mirror of
https://github.com/introlab/rtabmap_ros.git
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96 lines
3.2 KiB
C++
96 lines
3.2 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "rtabmap/core/Statistics.h"
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#include <rtabmap/utilite/UStl.h>
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#include <rtabmap/utilite/UConversion.h>
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namespace rtabmap {
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std::map<std::string, float> Statistics::_defaultData;
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bool Statistics::_defaultDataInitialized = false;
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const std::map<std::string, float> & Statistics::defaultData()
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{
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Statistics stat;
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return _defaultData;
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}
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std::string Statistics::serializeData(const std::map<std::string, float> & data)
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{
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std::stringstream output;
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for(std::map<std::string, float>::const_iterator iter=data.begin(); iter!=data.end(); ++iter)
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{
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if(iter != data.begin())
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{
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output << ";";
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}
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// make sure there are no commas instead of dots
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output << iter->first << ":" << uReplaceChar(uNumber2Str(iter->second), ',', '.');
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}
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return output.str();
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}
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std::map<std::string, float> Statistics::deserializeData(const std::string & data)
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{
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std::map<std::string, float> output;
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std::list<std::string> tuplets = uSplit(data, ';');
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for(std::list<std::string>::iterator iter=tuplets.begin(); iter!=tuplets.end(); ++iter)
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{
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std::list<std::string> p = uSplit(*iter, ':');
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if(p.size() == 2)
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{
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std::string key = p.front();
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std::string value = p.back();
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uInsert(output, std::make_pair(key, uStr2Float(value)));
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}
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}
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return output;
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}
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Statistics::Statistics() :
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_extended(0),
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_refImageId(0),
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_loopClosureId(0),
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_proximiyDetectionId(0),
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_stamp(0.0f),
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_currentGoalId(0)
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{
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_defaultDataInitialized = true;
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}
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Statistics::~Statistics()
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{
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}
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// name format = "Grp/Name/unit"
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void Statistics::addStatistic(const std::string & name, float value)
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{
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uInsert(_data, std::pair<std::string, float>(name, value));
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}
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}
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