ReUseX::vision::libtorch::TorchDataset Class Reference

PyTorch Dataset for RTABMap databases. More...

#include <Dataset.hpp>

Inheritance diagram for ReUseX::vision::libtorch::TorchDataset:

Collaboration diagram for ReUseX::vision::libtorch::TorchDataset:

Public Member Functions
	TorchDataset (std::filesystem::path dbPath="")
	Construct TorchDataset from database path.
Example	get (size_t index)
	Get a data sample at the given index.
torch::optional< size_t >	size () const
	Get the number of samples in the dataset.
void	save (std::vector< cv::Mat > imgs, torch::Tensor index)
	Save label images for multiple nodes.

Detailed Description

PyTorch Dataset for RTABMap databases.

This dataset class implements the torch::data::datasets::Dataset interface for use with PyTorch DataLoaders. It uses RTABMapDatabase internally for database access, eliminating code duplication.

Definition at line 26 of file Dataset.hpp.

Constructor & Destructor Documentation

TorchDataset()

ReUseX::vision::libtorch::TorchDataset::TorchDataset

(

std::filesystem::path

dbPath = ""

)

Construct TorchDataset from database path.

Parameters

dbPath

Path to RTABMap database file

Member Function Documentation

get()

Example ReUseX::vision::libtorch::TorchDataset::get

(

size_t

index

)

Get a data sample at the given index.

Returns a torch::data::Example containing the image tensor and node ID. Images are automatically letterboxed to 640x640 for YOLO-style models.

Parameters

index

Index in the dataset (0 to size()-1)

Returns

Example with image tensor (CHW format, normalized to [0,1]) and node ID

save()

void ReUseX::vision::libtorch::TorchDataset::save	(	std::vector< cv::Mat >	imgs,
		torch::Tensor	index )

Save label images for multiple nodes.

Parameters

imgs	Vector of label images to save
index	Tensor containing node IDs corresponding to each image

size()

torch::optional< size_t > ReUseX::vision::libtorch::TorchDataset::size

(

)

const

Get the number of samples in the dataset.

Returns

Optional size (always returns a value)

---

The documentation for this class was generated from the following file:

• libs/reusex/include/ReUseX/vision/libtorch/Dataset.hpp