Merge branch 'main' of ssh://892887cvmk08.aicp.io:24928/orisys-tech/orisys-app

updated sensor config for better visualization
2026-10-14 13:53:11 +08:00 · 2026-10-14 13:52:59 +08:00
4 changed files with 15 additions and 8 deletions
@@ -29,14 +29,21 @@
    "loop_closure_interval": 1,
    "algorithm": "dis",
    "dis_preset": "medium",
-    "dis_mode": 3,
+    "dis_mode": 1,
    "algorithm_list": ["raft", "dis"],
    "hhd_downsample": 3
  },
+  "filters": {
+    "flow_ema_alpha": 1.0,
+    "force_median_window": 1,
+    "force_lowpass_cutoff_hz": 0.0,
+    "force_lowpass_order": 2,
+    "force_lowpass_sample_rate_hz": "auto"
+  },
  "contact": {
    "min_contour_area": 3000,
-    "flow_threshold":5,
-    "div_threshold":0.05,
+    "flow_threshold":0.2,
+    "div_threshold":0.007,
    "expansion_threshold": 0.01,
    "kernel_size": [5,5],
    "denoise_sigma": 12
@@ -35,8 +35,8 @@
  },
  "contact": {
    "min_contour_area": 3000,
-    "flow_threshold": 5,
-    "div_threshold": 0.05,
+    "flow_threshold": 0.2,
+    "div_threshold": 0.007,
    "expansion_threshold": 0.01,
    "kernel_size": [5, 5],
    "denoise_sigma": 12
@@ -27,7 +27,7 @@
  "contact": {
    "min_contour_area": 3000,
    "flow_threshold": 0.2,
-    "div_threshold": 0.022,
+    "div_threshold": 0.007,
    "expansion_threshold": 0.01,
    "kernel_size": [5, 5],
    "denoise_sigma": 12
@@ -35,8 +35,8 @@
  },
  "contact": {
    "min_contour_area": 3000,
-    "flow_threshold":5,
-    "div_threshold":0.05,
+    "flow_threshold":0.2,
+    "div_threshold":0.007,
    "expansion_threshold": 0.01,
    "kernel_size": [5,5],
    "denoise_sigma": 12
Author	SHA1	Message	Date
ykcheungab	812dd14715	Merge branch 'main' of ssh://892887cvmk08.aicp.io:24928/orisys-tech/orisys-app	2026-10-14 13:53:11 +08:00
ykcheungab	02241813ce	updated sensor config for better visualization	2026-10-14 13:52:59 +08:00