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< div class = "fragment" >< div class = "line" >< a id = "l00001" name = "l00001" ></ a >< span class = "lineno" > 1</ span >< span class = "comment" > /*</ span ></ div >
< div class = "line" >< a id = "l00002" name = "l00002" ></ a >< span class = "lineno" > 2</ span >< span class = "comment" > Copyright (c) 2010-2024, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</ span ></ div >
< div class = "line" >< a id = "l00003" name = "l00003" ></ a >< span class = "lineno" > 3</ span >< span class = "comment" > All rights reserved.</ span ></ div >
< div class = "line" >< a id = "l00004" name = "l00004" ></ a >< span class = "lineno" > 4</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00005" name = "l00005" ></ a >< span class = "lineno" > 5</ span >< span class = "comment" > Redistribution and use in source and binary forms, with or without</ span ></ div >
< div class = "line" >< a id = "l00006" name = "l00006" ></ a >< span class = "lineno" > 6</ span >< span class = "comment" > modification, are permitted provided that the following conditions are met:</ span ></ div >
< div class = "line" >< a id = "l00007" name = "l00007" ></ a >< span class = "lineno" > 7</ span >< span class = "comment" > * Redistributions of source code must retain the above copyright</ span ></ div >
< div class = "line" >< a id = "l00008" name = "l00008" ></ a >< span class = "lineno" > 8</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer.</ span ></ div >
< div class = "line" >< a id = "l00009" name = "l00009" ></ a >< span class = "lineno" > 9</ span >< span class = "comment" > * Redistributions in binary form must reproduce the above copyright</ span ></ div >
< div class = "line" >< a id = "l00010" name = "l00010" ></ a >< span class = "lineno" > 10</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer in the</ span ></ div >
< div class = "line" >< a id = "l00011" name = "l00011" ></ a >< span class = "lineno" > 11</ span >< span class = "comment" > documentation and/or other materials provided with the distribution.</ span ></ div >
< div class = "line" >< a id = "l00012" name = "l00012" ></ a >< span class = "lineno" > 12</ span >< span class = "comment" > * Neither the name of the Universite de Sherbrooke nor the</ span ></ div >
< div class = "line" >< a id = "l00013" name = "l00013" ></ a >< span class = "lineno" > 13</ span >< span class = "comment" > names of its contributors may be used to endorse or promote products</ span ></ div >
< div class = "line" >< a id = "l00014" name = "l00014" ></ a >< span class = "lineno" > 14</ span >< span class = "comment" > derived from this software without specific prior written permission.</ span ></ div >
< div class = "line" >< a id = "l00015" name = "l00015" ></ a >< span class = "lineno" > 15</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00016" name = "l00016" ></ a >< span class = "lineno" > 16</ span >< span class = "comment" > THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS " AS IS" AND</ span ></ div >
< div class = "line" >< a id = "l00017" name = "l00017" ></ a >< span class = "lineno" > 17</ span >< span class = "comment" > ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</ span ></ div >
< div class = "line" >< a id = "l00018" name = "l00018" ></ a >< span class = "lineno" > 18</ span >< span class = "comment" > WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</ span ></ div >
< div class = "line" >< a id = "l00019" name = "l00019" ></ a >< span class = "lineno" > 19</ span >< span class = "comment" > DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</ span ></ div >
< div class = "line" >< a id = "l00020" name = "l00020" ></ a >< span class = "lineno" > 20</ span >< span class = "comment" > DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</ span ></ div >
< div class = "line" >< a id = "l00021" name = "l00021" ></ a >< span class = "lineno" > 21</ span >< span class = "comment" > (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</ span ></ div >
< div class = "line" >< a id = "l00022" name = "l00022" ></ a >< span class = "lineno" > 22</ span >< span class = "comment" > LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</ span ></ div >
< div class = "line" >< a id = "l00023" name = "l00023" ></ a >< span class = "lineno" > 23</ span >< span class = "comment" > ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</ span ></ div >
< div class = "line" >< a id = "l00024" name = "l00024" ></ a >< span class = "lineno" > 24</ span >< span class = "comment" > (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</ span ></ div >
< div class = "line" >< a id = "l00025" name = "l00025" ></ a >< span class = "lineno" > 25</ span >< span class = "comment" > SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</ span ></ div >
< div class = "line" >< a id = "l00026" name = "l00026" ></ a >< span class = "lineno" > 26</ span >< span class = "comment" > */</ span ></ div >
< div class = "line" >< a id = "l00027" name = "l00027" ></ a >< span class = "lineno" > 27</ span > </ div >
< div class = "line" >< a id = "l00028" name = "l00028" ></ a >< span class = "lineno" > 28</ span >< span class = "preprocessor" > #ifndef GLOBAL_DESCRIPTOR_EXTRACTOR_H_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define GLOBAL_DESCRIPTOR_EXTRACTOR_H_</ span ></ div >
< div class = "line" >< a id = "l00030" name = "l00030" ></ a >< span class = "lineno" > 30</ span > </ div >
< div class = "line" >< a id = "l00031" name = "l00031" ></ a >< span class = "lineno" > 31</ span >< span class = "preprocessor" > #include " rtabmap/core/rtabmap_core_export.h" </ span > < span class = "comment" > // DLL export/import defines</ span ></ div >
< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span > </ div >
< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span >< span class = "preprocessor" > #include " rtabmap/core/Parameters.h" </ span ></ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span >< span class = "preprocessor" > #include " rtabmap/core/SensorData.h" </ span ></ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span > </ div >
< div class = "line" >< a id = "l00036" name = "l00036" ></ a >< span class = "lineno" > 36</ span > </ div >
< div class = "line" >< a id = "l00037" name = "l00037" ></ a >< span class = "lineno" > 37</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a > {</ div >
< div class = "line" >< a id = "l00038" name = "l00038" ></ a >< span class = "lineno" > 38</ span > </ div >
< div class = "line" >< a id = "l00039" name = "l00039" ></ a >< span class = "lineno" > 39</ span >< span class = "comment" > // Feature2D</ span ></ div >
< div class = "foldopen" id = "foldopen00040" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00040" name = "l00040" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1GlobalDescriptorExtractor.html" > 40</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1GlobalDescriptorExtractor.html" > GlobalDescriptorExtractor</ a > {</ div >
< div class = "line" >< a id = "l00041" name = "l00041" ></ a >< span class = "lineno" > 41</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "line" >< a id = "l00042" name = "l00042" ></ a >< span class = "lineno" > 42</ span > < span class = "keyword" > enum</ span > Type {</ div >
< div class = "line" >< a id = "l00043" name = "l00043" ></ a >< span class = "lineno" > 43</ span > kUndef=0,</ div >
< div class = "line" >< a id = "l00044" name = "l00044" ></ a >< span class = "lineno" > 44</ span > kPyDescriptor=1};</ div >
< div class = "line" >< a id = "l00045" name = "l00045" ></ a >< span class = "lineno" > 45</ span > </ div >
< div class = "line" >< a id = "l00046" name = "l00046" ></ a >< span class = "lineno" > 46</ span > < span class = "keyword" > static</ span > std::string typeName(Type type)</ div >
< div class = "line" >< a id = "l00047" name = "l00047" ></ a >< span class = "lineno" > 47</ span > {</ div >
< div class = "line" >< a id = "l00048" name = "l00048" ></ a >< span class = "lineno" > 48</ span > < span class = "keywordflow" > switch</ span > (type){</ div >
< div class = "line" >< a id = "l00049" name = "l00049" ></ a >< span class = "lineno" > 49</ span > < span class = "keywordflow" > case</ span > kPyDescriptor:</ div >
< div class = "line" >< a id = "l00050" name = "l00050" ></ a >< span class = "lineno" > 50</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " PyDescriptor" </ span > ;</ div >
< div class = "line" >< a id = "l00051" name = "l00051" ></ a >< span class = "lineno" > 51</ span > < span class = "keywordflow" > default</ span > :</ div >
< div class = "line" >< a id = "l00052" name = "l00052" ></ a >< span class = "lineno" > 52</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " Unknown" </ span > ;</ div >
< div class = "line" >< a id = "l00053" name = "l00053" ></ a >< span class = "lineno" > 53</ span > }</ div >
< div class = "line" >< a id = "l00054" name = "l00054" ></ a >< span class = "lineno" > 54</ span > }</ div >
< div class = "line" >< a id = "l00055" name = "l00055" ></ a >< span class = "lineno" > 55</ span > </ div >
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< div class = "line" >< a id = "l00056" name = "l00056" ></ a >< span class = "lineno" > 56</ span > < span class = "keyword" > static</ span > < a class = "code hl_class" href = "classrtabmap_1_1GlobalDescriptorExtractor.html" > GlobalDescriptorExtractor</ a > * create(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
< div class = "line" >< a id = "l00057" name = "l00057" ></ a >< span class = "lineno" > 57</ span > < span class = "keyword" > static</ span > < a class = "code hl_class" href = "classrtabmap_1_1GlobalDescriptorExtractor.html" > GlobalDescriptorExtractor</ a > * create(GlobalDescriptorExtractor::Type type, < span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ()); < span class = "comment" > // for convenience</ span ></ div >
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< div class = "line" >< a id = "l00058" name = "l00058" ></ a >< span class = "lineno" > 58</ span > </ div >
< div class = "line" >< a id = "l00059" name = "l00059" ></ a >< span class = "lineno" > 59</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "line" >< a id = "l00060" name = "l00060" ></ a >< span class = "lineno" > 60</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1GlobalDescriptorExtractor.html" > ~GlobalDescriptorExtractor</ a > ();</ div >
< div class = "line" >< a id = "l00061" name = "l00061" ></ a >< span class = "lineno" > 61</ span > </ div >
< div class = "line" >< a id = "l00062" name = "l00062" ></ a >< span class = "lineno" > 62</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1GlobalDescriptor.html" > GlobalDescriptor</ a > extract(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > & data) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00063" name = "l00063" ></ a >< span class = "lineno" > 63</ span > </ div >
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< div class = "line" >< a id = "l00064" name = "l00064" ></ a >< span class = "lineno" > 64</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) {}</ div >
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< div class = "line" >< a id = "l00065" name = "l00065" ></ a >< span class = "lineno" > 65</ span > < span class = "keyword" > virtual</ span > GlobalDescriptorExtractor::Type getType() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00066" name = "l00066" ></ a >< span class = "lineno" > 66</ span > </ div >
< div class = "line" >< a id = "l00067" name = "l00067" ></ a >< span class = "lineno" > 67</ span >< span class = "keyword" > protected</ span > :</ div >
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< div class = "line" >< a id = "l00068" name = "l00068" ></ a >< span class = "lineno" > 68</ span > < a class = "code hl_class" href = "classrtabmap_1_1GlobalDescriptorExtractor.html" > GlobalDescriptorExtractor</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00069" name = "l00069" ></ a >< span class = "lineno" > 69</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00070" name = "l00070" ></ a >< span class = "lineno" > 70</ span > </ div >
< div class = "line" >< a id = "l00071" name = "l00071" ></ a >< span class = "lineno" > 71</ span > }</ div >
< div class = "line" >< a id = "l00072" name = "l00072" ></ a >< span class = "lineno" > 72</ span > </ div >
< div class = "line" >< a id = "l00073" name = "l00073" ></ a >< span class = "lineno" > 73</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* GLOBAL_DESCRIPTOR_EXTRACTOR_H_ */</ span >< span class = "preprocessor" ></ span ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1GlobalDescriptorExtractor_html" >< div class = "ttname" >< a href = "classrtabmap_1_1GlobalDescriptorExtractor.html" > rtabmap::GlobalDescriptorExtractor</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "GlobalDescriptorExtractor_8h_source.html#l00040" > GlobalDescriptorExtractor.h:40</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1GlobalDescriptor_html" >< div class = "ttname" >< a href = "classrtabmap_1_1GlobalDescriptor.html" > rtabmap::GlobalDescriptor</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "GlobalDescriptor_8h_source.html#l00035" > GlobalDescriptor.h:36</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html" > rtabmap::SensorData</ a ></ div >< div class = "ttdoc" > Container class for all sensor data captured at a specific time.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00096" > SensorData.h:97</ a ></ div ></ div >
< div class = "ttc" id = "anamespacertabmap_html" >< div class = "ttname" >< a href = "namespacertabmap.html" > rtabmap</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "BayesFilter_8h_source.html#l00039" > BayesFilter.h:39</ a ></ div ></ div >
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< div class = "ttc" id = "anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55" >< div class = "ttname" >< a href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > rtabmap::ParametersMap</ a ></ div >< div class = "ttdeci" > std::map< std::string, std::string > ParametersMap</ div >< div class = "ttdoc" > Parameter keys mapped to their values, as used by every configurable class (see Parameters).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Parameters_8h_source.html#l00044" > Parameters.h:44</ a ></ div ></ div >
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