From 73268c2af244cfde8635c71528dbfb8c41578172 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Tue, 18 Oct 2016 12:27:14 -0400
Subject: [PATCH] GUI: Fixed current image and loop closure image features not
 shown when Mem/BinDataKept is false

---
 guilib/src/MainWindow.cpp | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index 874ddcc8..b3ea2b90 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -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);