Improved image view scene rect size when no images are there. Added w…

…arning when transform cannot be computed because some data are missing.
introlab · Sep 16, 2024 · 0e85bd8 · 0e85bd8
1 parent 69ac21f
commit 0e85bd8
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Showing 3 changed files with 30 additions and 2 deletions.
diff --git a/corelib/src/Memory.cpp b/corelib/src/Memory.cpp
@@ -3186,6 +3186,15 @@ Transform Memory::computeTransform(
  transform = transform.inverse();
  }
  }
+ else
+ {
+ std::string msg = uFormat("Missing visual features or missing raw data to compute them. Transform cannot be estimated.");
+ if(info)
+ {
+ info->rejectedMsg = msg;
+ }
+ UWARN(msg.c_str());
+ }
  return transform;
 }
 

diff --git a/guilib/src/DatabaseViewer.cpp b/guilib/src/DatabaseViewer.cpp
@@ -4762,6 +4762,25 @@ void DatabaseViewer::update(int value,
  {
  ULOGGER_DEBUG("Image depth is empty");
  }
+ if(!rect.isValid())
+ {
+ if(data.cameraModels().size())
+ {
+ for(unsigned int i=0; i<data.cameraModels().size(); ++i)
+ {
+ rect.setWidth(rect.width()+data.cameraModels()[i].imageWidth());
+ rect.setHeight(std::max((int)rect.height(), data.cameraModels()[i].imageHeight()));
+ }
+ }
+ else if(data.stereoCameraModels().size())
+ {
+ for(unsigned int i=0; i<data.cameraModels().size(); ++i)
+ {
+ rect.setWidth(rect.width()+data.stereoCameraModels()[i].left().imageWidth());
+ rect.setHeight(std::max((int)rect.height(), data.stereoCameraModels()[i].left().imageHeight()));
+ }
+ }
+ }
  if(rect.isValid())
  {
  view->setSceneRect(rect);

diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
@@ -2328,15 +2328,15 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
  for(unsigned int i=0; i<signature.sensorData().cameraModels().size(); ++i)
  {
  sceneRect.setWidth(sceneRect.width()+signature.sensorData().cameraModels()[i].imageWidth());
- sceneRect.setHeight(sceneRect.height()+signature.sensorData().cameraModels()[i].imageHeight());
+ sceneRect.setHeight(std::max((int)sceneRect.height(), signature.sensorData().cameraModels()[i].imageHeight()));
  }
  }
  else if(signature.sensorData().stereoCameraModels().size())
  {
  for(unsigned int i=0; i<signature.sensorData().cameraModels().size(); ++i)
  {
  sceneRect.setWidth(sceneRect.width()+signature.sensorData().stereoCameraModels()[i].left().imageWidth());
- sceneRect.setHeight(sceneRect.height()+signature.sensorData().stereoCameraModels()[i].left().imageHeight());
+ sceneRect.setHeight(std::max((int)sceneRect.height(), signature.sensorData().stereoCameraModels()[i].left().imageHeight()));
  }
  }
  if(sceneRect.isValid())