diff --git a/config/compound_eye.png b/config/compound_eye.png
index e3ee26c..3aea01a 100644
Binary files a/config/compound_eye.png and b/config/compound_eye.png differ
diff --git a/config/dd01a_0.npy b/config/dd01a_0.npy
new file mode 100644
index 0000000..36d7344
Binary files /dev/null and b/config/dd01a_0.npy differ
diff --git a/config/dd01a_1.npy b/config/dd01a_1.npy
new file mode 100644
index 0000000..36d7344
Binary files /dev/null and b/config/dd01a_1.npy differ
diff --git a/config/dd01a_2.npy b/config/dd01a_2.npy
new file mode 100644
index 0000000..720658e
Binary files /dev/null and b/config/dd01a_2.npy differ
diff --git a/config/prototype_of3.json b/config/prototype_of3.json
index 9b5627e..3b1245d 100644
--- a/config/prototype_of3.json
+++ b/config/prototype_of3.json
@@ -6,7 +6,8 @@
"fps": 30,
"units": 15,
"units_used": 9,
- "resolution_stitch": [400, 400]
+ "resolution_stitch": [128, 128],
+ "stitch_res_list": [384,256,128,64]
},
"stitcher": {
"min_area_frac": 0.01,
diff --git a/config/prototype_raft.json b/config/prototype_raft.json
new file mode 100644
index 0000000..e0b65f7
--- /dev/null
+++ b/config/prototype_raft.json
@@ -0,0 +1,42 @@
+{
+ "name": "prototype",
+ "version": "1.0",
+ "camera": {
+ "resolution_raw": [1920, 1080],
+ "fps": 30,
+ "units": 15,
+ "units_used": 9,
+ "resolution_stitch": [128, 128]
+ },
+ "stitcher": {
+ "min_area_frac": 0.01,
+ "max_area_frac": 0.04,
+ "max_aspect_ratio": 100,
+ "index": [1,2,3,6,7,8,11,12,13],
+ "margin": 10,
+ "nominal_ov_pos": 100,
+ "n": [3,3],
+ "row_tol": 0.6,
+ "box_size": [250, 250]
+ },
+ "tracker": {
+ "adaptive": true,
+ "lower_threshold": 12.0,
+ "upper_threshold": 18.0,
+ "loop_closure_interval": 1,
+ "algorithm": "raft",
+ "dis_preset": "medium",
+ "dis_mode": 3,
+ "algorithm_list": ["raft", "dis"]
+ },
+ "contact": {
+ "min_contour_area": 3000,
+ "flow_threshold":1,
+ "div_threshold":0.02,
+ "expansion_threshold": 0.01,
+ "kernel_size": [5,5],
+ "denoise_sigma": 15
+ }
+}
+
+
diff --git a/patch_generation/3.6mm.svg b/patch_generation/3.6mm.svg
new file mode 100644
index 0000000..7748a5e
--- /dev/null
+++ b/patch_generation/3.6mm.svg
@@ -0,0 +1,45 @@
+
+
+
+
diff --git a/patch_generation/color_pattern.png b/patch_generation/color_pattern.png
index 5daa9a0..221c4aa 100644
Binary files a/patch_generation/color_pattern.png and b/patch_generation/color_pattern.png differ
diff --git a/patch_generation/dd01.svg b/patch_generation/dd01.svg
new file mode 100644
index 0000000..165ea5d
--- /dev/null
+++ b/patch_generation/dd01.svg
@@ -0,0 +1,49 @@
+
+
+
+
diff --git a/patch_generation/patch_generation_3_org.py b/patch_generation/patch_generation_3_org.py
index ec54869..a435dce 100755
--- a/patch_generation/patch_generation_3_org.py
+++ b/patch_generation/patch_generation_3_org.py
@@ -115,9 +115,9 @@ def generate_color_pattern(h, w, d, r):
def main():
# Parameters for the pattern.
# For example, using 100x100 pixels image with patches of 3x3 pixels.
- height = 1000
- width = 1000
- patch_size = 20
+ height = 2750
+ width = 1950
+ patch_size = 12
# Set r to a value that gives sufficient difference.
# Note: r is the threshold for squared difference per channel, and the condition is
# |c - c_neighbor| >= sqrt(r). Very high r may make it impossible to satisfy.
diff --git a/src/orisys/hand.py b/src/orisys/hand.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/orisys/tracker.py b/src/orisys/tracker.py
index 20edea0..273c46a 100644
--- a/src/orisys/tracker.py
+++ b/src/orisys/tracker.py
@@ -1,9 +1,9 @@
import cv2
import numpy as np
+import time
import torch
import torchvision.transforms as T
-from torchvision.models.optical_flow import raft_large, raft_small
-import time
+from torchvision.models.optical_flow import raft_large
class Tracker:
def __init__(self,