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DbViewer: added mapId

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1561 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-07-14 19:16:26 +00:00
parent 2479272161
commit 6e7dde2aea
3 changed files with 28 additions and 4 deletions
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1
corelib/include/rtabmap/core/Memory.h
View File

@@ -103,6 +103,7 @@ public:
const Signature * getLastWorkingSignature() const; const Signature * getLastWorkingSignature() const;
int getDatabaseMemoryUsed() const; // in bytes int getDatabaseMemoryUsed() const; // in bytes
double getDbSavingTime() const; double getDbSavingTime() const;
int getMapId(int signatureId) const;
std::vector<unsigned char> getImage(int signatureId) const; std::vector<unsigned char> getImage(int signatureId) const;
void getImageDepth( void getImageDepth(
int locationId, std::vector<unsigned char> & rgb, int locationId, std::vector<unsigned char> & rgb,

16
corelib/src/Memory.cpp
View File

@@ -2364,6 +2364,22 @@ bool Memory::rehearsalMerge(int oldId, int newId)
return false; return false;
} }
int Memory::getMapId(int signatureId) const
{
int mapId = 0;
const Signature * s = this->getSignature(signatureId);
if(s)
{
mapId = s->mapId();
}
else if(_dbDriver)
{
Transform pose;
_dbDriver->getPose(signatureId, pose, mapId);
}
return mapId;
}
std::vector<unsigned char> Memory::getImage(int signatureId) const std::vector<unsigned char> Memory::getImage(int signatureId) const
{ {
std::vector<unsigned char> image; std::vector<unsigned char> image;

15
guilib/src/DatabaseViewer.cpp
View File

@@ -690,6 +690,7 @@ void DatabaseViewer::update(int value,
{ {
view->clear(); view->clear();
int id = ids_.at(value); int id = ids_.at(value);
int mapId = -1;
labelId->setText(QString::number(id)); labelId->setText(QString::number(id));
if(id>0) if(id>0)
{ {
@@ -712,15 +713,14 @@ void DatabaseViewer::update(int value,
{ {
imgDepth = uCvMat2QImage(depthMat); imgDepth = uCvMat2QImage(depthMat);
} }
}
if(memory_)
{
std::multimap<int, cv::KeyPoint> words = memory_->getWords(id); std::multimap<int, cv::KeyPoint> words = memory_->getWords(id);
if(words.size()) if(words.size())
{ {
view->setFeatures(words); view->setFeatures(words);
} }
mapId = memory_->getMapId(id);
} }
if(!img.isNull()) if(!img.isNull())
@@ -765,7 +765,14 @@ void DatabaseViewer::update(int value,
} }
} }
labelId->setText(QString::number(id)); if(mapId>=0)
{
labelId->setText(QString("%1 [%2]").arg(id).arg(mapId));
}
else
{
labelId->setText(QString::number(id));
}
view->fitInView(view->scene()->itemsBoundingRect(), Qt::KeepAspectRatio); view->fitInView(view->scene()->itemsBoundingRect(), Qt::KeepAspectRatio);
} }
else else