Add Orbbec support to process.py (#6)

Author: kaatrasa

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'], 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)")
@@ -467,6 +467,8 @@ 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)
 
@@ -525,6 +527,10 @@ 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