message: rtabmapviz: fixed frustum when using only lidar input
diff: @@ -785,7 +785,7 @@ void GuiWrapper::commonLaserScanCallback(
  LaserScan scan;
  rtabmap::OdometryInfo info;
  bool ignoreData = false;
  - Transform fakeCameraLocalTransform = Transform::getIdentity();
  + Transform fakeCameraLocalTransform;
  // limit update rate
  if(maxOdomUpdateRate_<=0.0 ||
  @@ -853,14 +853,14 @@ void GuiWrapper::commonLaserScanCallback(
  return;
  }
  - cv::Mat rgb = cv::Mat::zeros(2,1,CV_8UC1);
  - cv::Mat depth = cv::Mat::zeros(2,1,CV_16UC1);
  + cv::Mat rgb;
  + cv::Mat depth;
  CameraModel model(
  1,
  1,
  0.5,
  1,
  - fakeCameraLocalTransform*Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
  + (fakeCameraLocalTransform.isNull()?scan.localTransform():fakeCameraLocalTransform)*Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
  0,
  cv::Size(1,2));
  