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

CMakeLists.txt

@@ -20,7 +20,7 @@ SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
 #######################
 SET(RTABMAP_MAJOR_VERSION 0)
 SET(RTABMAP_MINOR_VERSION 10)
-SET(RTABMAP_PATCH_VERSION 1)
+SET(RTABMAP_PATCH_VERSION 2)
 SET(RTABMAP_VERSION
   ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
   

corelib/include/rtabmap/core/RtabmapEvent.h

@@ -77,7 +77,8 @@ public:
 			kCmdTriggerNewMap,
 			kCmdPause,
 			kCmdGoal, // params: label or location ID
-			kCmdCancelGoal};
+			kCmdCancelGoal,
+			kCmdLabel}; // // params: label or location ID
 public:
 	RtabmapEventCmd(Cmd cmd, const std::string & strValue = "", int intValue = 0, const ParametersMap & parameters = ParametersMap()) :
 			UEvent(0),
@@ -190,6 +191,22 @@ private:
 	std::vector<std::pair<int, Transform> > _poses;
 };
 
+class RtabmapLabelErrorEvent : public UEvent
+{
+public:
+	RtabmapLabelErrorEvent(int id, const std::string & label):
+		UEvent(id),
+		_label(label){}
+
+	virtual ~RtabmapLabelErrorEvent() {}
+	int id() const {return this->getCode();}
+	const std::string & label() const {return _label;}
+	virtual std::string getClassName() const {return std::string("RtabmapLabelErrorEvent");}
+
+private:
+	std::string _label;
+};
+
 } // namespace rtabmap
 
 #endif /* RTABMAPEVENT_H_ */

corelib/include/rtabmap/core/RtabmapThread.h

@@ -75,7 +75,8 @@ public:
 		kStateTriggeringMap,
 		kStateAddingUserData,
 		kStateSettingGoal,
-		kStateCancellingGoal
+		kStateCancellingGoal,
+		kStateLabelling
 	};
 
 public:

corelib/src/RtabmapThread.cpp

@@ -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);

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

guilib/src/CloudViewer.cpp

@@ -146,9 +146,17 @@ CloudViewer::CloudViewer(QWidget *parent) :
 CloudViewer::~CloudViewer()
 {
 	UDEBUG("");
+	this->clear();
+	delete _visualizer;
+}
+
+void CloudViewer::clear()
+{
 	this->removeAllClouds();
 	this->removeAllGraphs();
-	delete _visualizer;
+	this->removeAllCoordinates();
+	this->removeAllTexts();
+	this->clearTrajectory();
 }
 
 void CloudViewer::createMenu()
@@ -695,6 +703,60 @@ void CloudViewer::removeAllGraphs()
 	UASSERT(_graphes.empty());
 }
 
+void CloudViewer::addOrUpdateText(
+			const std::string & id,
+			const std::string & text,
+			const Transform & position,
+			double scale,
+			const QColor & color)
+{
+	if(id.empty())
+	{
+		UERROR("id should not be empty!");
+		return;
+	}
+
+	removeCoordinate(id);
+
+	if(!position.isNull())
+	{
+		_texts.insert(id);
+		_visualizer->addText3D(
+				text,
+				pcl::PointXYZ(position.x(), position.y(), position.z()),
+				scale,
+				color.redF(),
+				color.greenF(),
+				color.blueF(),
+				id);
+	}
+}
+
+void CloudViewer::removeText(const std::string & id)
+{
+	if(id.empty())
+	{
+		UERROR("id should not be empty!");
+		return;
+	}
+
+	if(_texts.find(id) != _coordinates.end())
+	{
+		_visualizer->removeText3D(id);
+		_texts.erase(id);
+	}
+}
+
+void CloudViewer::removeAllTexts()
+{
+	std::set<std::string> texts = _texts;
+	for(std::set<std::string>::iterator iter = texts.begin(); iter!=texts.end(); ++iter)
+	{
+		this->removeText(*iter);
+	}
+	UASSERT(_texts.empty());
+}
+
 bool CloudViewer::isTrajectoryShown() const
 {
 	return _aShowTrajectory->isChecked();

guilib/src/MainWindow.cpp

@@ -261,7 +261,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	connect(this, SIGNAL(rtabmapEvent3DMapReceived(const rtabmap::RtabmapEvent3DMap &)), this, SLOT(processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap &)));
 	qRegisterMetaType<rtabmap::RtabmapGlobalPathEvent>("rtabmap::RtabmapGlobalPathEvent");
 	connect(this, SIGNAL(rtabmapGlobalPathEventReceived(const rtabmap::RtabmapGlobalPathEvent &)), this, SLOT(processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathEvent &)));
-
+	connect(this, SIGNAL(rtabmapLabelErrorReceived(int, const QString &)), this, SLOT(processRtabmapLabelErrorEvent(int, const QString &)));
 	// Dock Widget view actions (Menu->Window)
 	_ui->menuShow_view->addAction(_ui->dockWidget_imageView->toggleViewAction());
 	_ui->menuShow_view->addAction(_ui->dockWidget_posterior->toggleViewAction());
@@ -295,6 +295,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	connect(_ui->actionDump_the_prediction_matrix, SIGNAL(triggered()), this, SLOT(dumpThePrediction()));
 	connect(_ui->actionSend_goal, SIGNAL(triggered()), this, SLOT(sendGoal()));
 	connect(_ui->actionCancel_goal, SIGNAL(triggered()), this, SLOT(cancelGoal()));
+	connect(_ui->actionLabel_current_location, SIGNAL(triggered()), this, SLOT(label()));
 	connect(_ui->actionClear_cache, SIGNAL(triggered()), this, SLOT(clearTheCache()));
 	connect(_ui->actionAbout, SIGNAL(triggered()), _aboutDialog , SLOT(exec()));
 	connect(_ui->actionPrint_loop_closure_IDs_to_console, SIGNAL(triggered()), this, SLOT(printLoopClosureIds()));
@@ -648,6 +649,11 @@ void MainWindow::handleEvent(UEvent* anEvent)
 		RtabmapGlobalPathEvent * rtabmapGlobalPathEvent = (RtabmapGlobalPathEvent*)anEvent;
 		emit rtabmapGlobalPathEventReceived(*rtabmapGlobalPathEvent);
 	}
+	else if(anEvent->getClassName().compare("RtabmapLabelErrorEvent") == 0)
+	{
+		RtabmapLabelErrorEvent * rtabmapLabelErrorEvent = (RtabmapLabelErrorEvent*)anEvent;
+		emit rtabmapLabelErrorReceived(rtabmapLabelErrorEvent->id(), QString(rtabmapLabelErrorEvent->label().c_str()));
+	}
 	else if(anEvent->getClassName().compare("CameraEvent") == 0)
 	{
 		CameraEvent * cameraEvent = (CameraEvent*)anEvent;
@@ -1222,14 +1228,20 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 		{
 			// update pose only if odometry is not received
 			std::map<int, int> mapIds;
+			std::map<int, std::string> labels;
 			for(std::map<int, Signature>::const_iterator iter=stat.getSignatures().begin(); iter!=stat.getSignatures().end();++iter)
 			{
 				mapIds.insert(std::make_pair(iter->first, iter->second.mapId()));
+				if(!iter->second.getLabel().empty())
+				{
+					labels.insert(std::make_pair(iter->first, iter->second.getLabel()));
+				}
 			}
 			updateMapCloud(stat.poses(),
 					_odometryReceived||stat.poses().size()==0?Transform():stat.poses().rbegin()->second,
 					stat.constraints(),
-					mapIds);
+					mapIds,
+					labels);
 
 			_odometryReceived = false;
 
@@ -1309,15 +1321,17 @@ void MainWindow::updateMapCloud(
 		const Transform & currentPose,
 		const std::multimap<int, Link> & constraints,
 		const std::map<int, int> & mapIdsIn,
+		const std::map<int, std::string> & labels,
 		bool verboseProgress)
 {
-	UDEBUG("posesIn=%d constraints=%d mapIdsIn=%d currentPose=%s",
+	UDEBUG("posesIn=%d constraints=%d mapIdsIn=%d labelsIn=%d currentPose=%s",
-			(int)posesIn.size(), (int)constraints.size(), (int)mapIdsIn.size(), currentPose.prettyPrint().c_str());
+			(int)posesIn.size(), (int)constraints.size(), (int)mapIdsIn.size(), (int)labels.size(), currentPose.prettyPrint().c_str());
 	if(posesIn.size())
 	{
 		_currentPosesMap = posesIn;
 		_currentLinksMap = constraints;
 		_currentMapIds = mapIdsIn;
+		_curentLabels = labels;
 		if(_currentPosesMap.size())
 		{
 			if(!_ui->actionSave_point_cloud->isEnabled() &&
@@ -1542,6 +1556,30 @@ void MainWindow::updateMapCloud(
 		}
 	}
 
+	// Update labels
+	_ui->widget_cloudViewer->removeAllTexts();
+	if(_preferencesDialog->isLabelsShown() && labels.size())
+	{
+		for(std::map<int, std::string>::const_iterator iter=labels.begin(); iter!=labels.end(); ++iter)
+		{
+			if(posesIn.find(iter->first)!=posesIn.end())
+			{
+				int mapId = uValue(mapIdsIn, iter->first, -1);
+				QColor color = Qt::gray;
+				if(mapId >= 0)
+				{
+					color = (Qt::GlobalColor)((mapId+3) % 12 + 7 );
+				}
+				_ui->widget_cloudViewer->addOrUpdateText(
+						std::string("label_") + uNumber2Str(iter->first),
+						iter->second,
+						_currentPosesMap.at(iter->first),
+						0.1,
+						color);
+			}
+		}
+	}
+
 	// Update occupancy grid map in 3D map view and graph view
 	if(_ui->graphicsView_graphView->isVisible())
 	{
@@ -2059,11 +2097,16 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
 
 		int addedSignatures = 0;
 		std::map<int, int> mapIds;
+		std::map<int, std::string> labels;
 		for(std::map<int, Signature>::const_iterator iter = event.getSignatures().begin();
 			iter!=event.getSignatures().end();
 			++iter)
 		{
 			mapIds.insert(std::make_pair(iter->first, iter->second.mapId()));
+			if(!iter->second.getLabel().empty())
+			{
+				labels.insert(std::make_pair(iter->first, iter->second.getLabel()));
+			}
 			if(!_cachedSignatures.contains(iter->first) ||
 			   (_cachedSignatures.value(iter->first).sensorData().imageCompressed().empty() && !iter->second.sensorData().imageCompressed().empty()))
 			{
@@ -2084,7 +2127,7 @@ void MainWindow::processRtabmapEvent3DMap(const rtabmap::RtabmapEvent3DMap & eve
 			_initProgressDialog->appendText("Updating the 3D map cloud...");
 			_initProgressDialog->incrementStep();
 			QApplication::processEvents();
-			this->updateMapCloud(event.getPoses(), Transform(), event.getConstraints(), mapIds, true);
+			this->updateMapCloud(event.getPoses(), Transform(), event.getConstraints(), mapIds, labels, true);
 			_initProgressDialog->appendText("Updating the 3D map cloud... done.");
 		}
 		else
@@ -2142,6 +2185,21 @@ void MainWindow::processRtabmapGlobalPathEvent(const rtabmap::RtabmapGlobalPathE
 	}
 }
 
+void MainWindow::processRtabmapLabelErrorEvent(int id, const QString & label)
+{
+	QMessageBox * warn = new QMessageBox(
+			QMessageBox::Warning,
+			tr("Setting label failed!"),
+			tr("Setting label %1 to location %2 failed. "
+				"Some reasons: \n"
+				"1) the location doesn't exist in the map,\n"
+				"2) the location has already a label.").arg(label).arg(id),
+			QMessageBox::Ok,
+			this);
+	warn->setAttribute(Qt::WA_DeleteOnClose, true);
+	warn->show();
+}
+
 void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
 {
 	ULOGGER_DEBUG("");
@@ -2197,7 +2255,8 @@ void MainWindow::applyPrefSettings(PreferencesDialog::PANEL_FLAGS flags)
 					std::map<int, Transform>(_currentPosesMap),
 					Transform(),
 					std::multimap<int, Link>(_currentLinksMap),
-					std::map<int, int>(_currentMapIds));
+					std::map<int, int>(_currentMapIds),
+					std::map<int, std::string>(_curentLabels));
 		}
 	}
 
@@ -3687,7 +3746,12 @@ void MainWindow::postProcessing()
 	_initProgressDialog->incrementStep();
 
 	_initProgressDialog->appendText(tr("Updating map..."));
-	this->updateMapCloud(optimizedPoses, Transform(), std::multimap<int, Link>(_currentLinksMap), std::map<int, int>(_currentMapIds), false);
+	this->updateMapCloud(
+			optimizedPoses, Transform(),
+			std::multimap<int, Link>(_currentLinksMap),
+			std::map<int, int>(_currentMapIds),
+			std::map<int, std::string>(_curentLabels),
+			false);
 	_initProgressDialog->appendText(tr("Updating map... done!"));
 
 	_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
@@ -3848,6 +3912,17 @@ void MainWindow::cancelGoal()
 	this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdCancelGoal));
 }
 
+void MainWindow::label()
+{
+	UINFO("Labelling current location...");
+	bool ok = false;
+	QString label = QInputDialog::getText(this, tr("Label current location"), tr("Label: "), QLineEdit::Normal, "", &ok);
+	if(ok && !label.isEmpty())
+	{
+		this->post(new RtabmapEventCmd(RtabmapEventCmd::kCmdLabel, label.toStdString(), 0));
+	}
+}
+
 void MainWindow::downloadAllClouds()
 {
 	QStringList items;
@@ -3957,14 +4032,14 @@ void MainWindow::clearTheCache()
 	_createdScans.clear();
 	_gridLocalMaps.clear();
 	_projectionLocalMaps.clear();
-	_ui->widget_cloudViewer->removeAllClouds();
+	_ui->widget_cloudViewer->clear();
-	_ui->widget_cloudViewer->removeAllGraphs();
 	_ui->widget_cloudViewer->setBackgroundColor(_ui->widget_cloudViewer->getDefaultBackgroundColor());
 	_ui->widget_cloudViewer->clearTrajectory();
 	_ui->widget_mapVisibility->clear();
 	_currentPosesMap.clear();
 	_currentLinksMap.clear();
 	_currentMapIds.clear();
+	_curentLabels.clear();
 	_odometryCorrection = Transform::getIdentity();
 	_lastOdomPose.setNull();
 	//disable save cloud action

guilib/src/PreferencesDialog.cpp

@@ -292,6 +292,7 @@ PreferencesDialog::PreferencesDialog(QWidget * parent) :
 	}
 
 	connect(_ui->checkBox_showGraphs, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
+	connect(_ui->checkBox_showLabels, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 
 	connect(_ui->checkBox_meshing, SIGNAL(stateChanged(int)), this, SLOT(makeObsoleteCloudRenderingPanel()));
 	connect(_ui->doubleSpinBox_gp3Radius, SIGNAL(valueChanged(double)), this, SLOT(makeObsoleteCloudRenderingPanel()));
@@ -1007,6 +1008,7 @@ void PreferencesDialog::resetSettings(QGroupBox * groupBox)
 		}
 
 		_ui->checkBox_showGraphs->setChecked(true);
+		_ui->checkBox_showLabels->setChecked(true);
 
 		_ui->checkBox_meshing->setChecked(false);
 		_ui->doubleSpinBox_gp3Radius->setValue(0.04);
@@ -1289,6 +1291,7 @@ void PreferencesDialog::readGuiSettings(const QString & filePath)
 		_3dRenderingPtSizeScan[i]->setValue(settings.value(QString("ptSizeScan%1").arg(i), _3dRenderingPtSizeScan[i]->value()).toInt());
 	}
 	_ui->checkBox_showGraphs->setChecked(settings.value("showGraphs", _ui->checkBox_showGraphs->isChecked()).toBool());
+	_ui->checkBox_showLabels->setChecked(settings.value("showLabels", _ui->checkBox_showLabels->isChecked()).toBool());
 
 	_ui->checkBox_meshing->setChecked(settings.value("meshing", _ui->checkBox_meshing->isChecked()).toBool());
 	_ui->doubleSpinBox_gp3Radius->setValue(settings.value("meshGP3Radius", _ui->doubleSpinBox_gp3Radius->value()).toDouble());
@@ -1589,6 +1592,7 @@ void PreferencesDialog::writeGuiSettings(const QString & filePath) const
 		settings.setValue(QString("ptSizeScan%1").arg(i), _3dRenderingPtSizeScan[i]->value());
 	}
 	settings.setValue("showGraphs", _ui->checkBox_showGraphs->isChecked());
+	settings.setValue("showLabels", _ui->checkBox_showLabels->isChecked());
 
 	settings.setValue("meshing", _ui->checkBox_meshing->isChecked());
 	settings.setValue("meshGP3Radius", _ui->doubleSpinBox_gp3Radius->value());
@@ -3076,6 +3080,10 @@ bool PreferencesDialog::isGraphsShown() const
 {
 	return _ui->checkBox_showGraphs->isChecked();
 }
+bool PreferencesDialog::isLabelsShown() const
+{
+	return _ui->checkBox_showLabels->isChecked();
+}
 bool PreferencesDialog::isCloudMeshing() const
 {
 	return _ui->checkBox_meshing->isChecked();

guilib/src/ui/mainWindow.ui

@@ -63,6 +63,7 @@
      <addaction name="actionGenerate_TORO_graph_graph"/>
      <addaction name="actionExport_poses_txt"/>
      <addaction name="actionPrint_loop_closure_IDs_to_console"/>
+     <addaction name="separator"/>
      <addaction name="actionSend_goal"/>
      <addaction name="actionCancel_goal"/>
     </widget>
@@ -202,6 +203,8 @@
     <addaction name="separator"/>
     <addaction name="actionReset_Odometry"/>
     <addaction name="actionTrigger_a_new_map"/>
+    <addaction name="separator"/>
+    <addaction name="actionLabel_current_location"/>
    </widget>
    <widget class="QMenu" name="menuWindow">
     <property name="title">
@@ -1233,6 +1236,11 @@
     <string>More options...</string>
    </property>
   </action>
+  <action name="actionLabel_current_location">
+   <property name="text">
+    <string>Label current location...</string>
+   </property>
+  </action>
  </widget>
  <customwidgets>
   <customwidget>

guilib/src/ui/preferencesDialog.ui

@@ -63,9 +63,9 @@
           <property name="geometry">
            <rect>
             <x>0</x>
-            <y>0</y>
+            <y>-625</y>
-            <width>755</width>
+            <width>760</width>
-            <height>1591</height>
+            <height>1570</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -86,7 +86,7 @@
                 <enum>QFrame::Raised</enum>
                </property>
                <property name="currentIndex">
-                <number>3</number>
+                <number>1</number>
                </property>
                <widget class="QWidget" name="page_22">
                 <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -676,6 +676,25 @@ Show a yellow background when the number of odometry inliers goes under this thr
                        <enum>QFrame::Raised</enum>
                       </property>
                       <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1">
+                       <item row="6" column="1">
+                        <widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
+                         <property name="suffix">
+                          <string/>
+                         </property>
+                         <property name="decimals">
+                          <number>2</number>
+                         </property>
+                         <property name="maximum">
+                          <double>1.000000000000000</double>
+                         </property>
+                         <property name="singleStep">
+                          <double>0.100000000000000</double>
+                         </property>
+                         <property name="value">
+                          <double>1.000000000000000</double>
+                         </property>
+                        </widget>
+                       </item>
                        <item row="9" column="0">
                         <widget class="QCheckBox" name="checkBox_showScans">
                          <property name="text">
@@ -915,25 +934,6 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="6" column="1">
-                        <widget class="QDoubleSpinBox" name="doubleSpinBox_opacity_odom">
-                         <property name="suffix">
-                          <string/>
-                         </property>
-                         <property name="decimals">
-                          <number>2</number>
-                         </property>
-                         <property name="maximum">
-                          <double>1.000000000000000</double>
-                         </property>
-                         <property name="singleStep">
-                          <double>0.100000000000000</double>
-                         </property>
-                         <property name="value">
-                          <double>1.000000000000000</double>
-                         </property>
-                        </widget>
-                       </item>
                        <item row="6" column="2">
                         <widget class="QLabel" name="label_155">
                          <property name="text">
@@ -1022,7 +1022,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="13" column="0">
+                       <item row="14" column="0">
                         <widget class="QCheckBox" name="checkBox_meshing">
                          <property name="text">
                           <string/>
@@ -1084,7 +1084,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="15" column="2">
+                       <item row="16" column="2">
                         <widget class="QLabel" name="label_168">
                          <property name="text">
                           <string>Sphere radius that is to be used for determining the k-nearest neighbors used for triangulating (GP3). Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
@@ -1097,7 +1097,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="17" column="2">
+                       <item row="18" column="2">
                         <widget class="QLabel" name="label_85">
                          <property name="text">
                           <string>Mesh smoothing using Moving Least Squares algorithm (MLS).</string>
@@ -1110,7 +1110,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="15" column="0">
+                       <item row="16" column="0">
                         <widget class="QDoubleSpinBox" name="doubleSpinBox_gp3Radius">
                          <property name="suffix">
                           <string> m</string>
@@ -1129,7 +1129,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="18" column="0">
+                       <item row="19" column="0">
                         <widget class="QDoubleSpinBox" name="doubleSpinBox_mlsRadius">
                          <property name="suffix">
                           <string> m</string>
@@ -1148,7 +1148,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="13" column="2">
+                       <item row="14" column="2">
                         <widget class="QLabel" name="label_169">
                          <property name="text">
                           <string>Online meshing using Greedy Projection Triangulation (GP3).</string>
@@ -1161,7 +1161,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="18" column="2">
+                       <item row="19" column="2">
                         <widget class="QLabel" name="label_87">
                          <property name="text">
                           <string>MLS search radius: Set the sphere radius that is to be used for determining the k-nearest neighbors used for fitting. Guidelines: 4 times the voxel size, 0.025 for voxel=0.</string>
@@ -1174,7 +1174,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="17" column="0">
+                       <item row="18" column="0">
                         <widget class="QCheckBox" name="checkBox_mls">
                          <property name="text">
                           <string/>
@@ -1184,7 +1184,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="14" column="2">
+                       <item row="15" column="2">
                         <widget class="QLabel" name="label_71">
                          <property name="text">
                           <string>Set the number of k nearest neighbors to use for the normal estimation to create the mesh. Not used when mesh smoothing below is used.</string>
@@ -1197,7 +1197,7 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
-                       <item row="14" column="0">
+                       <item row="15" column="0">
                         <widget class="QSpinBox" name="spinBox_normalKSearch">
                          <property name="value">
                           <number>20</number>
@@ -1227,6 +1227,29 @@ Show a yellow background when the number of odometry inliers goes under this thr
                          </property>
                         </widget>
                        </item>
+                       <item row="13" column="2">
+                        <widget class="QLabel" name="label_243">
+                         <property name="text">
+                          <string>Show labels.</string>
+                         </property>
+                         <property name="wordWrap">
+                          <bool>true</bool>
+                         </property>
+                         <property name="textInteractionFlags">
+                          <set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
+                         </property>
+                        </widget>
+                       </item>
+                       <item row="13" column="0">
+                        <widget class="QCheckBox" name="checkBox_showLabels">
+                         <property name="text">
+                          <string/>
+                         </property>
+                         <property name="checked">
+                          <bool>true</bool>
+                         </property>
+                        </widget>
+                       </item>
                       </layout>
                      </widget>
                     </item>