update wuxi demo

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__ = "0.3.1"
+__version__ = "0.3.2"
 __author__ = "Orisys"
 
 from .sensor import Sensor

src/orisys/sensor.py

@@ -119,6 +119,7 @@ class Sensor:
         shape = (self.__config_cam["resolution_stitch"][1], self.__config_cam["resolution_stitch"][0])
         self.img_size_raw = None
         self.img_filtered = None
+        self.tail_frames_count = 0
         
         # Optical Flow Data Variables (public)
         self.flow = np.zeros(shape + (2,), dtype=np.float32)
@@ -268,7 +269,7 @@ class Sensor:
         # print(f"mag: {mag.max()}, {mag.min()}, {mag.mean()}")
         return mag.mean() > threshold
 
-    def compute_deformation(self, decompose=True, check_motion=True, threshold=6):
+    def compute_deformation(self, decompose=True, check_motion=False, threshold=6, tail_frames = 5):
         """
         Compute optical flow and decompose into force components.
         
@@ -282,9 +283,14 @@ class Sensor:
         # self.compute_hhd()
         if check_motion:
             if self.detect_motion(threshold=threshold):
+                self.tail_frames_count = 0
                 self.compute_hhd()
                 return True
-            else:
+            else:                
+                if self.tail_frames_count <= tail_frames:
+                    self.tail_frames_count +=1 
+                    self.compute_hhd()
+                    return True
                 return False
         else:
             if decompose:

src/orisys/tracker.py

@@ -85,11 +85,11 @@ class Tracker:
     def track(self, frame):
         """Main tracking function that dispatches to CUDA or CPU implementation"""
         if self.__algorithm == "raft":
-            return self.track_raft(frame)
+            return self.track_raft(frame.copy())
         elif self.__algorithm == "dis":
             if frame.ndim == 3:
                 frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
-            return self.track_cpu(frame)
+            return self.track_cpu(frame.copy())
     
     def track_cpu(self, frame):
         """CPU-based optical flow tracking"""