From e6923daf1c1576aebaf0789ac1286572cacb257a Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Tue, 26 May 2015 14:15:04 -0400
Subject: [PATCH] Fixed how images are scaled to handle images with different
 size

---
 guilib/include/rtabmap/gui/ImageView.h |  1 +
 guilib/src/ImageView.cpp               |  8 ++++++
 guilib/src/MainWindow.cpp              | 38 +++++++++++++++-----------
 3 files changed, 31 insertions(+), 16 deletions(-)

diff --git a/guilib/include/rtabmap/gui/ImageView.h b/guilib/include/rtabmap/gui/ImageView.h
index 44fdaf09..ddb3b042 100644
--- a/guilib/include/rtabmap/gui/ImageView.h
+++ b/guilib/include/rtabmap/gui/ImageView.h
@@ -55,6 +55,7 @@ public:
 	void saveSettings(QSettings & settings, const QString & group = "") const;
 	void loadSettings(QSettings & settings, const QString & group = "");
 
+	QRectF sceneRect() const;
 	bool isImageShown() const;
 	bool isImageDepthShown() const;
 	bool isFeaturesShown() const;
diff --git a/guilib/src/ImageView.cpp b/guilib/src/ImageView.cpp
index 0fd5e38e..c4efa5a1 100644
--- a/guilib/src/ImageView.cpp
+++ b/guilib/src/ImageView.cpp
@@ -127,6 +127,11 @@ void ImageView::loadSettings(QSettings & settings, const QString & group)
 	}
 }
 
+QRectF ImageView::sceneRect() const
+{
+	return _graphicsView->scene()->sceneRect();
+}
+
 bool ImageView::isImageShown() const
 {
 	return _showImage->isChecked();
@@ -770,6 +775,9 @@ void ImageView::clear()
 	}
 	_imageDepth = QPixmap();
 
+	_graphicsView->scene()->setSceneRect(QRectF());
+	_graphicsView->setScene(_graphicsView->scene());
+
 	if(!_graphicsView->isVisible())
 	{
 		this->update();
diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index 68b74698..7a4c08d6 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -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);