Merge branch 'dev' of 192.168.192.162:D:\Users\ykcheungab.MEE1965\Documents\python\orisyssdk_git into dev

2026-01-25 10:49:56 +08:00
parent aa9872b3ab cec11653c7
commit 5fb6a2373d
23 changed files with 207 additions and 118 deletions
@@ -18,14 +18,14 @@ https://anaconda.org/channels/nvidia/packages/cuda/overview
 conda install nvidia/label/cuda-12.9.0::cuda-toolkit nvidia::cudnn
 ```
 ## SDK安装方法
-1. 根据平台（win / linux）和python （如p38、p39、p310）版本下载对应的`.whl`文件
+1. 根据系统（win / linux）,平台(amd64, aarch64), python(如p38、p39、p310) 版本下载对应的`.whl`文件
 2. 运行pip命令安装：
 ```bash
-pip install orisys-{version}-{python-version}-{python-version}-{os}_amd64.whl
+pip install orisys-{version}-{python-version}-{python-version}-{os}_{machine}.whl
 ```
 如
 ```bash
-pip install orisys-0.2.0-cp310-cp310-win_amd64.whl
+pip install orisys-0.2.3-cp310-cp310-win_amd64.whl
 ```

 3. **安装 CuPy（根据您的 CUDA 版本选择）：**
@@ -184,6 +184,8 @@ centroid, contour, depth = sensor.read_info(
 * FSHEARX: X切向力，`float`。
 * FSHEARY: Y切向力，`float`。
 * FPS: 输出帧率，`float`。
+* CENTROID： 触碰点的坐标，(x, y)。
+* CONTOUR： 触碰区域轮廓，`np.ndarray`, shape=(H, W), 未生成时返回`np.empty`

 时间戳
 * TIMESTAMP: 时间戳字符串（HH:MM:SS），`str`。
@@ -198,7 +200,7 @@ centroid, contour, depth = sensor.read_info(
 返回值数量与有效参数数量一致。

 - 向量/图像类数据：`np.ndarray`  
-  - 若当前流程中尚未生成该数据，返回空数组 `np.array([])`
+  - 若当前流程中尚未生成该数据，返回空数组
 - 标量类数据：`float`
 - 时间戳：`str`（`TIMESTAMP`，格式为 `HH:MM:SS`）

@@ -280,3 +282,6 @@ A：`read_info()`按传入的`sensor.info`参数顺序返回一个元组。
 ### Q5:如果没有标定文件，或拼接结果不正确，会发生什么？
 A：若未指定或未找到标定文件，系统会在需要时创建新的拼接标定数据并保存到默认路径。
 拼接结果异常通常与标定数据、拼接配置或输入图像质量有关，建议重新生成拼接标定并检查配置参数。
+
+### Q6: 运行报错：“AttributeError: 'Stitcher' object has no attribute 'pos_default'”
+A: 请检查视频源的编号是否正确，以及是否能正常打开视频源。在linux 使用`v4l2-ctl --list-devices` 列出设备
@@ -16,7 +16,7 @@ def install_nuitka():
 def build():
    install_nuitka()
    
-    version = "0.2.0"
+    version = "0.2.3"
    src_dir = Path("src/orisys")
    output_dir = Path("build_nuitka")
    dist_dir = Path("dist_nuitka")
@@ -16,7 +16,7 @@ def install_nuitka():
 def build():
    install_nuitka()
    
-    version = "0.2.0"
+    version = "0.2.3"
    src_dir = Path("src/orisys")
    output_dir = Path("build_nuitka")
    dist_dir = Path("dist_nuitka")
@@ -18,7 +18,7 @@ def main():
    print("\n")
    print(f"Collecting data for device ID: {device_id} on test type: {test_type}, video source: {vid_source}")
    print("\n")
-    sensor = orisys.Sensor(vid_source, config_name="./config/prototype_of3.json", cal_path= f"./config/{sample_name}.npy", isstitch=True, cuda=True, verbose=True)
+    sensor = orisys.Sensor(vid_source, config_name="./config/prototype_of3.json", cal_path= f"./config/{sample_name}.npy", cuda=False, verbose=True)

    print(f"\n按 'q' 退出程序，按 'r' 重置光流追踪器，按 's' 开始保存，按 'e' 停止保存，按 'j' 减小力，按 'l' 增大力")
    force = 0 # kgf
@@ -60,7 +60,7 @@ def main():
        sensor.compute_deformation()
        sensor.compute_contact()

-        fps, flow, vnormal, img, contour, centroid, depth_map,fnormal,fshearx,fsheary = sensor.read_info(
+        fps, flow, vnormal, img, contour, centroid, depth_map = sensor.read_info(
            sensor.info.FPS,
            sensor.info.VRAW,
            sensor.info.VNORMAL,
@@ -145,8 +145,6 @@ def main():
                print(f"Stop writing, total frames: {frame_count}")
            frame_count = 0

-        if key == ord("p"):
-            print(f"normal force:{fnormal}, X {fshearx}, Y{fsheary}")
        if key == ord("i"):
            save_mode_index += 1
            if save_mode_index >= len(save_mode):
@@ -1,38 +0,0 @@
-{
-  "name": "prototype",
-  "version": "1.0",
-  "camera": {
-    "resolution_raw": [1920, 1080],
-    "fps": 60,
-    "units": 15,
-    "units_used": 9, 
-    "resolution_stitch": [400, 400]
-  },
-  "stitcher": {
-    "min_area_frac": 0.018,
-    "max_area_frac": 0.035,
-    "max_aspect_ratio": 100,
-    "index": [1,2,3,6,7,8,11,12,13],
-    "margin": 10,
-    "nominal_ov_pos": 100,
-    "n": [3,3]
-  },
-  "tracker": {
-    "adaptive": true,
-    "lower_threshold": 12.0,
-    "upper_threshold": 18.0,
-    "loop_closure_interval": 1,
-    "dis_preset": "medium",
-    "finest_scale": 1
-  },
-  "contact": {
-    "min_contour_area": 3000,
-    "flow_threshold":1,
-    "div_threshold":0.02,
-    "expansion_threshold": 0.01,
-    "kernel_size": [5,5],
-    "denoise_sigma": 15
-  }
-}
-
-
@@ -1,38 +0,0 @@
-{
-  "name": "prototype",
-  "version": "1.0",
-  "camera": {
-    "resolution_raw": [1920, 1080],
-    "fps": 60,
-    "units": 15,
-    "units_used": 9, 
-    "resolution_stitch": [400, 400]
-  },
-  "stitcher": {
-    "min_area_frac": 0.018,
-    "max_area_frac": 0.035,
-    "max_aspect_ratio": 100,
-    "index": [1,2,3,6,7,8,11,12,13],
-    "margin": 10,
-    "nominal_ov_pos": 100,
-    "n": [3,3]
-  },
-  "tracker": {
-    "adaptive": true,
-    "lower_threshold": 12.0,
-    "upper_threshold": 18.0,
-    "loop_closure_interval": 1,
-    "dis_preset": "medium",
-    "finest_scale": 2
-  },
-  "contact": {
-    "min_contour_area": 3000,
-    "flow_threshold":1,
-    "div_threshold":0.02,
-    "expansion_threshold": 0.01,
-    "kernel_size": [5,5],
-    "denoise_sigma": 15
-  }
-}
-
-
@@ -3,7 +3,7 @@
  "version": "1.0",
  "camera": {
    "resolution_raw": [1920, 1080],
-    "fps": 60,
+    "fps": 30,
    "units": 15,
    "units_used": 9, 
    "resolution_stitch": [400, 400]
@@ -15,7 +15,8 @@
    "index": [1,2,3,6,7,8,11,12,13],
    "margin": 10,
    "nominal_ov_pos": 100,
-    "n": [3,3]
+    "n": [3,3],
+    "row_tol": 0.6
  },
  "tracker": {
    "adaptive": true,
@@ -23,7 +24,7 @@
    "upper_threshold": 18.0,
    "loop_closure_interval": 1,
    "dis_preset": "medium",
-    "finest_scale": 3
+    "of_mode": 3
  },
  "contact": {
    "min_contour_area": 3000,
@@ -14,16 +14,17 @@ os.environ["OPENCV_VIDEOIO_MSMF_ENABLE_HW_TRANSFORMS"] = "0"
 import cv2
 import orisys
 import numpy as np
-import time
+
 def main():
+    # 步骤1：创建传感器对象 (必要步骤)，
+    # config_name为配置文件名（内置配置文件名）或路径（自定义配置文件路径）
+    # cal_path为校准文件路径, 每一个设备需要创建/使用一个校准文件

-    # 步骤1：创建传感器对象 (必要步骤)，config_name为配置文件名（内置配置文件名）或路径（自定义配置文件路径）
    # 方式1: 从视频文件读取
-    # sensor = orisys.Sensor("s1.mp4", config_name="./config/prototype_of3.json", cal_path= "./config/cal.npy", isstitch=True, cuda=True, verbose=True)
-
+    sensor = orisys.Sensor("s1.mp4", config_name="./config/prototype_of3.json", cal_path= "./config/dd01a_0.npy", isstitch=True, cuda=False, verbose=True)

    # 方式2: 从摄像头读取（取消注释使用） 
-    sensor = orisys.Sensor(0, config_name="./config/prototype_of3.json", cal_path= "./config/cal.npy", isstitch=True, cuda=True, verbose=True)
+    # sensor = orisys.Sensor(0, config_name="./config/prototype_of3.json", cal_path= "./config/cal.npy", isstitch=True, cuda=True, verbose=True)

    print("\n按 'q' 退出程序，按 'r' 重置光流追踪器")

@@ -0,0 +1,159 @@
+<?xml version='1.0' encoding='utf8'?>
+<nuitka-compilation-report nuitka_version="2.8.9" nuitka_commercial_version="not installed" mode="module" completion="error exit message (1)" exit_message="Failed unexpectedly in Scons C backend compilation.">
+  <module name="orisys" kind="CompiledPythonPackage" usage="root_module" reason="Root module" source_path="${cwd}\src\orisys\__init__.py" distribution="orisys">
+    <optimization-time pass="1" time="0.01" micro_passes="3" />
+    <optimization-time pass="2" time="0.00" micro_passes="1" />
+    <module_usages>
+      <module_usage name="os" finding="excluded" line="1" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
+      <module_usage name="orisys.sensor" finding="relative" line="11" />
+      <module_usage name="orisys" finding="absolute" line="12" />
+      <module_usage name="orisys.util" finding="relative" line="12" />
+      <module_usage name="orisys" finding="absolute" line="13" />
+      <module_usage name="orisys.configs" finding="relative" line="13" />
+    </module_usages>
+  </module>
+  <module name="orisys.HHD" kind="CompiledPythonModule" usage="root_module" reason="Root module" source_path="${cwd}\src\orisys\HHD.py" distribution="orisys">
+    <optimization-time pass="1" time="0.70" micro_passes="6" max_branch_merge="278" merged_total="16265" />
+    <optimization-time pass="2" time="0.10" micro_passes="1" max_branch_merge="258" merged_total="2611" />
+    <module_usages>
+      <module_usage name="numpy" finding="absolute" line="24" />
+      <module_usage name="timeit" finding="excluded" line="27" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
+      <module_usage name="sys" finding="absolute" line="28" />
+      <module_usage name="scipy" finding="absolute" line="29" />
+      <module_usage name="scipy.signal" finding="absolute" line="29" />
+      <module_usage name="scipy.spatial" finding="absolute" line="29" />
+      <module_usage name="cupy" finding="absolute" line="35" />
+      <module_usage name="cupy.cuda" finding="absolute" line="40" />
+      <module_usage name="cupy.cuda.Stream" finding="not-found" line="40" />
+      <module_usage name="cupy" finding="absolute" line="480" />
+      <module_usage name="numpy" finding="absolute" line="861" />
+      <module_usage name="scipy" finding="absolute" line="862" />
+      <module_usage name="scipy.signal" finding="absolute" line="862" />
+      <module_usage name="scipy.spatial" finding="absolute" line="862" />
+      <module_usage name="cupy" finding="absolute" line="867" />
+      <module_usage name="cupyx.scipy.signal" finding="absolute" line="868" />
+      <module_usage name="scipy.spatial.distance" finding="absolute" line="1092" />
+    </module_usages>
+  </module>
+  <module name="orisys.Stitcher" kind="CompiledPythonModule" usage="root_module" reason="Root module" source_path="${cwd}\src\orisys\Stitcher.py" distribution="orisys">
+    <optimization-time pass="1" time="0.68" micro_passes="8" max_branch_merge="113" merged_total="9783" />
+    <optimization-time pass="2" time="0.09" micro_passes="1" max_branch_merge="89" merged_total="1164" />
+    <module_usages>
+      <module_usage name="os" finding="excluded" line="1" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
+      <module_usage name="numpy" finding="absolute" line="2" />
+      <module_usage name="scipy.fft" finding="absolute" line="3" />
+      <module_usage name="scipy.ndimage" finding="absolute" line="4" />
+      <module_usage name="cv2" finding="absolute" line="5" />
+    </module_usages>
+  </module>
+  <module name="orisys.configs" kind="CompiledPythonPackage" usage="root_module" reason="Root module" source_path="${cwd}\src\orisys\configs\__init__.py" distribution="orisys">
+    <optimization-time pass="1" time="0.07" micro_passes="5" max_branch_merge="38" merged_total="1506" />
+    <optimization-time pass="2" time="0.01" micro_passes="1" max_branch_merge="31" merged_total="292" />
+    <module_usages>
+      <module_usage name="os" finding="excluded" line="1" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
+      <module_usage name="json" finding="excluded" line="1" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
+      <module_usage name="sys" finding="absolute" line="2" />
+      <module_usage name="pathlib" finding="excluded" line="3" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
+    </module_usages>
+  </module>
+  <module name="orisys.get_depth" kind="CompiledPythonModule" usage="root_module" reason="Root module" source_path="${cwd}\src\orisys\get_depth.py" distribution="orisys">
+    <optimization-time pass="1" time="0.18" micro_passes="5" max_branch_merge="186" merged_total="2614" />
+    <optimization-time pass="2" time="0.03" micro_passes="1" max_branch_merge="171" merged_total="501" />
+    <module_usages>
+      <module_usage name="numpy" finding="absolute" line="1" />
+      <module_usage name="cv2" finding="absolute" line="2" />
+      <module_usage name="cupy" finding="absolute" line="6" />
+      <module_usage name="cupyx.scipy.ndimage" finding="absolute" line="202" />
+      <module_usage name="cupyx.scipy.ndimage.gaussian_filter" finding="not-found" line="202" />
+      <module_usage name="cupyx.scipy.ndimage" finding="absolute" line="242" />
+      <module_usage name="cupyx.scipy.ndimage.zoom" finding="not-found" line="242" />
+    </module_usages>
+  </module>
+  <module name="orisys.sensor" kind="CompiledPythonModule" usage="root_module" reason="Root module" source_path="${cwd}\src\orisys\sensor.py" distribution="orisys">
+    <optimization-time pass="1" time="0.24" micro_passes="5" max_branch_merge="112" merged_total="4886" />
+    <optimization-time pass="2" time="0.03" micro_passes="1" max_branch_merge="110" merged_total="914" />
+    <module_usages>
+      <module_usage name="os" finding="excluded" line="9" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
+      <module_usage name="numpy" finding="absolute" line="10" />
+      <module_usage name="cv2" finding="absolute" line="11" />
+      <module_usage name="time" finding="absolute" line="12" />
+      <module_usage name="enum" finding="excluded" line="13" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
+      <module_usage name="typing" finding="excluded" line="14" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
+      <module_usage name="threading" finding="excluded" line="15" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
+      <module_usage name="queue" finding="excluded" line="16" exclusion_reason="Not following into stdlib unless standalone or requested to follow into stdlib." />
+      <module_usage name="orisys.Stitcher" finding="relative" line="18" />
+      <module_usage name="orisys.tracker" finding="relative" line="19" />
+      <module_usage name="orisys.HHD" finding="relative" line="20" />
+      <module_usage name="orisys" finding="absolute" line="21" />
+      <module_usage name="orisys.configs" finding="relative" line="21" />
+      <module_usage name="orisys.get_depth" finding="relative" line="22" />
+      <module_usage name="cupy" finding="absolute" line="72" />
+    </module_usages>
+  </module>
+  <module name="orisys.tracker" kind="CompiledPythonModule" usage="root_module" reason="Root module" source_path="${cwd}\src\orisys\tracker.py" distribution="orisys">
+    <optimization-time pass="1" time="0.07" micro_passes="5" max_branch_merge="108" merged_total="2168" />
+    <optimization-time pass="2" time="0.01" micro_passes="1" max_branch_merge="108" merged_total="419" />
+    <module_usages>
+      <module_usage name="cv2" finding="absolute" line="1" />
+      <module_usage name="numpy" finding="absolute" line="2" />
+    </module_usages>
+  </module>
+  <module name="orisys.util" kind="CompiledPythonModule" usage="root_module" reason="Root module" source_path="${cwd}\src\orisys\util.py" distribution="orisys">
+    <optimization-time pass="1" time="0.71" micro_passes="6" max_branch_merge="138" merged_total="1449" />
+    <optimization-time pass="2" time="0.02" micro_passes="1" max_branch_merge="134" merged_total="236" />
+    <module_usages>
+      <module_usage name="cv2" finding="absolute" line="1" />
+      <module_usage name="numpy" finding="absolute" line="2" />
+      <module_usage name="scipy.interpolate" finding="absolute" line="3" />
+    </module_usages>
+  </module>
+  <performance>
+    <memory_usage name="after_launch" value="41095168" />
+    <memory_usage name="before_c_code_generation" value="905592832" />
+    <memory_usage name="before_running_scons" value="910643200" />
+  </performance>
+  <data_composer blob_size="38985" total="1450">
+    <module_data filename="__bytecode.const" blob_name=".bytecode" blob_size="3" input_size="0" />
+    <module_data filename="__constants.const" blob_name="" blob_size="800" input_size="2037" />
+    <module_data filename="module.orisys.HHD.const" blob_name="orisys.HHD" blob_size="11474" input_size="15837" />
+    <module_data filename="module.orisys.Stitcher.const" blob_name="orisys.Stitcher" blob_size="6634" input_size="9431" />
+    <module_data filename="module.orisys.configs.const" blob_name="orisys.configs" blob_size="2966" input_size="4231" />
+    <module_data filename="module.orisys.const" blob_name="orisys" blob_size="612" input_size="1011" />
+    <module_data filename="module.orisys.get_depth.const" blob_name="orisys.get_depth" blob_size="5580" input_size="6725" />
+    <module_data filename="module.orisys.sensor.const" blob_name="orisys.sensor" blob_size="6946" input_size="10850" />
+    <module_data filename="module.orisys.tracker.const" blob_name="orisys.tracker" blob_size="2011" input_size="3419" />
+    <module_data filename="module.orisys.util.const" blob_name="orisys.util" blob_size="1793" input_size="2720" />
+  </data_composer>
+  <command_line>
+    <option value="--module" />
+    <option value="--include-package=orisys" />
+    <option value="--output-dir=build_nuitka" />
+    <option value="--remove-output" />
+    <option value="--no-pyi-file" />
+    <option value="src/orisys" />
+  </command_line>
+  <plugins>
+    <plugin name="anti-bloat" user_enabled="no" />
+    <plugin name="eventlet" user_enabled="no" />
+    <plugin name="gi" user_enabled="no" />
+    <plugin name="implicit-imports" user_enabled="no" />
+    <plugin name="options-nanny" user_enabled="no" />
+    <plugin name="pkg-resources" user_enabled="no" />
+    <plugin name="transformers" user_enabled="no" />
+  </plugins>
+  <distributions>
+    <distribution name="orisys" version="0.2.0" installer="conda" />
+  </distributions>
+  <python python_exe="${sys.prefix}\python.exe" python_flavor="Anaconda Python" python_version="3.10.19" os_name="Windows" os_release="11" arch_name="x86_64" filesystem_encoding="utf-8">
+    <search_path>
+      <path value="${cwd}" />
+      <path value="${cwd}\src" />
+      <path value="${sys.prefix}\DLLs" />
+      <path value="${sys.prefix}\lib" />
+      <path value="${sys.prefix}" />
+      <path value="${sys.prefix}\lib\site-packages" />
+      <path value="${sys.prefix}\lib\site-packages\setuptools\_vendor" />
+    </search_path>
+  </python>
+  <output run_filename="${cwd}\build_nuitka\orisys.cp310-win_amd64.pyd" />
+</nuitka-compilation-report>
@@ -9,7 +9,7 @@ if configs_dir.exists():

 setup(
    name="orisys",
-    version="0.2.0",
+    version="0.2.3",
    description="Orisys - Optical Tactile Sensor SDK",
    author="Your Name",
    package_dir={"": "src"},
@@ -21,7 +21,6 @@ setup(
    install_requires=[
        "numpy>=1.24.4",
        "opencv-python>=4.10.0.84",
-        "opencv-contrib-python",
        "scipy>=1.10.1",
    ],
    extras_require={
@@ -36,6 +36,7 @@ try:
    CUPY_AVAILABLE = True
    
    # Try to import CuPy streams for parallel execution
+    if CUPY_AVAILABLE:
        try:
            from cupy.cuda import Stream
            STREAMS_AVAILABLE = True
@@ -103,7 +104,7 @@ class nHHD(object):
            raise ValueError("nHHD Solver works only for 2 and 3 dimensions")

        self.psolver.prepare(False)  
-        
+        if CUPY_AVAILABLE:
            self.stream1 = cp.cuda.Stream()
            self.stream2 = cp.cuda.Stream() 
    
@@ -27,6 +27,7 @@ class Stitcher:
        self.nominal_ov_pos=config_stitcher["nominal_ov_pos"] 
        self.margin=config_stitcher["margin"]
        self.bound=self.nominal_ov_pos - self.margin
+        self.row_tol = config_stitcher["row_tol"]

        if self.verbose:
            print(f"Stitcher initialized with config: {self.config_stitcher}")
@@ -110,7 +111,7 @@ class Stitcher:
    def find_stitch_boxes(self,img_src,show = False):

        img_corr = self.__correct_edge_bloom(img_src)
-        self.__detect_nonblack_regions(img_corr,show = show)
+        self.__detect_nonblack_regions(img_corr,show = show, row_tol = self.row_tol)
        return len(self.boxes), self.boxes
        
        # return self.boxes
@@ -431,7 +432,7 @@ class Stitcher:
        return pos_list

        # Computation Functions  
-    def __detect_nonblack_regions(self, img, morph_k=3, n_boxes_target=15, bk_thresh_step=10, bk_thresh_max=100,show = False):
+    def __detect_nonblack_regions(self, img, morph_k=3, n_boxes_target=15, bk_thresh_step=10, bk_thresh_max=100,show = False, row_tol = 0.4):
        """
        Return binary mask of non-black regions and list of bounding boxes (x,y,w,h).
        Uses adaptive thresholding on grayscale + small morphology to be robust to illumination.
@@ -509,7 +510,7 @@ class Stitcher:
            heights = [b[3] - b[1] for b in cropped_boxes]
            median_height = np.median(heights) if heights else target_h
            # Use a fraction of the box height as tolerance (e.g., 20% of box height)
-            row_tolerance = max(1, int(median_height * 0.2))
+            row_tolerance = max(1, int(median_height * row_tol))
            
            # Quantize y-coordinates to group boxes into rows
            def get_row_key(box):
@@ -5,7 +5,7 @@ A Python library for processing and analyzing optical tactile sensor data,
 including image stitching, optical flow tracking, and deformation decomposition.
 """

-__version__ = "0.2.0"
+__version__ = "0.2.3"
 __author__ = "Orisys"

 from .sensor import Sensor
@@ -3,7 +3,7 @@
  "version": "1.0",
  "camera": {
    "resolution_raw": [1920, 1080],
-    "fps": 60,
+    "fps": 30,
    "units": 15,
    "units_used": 9, 
    "resolution_stitch": [400, 400]
@@ -15,7 +15,8 @@
    "index": [1,2,3,6,7,8,11,12,13],
    "margin": 10,
    "nominal_ov_pos": 100,
-    "n": [3,3]
+    "n": [3,3],
+    "row_tol": 0.6
  },
  "tracker": {
    "adaptive": true,
@@ -23,7 +24,7 @@
    "upper_threshold": 18.0,
    "loop_closure_interval": 1,
    "dis_preset": "medium",
-    "finest_scale": 1
+    "finest_scale": 3
  },
  "contact": {
    "min_contour_area": 3000,
@@ -35,7 +35,7 @@ class Tracker:
            
            
            # Aggressive optimization for CPU
-            self.__tracking_inst.setFinestScale(config_tracker["finest_scale"])      # Skip finest pyramid level (2x faster)
+            self.__tracking_inst.setFinestScale(config_tracker["of_mode"])      # 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)
@@ -213,7 +213,6 @@ class Tracker:
            error = self.__getForwardBackwardError(
                self.__fine_base_frame_queue[i], frame, f)
            if error < self.__lower_threshold:
-                # print("loop closed at frame ", str(i))
                self.__fine_base_frame_queue = self.__fine_base_frame_queue[:
                                                                            i +
                                                                            1]