From aa9872b3ab1a46e3fe038b810a2aac32f66d0514 Mon Sep 17 00:00:00 2001
From: TPP-G6 <ykcheungab@connect.ust.hk>
Date: Sun, 25 Jan 2026 10:39:33 +0800
Subject: [PATCH] add print

---
 calibration_data_collection.py | 11 ++++++++---
 src/orisys/tracker.py          |  2 +-
 2 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/calibration_data_collection.py b/calibration_data_collection.py
index cc29f8e..845b140 100644
--- a/calibration_data_collection.py
+++ b/calibration_data_collection.py
@@ -60,20 +60,23 @@ def main():
         sensor.compute_deformation()
         sensor.compute_contact()
 
-        fps, flow, vnormal, img, contour, centroid, depth_map = sensor.read_info(
+        fps, flow, vnormal, img, contour, centroid, depth_map,fnormal,fshearx,fsheary = sensor.read_info(
             sensor.info.FPS,
             sensor.info.VRAW,
             sensor.info.VNORMAL,
             sensor.info.IMG,
             sensor.info.CONTOUR,
             sensor.info.CENTROID,
-            sensor.info.DEPTH
+            sensor.info.DEPTH,
+            sensor.info.FNORMAL,
+            sensor.info.FSHEARX,
+            sensor.info.FSHEARY
         )
         
         arrows = orisys.util.draw_arrows(
             img,
             flow,
-            threshold=2,
+            threshold=4,
             grid_spacing=10,
             arrow_scale=1.0
         )
@@ -142,6 +145,8 @@ 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):
diff --git a/src/orisys/tracker.py b/src/orisys/tracker.py
index a4871b9..e8face2 100644
--- a/src/orisys/tracker.py
+++ b/src/orisys/tracker.py
@@ -213,7 +213,7 @@ 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))
+                # print("loop closed at frame ", str(i))
                 self.__fine_base_frame_queue = self.__fine_base_frame_queue[:
                                                                             i +
                                                                             1]