optimization failed!"), mToast.LENGTH_SHORT).show();
                                                        }
                                                        updateState(State.STATE_IDLE);
                                                }
                                        });
                                } 
                        });
                        workingThread.start();
                }
                else if (itemId == R.id.polygons_filtering)
                {               
                        mProgressDialog.setTitle("Post-Processing");
                        mProgressDialog.setMessage(String.format("Noise filtering..."));
                        mProgressDialog.show();
                        RTABMapLib.postProcessing(nativeApplication, 4);
                }
                else if (itemId == R.id.gain_compensation_fast)
                {               
                        mProgressDialog.setTitle("Post-Processing");
                        mProgressDialog.setMessage(String.format("Adjusting Colors (Fast)..."));
                        mProgressDialog.show();
                        RTABMapLib.postProcessing(nativeApplication, 5);
                }
                else if (itemId == R.id.gain_compensation_full)
                {               
                        mProgressDialog.setTitle("Post-Processing");
                        mProgressDialog.setMessage(String.format("Adjusting Colors (Full)..."));
                        mProgressDialog.show();
                        RTABMapLib.postProcessing(nativeApplication, 6);
                }
                else if (itemId == R.id.bilateral_filtering)
                {               
                        mProgressDialog.setTitle("Post-Processing");
                        mProgressDialog.setMessage(String.format("Mesh smoothing..."));
                        mProgressDialog.show();
                        RTABMapLib.postProcessing(nativeApplication, 7);
                }
                else if (itemId == R.id.sba)
                {
                        mProgressDialog.setTitle("Post-Processing");
                        mProgressDialog.setMessage(String.format("Bundle adjustement..."));
                        mProgressDialog.show();

                        Thread workingThread = new Thread(new Runnable() {
                                public void run() {
                                        final int value = RTABMapLib.postProcessing(nativeApplication, 1);
                                        runOnUiThread(new Runnable() {
                                                public void run() {
                                                        mProgressDialog.dismiss();
                                                        if(value >= 0)
                                                        {
                                                                mToast.makeText(getActivity(), String.format("Optimization done!"), mToast.LENGTH_SHORT).show();
                                                        }
                                                        else if(value < 0)
                                                        {
                                                                mToast.makeText(getActivity(), String.format("Optimization failed!"), mToast.LENGTH_SHORT).show();
                                                        }
                                                }
                                        });
                                } 
                        });
                        workingThread.start();
                }
                else if(itemId == R.id.status)
                {
                        item.setChecked(!item.isChecked());
                        updateStatusTexts();
                }
                else if(itemId == R.id.debug)
                {
                        item.setChecked(!item.isChecked());
                        updateStatusTexts();
                }
                else if(itemId == R.id.mesh || itemId == R.id.texture_mesh || itemId == R.id.point_cloud)
                {
                        item.setChecked(true);
                        RTABMapLib.setMeshRendering(
                                        nativeApplication, 
                                        mItemRenderingMesh.isChecked() || mItemRenderingTextureMesh.isChecked(), 
                                        mItemRenderingTextureMesh.isChecked());

                        resetNoTouchTimer();

                        if(mState != State.STATE_VISUALIZING)
                        {
                                // save preference
                                int type = mItemRenderingPointCloud.isChecked()?0:mItemRenderingMesh.isChecked()?1:2;
                                SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
                                SharedPreferences.Editor editor = sharedPref.edit();
                                editor.putInt(getString(R.string.pref_key_rendering), type);
                                // Commit the edits!
                                editor.commit();
                        }
                }
                else if(itemId == R.id.map_shown)
                {
                        item.setChecked(!item.isChecked());
                        RTABMapLib.setMapCloudShown(nativeApplication, item.isChecked());
                }
                else if(itemId == R.id.odom_shown)
                {
                        item.setChecked(!item.isChecked());
                        RTABMapLib.setOdomCloudShown(nativeApplication, item.isChecked());
                }
                else if(itemId == R.id.localization_mode)
                {
                        item.setChecked(!item.isChecked());
                        RTABMapLib.setLocalizationMode(nativeApplication, item.isChecked());
                }
                else if(itemId == R.id.trajectory_mode)
                {
                        item.setChecked(!item.isChecked());
                        RTABMapLib.setTrajectoryMode(nativeApplication, item.isChecked());
                        setCamera(item.isChecked()?2:1);
                }
                else if(itemId == R.id.graph_optimization)
                {
                        item.setChecked(!item.isChecked());
                        RTABMapLib.setGraphOptimization(nativeApplication, item.isChecked());
                }
                else if(itemId == R.id.graph_visible)
                {
                        item.setChecked(!item.isChecked());
                        RTABMapLib.setGraphVisible(nativeApplication, item.isChecked());
                }
                else if(itemId == R.id.grid_visible)
                {
                        item.setChecked(!item.isChecked());
                        mSeekBarGrid.setEnabled(item.isChecked());
                        mSeekBarGrid.setVisibility(mHudVisible && mSeekBarGrid.isEnabled()&&mButtonCameraView.getSelectedItemPosition() == 3?View.VISIBLE:View.INVISIBLE);
                        RTABMapLib.setGridVisible(nativeApplication, item.isChecked());
                }
                else if (itemId == R.id.save)
                {
                        save();
                }
                else if(itemId == R.id.resume)
                {
                        resumeScan();
                }
                else if(itemId == R.id.new_scan)
                {
                        newScan();
                }
                else if(itemId == R.id.data_recorder)
                {
                        final boolean dataRecorderOldState = item.isChecked();
                        AlertDialog d2 = new AlertDialog.Builder(getActivity())
                                        .setCancelable(false)
                                        .setTitle("Data Recorder Mode")
                                        .setMessage("Changing from/to data recorder mode will close the current session. Do you want to continue?")
                                        .setPositiveButton("Yes", new DialogInterface.OnClickListener() {
                                                public void onClick(DialogInterface dialog, int which) {                  
                                                        // reset
                                                        mTotalLoopClosures = 0;
                                                        int index = STATUS_TEXTS_POSE_INDEX;
                                                        mMapNodes = 0;
                                                        mStatusTexts[index++] = getString(R.string.nodes)+0;
                                                        mStatusTexts[index++] = getString(R.string.words)+0;
                                                        mStatusTexts[index++] = getString(R.string.database_size)+0;
                                                        mStatusTexts[index++] = getString(R.string.points)+0;
                                                        mStatusTexts[index++] = getString(R.string.polygons)+0;
                                                        mStatusTexts[index++] = getString(R.string.update_time)+0;
                                                        mStatusTexts[index++] = getString(R.string.features)+0;
                                                        mStatusTexts[index++] = getString(R.string.rehearsal)+0;
                                                        mStatusTexts[index++] = getString(R.string.total_loop)+0;
                                                        mStatusTexts[index++] = getString(R.string.inliers)+0;
                                                        mStatusTexts[index++] = getString(R.string.hypothesis)+0;
                                                        mStatusTexts[index++] = getString(R.string.fps)+0;
                                                        mStatusTexts[index++] = getString(R.string.distance)+0;
                                                        mStatusTexts[index++] = String.format("Pose (x,y,z): 0 0 0");
                                                        updateStatusTexts();

                                                        mItemDataRecorderMode.setChecked(!dataRecorderOldState);
                                                        RTABMapLib.setDataRecorderMode(nativeApplication, mItemDataRecorderMode.isChecked());

                                                        mOpenedDatabasePath = "";
                                                        SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(getActivity());
                                                        boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
                                                        String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
                                                        RTABMapLib.openDatabase(nativeApplication, tmpDatabase, databaseInMemory, false, true);

                                                        mItemLocalizationMode.setEnabled(!mItemDataRecorderMode.isChecked());              

                                                        if(mItemDataRecorderMode.isChecked())
                                                        {
                                                                mToast.makeText(getActivity(), String.format("Data recorder mode activated! Tip: You can increase data update rate in Parameters menu under Mapping options."), mToast.LENGTH_LONG).show();
                                                        }
                                                        else
                                                        {
                                                                mToast.makeText(getActivity(), String.format("Data recorder mode deactivated!"), mToast.LENGTH_LONG).show();
                                                        }
                                                }
                                        })
                                        .setNegativeButton("No", new DialogInterface.OnClickListener() {
                                                public void onClick(DialogInterface dialog, int which) {
                                                        dialog.dismiss();
                                                }
                                        })
                                        .create();
                        d2.setCanceledOnTouchOutside(false);
                        d2.show();
                }
                else if(itemId == R.id.export_point_cloud ||
                                itemId == R.id.export_point_cloud_highrez)
                {
                        final boolean regenerateCloud = itemId == R.id.export_point_cloud_highrez;

                        export(false, false, regenerateCloud, false, 0);
                }
                else if(itemId == R.id.export_optimized_mesh ||
                                itemId == R.id.export_optimized_mesh_texture)
                {
                        final boolean isOBJ = itemId == R.id.export_optimized_mesh_texture;

                        RelativeLayout linearLayout = new RelativeLayout(this);
                        final NumberPicker aNumberPicker = new NumberPicker(this);
                        aNumberPicker.setMaxValue(9);
                        aNumberPicker.setMinValue(0);
                        aNumberPicker.setWrapSelectorWheel(false);
                        aNumberPicker.setDescendantFocusability(NumberPicker.FOCUS_BLOCK_DESCENDANTS);
                        aNumberPicker.setFormatter(new NumberPicker.Formatter() {
                                @Override
                                public String format(int i) {
                                        if(i==0)
                                        {
                                                return "No Limit";
                                        }
                                        return String.format("%d00 000", i);
                                }
                        });
                        aNumberPicker.setValue(2);

                        // Fix to correctly show value on first render
                        try {
                                Method method = aNumberPicker.getClass().getDeclaredMethod("changeValueByOne", boolean.class);
                                method.setAccessible(true);
                                method.invoke(aNumberPicker, true);
                        } catch (NoSuchMethodException e) {
                                e.printStackTrace();
                        } catch (IllegalArgumentException e) {
                                e.printStackTrace();
                        } catch (IllegalAccessException e) {
                                e.printStackTrace();
                        } catch (InvocationTargetException e) {
                                e.printStackTrace();
                        }


                        RelativeLayout.LayoutParams params = new RelativeLayout.LayoutParams(50, 50);
                        RelativeLayout.LayoutParams numPicerParams = new RelativeLayout.LayoutParams(RelativeLayout.LayoutParams.WRAP_CONTENT, RelativeLayout.LayoutParams.WRAP_CONTENT);
                        numPicerParams.addRule(RelativeLayout.CENTER_HORIZONTAL);

                        linearLayout.setLayoutParams(params);
                        linearLayout.addView(aNumberPicker,numPicerParams);

                        AlertDialog ad = new AlertDialog.Builder(this)
                                        .setTitle("Maximum polygons")
                                        .setView(linearLayout)
                                        .setCancelable(false)
                                        .setPositiveButton("Ok",
                                                        new DialogInterface.OnClickListener() {
                                                public void onClick(DialogInterface dialog,
                                                                int id) {
                                                        export(isOBJ, true, false, true, aNumberPicker.getValue()*100000);
                                                }
                                        })
                                        .setNegativeButton("Cancel",
                                                        new DialogInterface.OnClickListener() {
                                                public void onClick(DialogInterface dialog,
                                                                int id) {
                                                        dialog.cancel();
                                                }
                                        }).create();
                        ad.setCanceledOnTouchOutside(false);
                        ad.show();
                }
                else if(itemId == R.id.open)
                {
                        openDatabase();
                }
                else if(itemId == R.id.settings)
                {
                        Intent intent = new Intent(getActivity(), SettingsActivity.class);
                        startActivity(intent);
                }
                else if(itemId == R.id.about)
                {
                        AboutDialog about = new AboutDialog(this);
                        about.setTitle("About RTAB-Map");
                        about.show();
                }

                return true;
        }

        private void resumeScan()
        {
                setCamera(mState==State.STATE_VISUALIZING?0:1);
                startCamera(String.format("Hold Tight! Initializing Camera Service...\n"
                                + "Tip: If the camera is still drifting just after the mapping has started, do \"Reset\"."));
        }

        private void newScan() {

                if(mState == State.STATE_VISUALIZING)
                {
                        mMapNodes = 0; // To avoid "re-adding clouds..." message when changing state from VIS to IDLE
                        closeVisualization();
                }
                
                mTotalLoopClosures = 0;

                int index = STATUS_TEXTS_POSE_INDEX;
                mMapNodes = 0;
                mStatusTexts[index++] = getString(R.string.nodes)+0;
                mStatusTexts[index++] = getString(R.string.words)+0;
                mStatusTexts[index++] = getString(R.string.database_size)+0;
                mStatusTexts[index++] = getString(R.string.points)+0;
                mStatusTexts[index++] = getString(R.string.polygons)+0;
                mStatusTexts[index++] = getString(R.string.update_time)+0;
                mStatusTexts[index++] = getString(R.string.features)+0;
                mStatusTexts[index++] = getString(R.string.rehearsal)+0;
                mStatusTexts[index++] = getString(R.string.total_loop)+0;
                mStatusTexts[index++] = getString(R.string.inliers)+0;
                mStatusTexts[index++] = getString(R.string.hypothesis)+0;
                mStatusTexts[index++] = getString(R.string.fps)+0;
                mStatusTexts[index++] = getString(R.string.distance)+0;
                mStatusTexts[index++] = String.format("Pose (x,y,z): 0 0 0");
                updateStatusTexts();

                mOpenedDatabasePath = "";
                SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
                boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));
                final String tmpDatabase = mWorkingDirectory+RTABMAP_TMP_DB;
                
                File newFile = new File(tmpDatabase);
                final int fileSizeMB = (int)newFile.length()/(1024 * 1024);
                if(!(mState == State.STATE_CAMERA || mState ==State.STATE_MAPPING) &&
                        newFile.exists() && 
                        fileSizeMB>1) // >1MB
                {
                        AlertDialog d2 = new AlertDialog.Builder(getActivity())
                                        .setCancelable(false)
                                        .setTitle("Recovery")
                                        .setMessage(String.format("The previous session (%d MB) was not correctly saved, do you want to recover it?", fileSizeMB))
                                        .setNegativeButton("Ignore", new DialogInterface.OnClickListener() {
                                                public void onClick(DialogInterface dialog, int which) {
                                                        (new File(tmpDatabase)).delete();
                                                        newScan();
                                                }
                                        })
                                        .setNeutralButton("Cancel", new DialogInterface.OnClickListener() {
                                                public void onClick(DialogInterface dialog, int which) {
                                                        // do nothing
                                                }
                                        })
                                        .setPositiveButton("Yes", new DialogInterface.OnClickListener() {
                                                public void onClick(DialogInterface dialog, int which) {
                                                        final String fileName = new SimpleDateFormat("yyMMdd-HHmmss").format(new Date()) + ".db";
                                                        final String outputDbPath = mWorkingDirectory + fileName;
                                                        
                                                        mExportProgressDialog.setTitle("Recovering");
                                                        mExportProgressDialog.setMessage(String.format("Please wait while recovering data..."));
                                                        mExportProgressDialog.setProgress(0);

                                                        final State previousState = mState;

                                                        mExportProgressDialog.show();
                                                        updateState(State.STATE_PROCESSING);

                                                        Thread exportThread = new Thread(new Runnable() {
                                                                public void run() {

                                                                        final long startTime = System.currentTimeMillis()/1000;

                                                                        final boolean success = RTABMapLib.recover(
                                                                                        nativeApplication, 
                                                                                        tmpDatabase,
                                                                                        outputDbPath);
                                                                        runOnUiThread(new Runnable() {
                                                                                public void run() {
                                                                                        if(mExportProgressDialog.isShowing())
                                                                                        {                                                       
                                                                                                if(success)
                                                                                                {                                                               
                                                                                                        AlertDialog d2 = new AlertDialog.Builder(getActivity())
                                                                                                                        .setCancelable(false)
                                                                                                                        .setTitle("Database saved!")
                                                                                                                        .setMessage(String.format("Database \"%s\" (%d MB) successfully saved!", fileName, fileSizeMB))
                                                                                                                        .setPositiveButton("OK", new DialogInterface.OnClickListener() {
                                                                                                                                public void onClick(DialogInterface dialog, int which) {
                                                                                                                                        openDatabase(fileName, false);
                                                                                                                                }
                                                                                                                        })
                                                                                                                        .create();
                                                                                                        d2.setCanceledOnTouchOutside(true);
                                                                                                        d2.show();
                                                                                                }
                                                                                                else
                                                                                                {
                                                                                                        updateState(previousState);
                                                                                                        mToast.makeText(getActivity(), String.format("Recovery failed!"), mToast.LENGTH_LONG).show();
                                                                                                }
                                                                                                mExportProgressDialog.dismiss();
                                                                                        }
                                                                                        else
                                                                                        {
                                                                                                mToast.makeText(getActivity(), String.format("Recovery canceled"), mToast.LENGTH_LONG).show();
                                                                                                updateState(previousState);
                                                                                        }
                                                                                }
                                                                        });
                                                                } 
                                                        });
                                                        exportThread.start();
                                                        
                                                        refreshSystemMediaScanDataBase(getActivity(), outputDbPath);
                                                }
                                        })
                                        .create();
                        d2.setCanceledOnTouchOutside(false);
                        d2.show();
                }
                else
                {
                
                        RTABMapLib.openDatabase(nativeApplication, tmpDatabase, databaseInMemory, false, true);
        
                        if(!(mState == State.STATE_CAMERA || mState ==State.STATE_MAPPING))
                        {
                                setCamera(0);
                                startCamera(String.format("Hold Tight! Initializing Camera Service...\n"
                                                + "Tip: If the camera is still drifting just after the mapping has started, do \"Reset\"."));
                        }
                }
        }
                

        private void openDatabase()
        {
                final String[] files = Util.loadFileList(mWorkingDirectory, true);
                if(files.length > 0)
                {
                        String[] filesWithSize = new String[files.length];
                        for(int i = 0; i<filesWithSize.length; ++i)
                        {
                                File filePath = new File(mWorkingDirectory+files[i]);
                                long mb = filePath.length()/(1024*1024);
                                filesWithSize[i] = files[i] + " ("+mb+" MB)";
                        }

                        ArrayList<HashMap<String, String> > arrayList = new ArrayList<HashMap<String, String> >();
                        for (int i = 0; i < filesWithSize.length; i++) {
                                HashMap<String, String> hashMap = new HashMap<String, String>();//create a hashmap to store the data in key value pair
                                hashMap.put("name", filesWithSize[i]);
                                hashMap.put("path", mWorkingDirectory + files[i]);
                                arrayList.add(hashMap);//add the hashmap into arrayList
                        }
                        String[] from = {"name", "path"};//string array
                        int[] to = {R.id.textView, R.id.imageView};//int array of views id's
                        DatabaseListArrayAdapter simpleAdapter = new DatabaseListArrayAdapter(this, arrayList, R.layout.database_list, from, to);//Create object and set the parameters for simpleAdapter

                        AlertDialog.Builder builder = new AlertDialog.Builder(this);
                        builder.setCancelable(true);
                        builder.setTitle("Choose Your File (*.db)");
                        builder.setNegativeButton("Cancel", new DialogInterface.OnClickListener() {
                                public void onClick(DialogInterface dialog, int whichIn) {
                                        // do nothing
                                }
                        });
                        builder.setAdapter(simpleAdapter, new DialogInterface.OnClickListener() {
                                //builder.setItems(filesWithSize, new DialogInterface.OnClickListener() {
                                public void onClick(DialogInterface dialog, final int which) {

                                        // Adjust color now?
                                        AlertDialog d2 = new AlertDialog.Builder(getActivity())
                                                        .setCancelable(false)
                                                        .setTitle("Opening database...")
                                                        .setMessage("Do you want to adjust colors now?\nThis can be done later under Optimize menu.")
                                                        .setPositiveButton("Yes", new DialogInterface.OnClickListener() {
                                                                public void onClick(DialogInterface dialog, int whichIn) {
                                                                        openDatabase(files[which], true);
                                                                }
                                                        })
                                                        .setNeutralButton("No", new DialogInterface.OnClickListener() {
                                                                public void onClick(DialogInterface dialog, int whichIn) {
                                                                        openDatabase(files[which], false);
                                                                }
                                                        })
                                                        .create();
                                        d2.setCanceledOnTouchOutside(false);
                                        d2.show();
                                        return;
                                }
                        });

                        final AlertDialog ad = builder.create(); //don't show dialog yet
                        ad.setCanceledOnTouchOutside(true);
                        ad.setOnShowListener(new OnShowListener() 
                        {                       
                                @Override
                                public void onShow(DialogInterface dialog) 
                                {       
                                        ListView lv = ad.getListView(); 
                                        ad.registerForContextMenu(lv);
                                        lv.setOnCreateContextMenuListener(new OnCreateContextMenuListener() {

                                                @Override
                                                public void onCreateContextMenu(ContextMenu menu, View v, ContextMenuInfo menuInfo) {

                                                        if (v.getId()==ad.getListView().getId()) {
                                                                AdapterView.AdapterContextMenuInfo info = (AdapterView.AdapterContextMenuInfo)menuInfo;
                                                                final int position = info.position;
                                                                menu.setHeaderTitle(files[position]);
                                                                menu.add(Menu.NONE, 0, 0, "Rename").setOnMenuItemClickListener(new OnMenuItemClickListener() {
                                                                        @Override
                                                                        public boolean onMenuItemClick(MenuItem item) {
                                                                                AlertDialog.Builder builderRename = new AlertDialog.Builder(getActivity());
                                                                                builderRename.setCancelable(false);
                                                                                builderRename.setTitle("RTAB-Map Database Name (*.db):");
                                                                                final EditText input = new EditText(getActivity());
                                                                                input.setInputType(InputType.TYPE_CLASS_TEXT); 
                                                                                input.setText("");
                                                                                input.setImeOptions(EditorInfo.IME_FLAG_NO_EXTRACT_UI);
                                                                                input.setSelectAllOnFocus(true);
                                                                                input.selectAll();
                                                                                builderRename.setView(input);
                                                                                builderRename.setPositiveButton("OK", new DialogInterface.OnClickListener() {
                                                                                        @Override
                                                                                        public void onClick(DialogInterface dialog, int which)
                                                                                        {
                                                                                                final String fileName = input.getText().toString();  
                                                                                                dialog.dismiss();
                                                                                                if(!fileName.isEmpty())
                                                                                                {
                                                                                                        File newFile = new File(mWorkingDirectory + fileName + ".db");
                                                                                                        if(newFile.exists())
                                                                                                        {
                                                                                                                AlertDialog d2 = new AlertDialog.Builder(getActivity())
                                                                                                                                .setCancelable(false)
                                                                                                                                .setTitle("File Already Exists")
                                                                                                                                .setMessage(String.format("Name %s already used, choose another name.", fileName))
                                                                                                                                .create();
                                                                                                                d2.setCanceledOnTouchOutside(false);
                                                                                                                d2.show();
                                                                                                        }
                                                                                                        else
                                                                                                        {
                                                                                                                File from = new File(mWorkingDirectory, files[position]);
                                                                                                                File to   = new File(mWorkingDirectory, fileName + ".db");
                                                                                                                from.renameTo(to);

                                                                                                                long stamp = System.currentTimeMillis();
                                                                                                                if(stamp-mSavedStamp < 10000)
                                                                                                                {
                                                                                                                        try {
                                                                                                                                Thread.sleep(10000 - (stamp-mSavedStamp));
                                                                                                                        }
                                                                                                                        catch(InterruptedException e){}
                                                                                                                }

                                                                                                                refreshSystemMediaScanDataBase(getActivity(), files[position]);
                                                                                                                refreshSystemMediaScanDataBase(getActivity(), to.getAbsolutePath());

                                                                                                                ad.dismiss();
                                                                                                                resetNoTouchTimer(true);
                                                                                                        }
                                                                                                }
                                                                                        }
                                                                                });
                                                                                AlertDialog alertToShow = builderRename.create();
                                                                                alertToShow.setCanceledOnTouchOutside(false);
                                                                                alertToShow.getWindow().setSoftInputMode(WindowManager.LayoutParams.SOFT_INPUT_STATE_VISIBLE);
                                                                                alertToShow.show();
                                                                                return true;
                                                                        }
                                                                });
                                                                menu.add(Menu.NONE, 1, 1, "Delete").setOnMenuItemClickListener(new OnMenuItemClickListener() {
                                                                        @Override
                                                                        public boolean onMenuItemClick(MenuItem item) {
                                                                                DialogInterface.OnClickListener dialogClickListener = new DialogInterface.OnClickListener() {
                                                                                        @Override
                                                                                        public void onClick(DialogInterface dialog, int which) {
                                                                                                switch (which){
                                                                                                case DialogInterface.BUTTON_POSITIVE:
                                                                                                        Log.e(TAG, String.format("Yes delete %s!", files[position]));
                                                                                                        (new File(mWorkingDirectory+files[position])).delete();
                                                                                                        refreshSystemMediaScanDataBase(getActivity(), mWorkingDirectory+files[position]);
                                                                                                        ad.dismiss();
                                                                                                        resetNoTouchTimer(true);
                                                                                                        break;

                                                                                                case DialogInterface.BUTTON_NEGATIVE:
                                                                                                        //No button clicked
                                                                                                        break;
                                                                                                }
                                                                                        }
                                                                                };
                                                                                AlertDialog dialog = new AlertDialog.Builder(getActivity())
                                                                                                .setCancelable(false)
                                                                                                .setTitle(String.format("Delete %s", files[position]))
                                                                                                .setMessage("Are you sure?")
                                                                                                .setPositiveButton("Yes", dialogClickListener)
                                                                                                .setNegativeButton("No", dialogClickListener).create();
                                                                                dialog.setCanceledOnTouchOutside(false);
                                                                                dialog.show();
                                                                                return true;
                                                                        }
                                                                });
                                                                menu.add(Menu.NONE, 2, 2, "Share").setOnMenuItemClickListener(new OnMenuItemClickListener() {
                                                                        @Override
                                                                        public boolean onMenuItemClick(MenuItem item) {
                                                                                
                                                                                if (!PermissionHelper.hasPermission(getActivity(), Manifest.permission.INTERNET)) {
                                                                                        PermissionHelper.requestPermission(getActivity(), Manifest.permission.INTERNET);
                                                                                        return false;
                                                                                }
                                                                                
                                                                                // Send to...
                                                                                File f = new File(mWorkingDirectory+files[position]);
                                                                                final int fileSizeMB = (int)f.length()/(1024 * 1024);
                                                                                Intent shareIntent = new Intent();
                                                                                shareIntent.setAction(Intent.ACTION_SEND);
                                                                                shareIntent.addFlags(Intent.FLAG_GRANT_READ_URI_PERMISSION);
                                                                                Uri fileUri = FileProvider.getUriForFile(getActivity(), getActivity().getApplicationContext().getPackageName() + ".provider", f);
                                                                                shareIntent.putExtra(Intent.EXTRA_STREAM, fileUri);
                                                                                shareIntent.setType("application/octet-stream");
                                                                                startActivity(Intent.createChooser(shareIntent, String.format("Sharing database \"%s\" (%d MB)...", files[position], fileSizeMB)));
                                                                                ad.dismiss();
                                                                                resetNoTouchTimer(true);
                                                                                return true;
                                                                        }
                                                                });
                                                        }
                                                }                                                       
                                        });
                                }
                        });
                        ad.show();
                }       
        }

        private void export(final boolean isOBJ, final boolean meshing, final boolean regenerateCloud, final boolean optimized, final int optimizedMaxPolygons)
        {
                final String extension = isOBJ? ".obj" : ".ply";

                // get Export settings
                SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(this);
                final String cloudVoxelSizeStr = sharedPref.getString(getString(R.string.pref_key_cloud_voxel), getString(R.string.pref_default_cloud_voxel));
                final float cloudVoxelSize = Float.parseFloat(cloudVoxelSizeStr);
                final int textureSize = isOBJ?Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_texture_size), getString(R.string.pref_default_texture_size))):0;
                final int textureCount = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_texture_count), getString(R.string.pref_default_texture_count)));
                final int normalK = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_normal_k), getString(R.string.pref_default_normal_k)));
                final float maxTextureDistance = Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_max_texture_distance), getString(R.string.pref_default_max_texture_distance)));
                final int minTextureClusterSize = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_min_texture_cluster_size), getString(R.string.pref_default_min_texture_cluster_size)));
                final float optimizedVoxelSize = cloudVoxelSize;
                final int optimizedDepth = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_opt_depth), getString(R.string.pref_default_opt_depth)));
                final float optimizedColorRadius = Float.parseFloat(sharedPref.getString(getString(R.string.pref_key_opt_color_radius), getString(R.string.pref_default_opt_color_radius)));
                final boolean optimizedCleanWhitePolygons = sharedPref.getBoolean(getString(R.string.pref_key_opt_clean_white), Boolean.parseBoolean(getString(R.string.pref_default_opt_clean_white)));
                final int optimizedMinClusterSize = Integer.parseInt(sharedPref.getString(getString(R.string.pref_key_opt_min_cluster_size), getString(R.string.pref_default_opt_min_cluster_size)));
                final boolean blockRendering = sharedPref.getBoolean(getString(R.string.pref_key_block_render), Boolean.parseBoolean(getString(R.string.pref_default_block_render)));


                mExportProgressDialog.setTitle("Exporting");
                mExportProgressDialog.setMessage(String.format("Please wait while preparing data to export..."));
                mExportProgressDialog.setProgress(0);

                final State previousState = mState;

                mExportProgressDialog.show();
                updateState(State.STATE_PROCESSING);

                Thread exportThread = new Thread(new Runnable() {
                        public void run() {

                                final long startTime = System.currentTimeMillis()/1000;

                                final boolean success = RTABMapLib.exportMesh(
                                                nativeApplication, 
                                                cloudVoxelSize,
                                                regenerateCloud,
                                                meshing,
                                                textureSize,
                                                textureCount,
                                                normalK,
                                                optimized,
                                                optimizedVoxelSize,
                                                optimizedDepth,
                                                optimizedMaxPolygons,
                                                optimizedColorRadius,
                                                optimizedCleanWhitePolygons,
                                                optimizedMinClusterSize,
                                                maxTextureDistance,
                                                minTextureClusterSize,
                                                blockRendering);
                                runOnUiThread(new Runnable() {
                                        public void run() {
                                                if(mExportProgressDialog.isShowing())
                                                {                                                       
                                                        if(success)
                                                        {                                                               
                                                                if(!meshing && cloudVoxelSize>0.0f)
                                                                {
                                                                        mToast.makeText(getActivity(), String.format("Cloud assembled and voxelized at %s m.", cloudVoxelSizeStr), mToast.LENGTH_LONG).show();
                                                                }

                                                                final long endTime = System.currentTimeMillis()/1000;

                                                                if(endTime-startTime > 10)
                                                                {
                                                                        // build notification
                                                                        // the addAction re-use the same intent to keep the example short
                                                                        SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(getActivity());
                                                                        boolean notifySound = sharedPref.getBoolean(getString(R.string.pref_key_notification_sound), Boolean.parseBoolean(getString(R.string.pref_default_notification_sound)));
                                                                        Notification n  = new Notification.Builder(getActivity())
                                                                                        .setContentTitle(getString(R.string.app_name))
                                                                                        .setContentText("Data generated and ready to be exported!")
                                                                                        .setSmallIcon(R.drawable.ic_launcher)
                                                                                        .setDefaults(notifySound?Notification.DEFAULT_SOUND:0)
                                                                                        .setAutoCancel(true).build();

                                                                        NotificationManager notificationManager = 
                                                                                        (NotificationManager) getSystemService(NOTIFICATION_SERVICE);

                                                                        notificationManager.notify(0, n); 
                                                                }

                                                                // Visualize the result
                                                                resetNoTouchTimer(true);
                                                                mSavedRenderingType = mItemRenderingPointCloud.isChecked()?0:mItemRenderingMesh.isChecked()?1:2;
                                                                if(!meshing)
                                                                {
                                                                        mItemRenderingPointCloud.setChecked(true);
                                                                }
                                                                else if(!isOBJ)
                                                                {
                                                                        mItemRenderingMesh.setChecked(true);
                                                                }
                                                                else // isOBJ
                                                                {
                                                                        mItemRenderingTextureMesh.setChecked(true);
                                                                }
                                                                if(!optimizedCleanWhitePolygons)
                                                                {
                                                                        mButtonLighting.setChecked(true);
                                                                        RTABMapLib.setLighting(nativeApplication, true);
                                                                }
                                                                updateState(State.STATE_VISUALIZING);
                                                                RTABMapLib.postExportation(nativeApplication, true);
                                                                if(mButtonCameraView.getSelectedItemPosition() == 0)
                                                                {
                                                                        setCamera(2);
                                                                }
                                                                if(mOpenedDatabasePath.isEmpty())
                                                                {
                                                                        save();
                                                                }
                                                        }
                                                        else
                                                        {
                                                                updateState(previousState);
                                                                mToast.makeText(getActivity(), String.format("Exporting map failed!"), mToast.LENGTH_LONG).show();
                                                        }
                                                        mExportProgressDialog.dismiss();
                                                }
                                                else
                                                {
                                                        mProgressDialog.dismiss();
                                                        mToast.makeText(getActivity(), String.format("Export canceled"), mToast.LENGTH_LONG).show();
                                                        updateState(previousState);
                                                }
                                        }
                                });
                        } 
                });
                exportThread.start();
        }
        
        public void save()
        {
                AlertDialog.Builder builder = new AlertDialog.Builder(this);
                builder.setCancelable(false);
                builder.setTitle("RTAB-Map Database Name (*.db):");
                final EditText input = new EditText(this);
                input.setInputType(InputType.TYPE_CLASS_TEXT); 
                if(mOpenedDatabasePath.isEmpty())
                {
                        String timeStamp = new SimpleDateFormat("yyMMdd-HHmmss").format(mDateOnPause);
                        input.setText(timeStamp);
                }
                else
                {
                        File f = new File(mOpenedDatabasePath);
                        String name = f.getName();
                        input.setText(name.substring(0,name.lastIndexOf(".")));
                }
                input.setImeOptions(EditorInfo.IME_FLAG_NO_EXTRACT_UI);
                input.setSelectAllOnFocus(true);
                input.selectAll();
                builder.setView(input);
                builder.setNegativeButton("Cancel", new DialogInterface.OnClickListener() {
                        @Override
                        public void onClick(DialogInterface dialog, int which)
                        {
                                //do nothing
                        }
                });
                builder.setPositiveButton("OK", new DialogInterface.OnClickListener() {
                        @Override
                        public void onClick(DialogInterface dialog, int which)
                        {
                                final String fileName = input.getText().toString();  
                                dialog.dismiss();
                                if(!fileName.isEmpty())
                                {
                                        File newFile = new File(mWorkingDirectory + fileName + ".db");
                                        if(newFile.exists())
                                        {
                                                AlertDialog d2 = new AlertDialog.Builder(getActivity())
                                                                .setCancelable(false)
                                                                .setTitle("File Already Exists")
                                                                .setMessage("Do you want to overwrite the existing file?")
                                                                .setPositiveButton("Yes", new DialogInterface.OnClickListener() {
                                                                        public void onClick(DialogInterface dialog, int which) {
                                                                                saveDatabase(fileName);
                                                                        }
                                                                })
                                                                .setNegativeButton("No", new DialogInterface.OnClickListener() {
                                                                        public void onClick(DialogInterface dialog, int which) {
                                                                                dialog.dismiss();
                                                                                resetNoTouchTimer(true);
                                                                        }
                                                                })
                                                                .create();
                                                d2.setCanceledOnTouchOutside(false);
                                                d2.show();
                                        }
                                        else
                                        {
                                                saveDatabase(fileName);
                                        }
                                }
                        }
                });
                AlertDialog alertToShow = builder.create();
                alertToShow.setCanceledOnTouchOutside(false);
                alertToShow.getWindow().setSoftInputMode(WindowManager.LayoutParams.SOFT_INPUT_STATE_VISIBLE);
                alertToShow.show();
        }

        public static void refreshSystemMediaScanDataBase(Context context, String docPath){
                Intent mediaScanIntent = new Intent(Intent.ACTION_MEDIA_SCANNER_SCAN_FILE);
                Uri contentUri = Uri.fromFile(new File(docPath));
                mediaScanIntent.setData(contentUri);
                context.sendBroadcast(mediaScanIntent);
        }

        private void saveDatabase(final String fileName)
        {
                final String newDatabasePath = mWorkingDirectory + fileName + ".db";
                final String newDatabasePathHuman = mWorkingDirectoryHuman + fileName + ".db";
                mProgressDialog.setTitle("Saving");
                if(mOpenedDatabasePath.equals(newDatabasePath))
                {
                        mProgressDialog.setMessage(String.format("Please wait while updating \"%s\"...", newDatabasePathHuman));
                }
                else
                {
                        mProgressDialog.setMessage(String.format("Please wait while saving \"%s\"...", newDatabasePathHuman));
                }
                mProgressDialog.show();
                final State previousState = mState;
                updateState(State.STATE_PROCESSING);
                Thread saveThread = new Thread(new Runnable() {
                        public void run() {
                                RTABMapLib.save(nativeApplication, newDatabasePath); // save
                                runOnUiThread(new Runnable() {
                                        public void run() {
                                                String msg;
                                                if(mOpenedDatabasePath.equals(newDatabasePath))
                                                {
                                                        msg = String.format("Database \"%s\" updated.", newDatabasePathHuman);  
                                                }
                                                else
                                                {
                                                        refreshSystemMediaScanDataBase(getActivity(), newDatabasePath);
                                                        mSavedStamp = System.currentTimeMillis();
                                                        msg = String.format("Database saved to \"%s\".", newDatabasePathHuman); 
                                                }
                                                                                    
                                                // build notification
                                                Intent intent = new Intent(getActivity(), RTABMapActivity.class);
                                                // use System.currentTimeMillis() to have a unique ID for the pending intent
                                                PendingIntent pIntent = PendingIntent.getActivity(getActivity(), (int) System.currentTimeMillis(), intent, 0);
                                                SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(getActivity());
                                                boolean notifySound = sharedPref.getBoolean(getString(R.string.pref_key_notification_sound), Boolean.parseBoolean(getString(R.string.pref_default_notification_sound)));
                                                Notification n  = new Notification.Builder(getActivity())
                                                                .setContentTitle(getString(R.string.app_name))
                                                                .setContentText(msg)
                                                                .setSmallIcon(R.drawable.ic_launcher)
                                                                .setContentIntent(pIntent)
                                                                .setDefaults(notifySound?Notification.DEFAULT_SOUND:0)
                                                                .setAutoCancel(true).build();

                                                NotificationManager notificationManager = 
                                                                (NotificationManager) getSystemService(NOTIFICATION_SERVICE);

                                                notificationManager.notify(0, n);

                                                final File f = new File(newDatabasePath);
                                                final int fileSizeMB = (int)f.length()/(1024 * 1024);

                                                if(!mItemDataRecorderMode.isChecked())
                                                {
                                                        mOpenedDatabasePath = newDatabasePath;
                                                }
                                                mProgressDialog.dismiss();
                                                updateState(previousState);
                                                
                                                AlertDialog d2 = new AlertDialog.Builder(getActivity())
                                                                .setCancelable(false)
                                                                .setTitle("Database saved!")
                                                                .setMessage(String.format("Database \"%s\" (%d MB) successfully saved!", newDatabasePathHuman, fileSizeMB))
                                                                .setPositiveButton("OK", new DialogInterface.OnClickListener() {
                                                                        public void onClick(DialogInterface dialog, int which) {
                                                                                resetNoTouchTimer(true);
                                                                        }
                                                                })
                                                                .create();
                                                d2.setCanceledOnTouchOutside(true);
                                                d2.show();
                                        }
                                });
                        } 
                });
                saveThread.start();
        }

        private void saveOnDevice()
        {
                AlertDialog.Builder builder = new AlertDialog.Builder(this);
                builder.setTitle("Model Name:");
                final EditText input = new EditText(this);
                input.setInputType(InputType.TYPE_CLASS_TEXT);        
                builder.setView(input);
                if(mOpenedDatabasePath.isEmpty())
                {
                        String timeStamp = new SimpleDateFormat("yyMMdd-HHmmss").format(mDateOnPause);
                        input.setText(timeStamp);
                }
                else
                {
                        File f = new File(mOpenedDatabasePath);
                        String name = f.getName();
                        input.setText(name.substring(0,name.lastIndexOf(".")));
                }
                input.setImeOptions(EditorInfo.IME_FLAG_NO_EXTRACT_UI);
                input.setSelectAllOnFocus(true);
                input.selectAll();
                builder.setCancelable(false);
                builder.setNegativeButton("Cancel", new DialogInterface.OnClickListener() {
                        @Override
                        public void onClick(DialogInterface dialog, int which)
                        {
                                dialog.dismiss();
                                resetNoTouchTimer(true);
                        }
                });
                builder.setPositiveButton("Ok", new DialogInterface.OnClickListener() {
                        @Override
                        public void onClick(DialogInterface dialog, int which)
                        {
                                final String fileName = input.getText().toString();    
                                dialog.dismiss();
                                if(!fileName.isEmpty())
                                {
                                        writeExportedFiles(fileName);
                                }
                        }
                });
                AlertDialog alertToShow = builder.create();
                alertToShow.setCanceledOnTouchOutside(false);
                alertToShow.getWindow().setSoftInputMode(WindowManager.LayoutParams.SOFT_INPUT_STATE_VISIBLE);
                alertToShow.show();
        }

        private void writeExportedFiles(final String fileName)
        {               
                Log.i(TAG, String.format("Write exported mesh to \"%s\"", fileName));

                mProgressDialog.setTitle("Exporting");
                mProgressDialog.setMessage(String.format("Compressing the files..."));
                mProgressDialog.show();

                Thread workingThread = new Thread(new Runnable() {
                        public void run() {
                                boolean success = false;

                                File tmpDir = new File(mWorkingDirectory + RTABMAP_TMP_DIR);
                                tmpDir.mkdirs();
                                String[] fileNames = Util.loadFileList(mWorkingDirectory + RTABMAP_TMP_DIR, false);
                                if(!DISABLE_LOG) Log.i(TAG, String.format("Deleting %d files in \"%s\"", fileNames.length, mWorkingDirectory + RTABMAP_TMP_DIR));
                                for(int i=0; i<fileNames.length; ++i)
                                {
                                        File f = new File(mWorkingDirectory + RTABMAP_TMP_DIR + "/" + fileNames[i]);
                                        if(f.delete())
                                        {
                                                if(!DISABLE_LOG) Log.i(TAG, String.format("Deleted \"%s\"", f.getPath()));
                                        }
                                        else
                                        {
                                                if(!DISABLE_LOG) Log.i(TAG, String.format("Failed deleting \"%s\"", f.getPath()));
                                        }
                                }
                                File exportDir = new File(mWorkingDirectory + RTABMAP_EXPORT_DIR);
                                exportDir.mkdirs();
                                
                                final String pathHuman = mWorkingDirectoryHuman + RTABMAP_EXPORT_DIR + fileName + ".zip";
                                final String zipOutput = mWorkingDirectory+RTABMAP_EXPORT_DIR+fileName+".zip";
                                if(RTABMapLib.writeExportedMesh(nativeApplication, mWorkingDirectory + RTABMAP_TMP_DIR, RTABMAP_TMP_FILENAME))
                                {                                                       
                                        fileNames = Util.loadFileList(mWorkingDirectory + RTABMAP_TMP_DIR, false);
                                        if(fileNames.length > 0)
                                        {
                                                String[] filesToZip = new String[fileNames.length];
                                                for(int i=0; i<fileNames.length; ++i)
                                                {
                                                        filesToZip[i] = mWorkingDirectory + RTABMAP_TMP_DIR + "/" + fileNames[i];
                                                }

                                                File toZIPFile = new File(zipOutput);
                                                toZIPFile.delete();                     

                                                try
                                                {
                                                        Util.zip(filesToZip, zipOutput);
                                                        success = true;
                                                }
                                                catch(IOException e)
                                                {
                                                        final String msg = e.getMessage();
                                                        runOnUiThread(new Runnable() {
                                                                public void run() {
                                                                        mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! Error=%s", fileName, msg), mToast.LENGTH_LONG).show();
                                                                }
                                                        });
                                                }
                                        }
                                }

                                if(success)
                                {
                                        runOnUiThread(new Runnable() {
                                                public void run() {
                                                        mProgressDialog.dismiss();

                                                        final File f = new File(zipOutput);
                                                        final int fileSizeMB = (int)f.length()/(1024 * 1024);

                                                        AlertDialog d = new AlertDialog.Builder(getActivity())
                                                                        .setCancelable(false)
                                                                        .setTitle("Mesh Saved!")
                                                                        .setMessage(String.format("Mesh \"%s\" (%d MB) successfully exported! Share it?", pathHuman, fileSizeMB))
                                                                        .setPositiveButton("Yes", new DialogInterface.OnClickListener() {
                                                                                public void onClick(DialogInterface dialog, int which) {
                                                                                        // Send to...
                                                                                        Intent shareIntent = new Intent();
                                                                                        shareIntent.setAction(Intent.ACTION_SEND);
                                                                                        shareIntent.putExtra(Intent.EXTRA_STREAM, FileProvider.getUriForFile(getActivity(), getActivity().getApplicationContext().getPackageName() + ".provider", f));
                                                                                        shareIntent.addFlags(Intent.FLAG_GRANT_READ_URI_PERMISSION);
                                                                                        shareIntent.setType("application/zip");
                                                                                        startActivity(Intent.createChooser(shareIntent, "Sharing..."));

                                                                                        resetNoTouchTimer(true);
                                                                                }
                                                                        })
                                                                        .setNegativeButton("No", new DialogInterface.OnClickListener() {
                                                                                public void onClick(DialogInterface dialog, int which) {
                                                                                        resetNoTouchTimer(true);
                                                                                }
                                                                        }).create();
                                                        d.setCanceledOnTouchOutside(false);
                                                        d.show();
                                                }
                                        });
                                }
                                else
                                {
                                        runOnUiThread(new Runnable() {
                                                public void run() {
                                                        mProgressDialog.dismiss();
                                                        mToast.makeText(getActivity(), String.format("Exporting mesh \"%s\" failed! No files found in tmp directory!? Last export may have failed or have been canceled.", fileName), mToast.LENGTH_LONG).show();
                                                        resetNoTouchTimer(true);
                                                }
                                        });
                                }
                        }
                });
                workingThread.start();
        }

        private void openDatabase(final String fileName, final boolean optimize)
        {
                mOpenedDatabasePath = mWorkingDirectory + fileName;

                Log.i(TAG, "Open database " + mOpenedDatabasePath);

                SharedPreferences sharedPref = PreferenceManager.getDefaultSharedPreferences(getActivity());
                final boolean databaseInMemory = sharedPref.getBoolean(getString(R.string.pref_key_db_in_memory), Boolean.parseBoolean(getString(R.string.pref_default_db_in_memory)));         

                mProgressDialog.setTitle("Loading");
                mProgressDialog.setMessage(String.format("Opening database \"%s\"...", fileName));
                mProgressDialog.show();
                updateState(State.STATE_PROCESSING);

                Thread openThread = new Thread(new Runnable() {
                        public void run() {

                                final int status = RTABMapLib.openDatabase(nativeApplication, mOpenedDatabasePath, databaseInMemory, optimize, false);

                                runOnUiThread(new Runnable() {
                                        public void run() {
                                                if(status == -1)
                                                {
                                                        updateState(State.STATE_IDLE);
                                                        mProgressDialog.dismiss();
                                                        AlertDialog d = new AlertDialog.Builder(getActivity())
                                                                        .setCancelable(false)
                                                                        .setTitle("Error")
                                                                        .setMessage("The map is loaded but optimization of the map's graph has "
                                                                                        + "failed, so the map cannot be shown. Change the Graph Optimizer approach used"
                                                                                        + " or enable/disable if the graph is optimized from graph "
                                                                                        + "end in \"Settings -> Mapping...\" and try opening again.")
                                                                        .setPositiveButton("Open Settings", new DialogInterface.OnClickListener() {
                                                                                public void onClick(DialogInterface dialog, int which) {
                                                                                        Intent intent = new Intent(getActivity(), SettingsActivity.class);
                                                                                        startActivity(intent);
                                                                                }
                                                                        })
                                                                        .setNegativeButton("Close", new DialogInterface.OnClickListener() {
                                                                                public void onClick(DialogInterface dialog, int which) {
                                                                                }
                                                                        }).create();
                                                        d.setCanceledOnTouchOutside(false);
                                                        d.show();
                                                }
                                                else if(status == -2)
                                                {
                                                        updateState(State.STATE_IDLE);
                                                        mProgressDialog.dismiss();
                                                        AlertDialog d = new AlertDialog.Builder(getActivity())
                                                                        .setCancelable(false)
                                                                        .setTitle("Error")
                                                                        .setMessage("Failed to open database: Out of memory! Try "
                                                                                        + "again after lowering Point Cloud Density in Settings.")
                                                                        .setPositiveButton("Open Settings", new DialogInterface.OnClickListener() {
                                                                                public void onClick(DialogInterface dialog, int which) {
                                                                                        Intent intent = new Intent(getActivity(), SettingsActivity.class);
                                                                                        startActivity(intent);
                                                                                }
                                                                        })
                                                                        .setNegativeButton("Close", new DialogInterface.OnClickListener() {
                                                                                public void onClick(DialogInterface dialog, int which) {
                                                                                }
                                                                        }).create();
                                                        d.setCanceledOnTouchOutside(false);
                                                        d.show();
                                                }
                                                else
                                                {
                                                        if(status >= 1 && status<=3)
                                                        {
                                                                mProgressDialog.dismiss();
                                                                resetNoTouchTimer(true);
                                                                updateState(State.STATE_VISUALIZING);
                                                                mToast.makeText(getActivity(), String.format("Database loaded!"), mToast.LENGTH_LONG).show();
                                                        }
                                                        else if(!mItemTrajectoryMode.isChecked())
                                                        {
                                                                if(mButtonCameraView.getSelectedItemPosition() == 0)
                                                                {
                                                                        setCamera(2);
                                                                }
                                                                // creating meshes...
                                                                updateState(State.STATE_IDLE);
                                                                mProgressDialog.setTitle("Loading");
                                                                mProgressDialog.setMessage(String.format("Database \"%s\" loaded. Please wait while rendering point clouds and meshes...", fileName));
                                                        }

                                                }
                                        }
                                });
                        } 
                });
                openThread.start();     
        }

        private void shareToSketchfab()
        {
                if (!PermissionHelper.hasPermission(this, Manifest.permission.INTERNET)) {
                        PermissionHelper.requestPermission(this, Manifest.permission.INTERNET);
                        return;
                }
                
                Intent intent = new Intent(getActivity(), SketchfabActivity.class);

                intent.putExtra(RTABMAP_AUTH_TOKEN_KEY, mAuthToken);
                intent.putExtra(RTABMAP_WORKING_DIR_KEY, mWorkingDirectory);

                if(mOpenedDatabasePath.isEmpty())
                {
                        intent.putExtra(RTABMAP_FILENAME_KEY, new SimpleDateFormat("yyMMdd-HHmmss").format(mDateOnPause));
                }
                else
                {
                        File f = new File(mOpenedDatabasePath);
                        String name = f.getName();
                        intent.putExtra(RTABMAP_FILENAME_KEY, name.substring(0,name.lastIndexOf(".")));
                }

                startActivityForResult(intent, SKETCHFAB_ACTIVITY_CODE);
        }
}