PyDescriptor.h

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#ifndef PYDESCRIPTOR_H
#define PYDESCRIPTOR_H
 
#include <rtabmap/core/GlobalDescriptorExtractor.h>
#include "rtabmap/core/PythonInterface.h"
#include <Python.h>
 
namespace rtabmap
{
 
class PyDescriptor : public GlobalDescriptorExtractor
{
public:
  PyDescriptor(const ParametersMap & parameters = ParametersMap());
  virtual ~PyDescriptor();
 
  const std::string & path() const {return path_;}
  float dim() const {return dim_;}
 
  virtual void parseParameters(const ParametersMap & parameters);
  virtual GlobalDescriptor extract(const SensorData & data) const;
  virtual GlobalDescriptorExtractor::Type getType() const {return kPyDescriptor;}
 
private:
  PyObject * pModule_;
  PyObject * pFunc_;
  std::string path_;
  int dim_;
};
 
}
 
#endif