extern/CUT3R/cloud_opt/dust3r_opt/__init__.py

# 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


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)
    else:
        raise NotImplementedError(f"Unknown mode {mode}")

    return net