Refactored graph::getPosesInRadius -> graph::findNearestPoses. Labels can be removed: added Remove label option in MainWindow. In localization mode, label set with id=0 is set to nearest node of current pose.

guilib/include/rtabmap/gui/MainWindow.h

@@ -194,6 +194,7 @@ protected Q_SLOTS:
 	void postGoal(const QString & goal);
 	void cancelGoal();
 	void label();
+	void removeLabel();
 	void updateCacheFromDatabase();
 	void anchorCloudsToGroundTruth();
 	void selectScreenCaptureFormat(bool checked);

guilib/src/MainWindow.cpp

@@ -354,6 +354,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent, bool sh
 	connect(_ui->actionSend_waypoints, SIGNAL(triggered()), this, SLOT(sendWaypoints()));
 	connect(_ui->actionCancel_goal, SIGNAL(triggered()), this, SLOT(cancelGoal()));
 	connect(_ui->actionLabel_current_location, SIGNAL(triggered()), this, SLOT(label()));
+	connect(_ui->actionRemove_label, SIGNAL(triggered()), this, SLOT(removeLabel()));
 	connect(_ui->actionClear_cache, SIGNAL(triggered()), this, SLOT(clearTheCache()));
 	connect(_ui->actionAbout, SIGNAL(triggered()), _aboutDialog , SLOT(exec()));
 	connect(_ui->actionHelp, SIGNAL(triggered()), this , SLOT(openHelp()));
@@ -2300,7 +2301,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 			// update pose only if odometry is not received
 			std::map<int, int> mapIds = _currentMapIds;
 			std::map<int, Transform> groundTruth = _currentGTPosesMap;
-			std::map<int, std::string> labels = _currentLabels;
 
 			mapIds.insert(std::make_pair(stat.getLastSignatureData().id(), stat.getLastSignatureData().mapId()));
 			if(!stat.getLastSignatureData().getGroundTruthPose().isNull() &&
@@ -2308,10 +2308,6 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 			{
 				groundTruth.insert(std::make_pair(stat.getLastSignatureData().id(), stat.getLastSignatureData().getGroundTruthPose()));
 			}
-			for(std::map<int, std::string>::const_iterator iter=stat.labels().begin(); iter!=stat.labels().end(); ++iter)
-			{
-				uInsert(labels, std::pair<int, std::string>(*iter)); // overwrite labels because they could have been modified
-			}
 
 			if(_preferencesDialog->isPriorIgnored() &&
 				_ui->graphicsView_graphView->getWorldMapRotation()==0.0f &&
@@ -2413,7 +2409,7 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 					poses,
 					stat.constraints(),
 					mapIds,
-					labels,
+					stat.labels(),
 					groundTruth,
 					stat.odomCachePoses(),
 					stat.odomCacheConstraints(),
@@ -2646,7 +2642,7 @@ void MainWindow::updateMapCloud(
 		std::map<int, Transform> nearestPoses;
 		if(maxNodes > 0)
 		{
-			std::map<int, float> nodes = graph::findNearestNodes(poses, currentPose, maxNodes);
+			std::map<int, float> nodes = graph::findNearestNodes(currentPose, poses, 0, 0, maxNodes);
 			for(std::map<int, float>::iterator iter=nodes.begin(); iter!=nodes.end(); ++iter)
 			{
 				if(altitudeDelta<=0.0 ||
@@ -6947,6 +6943,17 @@ void MainWindow::label()
 	}
 }
 
+void MainWindow::removeLabel()
+{
+	UINFO("Removing label...");
+	bool ok = false;
+	QString label = QInputDialog::getText(this, tr("Remove label"), tr("Label: "), QLineEdit::Normal, "", &ok);
+	if(ok && !label.isEmpty())
+	{
+		this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdRemoveLabel, label.toStdString(), 0));
+	}
+}
+
 void MainWindow::updateCacheFromDatabase()
 {
 	QString dir = getWorkingDirectory();

guilib/src/ui/mainWindow.ui

@@ -27,7 +27,7 @@
      <x>0</x>
      <y>0</y>
      <width>1012</width>
-     <height>21</height>
+     <height>22</height>
     </rect>
    </property>
    <widget class="QMenu" name="menuFile">
@@ -351,6 +351,7 @@
     <addaction name="actionTrigger_a_new_map"/>
     <addaction name="separator"/>
     <addaction name="actionLabel_current_location"/>
+    <addaction name="actionRemove_label"/>
     <addaction name="actionSend_waypoints"/>
     <addaction name="actionSend_goal"/>
     <addaction name="actionCancel_goal"/>
@@ -1670,6 +1671,11 @@
     <string>OpenNI2</string>
    </property>
   </action>
+  <action name="actionRemove_label">
+   <property name="text">
+    <string>Remove label...</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>