rtabmap/preview/pr-1773/api/latest/GlobalDescriptorExtractor_8h_source.html

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<div class="header">
  <div class="headertitle"><div class="title">GlobalDescriptorExtractor.h</div></div>
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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 &quot;AS IS&quot; 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 &quot;rtabmap/core/rtabmap_core_export.h&quot;</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 &quot;rtabmap/core/Parameters.h&quot;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="preprocessor">#include &quot;rtabmap/core/SensorData.h&quot;</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">&quot;PyDescriptor&quot;</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">&quot;Unknown&quot;</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>
<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> &amp; 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> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>()); <span class="comment">// for convenience</span></div>
<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> &amp; data) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
<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> &amp; parameters) {}</div>
<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>
<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> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<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#l00042">BayesFilter.h:42</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; 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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