DbViewer: added mapId

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1561 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/Memory.h

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

corelib/src/Memory.cpp

@@ -2364,6 +2364,22 @@ bool Memory::rehearsalMerge(int oldId, int newId)
 	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> image;

guilib/src/DatabaseViewer.cpp

@@ -690,6 +690,7 @@ void DatabaseViewer::update(int value,
 	{
 		view->clear();
 		int id = ids_.at(value);
+		int mapId = -1;
 		labelId->setText(QString::number(id));
 		if(id>0)
 		{
@@ -712,15 +713,14 @@ void DatabaseViewer::update(int value,
 				{
 					imgDepth = uCvMat2QImage(depthMat);
 				}
-			}
 
-			if(memory_)
-			{
 				std::multimap<int, cv::KeyPoint> words = memory_->getWords(id);
 				if(words.size())
 				{
 					view->setFeatures(words);
 				}
+
+				mapId = memory_->getMapId(id);
 			}
 
 			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);
 	}
 	else