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Fixed how images are scaled to handle images with different size

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This commit is contained in:
matlabbe
2015-05-26 14:15:04 -04:00
parent 13af312b03
commit e6923daf1c
3 changed files with 31 additions and 16 deletions
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38
guilib/src/MainWindow.cpp
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@@ -1099,12 +1099,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
{
_ui->imageView_loopClosure->setImageDepth(lcDepth);
}
if(img.rect().isValid())
{
QRectF sceneRect = img.rect();
_ui->imageView_source->setSceneRect(sceneRect);
_ui->imageView_loopClosure->setSceneRect(sceneRect);
}
}
UDEBUG("time= %d ms", time.restart());
@@ -2263,30 +2257,42 @@ void MainWindow::drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords
}
// Draw lines between corresponding features...
float scale = _ui->imageView_source->viewScale();
UDEBUG("scale=%f", scale);
float deltaX = _ui->imageView_source->width()/scale;
float scaleSource = _ui->imageView_source->viewScale();
float scaleLoop = _ui->imageView_loopClosure->viewScale();
UDEBUG("scale source=%f loop=%f", scaleSource, scaleLoop);
// Delta in actual window pixels
float sourceMarginX = (_ui->imageView_source->width() - _ui->imageView_source->sceneRect().width()*scaleSource)/2.0f;
float sourceMarginY = (_ui->imageView_source->height() - _ui->imageView_source->sceneRect().height()*scaleSource)/2.0f;
float loopMarginX = (_ui->imageView_loopClosure->width() - _ui->imageView_loopClosure->sceneRect().width()*scaleLoop)/2.0f;
float loopMarginY = (_ui->imageView_loopClosure->height() - _ui->imageView_loopClosure->sceneRect().height()*scaleLoop)/2.0f;
float deltaX = 0;
float deltaY = 0;
if(_preferencesDialog->isVerticalLayoutUsed())
{
deltaX = 0;
deltaY = _ui->imageView_source->height()/scale;
deltaY += _ui->label_matchId->height()/scale;
deltaY = _ui->label_matchId->height() + _ui->imageView_source->height();
}
else
{
deltaX = _ui->imageView_source->width();
}
for(QList<QPair<cv::Point2f, cv::Point2f> >::iterator iter = uniqueCorrespondences.begin();
iter!=uniqueCorrespondences.end();
++iter)
{
_ui->imageView_source->addLine(
iter->first.x,
iter->first.y,
iter->second.x+deltaX,
iter->second.y+deltaY,
(iter->second.x*scaleLoop+loopMarginX+deltaX-sourceMarginX)/scaleSource,
(iter->second.y*scaleLoop+loopMarginY+deltaY-sourceMarginY)/scaleSource,
Qt::cyan);
_ui->imageView_loopClosure->addLine(
iter->first.x-deltaX,
iter->first.y-deltaY,
(iter->first.x*scaleSource+sourceMarginX-deltaX-loopMarginX)/scaleLoop,
(iter->first.y*scaleSource+sourceMarginY-deltaY-loopMarginY)/scaleLoop,
iter->second.x,
iter->second.y,
Qt::cyan);