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GUI: Fixed current image and loop closure image features not shown when Mem/BinDataKept is false

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matlabbe
2016-10-18 12:27:14 -04:00
parent bcc6354c04
commit 73268c2af2
1 changed files with 20 additions and 0 deletions
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20
guilib/src/MainWindow.cpp
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@@ -1595,6 +1595,26 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
_ui->imageView_source->setImageDepth(depth);
}
if(img.isNull() && depth.isNull())
{
QRect sceneRect;
if(signature.sensorData().cameraModels().size())
{
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());
}
}
else if(signature.sensorData().stereoCameraModel().isValidForProjection())
{
sceneRect.setRect(0,0,signature.sensorData().stereoCameraModel().left().imageWidth(), signature.sensorData().stereoCameraModel().left().imageHeight());
}
if(sceneRect.isValid())
{
_ui->imageView_source->setSceneRect(sceneRect);
}
}
if(!lcImg.isNull())
{
_ui->imageView_loopClosure->setImage(lcImg);