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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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14
corelib/src/RtabmapThread.cpp
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@@ -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);