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

corelib/include/rtabmap/core/util3d.h

@@ -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,

corelib/src/Odometry.cpp

@@ -69,7 +69,6 @@ Odometry::Odometry(const rtabmap::ParametersMap & parameters) :
 		_angularUpdate(Parameters::defaultOdomAngularUpdate()),
 		_resetCountdown(Parameters::defaultOdomResetCountdown()),
 		_force2D(Parameters::defaultOdomForce2D()),
-		_pose(Transform::getIdentity()),
 		_resetCurrentCount(0)
 {
 	Parameters::parse(parameters, Parameters::kOdomLinearUpdate(), _linearUpdate);
@@ -121,6 +120,11 @@ bool Odometry::isLargeEnoughTransform(const Transform & transform)
 
 Transform Odometry::process(SensorData & data, int * quality, int * features, int * localMapSize)
 {
+	if(_pose.isNull())
+	{
+		_pose.setIdentity(); // initialized
+	}
+
 	Transform t = this->computeTransform(data, quality, features, localMapSize);
 	if(!t.isNull())
 	{

corelib/src/Rtabmap.cpp

@@ -1045,11 +1045,12 @@ bool Rtabmap::process(const SensorData & data)
 						}
 						else if(hypothesis.second < _loopRatio*_lcHypothesisValue)
 						{
-							UDEBUG("rejected hypothesis: not satisfying ratio");
+							UWARN("rejected hypothesis: not satisfying hypothesis ratio (%f < %f * %f)",
+									hypothesis.second, _loopRatio, _lcHypothesisValue);
 						}
 						else
 						{
-							UDEBUG("rejected hypothesis: by epipolar geometry");
+							UWARN("rejected hypothesis: by epipolar geometry");
 						}
 						rejectedHypothesis = true;
 					}

guilib/src/MainWindow.cpp

@@ -2415,8 +2415,6 @@ void MainWindow::startDetection()
 				   "progress will not be shown in the GUI."));
 	}
 
-	_emptyNewDatabase = false; // if a new database is used, it won't be empty anymore...
-
 	emit stateChanged(kDetecting);
 }
 
@@ -3069,6 +3067,10 @@ void MainWindow::deleteMemory()
 	}
 
 	this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdResetMemory));
+	if(_state!=kDetecting)
+	{
+		_emptyNewDatabase = true;
+	}
 	this->clearTheCache();
 }
 
@@ -4648,6 +4650,8 @@ void MainWindow::changeState(MainWindow::State newState)
 		_elapsedTime->start();
 		_oneSecondTimer->start();
 
+		_emptyNewDatabase = false; // if a new database is used, it won't be empty anymore...
+
 		if(_camera)
 		{
 			_camera->start();

guilib/src/PreferencesDialog.cpp

@@ -847,7 +847,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		_ui->doubleSpinBox_mlsRadius->setValue(0.04);
 
 		_ui->groupBox_poseFiltering->setChecked(true);
-		_ui->doubleSpinBox_cloudFilterRadius->setValue(0.3);
+		_ui->doubleSpinBox_cloudFilterRadius->setValue(0.1);
 		_ui->doubleSpinBox_cloudFilterAngle->setValue(30);
 
 		_ui->checkBox_map_shown->setChecked(false);

guilib/src/ui/preferencesDialog.ui

@@ -64,8 +64,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>736</width>
+            <width>744</width>
-            <height>909</height>
+            <height>1074</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>3</number>
+                <number>1</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -384,7 +384,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                             <double>0.010000000000000</double>
                            </property>
                            <property name="value">
-                            <double>0.200000000000000</double>
+                            <double>0.100000000000000</double>
                            </property>
                           </widget>
                          </item>