Added pose label in databaseViewer

guilib/include/rtabmap/gui/DatabaseViewer.h

@@ -122,6 +122,7 @@ private:
 				rtabmap::CloudViewer * view3D,
 				QLabel * labelId,
 				QLabel * labelMapId,
+				QLabel * labelPose,
 				bool updateConstraintView);
 	void updateStereo(const Signature * data);
 	void updateWordsMatching();

guilib/src/DatabaseViewer.cpp

@@ -1409,6 +1409,7 @@ void DatabaseViewer::sliderAValueChanged(int value)
 			ui_->widget_cloudA,
 			ui_->label_idA,
 			ui_->label_mapA,
+			ui_->label_poseA,
 			true);
 }
 
@@ -1425,6 +1426,7 @@ void DatabaseViewer::sliderBValueChanged(int value)
 			ui_->widget_cloudB,
 			ui_->label_idB,
 			ui_->label_mapB,
+			ui_->label_poseB,
 			true);
 }
 
@@ -1439,6 +1441,7 @@ void DatabaseViewer::update(int value,
 						rtabmap::CloudViewer * view3D,
 						QLabel * labelId,
 						QLabel * labelMapId,
+						QLabel * labelPose,
 						bool updateConstraintView)
 {
 	UTimer timer;
@@ -1448,6 +1451,7 @@ void DatabaseViewer::update(int value,
 	weight->clear();
 	label->clear();
 	labelMapId->clear();
+	labelPose->clear();
 	stamp->clear();
 	QRectF rect;
 	if(value >= 0 && value < ids_.size())
@@ -1487,6 +1491,7 @@ void DatabaseViewer::update(int value,
 
 				weight->setNum(data.getWeight());
 				label->setText(data.getLabel().c_str());
+				labelPose->setText(QString("%1%2, %3, %4").arg(odomPose.isIdentity()?"* ":"").arg(odomPose.x()).arg(odomPose.y()).arg(odomPose.z()));
 				if(data.getStamp()!=0.0)
 				{
 					stamp->setText(QDateTime::fromMSecsSinceEpoch(data.getStamp()*1000.0).toString("dd.MM.yyyy hh:mm:ss.zzz"));
@@ -1987,6 +1992,7 @@ void DatabaseViewer::updateConstraintView(
 					ui_->widget_cloudA,
 					ui_->label_idA,
 					ui_->label_mapA,
+					ui_->label_poseA,
 					false); // don't update constraints view!
 		this->update(idToIndex_.value(link.to()),
 					ui_->label_indexB,
@@ -1999,6 +2005,7 @@ void DatabaseViewer::updateConstraintView(
 					ui_->widget_cloudB,
 					ui_->label_idB,
 					ui_->label_mapB,
+					ui_->label_poseB,
 					false); // don't update constraints view!
 	}
 

guilib/src/ui/DatabaseViewer.ui

@@ -51,7 +51,7 @@
              <x>0</x>
              <y>0</y>
              <width>162</width>
-             <height>150</height>
+             <height>173</height>
             </rect>
            </property>
            <layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
@@ -97,14 +97,14 @@
               </property>
              </widget>
             </item>
-            <item row="5" column="0">
+            <item row="6" column="0">
              <widget class="QLabel" name="label_childrenA_6">
               <property name="text">
                <string>Stamp</string>
               </property>
              </widget>
             </item>
-            <item row="5" column="1">
+            <item row="6" column="1">
              <widget class="QLabel" name="label_stampA">
               <property name="text">
                <string/>
@@ -139,6 +139,20 @@
               </property>
              </widget>
             </item>
+            <item row="5" column="0">
+             <widget class="QLabel" name="label_childrenA_12">
+              <property name="text">
+               <string>Pose</string>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="1">
+             <widget class="QLabel" name="label_poseA">
+              <property name="text">
+               <string/>
+              </property>
+             </widget>
+            </item>
            </layout>
           </widget>
          </widget>
@@ -220,10 +234,10 @@
              <x>0</x>
              <y>0</y>
              <width>162</width>
-             <height>150</height>
+             <height>173</height>
             </rect>
            </property>
-           <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0">
+           <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,1">
             <item row="0" column="1">
              <widget class="QLabel" name="label_parentsB">
               <property name="text">
@@ -266,14 +280,14 @@
               </property>
              </widget>
             </item>
-            <item row="5" column="0">
+            <item row="6" column="0">
              <widget class="QLabel" name="label_childrenA_7">
               <property name="text">
                <string>Stamp</string>
               </property>
              </widget>
             </item>
-            <item row="5" column="1">
+            <item row="6" column="1">
              <widget class="QLabel" name="label_stampB">
               <property name="text">
                <string/>
@@ -308,6 +322,20 @@
               </property>
              </widget>
             </item>
+            <item row="5" column="0">
+             <widget class="QLabel" name="label_childrenA_13">
+              <property name="text">
+               <string>Pose</string>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="1">
+             <widget class="QLabel" name="label_poseB">
+              <property name="text">
+               <string/>
+              </property>
+             </widget>
+            </item>
            </layout>
           </widget>
          </widget>