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# Copyright (C) 2024-present Naver Corporation. All rights reserved.
# Licensed under CC BY-NC-SA 4.0 (non-commercial use only).
#
# --------------------------------------------------------
# global alignment optimization wrapper function
# --------------------------------------------------------
from enum import Enum
from .optimizer import PointCloudOptimizer
from .modular_optimizer import ModularPointCloudOptimizer
from .pair_viewer import PairViewer
class GlobalAlignerMode(Enum):
PointCloudOptimizer = "PointCloudOptimizer"
ModularPointCloudOptimizer = "ModularPointCloudOptimizer"
PairViewer = "PairViewer"
def global_aligner(dust3r_output, device, mode=GlobalAlignerMode.PointCloudOptimizer, **optim_kw):
# extract all inputs
view1, view2, pred1, pred2 = [dust3r_output[k] for k in 'view1 view2 pred1 pred2'.split()]
# build the optimizer
if mode == GlobalAlignerMode.PointCloudOptimizer:
net = PointCloudOptimizer(view1, view2, pred1, pred2, **optim_kw).to(device)
elif mode == GlobalAlignerMode.ModularPointCloudOptimizer:
net = ModularPointCloudOptimizer(view1, view2, pred1, pred2, **optim_kw).to(device)
elif mode == GlobalAlignerMode.PairViewer:
net = PairViewer(view1, view2, pred1, pred2, **optim_kw).to(device)
else:
raise NotImplementedError(f'Unknown mode {mode}')
return net
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