From 8654594edef8463fea6cf638d2bd29e85a601033 Mon Sep 17 00:00:00 2001
From: unknown <ykcheungab@MEE1965.ust.hk>
Date: Tue, 20 Jan 2026 17:06:28 +0800
Subject: [PATCH] update version and fix bug that cannot run without cupy

---
 build_nuitka.py            |  2 +-
 build_nuitka_linux.py      |  2 +-
 example1_basic_pipeline.py |  4 ++--
 setup.py                   |  3 +--
 src/orisys/HHD.py          | 19 ++++++++++---------
 src/orisys/__init__.py     |  2 +-
 6 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/build_nuitka.py b/build_nuitka.py
index 6455576..7316641 100644
--- a/build_nuitka.py
+++ b/build_nuitka.py
@@ -16,7 +16,7 @@ def install_nuitka():
 def build():
     install_nuitka()
     
-    version = "0.2.0"
+    version = "0.2.1"
     src_dir = Path("src/orisys")
     output_dir = Path("build_nuitka")
     dist_dir = Path("dist_nuitka")
diff --git a/build_nuitka_linux.py b/build_nuitka_linux.py
index b5b86e1..201f15e 100644
--- a/build_nuitka_linux.py
+++ b/build_nuitka_linux.py
@@ -16,7 +16,7 @@ def install_nuitka():
 def build():
     install_nuitka()
     
-    version = "0.2.0"
+    version = "0.2.1"
     src_dir = Path("src/orisys")
     output_dir = Path("build_nuitka")
     dist_dir = Path("dist_nuitka")
diff --git a/example1_basic_pipeline.py b/example1_basic_pipeline.py
index 88898d4..be4ae5b 100644
--- a/example1_basic_pipeline.py
+++ b/example1_basic_pipeline.py
@@ -19,11 +19,11 @@ 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）
     # 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/cal.npy", isstitch=True, cuda=True, 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")
 
diff --git a/setup.py b/setup.py
index c52c9f2..4ee7fb8 100644
--- a/setup.py
+++ b/setup.py
@@ -9,7 +9,7 @@ if configs_dir.exists():
 
 setup(
     name="orisys",
-    version="0.2.0",
+    version="0.2.1",
     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={
diff --git a/src/orisys/HHD.py b/src/orisys/HHD.py
index 91b2b70..ca326ea 100644
--- a/src/orisys/HHD.py
+++ b/src/orisys/HHD.py
@@ -36,12 +36,13 @@ try:
     CUPY_AVAILABLE = True
     
     # Try to import CuPy streams for parallel execution
-    try:
-        from cupy.cuda import Stream
-        STREAMS_AVAILABLE = True
-    except ImportError:
-        Stream = None
-        STREAMS_AVAILABLE = False
+    if CUPY_AVAILABLE:
+        try:
+            from cupy.cuda import Stream
+            STREAMS_AVAILABLE = True
+        except ImportError:
+            Stream = None
+            STREAMS_AVAILABLE = False
     
     # Create fused elementwise kernel for torque computation
     # Computes cross products and combines them in a single kernel pass
@@ -103,9 +104,9 @@ class nHHD(object):
             raise ValueError("nHHD Solver works only for 2 and 3 dimensions")
 
         self.psolver.prepare(False)  
-        
-        self.stream1 = cp.cuda.Stream()
-        self.stream2 = cp.cuda.Stream() 
+        if CUPY_AVAILABLE:
+            self.stream1 = cp.cuda.Stream()
+            self.stream2 = cp.cuda.Stream() 
     
     # create the 3-component decomposition
     def decompose(self, vfield, verbose=0):
diff --git a/src/orisys/__init__.py b/src/orisys/__init__.py
index a3a6ffb..03bf2e1 100644
--- a/src/orisys/__init__.py
+++ b/src/orisys/__init__.py
@@ -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__ = "0.2.1"
 __author__ = "Orisys"
 
 from .sensor import Sensor