Marker detection taking >1 min, then failing

[raghavauppuluri13]

@duyipai When enabling shear force estimation, the gaussian filter in markerdetection.py seems to be taking a long time for me (1+ min):

gsmini/gsmini/markertracker.py

Line 41 in eb043e3

filtim = gauss_filt(mxim, gf)

takes a long time to run. my raw img and depth look like this:

then i get the following error:

  File "/home/aloha/interbotix_ws/src/gsmini/gsmini/gsdevice.py", line 126, in connect
    mtracker = MarkerTracker(np.float32(self._img) / 255.0)
  File "/home/aloha/interbotix_ws/src/gsmini/gsmini/markertracker.py", line 94, in __init__
    ) = self.assign_coordinates(sorted_centers)
  File "/home/aloha/interbotix_ws/src/gsmini/gsmini/markertracker.py", line 239, in assign_coordinates
    x0 = x_coords[idx]
IndexError: list index out of range

[duyipai]

Hi, Raghava. This part of the code is from the original GelSight, and I did not change anything.
Interestingly, on my setup the condition self.params["GridStyle"] == GridStyle.ALL evaluates False and then the assign_coordinates function is never called. Can you check why you have it as True?

[raghavauppuluri13]

unfortunately, it doesn't fix the delay issue and still doesn't work. i switched to optical flow here: 4ab09f6 in #2

I tested this and it works.