fastdev.datasets.dexycb
=======================

.. py:module:: fastdev.datasets.dexycb




Module Contents
---------------

.. py:class:: DexYCBDatasetConfig

   Configuration for DexYCBDataset.


   .. py:attribute:: data_root
      :type:  str


   .. py:attribute:: hand_side
      :type:  Literal['left', 'right', 'both']
      :value: 'left'



   .. py:attribute:: setup
      :type:  Literal['s0', 's1', 's2', 's3']
      :value: 's0'


      

      - [s0] Seen subjects, camera views, grasped objects, unseen frames
      - [s1] Unseen subjects
      - [s2] Unseen camera views
      - [s3] Unseen grasped objects

      Reference_

      .. _Reference: https://github.com/NVlabs/dex-ycb-toolkit/blob/64551b001d360ad83bc383157a559ec248fb9100/dex_ycb_toolkit/dex_ycb.py#L126


   .. py:attribute:: serials
      :type:  Optional[List[str]]
      :value: None



   .. py:attribute:: return_color
      :type:  bool
      :value: False



   .. py:attribute:: return_depth
      :type:  bool
      :value: False



   .. py:attribute:: return_object_mesh
      :type:  bool
      :value: False



   .. py:attribute:: return_as_sequence
      :type:  bool
      :value: False



   .. py:attribute:: return_no_hand_frames
      :type:  bool
      :value: True



   .. py:attribute:: download_simplified_data_if_not_exist
      :type:  bool
      :value: False



   .. py:attribute:: force_rebuild_cache
      :type:  bool
      :value: False



   .. py:method:: __post_init__() -> None


.. py:class:: DexYCBDataset(config: DexYCBDatasetConfig, split: Literal['train', 'val', 'test', 'all'] = 'train')

   Bases: :py:obj:`torch.utils.data.Dataset`


   DexYCBDataset.

   :param config: configuration for the dataset.
   :type config: DexYCBDatasetConfig

   .. rubric:: Examples

   >>> from fastdev.datasets.dexycb import DexYCBDataset, DexYCBDatasetConfig
   >>> dataset = DexYCBDataset(DexYCBDatasetConfig())


   .. py:attribute:: ycb_classes


   .. py:attribute:: config


   .. py:attribute:: split
      :value: 'train'



   .. py:method:: __len__()


   .. py:method:: __getitem__(idx)


   .. py:property:: h


   .. py:property:: w


   .. py:property:: subjects


   .. py:property:: serials


   .. py:property:: sequences


   .. py:method:: select_indices(seq: str, serial: Optional[str] = None)


   .. py:method:: build_collate_fn()


   .. py:method:: download_data(data_root: str)
      :staticmethod: