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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"> * PythonInterface.h</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment"> *</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"> * Created on: Jan. 14, 2021</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment"> * Author: mathieu</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment"> */</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span> </div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="preprocessor">#ifndef CORELIB_SRC_PYTHON_PYTHONINTERFACE_H_</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="preprocessor">#define CORELIB_SRC_PYTHON_PYTHONINTERFACE_H_</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span> </div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</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="l00012" name="l00012"></a><span class="lineno"> 12</span> </div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="preprocessor">#include &lt;rtabmap/utilite/UMutex.h&gt;</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="keyword">namespace </span>pybind11 {</div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="keyword">class </span>scoped_interpreter;</div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="keyword">class </span>gil_scoped_release;</div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span>}</div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span> </div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span> </div>
<div class="foldopen" id="foldopen00028" data-start="{" data-end="};">
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="classrtabmap_1_1PythonInterface.html"> 28</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1PythonInterface.html">PythonInterface</a></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span>{</div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span> <span class="comment">// Pass a caller tag (e.g. class name) so the main-thread assertion</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> <span class="comment">// can report who triggered the first construction.</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1PythonInterface.html">PythonInterface</a> &amp; instance(<span class="keyword">const</span> std::string &amp; caller = <span class="stringliteral">&quot;&quot;</span>);</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> <a class="code hl_class" href="classrtabmap_1_1PythonInterface.html">PythonInterface</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1PythonInterface.html">PythonInterface</a> &amp;) = <span class="keyword">delete</span>;</div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> <a class="code hl_class" href="classrtabmap_1_1PythonInterface.html">PythonInterface</a> &amp; operator=(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1PythonInterface.html">PythonInterface</a> &amp;) = <span class="keyword">delete</span>;</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> <span class="keyword">explicit</span> <a class="code hl_class" href="classrtabmap_1_1PythonInterface.html">PythonInterface</a>(<span class="keyword">const</span> std::string &amp; caller);</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> <a class="code hl_class" href="classrtabmap_1_1PythonInterface.html">~PythonInterface</a>();</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> pybind11::scoped_interpreter* guard_;</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> pybind11::gil_scoped_release* release_;</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span>};</div>
</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>std::string RTABMAP_CORE_EXPORT getPythonTraceback();</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>}</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="preprocessor">#endif </span><span class="comment">/* CORELIB_SRC_PYTHON_PYTHONINTERFACE_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1PythonInterface_html"><div class="ttname"><a href="classrtabmap_1_1PythonInterface.html">rtabmap::PythonInterface</a></div><div class="ttdef"><b>Definition</b> <a href="PythonInterface_8h_source.html#l00028">PythonInterface.h:29</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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