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

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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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guilib/include/rtabmap/gui/MainWindow.h
+11 -1
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@@ -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>