GlobalDescriptorExtractor.cpp
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1 /*
2 Copyright (c) 2010-2024, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
7  * Redistributions of source code must retain the above copyright
8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
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13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
20 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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24 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 
30 
31 #ifdef RTABMAP_PYTHON
32 #include "python/PyDescriptor.h"
33 #endif
34 
35 namespace rtabmap {
36 
38 {
39 }
41 {
42 }
44 {
45  int type = Parameters::defaultMemGlobalDescriptorStrategy();
46  Parameters::parse(parameters, Parameters::kMemGlobalDescriptorStrategy(), type);
47  return create((GlobalDescriptorExtractor::Type)type, parameters);
48 }
50 {
51  UDEBUG("Creating global descriptor of type %d", (int)type);
52 #ifndef RTABMAP_PYTHON
54  {
55  UWARN("PyDescriptor cannot be used as rtabmap is not built with Python3 support.");
57  }
58 #endif
59 
61  switch(type)
62  {
63 #ifdef RTABMAP_PYTHON
65  GlobalDescriptorExtractor = new PyDescriptor(parameters);
66  break;
67 #endif
68  default:
70  break;
71  }
73 }
74 
75 }
76 
rtabmap::GlobalDescriptorExtractor::Type
Type
Definition: GlobalDescriptorExtractor.h:42
PyDescriptor.h
rtabmap::GlobalDescriptorExtractor
Definition: GlobalDescriptorExtractor.h:40
rtabmap::GlobalDescriptorExtractor::GlobalDescriptorExtractor
GlobalDescriptorExtractor(const ParametersMap &parameters=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 &parameters, const std::string &key, bool &value)
Definition: Parameters.cpp:500
rtabmap::GlobalDescriptorExtractor::create
static GlobalDescriptorExtractor * create(const ParametersMap &parameters=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