corelib
src
GlobalDescriptorExtractor.cpp
Go to the documentation of this file.
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/*
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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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rtabmap::GlobalDescriptorExtractor::Type
Type
Definition:
GlobalDescriptorExtractor.h:42
PyDescriptor.h
rtabmap::GlobalDescriptorExtractor
Definition:
GlobalDescriptorExtractor.h:40
rtabmap::GlobalDescriptorExtractor::GlobalDescriptorExtractor
GlobalDescriptorExtractor(const ParametersMap ¶meters=ParametersMap())
Definition:
GlobalDescriptorExtractor.cpp:37
rtabmap::GlobalDescriptorExtractor::kUndef
@ kUndef
Definition:
GlobalDescriptorExtractor.h:43
type
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition:
Parameters.h:43
rtabmap::Parameters::parse
static bool parse(const ParametersMap ¶meters, const std::string &key, bool &value)
Definition:
Parameters.cpp:500
rtabmap::GlobalDescriptorExtractor::create
static GlobalDescriptorExtractor * create(const ParametersMap ¶meters=ParametersMap())
Definition:
GlobalDescriptorExtractor.cpp:43
rtabmap::GlobalDescriptorExtractor::~GlobalDescriptorExtractor
virtual ~GlobalDescriptorExtractor()
Definition:
GlobalDescriptorExtractor.cpp:40
UWARN
#define UWARN(...)
rtabmap::GlobalDescriptorExtractor::kPyDescriptor
@ kPyDescriptor
Definition:
GlobalDescriptorExtractor.h:44
rtabmap::PyDescriptor
Definition:
PyDescriptor.h:16
UDEBUG
#define UDEBUG(...)
rtabmap
Definition:
CameraARCore.cpp:35
GlobalDescriptorExtractor.h
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:10