Rtabmap: when optimizing graph, removed guess for rootid to avoid global rotation drift over time. CameraStereoImages: set BayerMode also to right image. GraphView: fixed 0 width for line inside NodeItem. Reprocess: added -loc_null and -gt options.

corelib/src/Odometry.cpp

@@ -303,9 +303,6 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
 					orientation*
 					data.imu().localTransform().rotation().inverse();
 
-			IMU imu2 = data.imu();
-			imu2.convertToBaseFrame();
-
 			if(	this->getPose().r11() == 1.0f && this->getPose().r22() == 1.0f && this->getPose().r33() == 1.0f &&
 				this->framesProcessed() == 0)
 			{

corelib/src/Rtabmap.cpp

@@ -4418,9 +4418,9 @@ std::map<int, Transform> Rtabmap::optimizeGraph(
 	{
 		for(std::map<int, Transform>::iterator iter=poses.begin(); iter!=poses.end(); ++iter)
 		{
-			// Apply guess poses (if some)
+			// Apply guess poses (if some), ignore for rootid to avoid origin drifting
 			std::map<int, Transform>::const_iterator foundGuess = guessPoses.find(iter->first);
-			if(foundGuess!=guessPoses.end())
+			if(foundGuess!=guessPoses.end() && iter->first != fromId)
 			{
 				iter->second = foundGuess->second;
 			}

corelib/src/camera/CameraImages.cpp

@@ -862,7 +862,7 @@ SensorData CameraImages::captureImage(CameraInfo * info)
 						cv::cvtColor(img, out, CV_BGRA2BGR);
 						img = out;
 					}
-					else if(_bayerMode >= 0 && _bayerMode <=3)
+					else if(!img.empty() && _bayerMode >= 0 && _bayerMode <=3)
 					{
 						cv::Mat debayeredImg;
 						try

corelib/src/camera/CameraStereoImages.cpp

@@ -166,6 +166,7 @@ SensorData CameraStereoImages::captureImage(CameraInfo * info)
 	{
 		if(camera2_)
 		{
+			camera2_->setBayerMode(this->getBayerMode());
 			right = camera2_->takeImage(info);
 		}
 		else