update wuxi demo

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: