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())