diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1e6da80afd..610f621041 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -776,7 +776,7 @@ IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
 ENDIF(WITH_ORB_SLAM AND NOT G2O_FOUND)
 
 IF(NOT MSVC)
-    IF(Qt6_FOUND OR (G2O_FOUND AND G2O_CPP11 EQUAL 1))
+    IF(Qt6_FOUND OR (G2O_FOUND AND G2O_CPP11 EQUAL 1) OR TORCH_FOUND)
       # Qt6 requires c++17
       include(CheckCXXCompilerFlag)
       CHECK_CXX_COMPILER_FLAG("-std=c++17" COMPILER_SUPPORTS_CXX17)
@@ -787,7 +787,7 @@ IF(NOT MSVC)
         message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++17 support. Please use a different C++ compiler if you want to use Qt6.")
       ENDIF()
     ENDIF()
-    IF((NOT (${CMAKE_CXX_STANDARD} STREQUAL "17")) AND (msckf_vio_FOUND OR loam_velodyne_FOUND OR floam_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND OR Open3D_FOUND))
+    IF((NOT (${CMAKE_CXX_STANDARD} STREQUAL "17")) AND (msckf_vio_FOUND OR loam_velodyne_FOUND OR floam_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR G2O_FOUND OR CCCoreLib_FOUND OR Open3D_FOUND))
      #MSCKF_VIO, LOAM, PCL>=1.10, latest g2o and CCCoreLib require c++14
      include(CheckCXXCompilerFlag)
       CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
diff --git a/corelib/src/CMakeLists.txt b/corelib/src/CMakeLists.txt
index 1922e68801..4b4885586e 100644
--- a/corelib/src/CMakeLists.txt
+++ b/corelib/src/CMakeLists.txt
@@ -750,6 +750,7 @@ foreach(arg ${RESOURCES})
    get_filename_component(filename ${arg} NAME)
    string(REPLACE "." "_" output ${filename})
    set(RESOURCES_HEADERS "${RESOURCES_HEADERS}" "${CMAKE_CURRENT_BINARY_DIR}/${output}.h")
+   set_property(SOURCE "${CMAKE_CURRENT_BINARY_DIR}/${output}.h" PROPERTY SKIP_AUTOGEN ON)
 endforeach(arg ${RESOURCES})
 
 #MESSAGE(STATUS "RESOURCES = ${RESOURCES}")
diff --git a/corelib/src/optimizer/OptimizerTORO.cpp b/corelib/src/optimizer/OptimizerTORO.cpp
index 8342bbffdf..175f616d2d 100644
--- a/corelib/src/optimizer/OptimizerTORO.cpp
+++ b/corelib/src/optimizer/OptimizerTORO.cpp
@@ -36,8 +36,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <rtabmap/core/optimizer/OptimizerTORO.h>
 
 #ifdef RTABMAP_TORO
-#include "toro3d/treeoptimizer3.hh"
-#include "toro3d/treeoptimizer2.hh"
+#include "toro3d/treeoptimizer3.h"
+#include "toro3d/treeoptimizer2.h"
 #endif
 
 namespace rtabmap {
diff --git a/corelib/src/optimizer/toro3d/dmatrix.hh b/corelib/src/optimizer/toro3d/dmatrix.h
similarity index 100%
rename from corelib/src/optimizer/toro3d/dmatrix.hh
rename to corelib/src/optimizer/toro3d/dmatrix.h
diff --git a/corelib/src/optimizer/toro3d/posegraph.hh b/corelib/src/optimizer/toro3d/posegraph.h
similarity index 100%
rename from corelib/src/optimizer/toro3d/posegraph.hh
rename to corelib/src/optimizer/toro3d/posegraph.h
diff --git a/corelib/src/optimizer/toro3d/posegraph2.cpp b/corelib/src/optimizer/toro3d/posegraph2.cpp
index 061a9d9359..d0117279b1 100644
--- a/corelib/src/optimizer/toro3d/posegraph2.cpp
+++ b/corelib/src/optimizer/toro3d/posegraph2.cpp
@@ -40,7 +40,8 @@
  * such as loading, saving, merging constraints, and etc.
  **/
 
-#include "posegraph2.hh"
+#include "posegraph2.h"
+
 #include <fstream>
 #include <sstream>
 #include <string>
diff --git a/corelib/src/optimizer/toro3d/posegraph2.hh b/corelib/src/optimizer/toro3d/posegraph2.h
similarity index 98%
rename from corelib/src/optimizer/toro3d/posegraph2.hh
rename to corelib/src/optimizer/toro3d/posegraph2.h
index e602b81e4e..a999b53187 100644
--- a/corelib/src/optimizer/toro3d/posegraph2.hh
+++ b/corelib/src/optimizer/toro3d/posegraph2.h
@@ -43,10 +43,10 @@
 #ifndef _POSEGRAPH2_HH_
 #define _POSEGRAPH2_HH_
 
-#include "posegraph.hh"
-#include "transformation2.hh"
 #include <iostream>
 #include <vector>
+#include "posegraph.h"
+#include "transformation2.h"
 
 namespace AISNavigation {
 
diff --git a/corelib/src/optimizer/toro3d/posegraph3.cpp b/corelib/src/optimizer/toro3d/posegraph3.cpp
index 0bc013127e..de853fff01 100644
--- a/corelib/src/optimizer/toro3d/posegraph3.cpp
+++ b/corelib/src/optimizer/toro3d/posegraph3.cpp
@@ -39,7 +39,8 @@
  * such as loading, saving, merging constraints, and etc.
  **/
 
-#include "posegraph3.hh"
+#include "posegraph3.h"
+
 #include <fstream>
 #include <sstream>
 #include <string>
diff --git a/corelib/src/optimizer/toro3d/posegraph3.hh b/corelib/src/optimizer/toro3d/posegraph3.h
similarity index 98%
rename from corelib/src/optimizer/toro3d/posegraph3.hh
rename to corelib/src/optimizer/toro3d/posegraph3.h
index ada4fc4819..a5f85cd62c 100644
--- a/corelib/src/optimizer/toro3d/posegraph3.hh
+++ b/corelib/src/optimizer/toro3d/posegraph3.h
@@ -43,10 +43,10 @@
 #ifndef _POSEGRAPH3_HH_
 #define _POSEGRAPH3_HH_
 
-#include "posegraph.hh"
-#include "transformation3.hh"
 #include <iostream>
 #include <vector>
+#include "posegraph.h"
+#include "transformation3.h"
 
 typedef unsigned int uint;
 #ifndef M_PI
diff --git a/corelib/src/optimizer/toro3d/transformation2.hh b/corelib/src/optimizer/toro3d/transformation2.h
similarity index 100%
rename from corelib/src/optimizer/toro3d/transformation2.hh
rename to corelib/src/optimizer/toro3d/transformation2.h
diff --git a/corelib/src/optimizer/toro3d/transformation3.hh b/corelib/src/optimizer/toro3d/transformation3.h
similarity index 99%
rename from corelib/src/optimizer/toro3d/transformation3.hh
rename to corelib/src/optimizer/toro3d/transformation3.h
index e81966c42d..d5f29d4c9b 100644
--- a/corelib/src/optimizer/toro3d/transformation3.hh
+++ b/corelib/src/optimizer/toro3d/transformation3.h
@@ -39,7 +39,8 @@
 
 #include <assert.h>
 #include <cmath>
-#include "dmatrix.hh"
+
+#include "dmatrix.h"
 
 namespace AISNavigation {
 
diff --git a/corelib/src/optimizer/toro3d/treeoptimizer2.cpp b/corelib/src/optimizer/toro3d/treeoptimizer2.cpp
index 1fb9bce69b..f715db26ef 100644
--- a/corelib/src/optimizer/toro3d/treeoptimizer2.cpp
+++ b/corelib/src/optimizer/toro3d/treeoptimizer2.cpp
@@ -41,7 +41,8 @@
  *
  **/
 
-#include "treeoptimizer2.hh"
+#include "treeoptimizer2.h"
+
 #include <fstream>
 #include <sstream>
 #include <string>
diff --git a/corelib/src/optimizer/toro3d/treeoptimizer2.hh b/corelib/src/optimizer/toro3d/treeoptimizer2.h
similarity index 99%
rename from corelib/src/optimizer/toro3d/treeoptimizer2.hh
rename to corelib/src/optimizer/toro3d/treeoptimizer2.h
index 34f1a963b5..358f52d0d0 100644
--- a/corelib/src/optimizer/toro3d/treeoptimizer2.hh
+++ b/corelib/src/optimizer/toro3d/treeoptimizer2.h
@@ -44,7 +44,7 @@
 #ifndef _TREEOPTIMIZER2_HH_
 #define _TREEOPTIMIZER2_HH_
 
-#include "posegraph2.hh"
+#include "posegraph2.h"
 
 namespace AISNavigation {
 
diff --git a/corelib/src/optimizer/toro3d/treeoptimizer3.cpp b/corelib/src/optimizer/toro3d/treeoptimizer3.cpp
index f704e6e02a..3478c77ff6 100644
--- a/corelib/src/optimizer/toro3d/treeoptimizer3.cpp
+++ b/corelib/src/optimizer/toro3d/treeoptimizer3.cpp
@@ -41,7 +41,8 @@
  *
  **/
 
-#include "treeoptimizer3.hh"
+#include "treeoptimizer3.h"
+
 #include <fstream>
 #include <sstream>
 #include <string>
diff --git a/corelib/src/optimizer/toro3d/treeoptimizer3.hh b/corelib/src/optimizer/toro3d/treeoptimizer3.h
similarity index 99%
rename from corelib/src/optimizer/toro3d/treeoptimizer3.hh
rename to corelib/src/optimizer/toro3d/treeoptimizer3.h
index 17f25c36e5..66cb6a5b29 100644
--- a/corelib/src/optimizer/toro3d/treeoptimizer3.hh
+++ b/corelib/src/optimizer/toro3d/treeoptimizer3.h
@@ -44,7 +44,7 @@
 #ifndef _TREEOPTIMIZER3_HH_
 #define _TREEOPTIMIZER3_HH_
 
-#include "posegraph3.hh"
+#include "posegraph3.h"
 
 namespace AISNavigation {
 
diff --git a/corelib/src/optimizer/toro3d/treeoptimizer3_iteration.cpp b/corelib/src/optimizer/toro3d/treeoptimizer3_iteration.cpp
index 2ee07e9453..e308275797 100644
--- a/corelib/src/optimizer/toro3d/treeoptimizer3_iteration.cpp
+++ b/corelib/src/optimizer/toro3d/treeoptimizer3_iteration.cpp
@@ -34,9 +34,9 @@
  * PURPOSE.  
  **********************************************************************/
 
-#include "treeoptimizer3.hh"
 #include <fstream>
 #include <string>
+#include "treeoptimizer3.h"
 
 using namespace std;