diff --git a/src/orisys/configs/prototype.json b/src/orisys/configs/prototype.json
index 5330393..0c895a0 100644
--- a/src/orisys/configs/prototype.json
+++ b/src/orisys/configs/prototype.json
@@ -22,7 +22,8 @@
     "lower_threshold": 12.0,
     "upper_threshold": 18.0,
     "loop_closure_interval": 1,
-    "dis_preset": "medium"
+    "dis_preset": "medium",
+    "finest_scale": 1
   },
   "contact": {
     "min_contour_area": 3000,
diff --git a/src/orisys/sensor.py b/src/orisys/sensor.py
index 7c55f48..1f5b9a1 100644
--- a/src/orisys/sensor.py
+++ b/src/orisys/sensor.py
@@ -135,7 +135,7 @@ class Sensor:
 
         # Initialize components
         self.stitcher = Stitcher(isstitch=isstitch, config_stitcher=self.__config_stitcher, verbose=self.verbose)
-        self.__tracker = Tracker(adaptive=True, cuda=cuda, verbose=self.verbose, dis_preset=self._config_dis_preset)
+        self.__tracker = Tracker(adaptive=True, cuda=cuda, verbose=self.verbose, dis_preset=self._config_dis_preset, config_tracker=self.__config_tracker)
         self.__contact3d = Contact3D(config_contact=self.__config_contact, verbose=self.verbose)
         self.__hhd = None
         
@@ -402,6 +402,7 @@ class Sensor:
 
         self._config_dis_preset = self._config["tracker"]["dis_preset"]
 
+        self.__config_tracker = self._config["tracker"]
         self.__config_stitcher = self._config["stitcher"]
         self.__config_contact = self._config["contact"]
 
diff --git a/src/orisys/tracker.py b/src/orisys/tracker.py
index 8458107..68cd336 100644
--- a/src/orisys/tracker.py
+++ b/src/orisys/tracker.py
@@ -1,14 +1,14 @@
 import cv2
 import numpy as np
-# from .HHD import *
-# import src.utils as utils
-
+import cupy as cp
+import time
 
 
 class Tracker:
     def __init__(self,
                  adaptive,
                  cuda,
+                 config_tracker=None,
                  lower_threshold=12.0,
                  upper_threshold=18.0,
                  loop_closure_interval=1,
@@ -23,7 +23,8 @@ class Tracker:
         self.verbose = verbose
         self.__loop_closure_interval = loop_closure_interval
         self.__frame_count = 0
-        
+        dis_preset = config_tracker["dis_preset"]
+        loop_closure_interval = config_tracker["loop_closure_interval"]
         if not cuda:
             # DIS method - optimize for speed
             if dis_preset == 'ultrafast':
@@ -37,7 +38,7 @@ class Tracker:
             
             
             # Aggressive optimization for CPU
-            # self.__tracking_inst.setFinestScale(1)      # Skip finest pyramid level (2x faster)
+            self.__tracking_inst.setFinestScale(config_tracker["finest_scale"])      # Skip finest pyramid level (2x faster)
             # self.__tracking_inst.setPatchSize(8)        # Smaller patches (default 8)
             # self.__tracking_inst.setPatchStride(4)      # Larger stride = fewer patches
             # self.__tracking_inst.setGradientDescentIterations(12)  # Reduce iterations (default 25)
@@ -52,8 +53,8 @@ class Tracker:
         self.__fine_flow_queue = []
         self.__prev_fine_flow = None
         self.__adaptive = adaptive
-        self.__lower_threshold = lower_threshold  # error lower than threshold will close the loop
-        self.__upper_threshold = upper_threshold  # error greater than threshold will add new reference frame
+        self.__lower_threshold = config_tracker["lower_threshold"]  # error lower than threshold will close the loop
+        self.__upper_threshold = config_tracker["upper_threshold"]  # error greater than threshold will add new reference frame
 
 
     def track(self, frame):
@@ -145,10 +146,12 @@ class Tracker:
                     self.__checkLoopClosure(frame)
                 
                 # CPU optical flow computation
+                start_time = time.perf_counter()
                 self.__prev_fine_flow = self.__tracking_inst.calc(
                     self.__fine_base_frame_queue[-1], frame,
                     self.__prev_fine_flow)
-                
+                end_time = time.perf_counter()
+                print(f"CPU optical flow computation time: {end_time - start_time} seconds")
                 # Direct numpy addition is faster than cv2.add
                 final_flow = self.__fine_flow_queue[-1] + self.__prev_fine_flow
                 
@@ -229,8 +232,6 @@ class Tracker:
         self.__fine_flow_queue = []
         self.__prev_fine_flow = None
         self.__frame_count = 0
-        self.__vpi_prev_frame = None
-        self.__vpi_prev_pyramid = None
 
     def getFrameQueueLength(self):
         return len(self.__fine_base_frame_queue)