Add reduction param to pypose.functional.reprojerr #260
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MarkChenYutian
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wang-chen
requested changes
Jul 16, 2023
pypose/function/geometry.py
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| @@ -126,8 +126,14 @@ def reprojerr(points, pixels, intrinsics, extrinsics=None): | |||
| The shape has to be (..., 3, 3). | |||
| extrinsics (``LieTensor``, optional): The camera extrinsics. | |||
| The shape has to be (..., 7). Default: ``None``. | |||
| reduction (``str``, optional): The reduction to apply on the output: ``"none"`` | ``"sum"`` | ``"norm"`` | |||
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pypose/function/geometry.py
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| @@ -126,8 +126,14 @@ def reprojerr(points, pixels, intrinsics, extrinsics=None): | |||
| The shape has to be (..., 3, 3). | |||
| extrinsics (``LieTensor``, optional): The camera extrinsics. | |||
| The shape has to be (..., 7). Default: ``None``. | |||
| reduction (``str``, optional): The reduction to apply on the output: ``"none"`` | ``"sum"`` | ``"norm"`` | |||
| ``"none"``: No reduction is applied | |||
| ``"sum"``: The reprojection error on each component (u, v) is summed for each pixel (L1 Norm) | |||
pypose/function/geometry.py
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| tensor([0., 0., 0., 0., 0., 0.]) | ||
| ''' | ||
| torch.broadcast_shapes(points.shape[:-2], pixels.shape[:-2], intrinsics.shape[:-2]) | ||
| assert points.size(-1) == 3 and pixels.size(-1) == 2 and \ | ||
| intrinsics.size(-1) == intrinsics.size(-2) == 3, "Shape not compatible." | ||
| assert reduction in {"norm", "sum", "none"}, "Reduction method can only be 'norm'|'sum'|'none'." |
wang-chen
requested changes
Jul 16, 2023
pypose/function/geometry.py
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Comment on lines
130
to
134
| | ``'sum'`` | ``'norm'`` | ||
| ``'none'``: No reduction is applied | ||
| ``'sum'``: The reprojection error on each component (u, v) is summed for | ||
| each pixel (L1 Norm) | ||
| ``'norm'``: The reprojection error's L2 norm for each pixel |
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It seems that you need commas for every line, otherwise, those lines are connected automatically by docstring. See this auto-generated doc for your PR:
https://pypose--260.org.readthedocs.build/en/260/generated/pypose.reprojerr.html
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You may generate docs locally following this readme.
wang-chen
approved these changes
Jul 16, 2023
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Add parameter
reductiontopypose.function.reprojerr.