Fixed default nearest neighbor approach for the dictionary when the parameter is not set.

rtabmap_gui parameters panel can be opened without rtabmap parameters set on ROS (only GUI parameters can be changed).
Rtabmap: added getStatistics() method for convenience
Rtabmap/Memory: added deleteLastLocation() method to remove the last location in the STM.
 

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@779 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/include/rtabmap/core/Memory.h

@@ -75,6 +75,7 @@ public:
 			bool incrementMarginOnLoop = false,
 			bool ignoreLoopIds = false,
 			double * dbAccessTime = 0) const;
+	void deleteLastLocation();
 
 	//getters
 	const std::set<int> & getWorkingMem() const {return _workingMem;}

corelib/include/rtabmap/core/Rtabmap.h

@@ -97,6 +97,7 @@ public:
 	std::multimap<int, cv::KeyPoint> getWords(int locationId);
 	std::map<int, int> getNeighbors(int nodeId, int margin, bool lookInLTM = false);
 	bool isInSTM(int locationId);
+	Statistics getStatistics();
 
 	void setTimeThreshold(float maxTimeAllowed); // in ms
 
@@ -106,6 +107,7 @@ public:
 	void dumpData();
 	void updateParameters(const ParametersMap & parameters);
 	void setWorkingDirectory(std::string path);
+	void deleteLastLocation();
 
 	void adjustLikelihood(std::map<int, float> & likelihood) const;
 	std::pair<int, float> selectHypothesis(const std::map<int, float> & posterior,
@@ -173,6 +175,8 @@ private:
 	std::list<std::string> _bufferedLogsF;
 	std::list<std::string> _bufferedLogsI;
 
+	Statistics statistics_;
+
 	std::string _wDir;
 };
 

corelib/include/rtabmap/core/RtabmapEvent.h

@@ -149,16 +149,16 @@ private:
 class RtabmapEvent : public UEvent
 {
 public:
-	RtabmapEvent(Statistics ** stats) :
+	RtabmapEvent(const Statistics & stats) :
 		UEvent(0),
-		_stats(*stats) {}
+		_stats(stats) {}
 
-	virtual ~RtabmapEvent() {if(_stats) delete _stats;}
-	const Statistics & getStats() const {return *_stats;}
+	virtual ~RtabmapEvent() {}
+	const Statistics & getStats() const {return _stats;}
 	virtual std::string getClassName() const {return std::string("RtabmapEvent");}
 
 private:
-	Statistics * _stats;
+	Statistics _stats;
 };
 
 class RtabmapEventCmd : public UEvent