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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
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
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