update for clarity

config/prototype_of3.json

@@ -24,9 +24,9 @@
     "lower_threshold": 12.0,
     "upper_threshold": 18.0,
     "loop_closure_interval": 1,
-    "algorithm": "raft",
+    "algorithm": "dis",
     "dis_preset": "medium",
-    "of_mode": 3,
+    "dis_mode": 3,
     "algorithm_list": ["raft", "dis"]
   },
   "contact": {

src/orisys/sensor.py

@@ -86,7 +86,6 @@ class Sensor:
         self.cal_path = cal_path
         self.mirror = mirror
         
-        
         # Load configuration
         self.__config_cam = None
         self.__config_stitcher = None
@@ -95,16 +94,18 @@ class Sensor:
 
         # State variables
         self.stitch_valid = False        
-        self.stitch_calibration = []
         self.compute_deformation_valid = False
         self.compute_contact_valid = False
         
-        # Data Variables (public)
+        # Image Data Variables (public)
-        shape = (self.__config_cam["resolution_stitch"][1], self.__config_cam["resolution_stitch"][0])
+        self.stitch_calibration = []
         self.frame = self.img = None
+        self.initial_img = None
+        shape = (self.__config_cam["resolution_stitch"][1], self.__config_cam["resolution_stitch"][0])
         self.img_size_raw = None
         self.img_filtered = None
-        self.initial_img = None
+        
+        # Optical Flow Data Variables (public)
         self.flow = np.zeros(shape + (2,), dtype=np.float32)
         self.vnormal = np.zeros_like(self.flow)
         self.vshear = np.zeros_like(self.flow)
@@ -123,13 +124,13 @@ class Sensor:
         
         # Async pipeline state
         # self._async_enabled = False
-        self._capture_thread = None
+        # self._capture_thread = None
-        self._flow_thread = None
+        # self._flow_thread = None
-        self._compute_thread = None
+        # self._compute_thread = None
-        self._capture_queue = None
+        # self._capture_queue = None
-        self._flow_queue = None
+        # self._flow_queue = None
-        self._result_queue = None
+        # self._result_queue = None
-        self._stop_event = None
+        # self._stop_event = None
 
         
 
@@ -147,7 +148,7 @@ class Sensor:
             print(f"  Stitch mode: {self.stitch_valid}")
             print(f"  CUDA acceleration: {self.cuda}")
             print(f"  CuPy available: {self.CUPY_AVAILABLE}")
-            print(f"  OpenCV CUDA devices: {cv2.cuda.getCudaEnabledDeviceCount()}")
+            print(f"  Optical flow algorithm: {self.__config_tracker['algorithm']}")
 
     # =========================================================================
     # Public API - Core Methods (Most Frequently Used)
@@ -165,12 +166,10 @@ class Sensor:
             print("Failed to get_img from video source.")
             return None
         self.frame = frame.copy()
-        # Convert to grayscale
+
-        # gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
-        gray = frame
         # Extract and stitch tiles
-        self.stitcher.get_stitch_unit(gray)
+        self.stitcher.get_stitch_unit(frame)
-        self._extract_tiles(gray)
+        self._extract_tiles(frame)
 
         img = np.ascontiguousarray(self.stitcher.stitch_rt_optimized())
 

src/orisys/tracker.py

@@ -54,7 +54,7 @@ class Tracker:
             self.__tracking_inst = cv2.DISOpticalFlow_create(preset)            
             
             # Aggressive optimization for CPU
-            self.__tracking_inst.setFinestScale(config_tracker["of_mode"])      # Skip finest pyramid level (2x faster)
+            self.__tracking_inst.setFinestScale(config_tracker["dis_mode"])      # Skip finest pyramid level (2x faster)
 
             # else:
             #     # CUDA flow method with stream support