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MainWindow: don't save empty database. Odometry: return null pose when not initialized.

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Mathieu Labbe
2014-12-03 22:27:31 -05:00
parent 9e1d38fe09
commit 821c1602bf
6 changed files with 20 additions and 11 deletions
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2
corelib/include/rtabmap/core/util3d.h
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@@ -144,7 +144,7 @@ pcl::PointXYZ RTABMAP_EXP projectDepthTo3D(
float cx, float cy,
float fx, float fy,
bool smoothing,
float maxZError = 0.03f);
float maxZError = 0.02f);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDepth(
const cv::Mat & imageDepth,