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39 lines
900 B
C++
39 lines
900 B
C++
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/**
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* Python interface for python descriptors like:
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* - NetVLAD: https://github.com/uzh-rpg/netvlad_tf_open
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*/
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#ifndef PYDESCRIPTOR_H
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#define PYDESCRIPTOR_H
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#include <rtabmap/core/GlobalDescriptorExtractor.h>
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#include "rtabmap/core/PythonInterface.h"
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#include <Python.h>
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namespace rtabmap
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{
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class PyDescriptor : public GlobalDescriptorExtractor
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{
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public:
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PyDescriptor(const ParametersMap & parameters = ParametersMap());
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virtual ~PyDescriptor();
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const std::string & path() const {return path_;}
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float dim() const {return dim_;}
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virtual void parseParameters(const ParametersMap & parameters);
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virtual GlobalDescriptor extract(const SensorData & data) const;
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virtual GlobalDescriptorExtractor::Type getType() const {return kPyDescriptor;}
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private:
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PyObject * pModule_;
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PyObject * pFunc_;
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std::string path_;
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int dim_;
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};
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}
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#endif
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