new_module.md

Add new module

If you want to add a new module, write a class and register it in builder. Here we take triangulator as example.

Develop PytorchTriangulator class

1. Inherit from base class

Inherit from BaseTriangulator and assign correct values for class attributes.

class PytorchTriangulator(BaseTriangulator):
    CAMERA_CONVENTION = 'opencv'
    CAMERA_WORLD2CAM = True

Complete __init__ and do not forget to add arguments of super-class.

    def __init__(self,
                 camera_parameters: List[FisheyeCameraParameter],
                 logger: Union[None, str, logging.Logger] = None) -> None:
        self.logger = get_logger(logger)
        super().__init__(camera_parameters=camera_parameters, logger=logger)

2. Complete necessary methods defined by base class

    def triangulate(
            self,
            points: Union[torch.Tensor, list, tuple],
            points_mask: Union[torch.Tensor, list, tuple] = None) -> np.ndarray:

    def get_reprojection_error(
        self,
        points2d: torch.Tensor,
        points3d: torch.Tensor,
        points_mask: torch.Tensor = None,
        reduction: Literal['mean', 'sum', 'none'] = 'none'
    ) -> Union[torch.Tensor, float]:

    def get_projector(self) -> PytorchProjector:

3. Add special methods of this class(Optional)

    def get_device(
            self) -> torch.device:

4. Register the class in builder

Insert the following lines into xrmocap/ops/triangulation/builder.py.

from .pytorch_triangulator import PytorchTriangulator

TRIANGULATORS.register_module(
    name='PytorchTriangulator', module=PytorchTriangulator)

Build and use

Test whether the new module is OK to build.

from xrmocap.ops.triangulation.builder import build_triangulator

triangulator = build_triangulator(dict(type='PytorchTriangulator'))