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Add Orbbec support to process.py #6

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Merged
merged 2 commits into from
Dec 20, 2023
Merged

Add Orbbec support to process.py #6

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29e7a60
Add Orbbec support to process.py
Dec 19, 2023
16e3e62
Clean code
Dec 19, 2023
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8 changes: 7 additions & 1 deletion python/cli/process/process.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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'], 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)")
Expand Down Expand Up @@ -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" in line: device = "orbbec-femto"
if device: break
return (device, cameras)

Expand Down Expand Up @@ -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
Expand Down