Merge branch 'master' into feature/133/ilw

applications/reconstruct/src/main.cpp

@@ -94,6 +94,8 @@ static void run(ftl::Configurable *root) {
 		Eigen::Affine3d t(trans);
 		transform = t.matrix() * r.matrix();
 		LOG(INFO) << "Set transform: " << transform;
+	} else {
+		transform.setIdentity();
 	}
 
 	// Must find pose for each source...