volumetric_integrator_factory.py

import os

from utils_serialization import SerializableEnum, register_class
from utils_sys import Printer, import_from

from volumetric_integrator_base import VolumetricIntegratorBase
from volumetric_integrator_tsdf import VolumetricIntegratorTsdf

#from volumetric_integrator_gaussian_splatting import VolumetricIntegratorGaussianSplatting
VolumetricIntegratorGaussianSplatting = import_from('volumetric_integrator_gaussian_splatting', 'VolumetricIntegratorGaussianSplatting')


kScriptPath = os.path.realpath(__file__)
kScriptFolder = os.path.dirname(kScriptPath)
kRootFolder = kScriptFolder + '/..'


@register_class
class VolumetricIntegratorType(SerializableEnum):
    TSDF = 0                  # Truncated Signed Distance Function with voxel block grid (parallel spatial hashing)
                              # "ASH: A Modern Framework for Parallel Spatial Hashing in 3D Perception"
    GAUSSIAN_SPLATTING = 1    # Incremental Gaussian Splatting by leveraging MonoGS backend: pySLAM keyframes are passed as posed input frames to MonoGS backend.
                              # You need CUDA to run Gaussian Splatting.
                              # As for MonoGS backend, see the following paper: "Gaussian Splatting SLAM".    
    
    @staticmethod
    def from_string(name: str):
        try:
            return VolumetricIntegratorType[name]
        except KeyError:
            raise ValueError(f"Invalid VolumetricIntegratorType: {name}")
            
    
def volumetric_integrator_factory(volumetric_integrator_type, camera, environment_type, sensor_type):
    if volumetric_integrator_type == VolumetricIntegratorType.TSDF:
        return VolumetricIntegratorTsdf(camera=camera, environment_type=environment_type, sensor_type=sensor_type)
    elif volumetric_integrator_type == VolumetricIntegratorType.GAUSSIAN_SPLATTING:
        return VolumetricIntegratorGaussianSplatting(camera=camera, environment_type=environment_type, sensor_type=sensor_type)
    else:
        raise ValueError(f"Invalid VolumetricIntegratorType: {volumetric_integrator_type}")