From 0e85bd849c3a50d621ceccc81d8292a0d460d2e2 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Mon, 16 Sep 2024 15:55:38 -0700
Subject: [PATCH] Improved image view scene rect size when no images are there.
 Added warning when transform cannot be computed because some data are
 missing.

---
 corelib/src/Memory.cpp        |  9 +++++++++
 guilib/src/DatabaseViewer.cpp | 19 +++++++++++++++++++
 guilib/src/MainWindow.cpp     |  4 ++--
 3 files changed, 30 insertions(+), 2 deletions(-)

diff --git a/corelib/src/Memory.cpp b/corelib/src/Memory.cpp
index ef3a555525..0357fbba6b 100644
--- 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
index cb182c26b5..5b79e92cb3 100644
--- 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
index 185ccc886a..d3974d8086 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -2328,7 +2328,7 @@ 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())
@@ -2336,7 +2336,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 						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())