GlobalDescriptorExtractor.h

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/*
Copyright (c) 2010-2024, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.
 
Redistribution and use in source and binary forms, with or without
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      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
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      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.
 
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*/
 
#ifndef GLOBAL_DESCRIPTOR_EXTRACTOR_H_
#define GLOBAL_DESCRIPTOR_EXTRACTOR_H_
 
#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
 
#include "rtabmap/core/Parameters.h"
#include "rtabmap/core/SensorData.h"
 
 
namespace rtabmap {
 
// Feature2D
class RTABMAP_CORE_EXPORT GlobalDescriptorExtractor {
public:
        enum Type {
                kUndef=0,
                kPyDescriptor=1};
 
        static std::string typeName(Type type)
        {
                switch(type){
                case kPyDescriptor:
                        return "PyDescriptor";
                default:
                        return "Unknown";
                }
        }
 
        static GlobalDescriptorExtractor * create(const ParametersMap & parameters = ParametersMap());
        static GlobalDescriptorExtractor * create(GlobalDescriptorExtractor::Type type, const ParametersMap & parameters = ParametersMap()); // for convenience
 
public:
        virtual ~GlobalDescriptorExtractor();
 
        virtual GlobalDescriptor extract(const SensorData & data) const = 0;
 
        virtual void parseParameters(const ParametersMap & parameters) {}
        virtual GlobalDescriptorExtractor::Type getType() const = 0;
 
protected:
        GlobalDescriptorExtractor(const ParametersMap & parameters = ParametersMap());
};
 
}
 
#endif /* GLOBAL_DESCRIPTOR_EXTRACTOR_H_ */