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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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corelib/src/Rtabmap.cpp
+3 -2
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@@ -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;
}