Merge branch 'stable' of yahoo.com.hk@192.168.192.190:D:\repo\orisyssdk_git into stable

src/orisys/sensor.py

@@ -151,9 +151,12 @@ class Sensor:
         self.__tracker = Tracker(adaptive=True, cuda=cuda, verbose=self.verbose, config_tracker=self.__config_tracker)
         self.__contact3d = Contact3D(config_contact=self.__config_contact, verbose=self.verbose)
         self.__hhd = None
-        # cfg_ds = self.__config_tracker.get("hhd_downsample", None)
-        # self._hhd_downsample = max(1, int(cfg_ds if cfg_ds is not None else hhd_downsample))
-        self._hhd_downsample = self.__config_tracker.get("hhd_downsample", None)
+        # Integer >= 1: run HHD on flow downsampled by this factor for speed (1 = full res).
+        _raw_ds = self.__config_tracker.get("hhd_downsample", 1)
+        try:
+            self._hhd_downsample = max(1, int(_raw_ds)) if _raw_ds is not None else 1
+        except (TypeError, ValueError):
+            self._hhd_downsample = 1
         self._hhd_grid_shape = None
         cfg_backend = self.__config_tracker.get("backend", None)
         self.poisson_backend = cfg_backend if cfg_backend is not None else backend
@@ -300,7 +303,10 @@ class Sensor:
             raise Exception("Warning: Compute flow first")
 
         orig_h, orig_w = flow.shape[:2]
-        k = self._hhd_downsample
+        try:
+            k = max(1, int(self._hhd_downsample))
+        except (TypeError, ValueError):
+            k = 1
 
         if k > 1:
             ds_w = max(1, orig_w // k)