ImageView: Fixed feature's depth value when depth image is not the same size as the RGB image

corelib/src/CameraRGBD.cpp

@@ -1972,6 +1972,7 @@ CameraRealSense::CameraRealSense(int device, int presetRGB, int presetDepth, flo
 	presetRGB_(presetRGB),
 	presetDepth_(presetDepth)
 {
+	UDEBUG("");
 }
 
 CameraRealSense::~CameraRealSense()
@@ -1986,17 +1987,21 @@ CameraRealSense::~CameraRealSense()
 
 bool CameraRealSense::init(const std::string & calibrationFolder, const std::string & cameraName)
 {
+	UDEBUG("");
 #ifdef RTABMAP_REALSENSE
 	if (ctx_ == 0)
 	{
 		ctx_ = new rs::context();
 	}
+
+	UDEBUG("");
 	if (ctx_->get_device_count() == 0)
 	{
 		UERROR("No RealSense device detected!");
 		return false;
 	}
 
+	UDEBUG("");
 	dev_ = ctx_->get_device(deviceId_);
 	if (dev_ == 0)
 	{

guilib/src/ImageView.cpp

@@ -654,9 +654,26 @@ void ImageView::setFeatures(const std::multimap<int, cv::KeyPoint> & refWords, c
 	qDeleteAll(_features);
 	_features.clear();
 
+	float xRatio = 0;
+	float yRatio = 0;
+	if (this->sceneRect().isValid() && !depth.empty() && int(this->sceneRect().height()) % depth.rows == 0 && int(this->sceneRect().width()) % depth.cols == 0)
+	{
+		UDEBUG("depth=%dx%d sceneRect=%fx%f", depth.cols, depth.rows, this->sceneRect().width(), this->sceneRect().height());
+		xRatio = float(depth.cols)/float(this->sceneRect().width());
+		yRatio = float(depth.rows)/float(this->sceneRect().height());
+		UDEBUG("xRatio=%f yRatio=%f", xRatio, yRatio);
+	}
+
 	for(std::multimap<int, cv::KeyPoint>::const_iterator iter = refWords.begin(); iter != refWords.end(); ++iter )
 	{
-		addFeature(iter->first, iter->second, depth.empty()?0:util2d::getDepth(depth, iter->second.pt.x, iter->second.pt.y, false), color);
+		if (xRatio > 0 && yRatio > 0)
+		{
+			addFeature(iter->first, iter->second, util2d::getDepth(depth, iter->second.pt.x*xRatio, iter->second.pt.y*yRatio, false), color);
+		}
+		else
+		{
+			addFeature(iter->first, iter->second, 0, color);
+		}
 	}
 
 	if(!_graphicsView->isVisible())
@@ -670,9 +687,26 @@ void ImageView::setFeatures(const std::vector<cv::KeyPoint> & features, const cv
 	qDeleteAll(_features);
 	_features.clear();
 
+	float xRatio = 0;
+	float yRatio = 0;
+	if (this->sceneRect().isValid() && !depth.empty() && int(this->sceneRect().height()) % depth.rows == 0 && int(this->sceneRect().width()) % depth.cols == 0)
+	{
+		UDEBUG("depth=%dx%d sceneRect=%fx%f", depth.cols, depth.rows, this->sceneRect().width(), this->sceneRect().height());
+		xRatio = float(depth.cols) / float(this->sceneRect().width());
+		yRatio = float(depth.rows) / float(this->sceneRect().height());
+		UDEBUG("xRatio=%f yRatio=%f", xRatio, yRatio);
+	}
+
 	for(unsigned int i = 0; i< features.size(); ++i )
 	{
-		addFeature(i, features[i], depth.empty()?0:util2d::getDepth(depth, features[i].pt.x, features[i].pt.y, false), color);
+		if(xRatio > 0 && yRatio > 0)
+		{
+			addFeature(i, features[i], util2d::getDepth(depth, features[i].pt.x*xRatio, features[i].pt.y*yRatio, false), color);
+		}
+		else
+		{
+			addFeature(i, features[i], 0, color);
+		}
 	}
 
 	if(!_graphicsView->isVisible())

guilib/src/PreferencesDialog.cpp

@@ -1946,6 +1946,8 @@ void PreferencesDialog::writeSettings(const QString & filePath)
 	}
 
 	for(ParametersMap::iterator iter = _modifiedParameters.begin(); iter!=_modifiedParameters.end(); ++iter)
+	{
+		if (_parameters.at(iter->first).compare(iter->second) != 0)
 		{
 			bool different = true;
 			if (Parameters::getType(iter->first).compare("double") == 0 ||
@@ -1961,6 +1963,7 @@ void PreferencesDialog::writeSettings(const QString & filePath)
 				UINFO("modified %s = %s->%s", iter->first.c_str(), _parameters.at(iter->first).c_str(), iter->second.c_str());
 			}
 		}
+	}
 
 	uInsert(_parameters, _modifiedParameters); // update cached parameters
 	_modifiedParameters.clear();
@@ -4164,6 +4167,7 @@ int PreferencesDialog::getSourceScanNormalsK() const
 
 Camera * PreferencesDialog::createCamera(bool useRawImages, bool useColor)
 {
+	UDEBUG("");
 	Src driver = this->getSourceDriver();
 	Camera * camera = 0;
 	if(driver == PreferencesDialog::kSrcOpenNI_PCL)