PyDetector.h

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#ifndef PYDETECTOR_H
#define PYDETECTOR_H
 
#include <rtabmap/core/Features2d.h>
#include <opencv2/core/types.hpp>
#include <opencv2/core/mat.hpp>
#include <vector>
 
#include "rtabmap/core/PythonInterface.h"
#include <Python.h>
 
namespace rtabmap
{
 
class PyDetector : public Feature2D
{
public:
        PyDetector(const ParametersMap & parameters = ParametersMap());
        virtual ~PyDetector();
 
        virtual void parseParameters(const ParametersMap & parameters);
        virtual Feature2D::Type getType() const {return kFeaturePyDetector;}
 
private:
        virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
        virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
 
private:
  PyObject * pModule_;
  PyObject * pFunc_;
  std::string path_;
  bool cuda_;
  cv::Mat descriptors_;
};
 
}
 
#endif