Rtabmap: Refactoring... removed all threading/events related stuff from Rtabmap object to RtabmapThread object (a thread wrapper of the rtabmap object)

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@803 f169173b-cf89-36c8-b27e-44dbe73f0c83

corelib/src/Statistics.cpp

@@ -0,0 +1,61 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "rtabmap/core/Statistics.h"
+#include <utilite/UStl.h>
+
+namespace rtabmap {
+std::map<std::string, float> Statistics::_defaultData;
+bool Statistics::_defaultDataInitialized = false;
+
+const std::map<std::string, float> & Statistics::defaultData()
+{
+	Statistics stat;
+	return _defaultData;
+}
+
+Statistics::Statistics() :
+	_extended(0),
+	_refImageId(0),
+	_loopClosureId(0)
+{
+	_defaultDataInitialized = true;
+}
+
+Statistics::~Statistics()
+{
+}
+
+// name format = "Grp/Name/unit"
+void Statistics::addStatistic(const std::string & name, float value)
+{
+	uInsert(_data, std::pair<std::string, float>(name, value));
+}
+
+void Statistics::setRefImage(const cv::Mat & image)
+{
+	_refImage = image;
+}
+
+void Statistics::setLoopImage(const cv::Mat & image)
+{
+	_loopImage = image;
+}
+
+}