PyMatcher.h

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#ifndef PYMATCHER_H
#define PYMATCHER_H
 
#include <opencv2/core/types.hpp>
#include <opencv2/core/mat.hpp>
#include "rtabmap/core/PythonInterface.h"
#include <vector>
#include <Python.h>
 
namespace rtabmap
{
 
class PyMatcher
{
public:
  PyMatcher(const std::string & pythonMatcherPath,
                  float matchThreshold = 0.2f,
                  int iterations = 20,
                  bool cuda = true,
                  const std::string & model = "indoor");
  virtual ~PyMatcher();
 
  const std::string & path() const {return path_;}
  float matchThreshold() const {return matchThreshold_;}
  int iterations() const {return iterations_;}
  bool cuda() const {return cuda_;}
  const std::string & model() const {return model_;}
 
  std::vector<cv::DMatch> match(
                  const cv::Mat & descriptorsQuery,
                  const cv::Mat & descriptorsTrain,
                  const std::vector<cv::KeyPoint> & keypointsQuery,
                  const std::vector<cv::KeyPoint> & keypointsTrain,
                  const cv::Size & imageSize);
 
private:
  PyObject * pModule_;
  PyObject * pFunc_;
  std::string path_;
  float matchThreshold_;
  int iterations_;
  bool cuda_;
  std::string model_;
};
 
}
 
#endif