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

guilib/include/rtabmap/gui/CloudViewer.h

@@ -151,6 +151,15 @@ public:
 	void removeGraph(const std::string & id);
 	void removeAllGraphs();
 
+	void addOrUpdateText(
+			const std::string & id,
+			const std::string & text,
+			const Transform & position,
+			double scale,
+			const QColor & color);
+	void removeText(const std::string & id);
+	void removeAllTexts();
+
 	bool isTrajectoryShown() const;
 	unsigned int getTrajectorySize() const;
 	void setTrajectoryShown(bool shown);
@@ -198,7 +207,7 @@ public slots:
 	void setCloudVisibility(const std::string & id, bool isVisible);
 	void setCloudOpacity(const std::string & id, double opacity = 1.0);
 	void setCloudPointSize(const std::string & id, int size);
-	virtual void clear() {removeAllClouds(); clearTrajectory();}
+	virtual void clear();
 
 signals:
 	void configChanged();
@@ -234,6 +243,7 @@ private:
     QMenu * _menu;
     std::set<std::string> _graphes;
     std::set<std::string> _coordinates;
+    std::set<std::string> _texts;
     pcl::PointCloud<pcl::PointXYZ>::Ptr _trajectory;
     unsigned int _maxTrajectorySize;
     unsigned int _gridCellCount;

guilib/include/rtabmap/gui/MainWindow.h

@@ -147,6 +147,7 @@ private slots:
 	void dumpThePrediction();
 	void sendGoal();
 	void cancelGoal();
+	void label();
 	void downloadAllClouds();
 	void downloadPoseGraph();
 	void clearTheCache();
@@ -162,6 +163,7 @@ private slots:
 	void processRtabmapEventInit(int status, const QString & info);
 	void processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & event);
 	void processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathEvent & event);
+	void processRtabmapLabelErrorEvent(int id, const QString & label);
 	void changeImgRateSetting();
 	void changeDetectionRateSetting();
 	void changeTimeLimitSetting();
@@ -195,6 +197,7 @@ signals:
 	void rtabmapEventInitReceived(int status, const QString & info);
 	void rtabmapEvent3DMapReceived(const rtabmap::RtabmapEvent3DMap & event);
 	void rtabmapGlobalPathEventReceived(const rtabmap::RtabmapGlobalPathEvent & event);
+	void rtabmapLabelErrorReceived(int id, const QString & label);
 	void imgRateChanged(double);
 	void detectionRateChanged(double);
 	void timeLimitChanged(float);
@@ -205,7 +208,13 @@ signals:
 
 private:
 	void update3DMapVisibility(bool cloudsShown, bool scansShown);
-	void updateMapCloud(const std::map<int, Transform> & poses, const Transform & pose, const std::multimap<int, Link> & constraints, const std::map<int, int> & mapIds, bool verboseProgress = false);
+	void updateMapCloud(
+			const std::map<int, Transform> & poses,
+			const Transform & pose,
+			const std::multimap<int, Link> & constraints,
+			const std::map<int, int> & mapIds,
+			const std::map<int, std::string> & labels,
+			bool verboseProgress = false);
 	void createAndAddCloudToMap(int nodeId,	const Transform & pose, int mapId);
 	void createAndAddScanToMap(int nodeId, const Transform & pose, int mapId);
 	void drawKeypoints(const std::multimap<int, cv::KeyPoint> & refWords, const std::multimap<int, cv::KeyPoint> & loopWords);
@@ -266,6 +275,7 @@ private:
 	std::map<int, Transform> _currentPosesMap; // <nodeId, pose>
 	std::multimap<int, Link> _currentLinksMap; // <nodeFromId, link>
 	std::map<int, int> _currentMapIds;   // <nodeId, mapId>
+	std::map<int, std::string> _curentLabels; // <nodeId, label>
 	std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr > _createdClouds;
 	std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > _createdScans;
 	std::map<int, std::pair<cv::Mat, cv::Mat> > _projectionLocalMaps; // <ground, obstacles>

guilib/include/rtabmap/gui/PreferencesDialog.h

@@ -140,6 +140,7 @@ public:
 	bool isPosteriorGraphView() const;
 
 	bool isGraphsShown() const;
+	bool isLabelsShown() const;
 	bool isCloudMeshing() const;
 	bool isCloudsShown(int index) const;      // 0=map, 1=odom
 	double getCloudVoxelSize(int index) const; // 0=map, 1=odom