make sure work without cuda

src/orisys/Stitcher.py

@@ -443,7 +443,7 @@ class Stitcher:
         
         h, w = img.shape[:2]
         n_boxes = 0
-        bk_thresh = 35  # initial black threshold
+        bk_thresh = 0  # initial black threshold
         bk_thresh_step = 5
         bk_thresh_max = 100
 
@@ -461,7 +461,8 @@ class Stitcher:
             kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (k, k))
             mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernel, iterations=1)
             mask = cv2.morphologyEx(mask, cv2.MORPH_CLOSE, kernel, iterations=2)
-
+            # cv2.imshow("mask", mask)
+            # cv2.waitKey(0)
             # find contours of candidate regions
             contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)            
 

src/orisys/configs/sample_1.json

@@ -10,6 +10,11 @@
       "index": [1,2,3,6,7,8,11,12,13],
       "pos_default": [[260, 56], [577, 62], [897, 69], [1214, 75], [1530, 81], [256, 391], [570, 397], [889, 403], [1208, 409], [1523, 416], [248, 724], [563, 730], [882, 738], [1201, 743], [1516, 751]]
     },
+    "stitcher": {
+      "min_area_frac": 0.01,
+      "max_area_frac": 0.05,
+      "max_aspect_ratio": 100
+    },
     "contact": {
       "min_contour_area": 3000,
       "min_magnitude": 1.0,

src/orisys/sensor.py

@@ -18,7 +18,7 @@ from queue import Queue, Empty
 from .Stitcher import Stitcher
 from .tracker import Tracker
 from .nHHD import nHHD
-from .getDensity import getFilteredDensity
+# from .getDensity import getFilteredDensity
 from . import configs 
 from .get_depth import *