Pagination query with relation between 2 tables

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PHP

CodeIgniter

The idea is to get every image with the specified tag. The image's details are in table Gallery, the relation between the image and the tag is in table Gallery_Rtags. I'm using this code successfully in another controller/view, but not with the relation between 2 tables here, so it's overwriting the image it gets in $data.

controller:

function id(){
    $this->load->library('pagination');
    $tag=str_replace("%20"," ",$this->uri->segment(3));

    $query = $this->db->get_where('Gallery_Rtags',array('Rtag' => $tag));
    $rows=$query->num_rows();

    $config['base_url'] = 'http://example.com/gallery/index';
    $config['total_rows'] = $rows;
    $config['per_page'] = 20;
    $config['uri_segment'] = 4;
    $this->pagination->initialize($config);

    foreach ($query->result() as $row)
    {   
        $filename = $row->IDImg;
        $data['query'] = $this->db->get_where('Gallery',array('Filename' => $filename),$config['per_page'],$this->uri->segment(4));
    }

    $data['rows']=$rows;
    $data['main_content']='tag';
    $this->load->view('template',$data);
    }

view:

if ($rows > 0){

foreach ($query->result() as $row)
{
   echo ('<div class="img_sq_g"><a href="http://example.com/image/id/'.$row->Filename.'"><img src="http://example.com/images/thumbs/'.$row->Filename.'_thumb'.$row->Extension.'"></a></div>');

}
echo $this->pagination->create_links();
}

I tried to add a counter that adds the query to an array but it didn't work.

foreach ($query->result() as $row)
  		{	
			$br = 0;
			$filename = $row->IDImg;
			$br2['br'] = $this->db->get_where('Gallery',array('Filename' => $filename),$config['per_page'],$this->uri->segment(4));
			$br = $br + 1;
		}
		$data['query'] = $br2;

How do I modify it to get every image?