v0.2.3 release

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__ = "0.2.2"
+__version__ = "0.2.3"
 __author__ = "Orisys"
 
 from .sensor import Sensor

src/orisys/configs/prototype.json

@@ -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]
@@ -16,7 +16,7 @@
     "margin": 10,
     "nominal_ov_pos": 100,
     "n": [3,3],
-    "row_tol": 0.4
+    "row_tol": 0.6
   },
   "tracker": {
     "adaptive": true,
@@ -24,7 +24,7 @@
     "upper_threshold": 18.0,
     "loop_closure_interval": 1,
     "dis_preset": "medium",
-    "finest_scale": 1
+    "finest_scale": 3
   },
   "contact": {
     "min_contour_area": 3000,

src/orisys/tracker.py

@@ -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]