GlobalDescriptor (PyDescriptor / netvlad) (#1163)

* First commit for pydescriptor

* Fixed Python refactoring errors

* GUI: added PyDescriptor parameters

* reordered python3 includes

* updated rtabmap_netvlad.py test main

* fixed build from last merge

* integrated https://github.com/introlab/rtabmap/pull/1255

* rescaled dot product result

Closing https://github.com/introlab/rtabmap/issues/1105

corelib/src/CMakeLists.txt

@@ -115,6 +115,8 @@ SET(SRC_FILES
     
     MarkerDetector.cpp
     
+    GlobalDescriptorExtractor.cpp
+    
     GainCompensator.cpp
 
     rtflann/ext/lz4.c
@@ -224,6 +226,7 @@ IF(WITH_PYTHON AND Python3_FOUND)
 		python/PythonInterface.cpp
 		python/PyMatcher.cpp
 		python/PyDetector.cpp
+		python/PyDescriptor.cpp
 	)
 	 SET(INCLUDE_DIRS
 	    ${TORCH_INCLUDE_DIRS}