diff --git a/corelib/src/Odometry.cpp b/corelib/src/Odometry.cpp
index 0f61eab3..087d6c62 100644
--- a/corelib/src/Odometry.cpp
+++ b/corelib/src/Odometry.cpp
@@ -722,7 +722,7 @@ void OdometryThread::getImage(Image & image)
 		if(!_imageBuffer.empty())
 		{
 			image = _imageBuffer;
-			_imageBuffer = cv::Mat();
+			_imageBuffer = Image();
 		}
 	}
 	_imageMutex.unlock();
diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index cfda2823..30d7cee7 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -1512,7 +1512,10 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
 	if(flags & PreferencesDialog::kPanelCloudRendering)
 	{
 		UDEBUG("Cloud rendering settings changed...");
-		this->updateMapCloud(_currentPosesMap, Transform());
+		if(_currentPosesMap.size())
+		{
+			this->updateMapCloud(_currentPosesMap, Transform());
+		}
 	}
 
 	if(flags & PreferencesDialog::kPanelLogging)
diff --git a/guilib/src/OdometryViewer.cpp b/guilib/src/OdometryViewer.cpp
index f4c6873c..8e95fce9 100644
--- a/guilib/src/OdometryViewer.cpp
+++ b/guilib/src/OdometryViewer.cpp
@@ -83,7 +83,7 @@ void OdometryViewer::processData()
 
 		clouds_.insert(std::make_pair(id_, cloud));
 
-		if((int)clouds_.size() > maxClouds_)
+		while(maxClouds_>0 && (int)clouds_.size() > maxClouds_)
 		{
 			this->removeCloud(uFormat("cloud%d", clouds_.begin()->first));
 			clouds_.erase(clouds_.begin());
@@ -163,7 +163,7 @@ void OdometryViewer::handleAction(QAction * a)
 	else if(a == _aSetDecimation)
 	{
 		bool ok;
-		int value = QInputDialog::getInt(this, tr("Set depth image decimation"), tr("Decimation (0=infinite)"), decimation_, 1, 8, 1, &ok);
+		int value = QInputDialog::getInt(this, tr("Set depth image decimation"), tr("Decimation"), decimation_, 1, 8, 1, &ok);
 		if(ok)
 		{
 			decimation_ = value;