Training class for the detector ODCADDetector3DGlobal. More...

#include <ODCADDetectTrainer3DGlobal.h>

Inheritance diagram for od::g3d::ODCADDetectTrainer3DGlobal:

Collaboration diagram for od::g3d::ODCADDetectTrainer3DGlobal:

Public Member Functions
	ODCADDetectTrainer3DGlobal (std::string const &training_input_location_="", std::string const &training_data_location_="")

int	train ()

void	init ()

std::string const &	getDescName () const

void	setDescName (std::string const &desc_name)

Public Member Functions inherited from od::ODTrainer
	ODTrainer (std::string const &training_input_location="", std::string const &training_data_location="")

Public Member Functions inherited from od::ODDetectorCommon
	ODDetectorCommon (std::string const &trained_data_location_="")

std::string	getTrainingInputLocation () const
	Gets/Sets the directory containing the data for training. More...

void	setTrainingInputLocation (std::string training_input_location_)
	Gets/Sets the directory containing the data for training. More...

std::string	getTrainedDataLocation () const
	Gets/Sets the base directory for trained data. More...

virtual void	setTrainedDataLocation (std::string trained_data_location_)
	The base directory for trained data. More...

std::string	getSpecificTrainingDataLocation ()
	Gets the specific directory for a Trainer or a Detector inside trained_data_location_. More...

std::string	getSpecificTrainingData ()

std::string const &	getTrainedDataID () const

void	setTrainedDataID (std::string const &trainedDataID)

Protected Attributes
std::string	desc_name

Protected Attributes inherited from od::ODDetectorCommon
std::string	training_input_location_

std::string	trained_data_location_

std::string	TRAINED_DATA_ID_

std::string	TRAINED_LOCATION_DENTIFIER_

Detailed Description

Training class for the detector ODCADDetector3DGlobal.

This class uses PCL 3d_recognition_framework in the background for the training of 3D CAD models (in PLY format) and should be used with ODCADDetector3DGlobal for their detection in a pointcloud. In the training_input_location_ the CAD models should be arranged in the following structure:

<training_input_location_>
- <Category 1 dir>
  - ...
  - ...
- <Category 2 dir>
  - ...
  - ...
- ...

For example:

/home/user/DB
- /home/user/DB/bottles
  - /home/user/DB/bottles/milk.ply
  - /home/user/DB/bottles/wine.ply
- /home/user/DB/fruit
  - /home/user/DB/fruit/apple.ply
  - /home/user/DB/fruit/banana.ply

After the training use the detector class ODCADDetector3DGlobal.

Author: Kripasindhu Sarkar

Examples:: objectdetector/od_pc_global_files.cpp, and objectdetector/od_pc_global_real_time.cpp.

Definition at line 70 of file ODCADDetectTrainer3DGlobal.h.

Constructor & Destructor Documentation

od::g3d::ODCADDetectTrainer3DGlobal::ODCADDetectTrainer3DGlobal	(	std::string const &	training_input_location_ = `""`,
		std::string const &	training_data_location_ = `""`
	)