add print

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):

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]