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Labels shown in the GUI (added also "Label current location..." action in Detection menu)

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This commit is contained in:
matlabbe
2015-07-26 15:50:39 -04:00
parent a15ae81651
commit b358ffd45d
12 changed files with 277 additions and 48 deletions
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19
corelib/include/rtabmap/core/RtabmapEvent.h
View File

@@ -77,7 +77,8 @@ public:
kCmdTriggerNewMap,
kCmdPause,
kCmdGoal, // params: label or location ID
kCmdCancelGoal};
kCmdCancelGoal,
kCmdLabel}; // // params: label or location ID
public:
RtabmapEventCmd(Cmd cmd, const std::string & strValue = "", int intValue = 0, const ParametersMap & parameters = ParametersMap()) :
UEvent(0),
@@ -190,6 +191,22 @@ private:
std::vector<std::pair<int, Transform> > _poses;
};
class RtabmapLabelErrorEvent : public UEvent
{
public:
RtabmapLabelErrorEvent(int id, const std::string & label):
UEvent(id),
_label(label){}
virtual ~RtabmapLabelErrorEvent() {}
int id() const {return this->getCode();}
const std::string & label() const {return _label;}
virtual std::string getClassName() const {return std::string("RtabmapLabelErrorEvent");}
private:
std::string _label;
};
} // namespace rtabmap
#endif /* RTABMAPEVENT_H_ */

3
corelib/include/rtabmap/core/RtabmapThread.h
View File

@@ -75,7 +75,8 @@ public:
kStateTriggeringMap,
kStateAddingUserData,
kStateSettingGoal,
kStateCancellingGoal
kStateCancellingGoal,
kStateLabelling
};
public:

14
corelib/src/RtabmapThread.cpp
View File

@@ -289,6 +289,12 @@ void RtabmapThread::mainLoop()
case kStateCancellingGoal:
_rtabmap->clearPath();
break;
case kStateLabelling:
if(!_rtabmap->labelLocation(atoi(parameters.at("id").c_str()), parameters.at("label").c_str()))
{
this->post(new RtabmapLabelErrorEvent(atoi(parameters.at("id").c_str()), parameters.at("label").c_str()));
}
break;
default:
UFATAL("Invalid state !?!?");
break;
@@ -500,6 +506,14 @@ void RtabmapThread::handleEvent(UEvent* event)
ULOGGER_DEBUG("CMD_CANCEL_GOAL");
pushNewState(kStateCancellingGoal);
}
else if(cmd == RtabmapEventCmd::kCmdLabel)
{
ULOGGER_DEBUG("CMD_LABEL");
ParametersMap param;
param.insert(ParametersPair("label", rtabmapEvent->getStr()));
param.insert(ParametersPair("id", uNumber2Str(rtabmapEvent->getInt())));
pushNewState(kStateLabelling, param);
}
else
{
UWARN("Cmd %d unknown!", cmd);