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https://github.com/introlab/rtabmap.git
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matlabbe
5ed1bf0ca8
* 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
77 lines
2.9 KiB
C++
77 lines
2.9 KiB
C++
/*
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Copyright (c) 2010-2024, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "rtabmap/core/GlobalDescriptorExtractor.h"
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#ifdef RTABMAP_PYTHON
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#include "python/PyDescriptor.h"
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#endif
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namespace rtabmap {
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GlobalDescriptorExtractor::GlobalDescriptorExtractor(const ParametersMap & parameters)
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{
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}
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GlobalDescriptorExtractor::~GlobalDescriptorExtractor()
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{
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}
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GlobalDescriptorExtractor * GlobalDescriptorExtractor::create(const ParametersMap & parameters)
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{
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int type = Parameters::defaultMemGlobalDescriptorStrategy();
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Parameters::parse(parameters, Parameters::kMemGlobalDescriptorStrategy(), type);
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return create((GlobalDescriptorExtractor::Type)type, parameters);
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}
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GlobalDescriptorExtractor * GlobalDescriptorExtractor::create(GlobalDescriptorExtractor::Type type, const ParametersMap & parameters)
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{
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UDEBUG("Creating global descriptor of type %d", (int)type);
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#ifndef RTABMAP_PYTHON
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if(type == GlobalDescriptorExtractor::kPyDescriptor)
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{
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UWARN("PyDescriptor cannot be used as rtabmap is not built with Python3 support.");
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type = GlobalDescriptorExtractor::kUndef;
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}
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#endif
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GlobalDescriptorExtractor * GlobalDescriptorExtractor = 0;
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switch(type)
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{
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#ifdef RTABMAP_PYTHON
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case GlobalDescriptorExtractor::kPyDescriptor:
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GlobalDescriptorExtractor = new PyDescriptor(parameters);
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break;
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#endif
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default:
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type = GlobalDescriptorExtractor::kUndef;
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break;
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}
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return GlobalDescriptorExtractor;
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}
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}
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