From 29e7a60601f20f355dc82138c13e2f38ee59fa87 Mon Sep 17 00:00:00 2001 From: kaatrasa Date: Tue, 19 Dec 2023 16:07:31 +0200 Subject: [PATCH 1/2] Add Orbbec support to process.py --- python/cli/process/process.py | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/python/cli/process/process.py b/python/cli/process/process.py index 3dd3fa0..525a9f1 100644 --- a/python/cli/process/process.py +++ b/python/cli/process/process.py @@ -14,7 +14,7 @@ def define_args(parser): parser.add_argument("--distance_quantile", help="Max point distance filter quantile (0 = disabled)", type=float, default=0.99) parser.add_argument("--key_frame_distance", help="Minimum distance between keyframes (meters)", type=float, default=0.05) parser.add_argument('--no_icp', action='store_true') - parser.add_argument('--device_preset', choices=['none', 'oak-d', 'k4a', 'realsense', 'android-tof', 'ios-tof'], help="Automatically detected in most cases") + parser.add_argument('--device_preset', choices=['none', 'oak-d', 'k4a', 'realsense', 'android-tof', 'ios-tof', 'orbbec-astra2', 'orbbec-femto-mega'], help="Automatically detected in most cases") parser.add_argument('--fast', action='store_true', help='Fast but lower quality settings') parser.add_argument('--mono', action='store_true', help='Monocular mode: disable ToF and stereo data') parser.add_argument('--image_format', type=str, default='jpg', help="Color image format (use 'png' for top quality)") @@ -414,6 +414,8 @@ def detect_device_preset(input_dir): if "oak-d" in line: device = "oak-d" if "k4a" in line: device = "k4a" if "realsense" in line: device = "realsense" + if "orbbec-astra2" in line: device = "orbbec-astra2" + if "orbbec-femto-mega" in line: device = "orbbec-femto-mega" if device: break return (device, cameras) @@ -473,6 +475,10 @@ def detect_device_preset(input_dir): elif device_preset == 'oak-d': config['stereoPointCloudMinDepth'] = 0.5 config['stereoPointCloudStride'] = 30 + elif "orbbec" in device_preset: + if prefer_icp: + parameter_sets.extend(['icp']) + if not args.fast: parameter_sets.append('offline-icp') if args.preview3d: from spectacularAI.cli.visualization.visualizer import Visualizer From 16e3e62379238cec7332e6eee1c27449e43e4eba Mon Sep 17 00:00:00 2001 From: kaatrasa Date: Tue, 19 Dec 2023 16:10:23 +0200 Subject: [PATCH 2/2] Clean code --- python/cli/process/process.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/python/cli/process/process.py b/python/cli/process/process.py index 525a9f1..45a18a2 100644 --- a/python/cli/process/process.py +++ b/python/cli/process/process.py @@ -14,7 +14,7 @@ def define_args(parser): parser.add_argument("--distance_quantile", help="Max point distance filter quantile (0 = disabled)", type=float, default=0.99) parser.add_argument("--key_frame_distance", help="Minimum distance between keyframes (meters)", type=float, default=0.05) parser.add_argument('--no_icp', action='store_true') - parser.add_argument('--device_preset', choices=['none', 'oak-d', 'k4a', 'realsense', 'android-tof', 'ios-tof', 'orbbec-astra2', 'orbbec-femto-mega'], help="Automatically detected in most cases") + parser.add_argument('--device_preset', choices=['none', 'oak-d', 'k4a', 'realsense', 'android-tof', 'ios-tof', 'orbbec-astra2', 'orbbec-femto'], help="Automatically detected in most cases") parser.add_argument('--fast', action='store_true', help='Fast but lower quality settings') parser.add_argument('--mono', action='store_true', help='Monocular mode: disable ToF and stereo data') parser.add_argument('--image_format', type=str, default='jpg', help="Color image format (use 'png' for top quality)") @@ -415,7 +415,7 @@ def detect_device_preset(input_dir): if "k4a" in line: device = "k4a" if "realsense" in line: device = "realsense" if "orbbec-astra2" in line: device = "orbbec-astra2" - if "orbbec-femto-mega" in line: device = "orbbec-femto-mega" + if "orbbec-femto" in line: device = "orbbec-femto" if device: break return (device, cameras)